AMR transportation control method and system

Abstract

The invention discloses an AMR transportation control method and system, and relates to the technical field of logistics transportation, and the method comprises the steps: determining the number of transportation nodes from an idle AMR to each task demand site; sequencing all the task demand sites in the batch according to the sequence of the task demand sites under a single station and the residual consumed time of each station to obtain a distribution sequence of the task demand sites; and taking an idle AMR with the least distance from each task demand site to the transportation node as a pre-selected AMR, judging whether the current task demand site falls into the distribution range of the pre-selected AMR, and if so, controlling the AMR to execute the task corresponding to the task demand site so as to transport the required material to the corresponding task demand site. The AMR waiting time caused by congestion is shortened, the workshop material transportation efficiency is improved, and the material transportation duration is shortened.

Description

Technical Field

[0001] The present invention relates to the field of logistics and transportation technology, and in particular to an AMR transportation control method and system. Background Art

[0002] The statements in this section merely provide background information related to the present invention and do not necessarily constitute prior art.

[0003] Autonomous Mobile Robots (AMRs) are widely used in material distribution and transportation within OEM workshops. As the primary carrier of on-site logistics, their scheduling and motion control methods determine their material transportation efficiency. Improving the timeliness and efficiency of material transportation is crucial for flexible production lines with high production cycles and high throughput.

[0004] Existing AMR scheduling can be divided into two parts: task allocation and path planning. First, globally, the optimal tasks corresponding to the currently optimal AMR are bound. Then, path planning is performed for multiple tasks in the task list obtained by a single AMR to optimize the cost or results of the AMR's logistics transportation.

[0005] During the path planning phase, existing AMR scheduling technology divides the number of AMRs and their range of motion by region. When the demand for AMRs in a particular area increases, manual redivision of the region or replenishment of AMRs in that area is required, increasing maintenance costs. Secondly, after receiving a task, the shortest path assigned to an AMR is the shortest distance calculated by calculating the Manhattan distance between the AMR's current location and the requested site, or the shortest path calculated by counting the number of transport nodes. This path is typically unique and cannot be changed.

[0006] During the task allocation phase, most control methods are based on time windows. Time windows with redundant time allowances can effectively prevent AMRs from getting stuck or stalled during their movements. However, the redundant time varies significantly between tasks. Setting redundant time windows too long reduces AMR utilization and indirectly increases transportation costs. Without redundant time, AMRs may miss their window due to obstacles, congestion, and other issues during transportation, requiring secondary or multiple scheduling.

[0007] Another type of AMR scheduling or path planning algorithm, based on neural networks and swarm intelligence, can calculate the optimal path in real time. However, this scheduling method requires a large amount of training data, increasing initial investment costs and lacking the immediacy required for on-site production deployment. Summary of the Invention

[0008] In order to solve the above problems, the present invention proposes an AMR transportation control method and system, which selects the AMR with the best position for each task, reduces the AMR non-value-added time, reduces the AMR waiting time caused by congestion, improves the workshop material transportation efficiency, and shortens the material transportation time.

[0009] In order to achieve the above object, the present invention adopts the following technical solutions: In a first aspect, the present invention provides an AMR transport control method, comprising: Obtain the material requirements and corresponding locations of the mission requirement sites; A transportation network is constructed based on the location of the task demand site, the location of the transportation node, and the starting location of the AMR to determine the number of transportation nodes that the idle AMR passes through to reach each task demand site. According to the sorting of task demand sites under a single workstation and the remaining consumption time of each workstation, all task demand sites in the batch are sorted to obtain the allocation order of the task demand sites; The idle AMR that is the shortest distance from the transport node of each task demand site is the pre-selected AMR. According to the allocation order of the task demand sites, it is determined in turn whether the current task demand site falls within the delivery range of the pre-selected AMR. If it does, the AMR is controlled to perform the task corresponding to the task demand site to transport the required materials to the corresponding task demand site. If it does not fall within the range, it is abandoned.

[0010] As an optional implementation, in the transportation network, the mission requirement sites and transportation nodes have location attributes and AMR movement direction attributes, and the distance between the transportation nodes is fixed, and the distance satisfies the movement of the AMR during transportation without collision.

[0011] As an optional embodiment, the remaining consumption time is the time required to use up the remaining material. t , expressed as: Where, Q is the number of remaining materials, C For single use, JPH For production rhythm.

