Scheduling method and device of automatic guided stacker and computer storage medium

Abstract

The invention provides a scheduling method and a scheduling device of an automatic guided stacker, and a computer storage medium. The scheduling method comprises the steps that a three-dimensional operation space of a current automatic guide stacker at an operation position is acquired, and the three-dimensional operation space comprises a height range and a plane range; determining a to-be-detected automatic guided fork lift truck set of the current automatic guided fork lift truck; detecting whether the height range of the current automatic guide fork lift truck coincides with the height range of the automatic guide fork lift truck set to be detected or not; if yes, detecting whether the plane range of the current automatic guide fork lift truck coincides with the plane range of the automatic guide fork lift truck set to be detected or not; and if not, controlling the current automatic guide stacker to execute a loading and unloading task. Through the above scheduling method, the three-dimensional operation space of the automatic guided fork lift truck is calculated, conflict detection of the three-dimensional operation space of a plurality of automatic guided fork lift trucks is realized, and the operation safety of the automatic guided fork lift trucks is ensured.

Description

Technical Field

[0001] This application relates to the field of automated guided vehicle (AGV) scheduling technology, and in particular to a scheduling method, scheduling device, and computer storage medium for an AGV stacker. Background Technology

[0002] Automated Guided Vehicles (AGVs) are various handling vehicles used for loading, unloading, stacking, and transporting pallets. They are widely used transportation equipment in automated workshops, warehouses, distribution centers, airports, and docks. With the advancement of industrial technology, the number of AGVs, warehouse density, and daily workload in automated industrial scenarios have increased significantly. The safe and efficient transportation capabilities of AGVs have become a key factor determining the system's operational efficiency. To ensure the safety and efficiency of AGVs during operation and cargo handling, real-time monitoring and control of equipment in multi-AGV systems is necessary.

[0003] Currently, the commonly used real-time management methods for AGV multi-vehicle systems only focus on the safety management of the goods transportation process of stacker trucks, without supervising and controlling the safety of the goods retrieval and placement process in the warehouse. In application scenarios with large workloads and a large number of devices, such as back-to-back high-bay warehouses, when the stacker truck's arm is raised to a designated height and extended to retrieve and place goods, if the arm length is too long, it can easily affect the goods retrieval and placement process of adjacent warehouses, resulting in insufficient safety of stacker trucks during the loading and unloading of goods. Summary of the Invention

[0004] To address the aforementioned technical problems, this application proposes a scheduling method, scheduling device, and computer storage medium for an automated guided stacker truck.

[0005] To address the aforementioned technical problems, this application proposes a scheduling method for an automated guided forklift truck, the scheduling method comprising:

[0006] Obtain the three-dimensional working space of the current automated guided forklift truck at its working position, wherein the three-dimensional working space includes a height range and a planar range;

[0007] Determine the set of automated guided stackers to be detected for the current automated guided stacker;

[0008] Detect whether the height range of the current automated guided stacker vehicle overlaps with the height range of the automated guided stacker vehicle set to be detected;

[0009] If so, check whether the planar range of the current automated guided stacker vehicle overlaps with the planar range of the automated guided stacker vehicle set to be detected;

[0010] If not, control the current automated guided stacker to perform the loading and unloading task.

[0011] The method comprises:

[0012] Determine the loading and unloading location corresponding to the loading and unloading task of the current automated guided stacker;

[0013] According to the bottom and top of the loading and unloading location, determine the height range of the three-dimensional working space;

[0014] According to the equipment size, arm insertion size and maximum arm insertion range of the current automated guided stacker, determine the plane range of the three-dimensional working space.

[0015] The method comprises:

[0016] According to the plane range of the three-dimensional working space, obtain a radiation range;

[0017] According to the working location of the current automated guided stacker and the radiation range, determine a to-be-detected area;

[0018] The set of other automated guided stackers existing in the to-be-detected area is taken as the set of to-be-detected automated guided stackers.

[0019] The method comprises:

[0020] When the height range of the current automated guided stacker and the height range of the set of to-be-detected automated guided stackers do not overlap, control the current automated guided stacker to perform the loading and unloading task.