[0012] As an optional implementation method, the delivery range of the AMR is that the number of transportation nodes of the pre-selected path that the AMR passes through to the task requirement site is no more than 80% of the transportation nodes required to pass through the pre-selected path from the starting point to the destination of the task requirement site.

[0013] As an optional implementation, the process of controlling the AMR to perform tasks includes an AMR site management method, specifically including: When the AMR responsible for loading materials goes to the cache site, it determines whether there is a material box at the cache site. If so, it goes to the cache site; if not, it waits at the current location. At the same time, it is determined whether the AMR performing the caching task has the same path as the AMR currently performing the loading task. If so, the AMR performing the caching task waits for the AMR performing the caching task to move to the transport node with the same path, and then the AMR performing the loading task starts to go to the caching site and starts to perform the caching task. If there is no identical path, the AMR performing the caching task waits for the AMR performing the caching task to complete the caching task and leave, and then the AMR performing the loading task starts to go to the caching site and perform the loading task. After the AMR responsible for the loading task arrives at the cache site and picks up the material box, it obtains the transportation path of the AMR in the same group with the empty return task to determine whether there is the same path; if so, it waits for the AMR performing the empty return task to move to the transportation node of the same path before starting to perform the loading task; if there is no identical path, it waits for the AMR performing the empty return task to receive the empty material box and leave the cache site, that is, after the AMR arrives at the starting point of the task, it starts to perform the loading task.

[0014] As an optional implementation, the process of controlling the AMR to perform a task also includes an AMR path planning method, specifically including: Determine the remaining optional paths between the AMR's current location and the mission's destination; Calculate the node congestion coefficient of each remaining optional path : Where, v is the AMR moving speed, s is the transport node distance, n is the number of remaining transport nodes on the path, The actual time required to pass a transport node; Calculate the real-time travel time for each remaining optional path: Where, is the straight node travel time, is the transit time of the rotating node, is the congestion coefficient of the i-th straight node, is the congestion coefficient of the i-th turning node, n 、 k are the number of straight nodes and rotation nodes of the remaining optional paths respectively; When the AMR enters the hub entrance node, it updates the optimal path with the shortest travel time.

[0015] As an optional implementation method, the process of controlling AMRs to perform tasks also includes a hub management and control method, specifically including: when the AMR enters the hub, the transport nodes that the AMRs waiting at each hub entrance need to pass through are numbered to form a demand sequence, and the currently waiting AMRs are sorted in order of arrival; when the AMR is at the hub entrance, it can only pass when all transport nodes in the demand sequence are in a released state. At the same time, after the AMR obtains permission to pass, it first occupies all transport nodes in the demand sequence. The AMR passes through a transport node and releases a transport node until it leaves the hub.

[0016] In a second aspect, the present invention provides an AMR transport control system, comprising: An acquisition module, configured to acquire material requirements and corresponding locations of task requirement sites; A calculation module is configured to construct a transportation network based on the location of the task demand site, the location of the transportation node, and the starting location of the AMR, so as to determine the number of transportation nodes that the idle AMR passes through to reach each task demand site; The sorting module is configured to sort all task demand sites in the batch according to the sorting of task demand sites under a single workstation and the remaining consumption time of each workstation, and obtain the allocation order of the task demand sites; The control module is configured to pre-select the idle AMR that is the shortest distance from the transport node of each task demand site as the AMR, and determine in sequence according to the allocation order of the task demand sites whether the current task demand site falls within the delivery range of the pre-selected AMR. If so, the AMR is controlled to execute the task corresponding to the task demand site to transport the required materials to the corresponding task demand site. If not, the task is abandoned.

[0017] In a third aspect, the present invention provides an electronic device comprising a memory and a processor, and computer instructions stored in the memory and executed on the processor, wherein the computer instructions, when executed by the processor, perform the method described in the first aspect.

[0018] In a fourth aspect, the present invention provides a computer-readable storage medium for storing computer instructions, wherein when the computer instructions are executed by a processor, the method described in the first aspect is performed.

[0019] In a fifth aspect, the present invention provides a computer program product, comprising a computer program, which implements the method described in the first aspect when executed by a processor.

[0020] Compared with the prior art, the present invention has the following beneficial effects: This invention proposes an AMR transportation control method and system. By constructing a transportation network, the idle AMR closest to the transportation node of each task demand site is determined and used as the pre-selected AMR. Then, based on the order of task demand sites at individual workstations and the remaining consumption time of each workstation, all task demand sites within a batch are sorted to obtain the distribution order of the task demand sites. According to the distribution order of the task demand sites, it is determined in sequence whether the current task demand site falls within the delivery range of the pre-selected AMR. If so, the AMR is controlled to perform the task corresponding to the task demand site to transport the required materials to the corresponding task demand site. The optimally located AMR is selected for each task, reducing AMR non-value-added time and AMR waiting time caused by congestion, improving workshop material transportation efficiency, and shortening material transportation time.

[0021] This invention proposes an AMR transport control method and system. The process of controlling AMR task execution follows the control of AMR site control methods, AMR path planning methods, and hub control methods. The site control method can prevent AMRs from experiencing conflicts in their inbound and outbound movements at sites. The AMR path planning method can guide AMRs to reduce waiting time on transport routes, shortening the time cost of logistics transportation. The hub control method can prevent AMRs from becoming locked at site hubs and improve AMR travel efficiency within the hub.

[0022] Advantages of additional aspects of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are merely embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0024] Figure 1 Flowchart of the AMR transport control method provided in Example 1 of the present invention; Figure 2 A schematic diagram of a task requirement site provided in Example 1 of the present invention; Figure 3 AMR path planning schematic diagram provided in Example 1 of the present invention; Figure 4 This is a schematic diagram of hub management and control provided in Example 1 of the present invention; Figure 5 This is an architecture diagram of the AMR transport control system provided in Example 2 of the present invention. DETAILED DESCRIPTION

[0025] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0026] It should be noted that the following detailed descriptions are exemplary and intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which the present invention belongs.

[0027] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that the terms "include" and "comprise" and any variations are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0028] In the absence of conflict, the embodiments of the present invention and the features thereof may be combined with each other.

[0029] Example 1 like Figure 1 As shown, this embodiment provides an AMR transport control method, including: S101: Obtain the material requirements and corresponding locations of the task requirement sites; S102: Constructing a transportation network based on the task demand site locations, transportation node locations, and the AMR starting location, thereby determining the number of transportation nodes that the idle AMR passes through to reach each task demand site; S103: Sort all task demand sites in the batch according to the sorting of task demand sites under a single workstation and the remaining consumption time of each workstation to obtain an allocation order of the task demand sites; S104: The idle AMR that is the shortest distance from the transport node of each task demand site is selected as the pre-selected AMR. According to the allocation order of the task demand sites, it is determined in turn whether the current task demand site falls within the delivery range of the pre-selected AMR. If it does, the AMR is controlled to execute the task corresponding to the task demand site to transport the required materials to the corresponding task demand site. If it does not fall within the range, it is abandoned.

[0030] like Figure 2 As shown, suppose a workshop has three levels of transportation stations, denoted as P o 、 P c 、 Pd , where a logistics site of a workstation corresponds to a P o ,one P c and two , P o Indicates the docking station of the workstation, P c Indicates the cache site of the materials required by the workstation, P d Indicates the assembly site where the workstation is located. The location of the AMR is the location of the site where it completed the last task or the charging area. When the AMR performs a transportation task, there are three task transportation modes, which are determined by the site. P c Transport to the site P d The task represents the loading task, represented by the vector Indicates; by site P o Transport to the site P c The task represents the cache task, which is represented by the vector Indicates; by site P d Transport to the site P o The task represents the empty return task, represented by the vector express.

[0031] Therefore, the specific implementation steps of the AMR transport control method proposed in this embodiment are as follows: Step 1: Obtain the locations of several mission demand sites, transportation node locations, transportation hub locations, and AMR starting locations, thereby forming a transportation network; The workstation consumes materials according to the preset production rhythm, single vehicle capacity, single material usage, etc. When the single vehicle material is consumed, the material demand of the task demand site of the workstation is uploaded; thereby obtaining the task demand sites corresponding to all workstations within a certain period of time ( P o 、 P c 、 P d ) location.

[0032] In this embodiment, in the transportation network, sites and nodes have location attributes and AMR movement direction attributes. The site and node attributes are displayed in the form of QR codes laid on the ground at the corresponding positions. The spacing between transportation nodes is fixed, and the spacing can meet the AMR's movement instructions such as straight going and turning during transportation without collision.