[0021] The method comprises:

[0022] When the height range of the current automated guided stacker and the height range of the set of to-be-detected automated guided stackers overlap, obtain a candidate automated guided stacker with overlapping height range;

[0023] Detect whether the plane range of the current automated guided stacker and the plane range of the candidate automated guided stacker overlap;

[0024] If not, control the current automated guided stacker to perform the loading and unloading task.

[0025] The method comprises:

[0026] When the plane range of the current automated guided stacker and the plane range of the set of candidate automated guided stackers overlap, obtain a conflict automated guided stacker with overlapping plane range.

[0027] controlling the current automated guided stacker to wait for the conflict automated guided stacker to perform the loading and unloading task;

[0028] after the conflict automated guided stacker finishes performing the loading and unloading task, re-determining whether the three-dimensional working space of the set of to-be-detected automated guided stackers and the three-dimensional working space of the current automated guided stacker conflict, and re-detecting the set of to-be-detected automated guided stackers;

[0029] if not, controlling the current automated guided stacker to perform the loading and unloading task.

[0030] The scheduling method further includes:

[0031] planning a global action path of the current automated guided stacker from a starting position to a working position;

[0032] generating a segment path according to the global action path, and determining a starting node and a terminal node of the segment path;

[0033] updating the segment path according to a conflict deadlock detection result of the segment path of the current automated guided stacker and global action paths of other automated guided stackers;

[0034] downloading the updated segment path to the current automated guided stacker to perform a transportation task.

[0035] After the updated segment path is downloaded to the current automated guided stacker to perform the transportation task, the scheduling method further includes:

[0036] acquiring a distance between the current automated guided stacker and the working position when the current automated guided stacker reaches a path terminal point of the updated segment path;

[0037] determining whether the distance is less than a distance threshold of an additional segment path;

[0038] if yes, controlling the current automated guided stacker to drive forward until the working position;

[0039] if not, downloading a next segment path according to the path terminal point and the global action path.

[0040] To solve the above technical problems, the present application further provides a scheduling device of an automated guided stacker, which comprises a memory and a processor coupled with the memory; the memory is used to store program data, and the processor is used to execute the program data to realize the scheduling method as described above.

[0041] To solve the above technical problems, the application further provides a computer storage medium, which is used for storing program data, and the program data is used to realize the scheduling method when being executed by a computer.

[0042] Compared with the prior art, the application has the beneficial effects that: the three-dimensional operation space of the stacker at the operation position is constructed, representing the activity range of the stacker when taking and placing goods in the storage location; the safety detection of the three-dimensional operation space between multiple stackers is performed, the coincidence of the activity ranges between adjacent stackers is determined, and the scheduling safety is guaranteed; the coincidence is determined from two dimensions of height range and plane range, the accuracy of scheduling is improved, and the safety supervision problem of the stacker when taking and placing goods in the storage location is solved. BRIEF DESCRIPTION OF DRAWINGS

[0043] In order to more clearly illustrate the technical solutions in the embodiments of the application, the drawings needed to be used in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the application, and other drawings can be obtained by those skilled in the art without creative labor.

[0044] Among them:

[0045] Figure 1 is a scene schematic diagram of an embodiment of the three-dimensional operation space of the automatic guided stacker provided by the application;

[0046] Figure 2 is a flowchart of the first embodiment of the scheduling method of the automatic guided stacker provided by the application;

[0047] Figure 3 is a schematic diagram of the overall flow of the scheduling method of the automatic guided stacker provided by the application;

[0048] Figure 4 is Figure 2 is a specific flowchart of the scheduling scheme step S12 of the embodiment shown in the figure;

[0049] Figure 5 is a flowchart of the second embodiment of the scheduling method of the automatic guided stacker provided by the application;

[0050] Figure 6 is a flowchart of the third embodiment of the scheduling method of the automatic guided stacker provided by the application;

[0051] Figure 7 is a scene schematic diagram of an embodiment of the global action path provided by the application;

[0052] Figure 8is a flowchart of a fourth embodiment of a dispatching method of an automatic guided forklift truck provided in the present application;

[0053] Figure 9 is a structural diagram of an embodiment of a dispatching device of an automatic guided forklift truck provided in the present application;

[0054] Figure 10 is a structural diagram of an embodiment of a computer storage medium provided in the present application. DETAILED DESCRIPTION

[0055] The technical solutions in the embodiments of the present application will be clearly and completely described in the present application with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all the other embodiments obtained by those skilled in the art without creative work belong to the scope of protection of the present application.