[0033] Step 2: According to the transportation network, determine the idle AMR to each task demand site ( Po 、 P c 、 P d ) The number of transport nodes passed by; and because the distance between transport nodes is fixed, it is also possible to obtain the number of transport nodes of all idle AMRs to the task demand site according to the number of transport nodes of AMR to the task demand site. P o 、 P c 、 P d distance.

[0034] Step 3: Sort the task demand sites for a single workstation by priority 、 Takes precedence over Perform an initial sorting of the internal stations of the workstations; then, based on the remaining consumption time of each workstation, sort all the task-required stations in the batch to obtain the final allocation order of each task-required station.

[0035] In this embodiment, the remaining consumption time is the time required for each workstation to use up the remaining materials, which is expressed as: ; Where, Q Indicates the number of remaining materials. C Indicates a single dose. JPH Indicates the production rhythm, t The remaining elapsed time.

[0036] Step 4: Based on the distance to each task requirement site ( P o 、 P c 、 P d ) The idle AMR with the least transport nodes (closest distance) is the pre-selected AMR; According to the allocation order of the task demand sites, determine in turn whether the current task demand site falls within the delivery range of the pre-selected AMR; If it falls into the task requirement site, it will receive the task corresponding to the task requirement site; If it does not fall into the category, give up and wait for the next task table refresh beat to continue judging until the conditions are met.

[0037] In this embodiment, when the number of AMRs in the task table is greater than the number of sites required for the task, the sorting table update time interval is expressed as 3600 / N*JPH, where N represents N-layer parent-child relationships, such as P1, P2, and P3, then N=3. When the number of AMRs is less than the number of sites required for the task, the task table is refreshed immediately.

[0038] In this embodiment, the delivery range of the AMR is: the number of transport nodes of the pre-selected path that the AMR passes through to the task requirement site is no more than 80% of the transport nodes required to pass through the pre-selected path from the starting point to the destination of the task requirement site.

[0039] Step 5: Control the AMR to execute the task corresponding to the task requirement site to transport the required materials to the corresponding task requirement site.

[0040] In this embodiment, the AMR bound to the task follows the AMR site control method, the AMR path planning method, and the hub control method during the execution of the task until the task is completed.

[0041] Specifically: When an AMR moves from a mission origin to a mission destination, the AMR is first controlled at the site. The specific methods for controlling the AMR site include: (1) When the AMR is bound to the loading task, the secondary site of the same workstation requirement site is determined and read based on the AMR path point; responsible for the loading task AMR goes to the cache site P c When, first determine the cache site P c Is there a container? If so, go to the cache site. P c ; If not, wait at the current position; (2) At the same time, determine the execution cache task AMR and the current loading task Do the AMRs have the same path? If yes, wait for cache task to execute After the AMR moves to the transport node on the same path, it performs the loading task AMR starts to go to the cache site P c , and start executing the cache task ; If there is no identical path, wait for the cache task to be executed After the AMR completes the cache task and leaves, it performs the loading task AMR starts to go to the cache site P c , perform loading tasks ; (3) Execute cache tasks After the AMR task is completed, it immediately goes to the nearest idle parking position to wait for task assignment.

[0042] (4) Responsible for loading tasks AMR arrives at the cache site P c After getting the material box, get the empty return task of the same group The transportation path of the AMR is used to determine whether there is a common path. If yes, wait for the empty return task to be executed After the AMR moves to the transport node on the same path, it starts to perform the loading task; If there is no identical path, wait for the empty return task to be executed The AMR receives the empty container and leaves the cache site P c , that is, after the AMR arrives at the starting point of the task, it begins to perform the loading task.

[0043] Among them, the air return mission There are no prerequisites, just execute the task directly; Cache Tasks The prerequisite is that the workstation buffer is empty; Execute cache tasks AMR and loading tasks During the movement, the AMR follows the AMR path planning method to perform the empty return task. The AMR path follows the preferred path with the least transportation nodes, is not subject to path planning control, and the preferred path is not updated.

[0044] Therefore, the AMR path planning method specifically includes: (1) The AMR counts the remaining optional paths between its current location and the task destination at the transport route node; like Figure 3 As shown, there are three optional paths: optional path 1, optional path 2, and optional path 3; Among them, the movement path of optional path 1 is: Hub #1 - Hub #2 - Hub #5 - Hub #4 - mission destination; The movement path of optional path 2 is: Hub #1 - Hub #2 - Hub #3 - Hub #4 - mission destination; The movement path of optional path 3 is: Hub #1 - Hub #6 - Hub #5 - Hub #4 - mission destination.