[0056] The terms "first", "second", "third", "fourth" and the like (if any) in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily indicate a specific order or a chronological sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device including a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to the process, method, product or device.

[0057] The current commonly used AGV multi-vehicle system real-time control method mainly includes locally locking the device to be run path, and unlocking in time after the AGV travels. The current local path planning method mainly includes that after the AGV plans a path from the starting point to the ending point, the control algorithm calculates the local path to be run in the next section, locks the path points and locks the path points contained in the local path after detecting safety, and releases the locked state of the lock after passing through the local path.

[0058] The technical terms involved in the introduction of the dispatching method of the automatic guided forklift truck in the present application are introduced as follows:

[0059] Path planning: in an environment with obstacles, according to certain optimization goals (such as shortest running time, shortest travel route, minimum vehicle travel cost, etc.), find an optimal solution or a solution close to the optimal solution in the transportation environment from the starting point to the ending point.

[0060] Segment path: after the AGV plans the global path from the starting point to the ending point, the algorithm calculates the local path length without conflict risk for the device according to the real-time state of the system and through certain multi-vehicle management and control strategy during the operation of the device.

[0061] Lock grid: according to the point and action information contained in the segment path issued by the algorithm, combined with the device size, load size, running accuracy and following distance and other information, the device locks one or more rectangular or circular areas on the map, thereby exclusively occupying.

[0062] The specific scene of the three-dimensional operation space involved in the present application can be referred to in Figure 1 , Figure 1 is a scene diagram of an embodiment of the three-dimensional operation space of the automatic guided stacker truck provided by the present application.

[0063] As shown in Figure 1 , the automatic guided stacker truck (hereinafter referred to as stacker truck) takes the goods corresponding to the 3rd layer of the high-bay warehouse 3, and the arm of the stacker truck extends to the 3rd layer of the high-bay warehouse in the next room during the process of taking goods. At this time, if the 3rd layer of the high-bay warehouse in the next room also performs the operation of taking and placing goods, a collision will occur, and the risk of tilting of the warehouse and goods is easy to occur.

[0064] In order to solve Figure 1 the potential safety hazards in the scene shown, the present application provides a specific scheduling method of the automatic guided stacker truck. The problem to be solved by the scheduling method of the present application is whether the stacker truck AGV can apply for a three-dimensional operation space to the scheduling system before performing the operation of taking and placing goods. The scheduling system allows or refuses the application by judging whether the three-dimensional space is available. If the application is allowed, the three-dimensional operation space is occupied, and during the occupation period, other devices are prohibited from applying. When the operation of taking and placing goods is completed, the three-dimensional operation space is released, and other devices are allowed to apply for use. Through the safety detection and occupation release strategy of the three-dimensional operation space, the safety and stability of the process of taking and placing goods by the stacker truck AGV are ensured, so that the limited map resources can be fully utilized, and the operation efficiency of the stacker truck AGV system is improved.

[0065] For details, please refer to Figure 2 and Figure 3 , Figure 2 is a flow diagram of the first embodiment of the scheduling method of the automatic guided stacker truck provided by the present application, Figure 3 is a whole flow diagram of the scheduling method of the automatic guided stacker truck provided by the present application.

[0066] The scheduling method of the automatic guided stacker truck in the application is applied to a scheduling device. The scheduling device in the application can be a server, a terminal device, or a system cooperated by the server and the terminal device. Accordingly, each part of the scheduling device, such as each unit, sub-unit, module, and sub-module, can be all arranged in the server, all arranged in the terminal device, or arranged in the server and the terminal device respectively.

[0067] Further, the server can be hardware or software. When the server is hardware, it can be implemented as a distributed server cluster composed of multiple servers or as a single server. When the server is software, it can be implemented as multiple software or software modules, such as software or software modules for providing a distributed server, or as a single software or software module, which is not specifically limited here.

[0068] It should be noted that the scheduling device in the application can be a control unit in the automatic guided stacker truck or a scheduling platform for controlling multiple automatic guided stacker trucks.