[0045] (2) When the AMR enters the node before hub #1, it calculates the node congestion coefficient of each remaining optional path , which is calculated as the ratio of the current average travel time to the benchmark travel time, expressed as: ; Where, v Indicates the moving speed of AMR, s represents the transport node distance, nIndicates the number of remaining transport nodes on the path, T Indicates the travel time. Indicates the actual time required to pass through a transport node.

[0046] (3) Calculate the real-time travel time of each optional path: ; Where, represents the travel time of the straight node, represents the transit time of the rotating node, represents the congestion coefficient of the straight node, represents the congestion coefficient of the steering node, n 、 k Represent the number of straight nodes and rotation nodes in the remaining path respectively.

[0047] Assuming that the current preferred path is path 2, the AMR has two optional paths: Optional Path 21: Hub #2 - Hub #5 - Hub #4 - Mission Destination; Optional path 22: Hub #2—Hub #3—Hub #4—Mission destination.

[0048] (4) When the AMR enters the hub entrance node, it updates the optimal path with the shortest travel time.

[0049] For example, when the AMR arrives at the node before hub #2, steps (2)-(3) are repeated, and the expected travel time of optional path 21 and optional path 22 is calculated again, and the optimal path with the shortest travel time is updated; when the AMR leaves hub #2 and there is no optional path, the cycle of steps (2) to (4) is terminated, and the task destination is reached according to the preferred path.

[0050] Furthermore, when the AMR enters the hub, the AMR is controlled, and the hub control method specifically includes the following contents.

[0051] like Figure 4 As shown in the figure, three AMRs are about to enter the cross hub according to the preferred path. They are given sequence numbers (@1, @2, @3) according to the order in which the AMRs arrive at the hub, with the smaller number arriving first. After calculating the expected travel time of the remaining optional paths for the three AMRs, the optimal path is obtained. After updating the preferred path, the node demand sequences of the three AMRs at the hub are: @1 path: #1—*1—*2—#3; @2 path: #4—*3—*2—#2; @3 Path: #5—*3—*2—#2.

[0052] In this case, all three AMRs have a common node*2. The control measures for this case are: @1AMR moves first, occupying all nodes in the demand sequence, releasing one node as it passes through, and when it passes through node #3, node *2 has been released; then, @2AMR starts moving, occupying all nodes in the demand sequence, and when it passes through node #2, node *2 has been released; then, @3AMR starts moving until it leaves the hub node *2.

[0053] Here is another example: change the node demand sequence of @3. The node demand sequences of the three AMRs at this hub are: @1 path: #1—*1—*2—#3; @2 path: #4—*3—*2—#2; @3 Path: #5—*3—*4—#7.

[0054] At this point, @3 has no common nodes with @1, but has a common node with @2. The control measures for this case are: @1AMR and @3AMR move simultaneously, occupying all nodes in their respective demand sequences. They release one node after passing through it. When @1AMR passes through node #3 and releases *2 nodes, @2AMR starts moving until it leaves the hub node *2.

[0055] Therefore, when entering the hub, AMRs must follow the following rules: When an AMR enters a hub, it reads the path information of the AMRs waiting at each entrance of the hub, obtains the node numbers that the AMR needs to pass through the hub, and forms a demand sequence; and sorts the currently waiting AMRs in order of arrival, following the first-come, first-served order of AMRs with the same path; when the AMR is at the hub entrance, it can pass only when all the transport nodes in the demand sequence are in a released state. At the same time, after obtaining permission to pass, the AMR first occupies all the nodes in the demand sequence, and releases one node after passing through it until it leaves the hub.

[0056] Example 2 like Figure 5 As shown, this embodiment provides an AMR transport control system, including: The acquisition module 501 is configured to acquire the material requirements and corresponding locations of the task requirement sites; The calculation module 502 is configured to construct a transportation network based on the location of the task demand site, the location of the transportation node, and the starting location of the AMR, so as to determine the number of transportation nodes that the idle AMR passes through to reach each task demand site; The sorting module 503 is configured to sort all task demand sites in the batch according to the sorting of task demand sites under a single workstation and the remaining consumption time of each workstation to obtain an allocation order of the task demand sites; The control module 504 is configured to pre-select the idle AMR that is the shortest distance from the transport node of each task requirement site as the AMR, and determine in sequence according to the allocation order of the task requirement sites whether the current task requirement site falls within the delivery range of the pre-selected AMR. If so, the AMR is controlled to execute the task corresponding to the task requirement site to transport the required materials to the corresponding task requirement site. If not, the task is abandoned.