[0069] As shown in FIG. 8, the specific steps are as follows: Figure 2

[0070] Step S11: Obtain a three-dimensional working space of the current automatic guided stacker truck at a working position, wherein the three-dimensional working space includes a height range and a plane range.

[0071] In the embodiment of the application, Figure 3 As shown in FIG. 8, the specific steps are as follows:

[0072] Specifically, the scheduling device calculates the three-dimensional working space required by the current stacker truck for loading and unloading goods at the working position. The scheduling device mainly calculates the three-dimensional working space required for loading and unloading goods according to the model, size, fork size and length, and height of the target storage location of the stacker truck AGV device, generates space information with a height range of [minHightRange, maxHightRange] and a plane area of Area, wherein the plane area Area can be composed of one or more polygons (rectangles).

[0073] ​Wherein minHightRange in the height range refers to the height of the bottom of the warehouse location where the current reach truck needs to load and unload goods, and maxHightRange refers to the height of the top of the warehouse location where the current reach truck needs to load and unload goods, and the reach arm of the reach truck will only work within this height range. The planar area is mainly composed of the rectangular area of the truck body of the reach truck and the rectangular area of the reach arm, and when the reach arm involves translation or rotation during loading and unloading, the planar area also needs to include the area covered by translation or rotation.

[0074] Step S12: Determine the set of automatic guided reach trucks to be detected for the current automatic guided reach truck.

[0075] In the embodiments of the present application, the set of automatic guided reach trucks to be detected (hereinafter referred to as the set of reach trucks to be detected) is the set of reach trucks that may have conflicts with the current reach truck for the three-dimensional work. This part of the reach trucks also needs to perform three-dimensional work, so it is necessary to detect the conflicts between this part of the reach trucks and the current reach truck.

[0076] Specifically, the set of reach trucks to be detected can be the set of all reach trucks in the current space, such as the current factory building, or the set of reach trucks within a preset range centered on the current reach truck. The latter technical solution can greatly reduce the number of reach trucks in the set of reach trucks to be detected compared to the former technical solution, and can improve the efficiency of conflict detection.

[0077] The present application provides a technical solution for determining the set of reach trucks to be detected, which is specifically described in Figure 4 , Figure 4 is Figure 2 the specific flowchart of an embodiment of the scheduling scheme step S12.

[0078] As shown in Figure 4 , the specific steps are as follows:

[0079] Step S121: According to the planar range of the three-dimensional work space, the radiation range is obtained.

[0080] In the embodiments of the present application, the scheduling device determines the radiation range which is twice the length of the oblique side according to the coordinates of the node where the current reach truck is located and the target warehouse location, the size of the truck body of the reach truck and the maximum extension range of the reach arm.

[0081] In other embodiments, the scheduling device can also determine a radiation range that covers at least the above-mentioned area according to the size of the truck body of the reach truck and the maximum extension range of the reach arm, such as 1.5 times, 3 times, etc.

[0082] Step S122: According to the work position of the current automatic guided reach truck and the radiation range, determine the detection area.

[0083] In the embodiment of the present application, the scheduling device determines the radiation range determined in step S121 as the to-be-detected area, or continues to expand the to-be-detected area outside the radiation range.

[0084] Step S123: Taking the set of other automatic guided stackers existing in the to-be-detected area as the set of to-be-detected automatic guided stackers.

[0085] In the embodiment of the present application, the scheduling device takes the set of other stackers performing stereoscopic operation in the to-be-detected area in the current stacker stereoscopic operation time period as the set of to-be-detected stackers.

[0086] Step S13: Detecting whether the height range of the current automatic guided stacker and the height range of the set of to-be-detected automatic guided stackers overlap.

[0087] In the embodiment of the present application, the scheduling device calculates whether the stacker AGV and the stereoscopic operation space locked by the detection device exist conflict through a space conflict detection algorithm.

[0088] First, the scheduling detects the height range in the stereoscopic operation space of the current stacker and all stackers in the set of to-be-detected stackers. When there is a to-be-detected stacker at least partially overlapping with the stereoscopic operation height range of the current stacker, step S14 is entered, and the conflict detection is continued for the to-be-detected stacker.

[0089] When there is no to-be-detected stacker at least partially overlapping with the stereoscopic operation height range of the current stacker, it is indicated that there is no stacker in the set of to-be-detected stackers that may have stereoscopic operation conflict with the current stacker, and the conflict detection task is ended, and the current automatic guided stacker is controlled to perform the loading and unloading task in the stereoscopic operation space.

[0090] Specifically, if me.minHightRange (the minimum height value of the current stacker) > other.maxHightRange (the maximum height value of the to-be-detected stacker) or me.maxHightRange (the maximum height value of the current stacker) < other.minHightRange (the minimum height value of the to-be-detected stacker), it is indicated that there is no height range overlap, i.e., there is no space conflict between the two stackers, and the plane area overlap detection is not needed, and the stereoscopic operation task is directly performed; otherwise, the plane range overlap detection is performed, and step S14 is entered.

[0091] Step S14: Detecting whether the plane range of the current automatic guided stacker and the plane range of the set of to-be-detected automatic guided stackers overlap.

[0092] In the embodiment of the present application, the scheduling device continues to perform the overlap judgment in the plane range for the to-be-detected stacker-truck that has at least a part of overlap with the current stacker-truck in the height range in step S13.

[0093] If there is no overlap between the to-be-detected stacker-truck and the current stacker-truck in the plane range, step S15 is entered.

[0094] Specifically, the scheduling device traverses each polygon contained in the three-dimensional working space plane area Area applied by the current stacker-truck, whether there is an overlapping part with each polygon contained in the three-dimensional working space plane area occupied by the to-be-detected stacker-truck. If there is an overlapping part, it means that there is a space conflict between the two; if there is no conflict after the traversal of each polygon contained in the three-dimensional working space plane area Area is completed, step S15 is entered.

[0095] Step S15: control the current automated guided stacker-truck to perform the loading and unloading task.

[0096] In the embodiment of the present application, the scheduling device allows the stacker-truck to perform the loading and unloading task, and occupies the three-dimensional working space with the height range [minHightRange, maxHightRange] and the plane area Area. After the loading and unloading task is completed, the current stacker-truck is released from the occupation of the three-dimensional working space with the height range [minHightRange, maxHightRange] and the plane area Area, the current task flow is ended, and the next task is triggered.

[0097] In the present application, the scheduling device obtains a three-dimensional working space of a current automated guided stacker-truck at a working position, wherein the three-dimensional working space includes a height range and a plane range; determines a set of to-be-detected automated guided stacker-trucks of the current automated guided stacker-truck; detects whether the height range of the current automated guided stacker-truck overlaps with the height range of the set of to-be-detected automated guided stacker-trucks; if yes, detects whether the plane range of the current automated guided stacker-truck overlaps with the plane range of the set of to-be-detected automated guided stacker-trucks; and if no, controls the current automated guided stacker-truck to perform a loading and unloading task. Through the above scheduling method, the three-dimensional working space of the automated guided stacker-truck is calculated, the conflict detection of the three-dimensional working space of multiple automated guided stacker-trucks is realized, and the working safety of the automated guided stacker-truck is ensured.

[0098] Based on the scheduling method shown in Figure 2 and Figure 3 , the present application further provides another specific scheduling method, please refer to Figure 5 , Figure 5 is a flowchart of the second embodiment of the scheduling method of the automated guided stacker-truck provided by the present application.

[0099] AsFigure 5 As shown, the specific steps are as follows:

[0100] Step S21: When the planar range of the current automated guided stacker coincides with the planar range of the candidate automated guided stacker set, acquire the conflicting automated guided stackers with the overlapping planar ranges.

[0101] In this embodiment of the application, the scheduling device traverses the planar range of each stacker to be detected in the set of stackers to be detected and matches it with the planar range of the current stacker. When there is at least partial overlap, the stacker to be detected is designated as a conflict-guided stacker (hereinafter referred to as a conflict stacker).

[0102] Step S22: Control the current automated guided stacker to remain in place and wait for the conflict automated guided stacker to perform the loading and unloading task.

[0103] In this embodiment of the application, the scheduling device temporarily does not allow the current stacker truck to perform loading and unloading tasks, and waits in place for the stacker truck in conflict to perform loading and unloading tasks.