[0057] It should be noted that the above modules correspond to the steps described in Example 1, and the examples and application scenarios implemented by the above modules and the corresponding steps are the same, but are not limited to the contents disclosed in the above Example 1. It should be noted that the above modules, as part of the system, can be executed in a computer system such as a set of computer-executable instructions.

[0058] In further embodiments, there is also provided: An electronic device includes a memory and a processor, and computer instructions stored in the memory and executed by the processor, wherein when the computer instructions are executed by the processor, the method described in Example 1 is performed. For the sake of brevity, no further details are given here.

[0059] It should be understood that in this embodiment, the processor may be a central processing unit (CPU), or may be other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), off-the-shelf field-programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor, etc.

[0060] The memory may include a read-only memory and a random access memory, and provides instructions and data to the processor. A portion of the memory may also include a non-volatile random access memory. For example, the memory may also store information about the device type.

[0061] A computer-readable storage medium is used to store computer instructions, and when the computer instructions are executed by a processor, the method described in Example 1 is performed.

[0062] The method in Example 1 can be directly implemented as a hardware processor, or can be implemented using a combination of hardware and software modules in the processor. The software module can be located in a storage medium mature in the art, such as random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, etc. The storage medium is located in the memory, and the processor reads the information in the memory and, in conjunction with its hardware, completes the steps of the above method. To avoid repetition, it will not be described in detail here.

[0063] A computer program product includes a computer program, which implements the method described in embodiment 1 when executed by a processor.

[0064] The present invention also provides at least one computer program product tangibly stored on a non-transitory computer-readable storage medium. The computer program product includes computer-executable instructions, such as instructions contained in program modules, which are executed in a device on a real or virtual processor of a target to perform the process / method described above. Generally, program modules include routines, programs, libraries, objects, classes, components, data structures, etc. that perform specific tasks or implement specific abstract data types. In various embodiments, the functionality of program modules can be combined or divided between program modules as needed. The machine-executable instructions for the program modules can be executed in local or distributed devices. In distributed devices, program modules can be located in local and remote storage media.

[0065] The computer program code for implementing the method of the present invention can be written in one or more programming languages. These computer program codes can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device so that when the program code is executed by the computer or other programmable data processing device, the functions / operations specified in the flow chart and / or block diagram are implemented. The program code can be executed entirely on a computer, partially on a computer, as an independent software package, partially on a computer and partially on a remote computer, or entirely on a remote computer or server.

[0066] In the context of the present invention, computer program code or related data can be carried by any appropriate carrier to enable a device, apparatus, or processor to perform the various processes and operations described above. Examples of carriers include signals, computer-readable media, and the like. Examples of signals include electrical, optical, radio, acoustic, or other forms of propagated signals, such as carrier waves, infrared signals, and the like.

[0067] Those skilled in the art will appreciate that the units and algorithm steps of the various examples described in conjunction with this embodiment can be implemented in electronic hardware or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0068] Although the above describes the specific embodiments of the present invention in conjunction with the accompanying drawings, it is not intended to limit the scope of protection of the present invention. Those skilled in the art should understand that various modifications or variations that can be made by those skilled in the art on the basis of the technical solution of the present invention without any creative work are still within the scope of protection of the present invention.

Claims

1. An AMR transport control method, characterized in that: include: Obtain the material requirements and corresponding locations of the mission requirement sites; A transportation network is constructed based on the location of the task demand site, the location of the transportation node, and the starting location of the AMR to determine the number of transportation nodes that the idle AMR passes through to reach each task demand site. According to the sorting of task demand sites under a single workstation and the remaining consumption time of each workstation, all task demand sites in the batch are sorted to obtain the allocation order of the task demand sites; The idle AMR that is the shortest distance from the transport node of each task demand site is the pre-selected AMR. According to the allocation order of the task demand sites, it is determined in turn whether the current task demand site falls within the delivery range of the pre-selected AMR. If it does, the AMR is controlled to perform the task corresponding to the task demand site to transport the required materials to the corresponding task demand site. If it does not fall within the range, it is abandoned.

2. The AMR transport control method according to claim 1, wherein: In the transportation network, the mission demand sites and transportation nodes have location attributes and AMR movement direction attributes. The distance between the transportation nodes is fixed, and the distance satisfies the movement of the AMR during transportation without collision.