[0104] Step S23: After the conflict-riding automated stacker completes the loading and unloading task, re-determine the set of automated stackers to be tested and re-detect whether there is a conflict between the three-dimensional working space of the set of automated stackers to be tested and the three-dimensional working space of the current automated stacker.

[0105] In this embodiment of the application, after the forklift truck completes its loading and unloading task, the scheduling device re-executes the current forklift truck's space safety detection process, i.e. Figure 2 The detection logic for steps S12 to S14 is shown.

[0106] When there is no overlap between the three-dimensional workspace of all the stackers to be tested and the current stacker, the process can proceed to step S24.

[0107] Step S24: Control the current automated guided stacker to perform loading and unloading tasks.

[0108] based on Figure 2 and Figure 3 The scheduling method shown in the figure is supplemented by another specific scheduling method, which can be found in the following figure. Figure 6 , Figure 6 This is a flowchart illustrating the third embodiment of the scheduling method for automated guided stacker trucks provided in this application.

[0109] like Figure 6 As shown, the specific steps are as follows:

[0110] Step S31: Plan the global motion path of the current automated guided stacker truck from the starting position to the working position.

[0111] In the embodiments of the present application, Figure 3 Steps 1 to 7 in the overall scheduling scheme shown are the transport logic of the reach truck from the starting position to the work position.

[0112] Specifically, the scheduling device plans an optimal global path from the starting position to the ending position for the device using A* and other shortest path planning algorithms according to the node attributes (workbench, shelf area, running area, etc.), location, and connectivity information in the map network, and the real-time state of the real-time tasks, location, and path of each device in the system.

[0113] Secondly, the scheduling device generates a global action path containing device action information according to the node direction and node connectivity information contained in the global path, for example: Figure 7 As shown, ① straight from 0 to 1 ② turn left 90 degrees at 1 ③ walk a Bézier curve from 1 to 2 ④ turn right 180 degrees at 2 ⑤ back up from 2 to 3.

[0114] Step S32: Generate a segment path according to the global action path, and determine the starting node and the ending node of the segment path.

[0115] In the embodiments of the present application, the scheduling device determines the rectangular and circular lock information generated by the forward or backward movement of the device on the node and between the nodes according to the device segment path action information and the device size, running accuracy, and following distance information.

[0116] Further, the scheduling device determines the length of the device pre-issued segment path according to certain rules, for example, determines the longest and shortest length of the issued segment path according to the distance threshold, truncates if the segment path includes a rotating action point (which needs to slow down and stop at this point and rotate in place), and continues to append to a point where parking is allowed if the attribute of the last node of the segment path is not allowed to wait (the intersection is not allowed to park).

[0117] Thus, the node set contained in the pre-issued segment path and its corresponding starting node beginIdx and ending node endIdx are determined, wherein the starting node beginIdx of the device this time is the next node of the ending node endIdx of the last time.

[0118] Step S33: Update the segment path according to the conflict deadlock detection result of the segment path of the current automated guided reach truck and the global action path of other automated guided reach trucks.

[0119] In the embodiments of the present application, the scheduling device starts from the starting point of the pre-issued segment path and checks backward in turn to determine whether each node on the pre-issued segment path of the current reach truck is safe, deadlock-free, and collision-free through the conflict deadlock detection algorithm.

[0120] Specifically, the scheduling device determines whether the pre-issued segment path is safe through a conflict deadlock detection algorithm that can identify the possibility of deadlock according to the intersection and coincidence relationship between the global path information of the current stacker and the surrounding conflict devices and the pre-issued segment path.

[0121] If there is a risk of a conflict deadlock with the conflict device, the number of nodes included in the segment path is reduced, and a safe segment path end node endIdx without deadlock and collision is re-determined. The segment path represented by the start node beginIdx to the end node endIdx is issued to the device, and the lock cell area containing the nodes in the segment path is occupied.

[0122] Step S34: The updated segment path is issued to the current automatic guided stacker to perform the transportation task.

[0123] In the embodiment of the present application, the current stacker executes the issued segment path and drives forward, and clears the lock cell occupation information of the area that has passed during driving.

[0124] Based on Figure 6 the scheduling method shown in the figure, the present application further provides another specific scheduling method, please refer to Figure 8 , Figure 8 is a flowchart of the fourth embodiment of the scheduling method of the automatic guided stacker provided by the present application.

[0125] As Figure 8 shown, the specific steps are as follows:

[0126] Step S41: Obtain the distance between the current automatic guided stacker and the work position when the current automatic guided stacker reaches the path end point of the updated segment path.

[0127] In the embodiment of the present application, when the current guided vehicle completes a transportation task of a segment path, i.e. reaches the path end point of the current segment path, the scheduling device calculates the distance between the target position of the current guided vehicle and the work position.

[0128] Step S42: Determine whether the distance is less than the distance threshold of the additional segment path.

[0129] In the embodiment of the present application, the scheduling device determines whether the distance calculated in step S41 is less than the distance threshold that requires an additional segment path. If yes, go to step S43; if no, go to step S44.

[0130] Step S43: Control the current automatic guided stacker to drive forward until the work position.

[0131] In the embodiment of the present application, the scheduling device controls the current stacker to drive forward in the direction of the work position until the space safety detection process is performed at the original position.

[0132] Step S44: According to the path end point and the global action path, the next segment path is issued.

[0133] In the embodiment of the present application, the scheduling device continues to issue the next segment path until the work position is reached, or the distance between the end position of the segment path and the work position does not need to add a segment path.

[0134] The scheduling method of the present application divides the process of completing the cargo handling task of the stacker truck into two processes of transportation and loading and unloading, respectively performs safety detection before executing the transportation and loading and unloading operations, ensures the safety of the entire handling process from collision with other equipment, and effectively improves the stability and operation efficiency of the multi-stacker truck system.

[0135] The scheduling method of the present application calculates the three-dimensional operation space required for loading and unloading cargo according to the model, size, fork size and length, and height of the loading and unloading target storage location of the stacker truck, and the occupation and release strategy of the three-dimensional operation space, which can effectively ensure that the loading and unloading process will not collide with other equipment.

[0136] The scheduling method of the present application proposes a stacker truck space conflict detection algorithm, which can ensure the safe and stable allowance of loading and unloading operations of high-position warehouses in back-to-back and close proximity, ensure that the stacker truck will not collide with other equipment due to the length of the telescopic fork when picking and placing goods, and ensure the safety of the equipment, goods and storage locations.

[0137] Those skilled in the art can understand that in the above method of the specific implementation, the writing order of each step does not mean a strict execution order and does not constitute any limitation on the implementation process. The specific execution order of each step should be determined by its function and possible internal logic.

[0138] To realize the scheduling method of the automatic guided stacker truck, the present application further provides a scheduling device of an automatic guided stacker truck, which is specifically described in the following Figure 9 , Figure 9 is a structural schematic diagram of an embodiment of the scheduling device of the automatic guided stacker truck provided by the present application.

[0139] The scheduling device 500 of the automatic guided stacker truck of the present embodiment comprises a processor 51, a memory 52, an input and output device 53, and a bus 54.

[0140] The processor 51, the memory 52, and the input and output device 53 are respectively connected with the bus 54. The memory 52 stores program data, and the processor 51 is used to execute the program data to realize the scheduling method of the automatic guided stacker truck described in the above embodiment.

[0141] In the embodiments of the present application, the processor 51 can also be referred to as a CPU (Central Processing Unit). The processor 51 can be an integrated circuit chip having a processing capability of signals. The processor 51 can also be a general-purpose processor, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components. The general-purpose processor can be a microprocessor or the processor 51 can also be any conventional processor or the like.

[0142] The present application also provides a computer storage medium, please continue to refer to Figure 10 , Figure 10 is a structural schematic diagram of an embodiment of the computer storage medium provided by the present application. The computer storage medium 600 stores a computer program 61. When the computer program 61 is executed by a processor, the automatic guided stacker truck scheduling method of the above-mentioned embodiments is implemented.

[0143] When the embodiments of the present application are realized in the form of software functional units and sold or used as independent products, they can be stored in a computer readable storage medium. Based on this understanding, the technical solutions of the present application or the whole or part of the technical solutions that make essential contributions to the prior art can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes a plurality of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) or a processor to execute all or part of the steps of the method described in the various embodiments of the present application. The aforementioned storage medium includes a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and various media that can store program codes.