3. The AMR transport control method according to claim 1, wherein: The remaining consumption time is the time required to use up the remaining materials t , expressed as: Where, Q is the number of remaining materials, C For single use, JPH For production rhythm; The delivery range of AMR is that the number of transportation nodes of the pre-selected path that AMR passes through to the task requirement site is no more than 80% of the transportation nodes required to pass through the pre-selected path from the starting point to the destination of the task requirement site.

4. The AMR transport control method according to claim 1, wherein: The process of controlling AMRs to perform tasks includes AMR site management and control methods, including: When the AMR responsible for loading materials goes to the cache site, it determines whether there is a material box at the cache site. If so, it goes to the cache site; if not, it waits at the current location. At the same time, it is determined whether the AMR performing the caching task has the same path as the AMR currently performing the loading task. If so, the AMR performing the caching task waits for the AMR performing the caching task to move to the transport node with the same path, and then the AMR performing the loading task starts to go to the caching site and starts to perform the caching task. If there is no identical path, the AMR performing the caching task waits for the AMR performing the caching task to complete the caching task and leave, and then the AMR performing the loading task starts to go to the caching site and perform the loading task. After the AMR responsible for the loading task arrives at the cache site and picks up the material box, it obtains the transportation path of the AMR in the same group with the empty return task to determine whether there is the same path; if so, it waits for the AMR performing the empty return task to move to the transportation node of the same path before starting to perform the loading task; if there is no identical path, it waits for the AMR performing the empty return task to receive the empty material box and leave the cache site, that is, after the AMR arrives at the starting point of the task, it starts to perform the loading task.

5. The AMR transport control method according to claim 1, wherein: The process of controlling the AMR to perform tasks also includes the AMR path planning method, which specifically includes: Determine the remaining optional paths between the AMR's current location and the mission's destination; Calculate the node congestion coefficient of each remaining optional path : Where, v is the AMR moving speed, s is the transport node distance, n is the number of remaining transport nodes on the path, The actual time required to pass a transport node; Calculate the real-time travel time for each remaining optional path: Where, is the straight node travel time, is the transit time of the rotating node, is the congestion coefficient of the i-th straight node, is the congestion coefficient of the i-th turning node, n 、 k are the number of straight nodes and rotation nodes of the remaining optional paths respectively; When the AMR enters the hub entrance node, it updates the optimal path with the shortest travel time.

6. The AMR transport control method according to claim 1, wherein: The process of controlling AMRs to perform tasks also includes hub management methods, specifically: when an AMR enters the hub, the transport nodes that the AMRs waiting at each hub entrance need to pass through are numbered to form a demand sequence, and the currently waiting AMRs are sorted in order of arrival; when the AMR is at the hub entrance, it can only pass when all transport nodes in the demand sequence are in a released state. At the same time, after the AMR obtains permission to pass, it first occupies all transport nodes in the demand sequence. The AMR passes through a transport node and releases a transport node until it leaves the hub.

7. An AMR transport control system, characterized in that: include: An acquisition module, configured to acquire material requirements and corresponding locations of task requirement sites; A calculation module is configured to construct a transportation network based on the location of the task demand site, the location of the transportation node, and the starting location of the AMR, so as to determine the number of transportation nodes that the idle AMR passes through to reach each task demand site; The sorting module is configured to sort all task demand sites in the batch according to the sorting of task demand sites under a single workstation and the remaining consumption time of each workstation, and obtain the allocation order of the task demand sites; The control module is configured to pre-select the idle AMR that is the shortest distance from the transport node of each task demand site as the AMR, and determine in sequence according to the allocation order of the task demand sites whether the current task demand site falls within the delivery range of the pre-selected AMR. If so, the AMR is controlled to execute the task corresponding to the task demand site to transport the required materials to the corresponding task demand site. If not, the task is abandoned.

8. An electronic device, characterized in that: The method comprises a memory and a processor, and computer instructions stored in the memory and executed on the processor, wherein when the computer instructions are executed by the processor, the method according to any one of claims 1 to 6 is completed.

9. A computer-readable storage medium, characterized in that Used to store computer instructions, which, when executed by a processor, complete the method according to any one of claims 1 to 6.

10. A computer program product, characterized in that The invention comprises a computer program, which is used to implement the method according to any one of claims 1 to 6 when the computer program is executed by a processor.

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