[0144] The above only describes the embodiments of the present application, and does not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation based on the content of the specification and drawings, or direct or indirect application in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A method of dispatching an automated guided forklift truck, characterized in that, The scheduling method comprises: acquiring a three-dimensional working space of a current automated guided stacker at a working position, wherein the three-dimensional working space comprises a height range and a plane range; determining a set of automated guided stackers to be detected for the current automated guided stacker; detecting whether the height range of the current automated guided stacker overlaps with the height range of the set of automated guided stackers to be detected; if yes, detecting whether the plane range of the current automated guided stacker overlaps with the plane range of the set of automated guided stackers to be detected; if no, controlling the current automated guided stacker to perform a loading and unloading task.

2. The scheduling method according to claim 1, wherein the acquiring a three-dimensional working space of a current automated guided stacker at a working position comprises: determining a loading and unloading location corresponding to a loading and unloading task of the current automated guided stacker; determining a height range of the three-dimensional working space according to a bottom and a top of the loading and unloading location; determining a plane range of the three-dimensional working space according to a device size, an arm size and a maximum arm extension range of the current automated guided stacker.

3. The scheduling method according to claim 2, wherein the determining a set of automated guided stackers to be detected for the current automated guided stacker comprises: acquiring a radiation range according to the plane range of the three-dimensional working space; determining a detection area according to a working position of the current automated guided stacker and the radiation range; determining the set of automated guided stackers to be detected as a set of other automated guided stackers existing in the detection area.

4. The scheduling method according to claim 1, wherein the scheduling method further comprises: controlling the current automated guided stacker to perform a loading and unloading task when the height range of the current automated guided stacker does not overlap with the height range of the set of automated guided stackers to be detected.

5. The scheduling method according to claim 4, wherein the scheduling method further comprises: acquiring a candidate automated guided stacker with a height range overlapping with the height range of the current automated guided stacker when the height range of the current automated guided stacker overlaps with the height range of the set of automated guided stackers to be detected; detecting whether the plane range of the current automated guided stacker overlaps with the plane range of the candidate automated guided stacker; controlling the current automated guided stacker to perform a loading and unloading task when the plane range of the current automated guided stacker does not overlap with the plane range of the candidate automated guided stacker.

6. The scheduling method according to claim 5, wherein the scheduling method further comprises: acquiring a conflict automated guided stacker with a plane range overlapping with the plane range of the current automated guided stacker when the plane range of the current automated guided stacker overlaps with the plane range of the set of candidate automated guided stackers; controlling the current automated guided stacker to wait for the conflict automated guided stacker to perform a loading and unloading task; after the conflict automated guided stacker finishes performing the loading and unloading task, re-determining a set of automated guided stackers to be detected and re-detecting whether a three-dimensional working space of the set of automated guided stackers to be detected and a three-dimensional working space of the current automated guided stacker exist a conflict. ​ ​ ​ ​ ​ If not, controlling the current automated guided forklift to perform the loading and unloading task.

7. The scheduling method of claim 1, wherein, The scheduling method further comprises: planning a global action path of the current automated guided forklift from a starting position to a work position; generating a segment path according to the global action path, determining a starting node and a terminal node of the segment path; updating the segment path according to a conflict deadlock detection result of the segment path of the current automated guided forklift and global action paths of other automated guided forklifts; issuing the updated segment path to the current automated guided forklift to perform the transportation task.

8. The scheduling method of claim 7, wherein, after the issuing the updated segment path to the current automated guided forklift to perform the transportation task, the scheduling method further comprises: acquiring a distance between the current automated guided forklift and the work position when the current automated guided forklift reaches a path terminal point of the updated segment path; determining whether the distance is less than a distance threshold of an additional segment path; if yes, controlling the current automated guided forklift to drive forward until the work position; if not, issuing a next segment path according to the path terminal point and the global action path.

9. A dispatching device of an automated guided lift truck, characterized in that The scheduling device comprises a memory and a processor coupled with the memory; wherein the memory is configured to store program data, and the processor is configured to execute the program data to implement the scheduling method of any one of claims 1 to 8.

10. A computer storage medium, characterized in that, The computer storage medium is configured to store program data, and the program data, when executed by a computer, is configured to implement the scheduling method of any one of claims 1 to 8.

Images