AGV operation control method and system based on priority decision voting

Abstract

The invention discloses an AGV operation control method and system based on priority decision voting, and the method comprises the steps: S101, judging whether the distance between at least one of two or more vehicles with path intersection and a task intersection is smaller than a set distance, and if yes, executing S102 to S105; s102, obtaining the value of a specified parameter of each vehicle with a path intersection; s103, obtaining a weight proportionality coefficient of a specified parameter of each vehicle; s104, sequentially multiplying the value of the specified parameter of each vehicle by the weight proportion coefficient of each vehicle to obtain an AGV priority level coefficient of each vehicle; and S105, controlling the vehicles with the path intersection to work at the task intersection according to the sequence of the AGV priority level coefficients. According to the invention, the priority level calculation is carried out based on the actual working condition parameters of the AGV vehicle, and the operation sequence of the AGV vehicle is controlled according to the priority level, so that the priority level requirement of actual operation can be met, and the operation efficiency is improved.

Description

Technical Field

[0001] This application relates to the field of vehicle scheduling technology, and in particular to an AGV operation control method and system based on priority decision voting. Background Technology

[0002] In locations where AGVs are used, there are often overlapping paths between two or more AGV vehicles, meaning that two or more AGV vehicles will go to the same task intersection point to perform their tasks. See also Figure 1 The diagram illustrates a path interaction between two AGVs, where S1 represents the distance from AGV1 to the meeting point, and S2 represents the distance from AGV2 to the meeting point. In current AGV path planning, when AGVs interact, the priority processing often defaults to giving higher priority to the AGV that arrives at the meeting point first, with other AGVs waiting to complete their tasks before executing theirs. This approach is not only inefficient but also fails to effectively reflect the actual priorities of the vehicles on site. Summary of the Invention

[0003] To address the aforementioned technical problems, this invention provides an AGV operation control method and system based on priority decision-making and voting. The method calculates the priority level based on the actual working parameters of the AGV vehicles and controls the operation sequence of the AGV vehicles according to the priority level, which can meet the priority requirements of actual operations and improve operation efficiency.

[0004] The present invention adopts the following technical solution:

[0005] On the one hand, an AGV operation control method based on priority-based decision-making and voting includes:

[0006] S101, determine whether the distance of at least one of the two or more vehicles with intersecting paths from the task intersection point is less than the set distance; if so, execute S102 to S105.

[0007] S102, obtain the values ​​of specified parameters for each vehicle that has path intersection;

[0008] S103, obtain the weight ratio coefficient of the specified parameters of each vehicle;

[0009] S104, multiply the values ​​of the specified parameters of each vehicle by the weight ratio coefficient of each vehicle in sequence to obtain the AGV priority level coefficient of each vehicle.

[0010] S105 controls vehicles with intersecting paths to operate at the task intersection point in order of AGV priority level coefficient.

[0011] Preferably, the control of vehicles with intersecting paths at the task intersection point involves operations in order of AGV priority level coefficient, specifically including:

[0012] Vehicles with higher priority coefficients are given priority at task intersections. For vehicles with the same priority coefficient, vehicles with smaller numbers are given priority. These numbers are obtained from the AGV background scheduling system, and vehicles with smaller numbers are those deployed earlier.

[0013] Preferably, the specified parameters include: load parameters, vehicle parameters, battery parameters, AGV parameters, and abnormal parameters.

[0014] Preferably, the sub-parameters of the load parameters include: load rate, load type, and load height.

[0015] Preferably, the sub-parameters of the vehicle parameters include: distance to the target point, current vehicle speed, and current vehicle steering angle.

[0016] Preferably, the sub-parameters of the battery parameters include: battery capacity, battery life, and battery temperature.

[0017] Preferably, the sub-parameters of the AGV parameters include: positioning matching rate, sensor recognition rate, and vehicle control execution rate.

[0018] Preferably, the sub-parameters of the abnormal parameters include: the number of hours since the last abnormality of the base vehicle, the number of hours since the last abnormality of the BMS, and the number of hours since the last abnormality of the AGV system.

[0019] Preferably, obtaining the values ​​of specified parameters for each vehicle with path intersection includes:

[0020] Obtain the values ​​of each sub-parameter of the load parameter, each sub-parameter of the vehicle parameter, each sub-parameter of the battery parameter, each sub-parameter of the AGV parameter, and each sub-parameter of the abnormal parameter respectively;

[0021] The process of obtaining the weighting ratio coefficients for specified parameters of each vehicle specifically includes:

[0022] Obtain the first weighting coefficients for load parameters, vehicle parameters, battery parameters, AGV parameters, and abnormal parameters respectively;

[0023] Obtain the second weighting coefficients for each sub-parameter of the load parameter, each sub-parameter of the vehicle parameter, each sub-parameter of the battery parameter, each sub-parameter of the AGV parameter, and each sub-parameter of the abnormal parameter;

[0024] The weighting ratios of the load parameters are obtained by multiplying the first weighting ratio of the load parameter with the second weighting ratio of each sub-parameter of the load parameter; the weighting ratios of the vehicle parameters are obtained by multiplying the first weighting ratio of the vehicle parameter with the second weighting ratio of each sub-parameter of the vehicle parameter; the weighting ratios of the battery parameters are obtained by multiplying the first weighting ratio of the battery parameter with the second weighting ratio of each sub-parameter of the battery parameter; the weighting ratios of the AGV parameters are obtained by multiplying the first weighting ratio of the AGV parameter with the second weighting ratio of each sub-parameter of the AGV parameter; and the weighting ratios of the abnormal parameters are obtained by multiplying the first weighting ratio of the abnormal parameters with the second weighting ratio of each sub-parameter of the abnormal parameters.

[0025] On the other hand, an AGV operation control system based on priority-based decision-making includes:

[0026] The distance judgment module is used to determine whether the distance of at least one of two or more vehicles with path intersection to the task intersection point is less than a set distance. If so, the parameter value acquisition module, weight ratio coefficient acquisition module, priority level coefficient acquisition module and priority level coefficient acquisition module are executed.

[0027] The parameter value acquisition module is used to obtain the values ​​of specified parameters for each vehicle that has path intersection;

[0028] The weight ratio coefficient acquisition module is used to obtain the weight ratio coefficient of specified parameters for each vehicle.

[0029] The priority level coefficient acquisition module is used to multiply the values ​​of the specified parameters of each vehicle by the weight ratio coefficient of each vehicle in sequence to obtain the AGV priority level coefficient of each vehicle.

[0030] The vehicle operation control module is used to control vehicles with intersecting paths to operate in order of AGV priority coefficient at the task intersection point.

[0031] The present invention has the following beneficial effects:

[0032] (1) This invention obtains current load parameters, vehicle parameters, battery parameters, AGV parameters and abnormal parameters, and performs voting processing on these parameters in proportion; at the same time, each parameter corresponds to three sub-parameters, and the sub-parameters are also voted on in proportion; finally, the priority level coefficient is obtained. The processing of this invention not only truly reflects the priority on site, but also improves efficiency.

[0033] (2) The load parameters obtained by the priority decision of the present invention include load rate, load type and load height, which can improve the passage safety of loaded vehicles when two vehicles pass each other.

[0034] (3) The vehicle parameters obtained by the priority decision of the present invention include the distance to the target point, the current vehicle speed and the current vehicle turning angle, which can improve the passage efficiency of the two vehicles.

[0035] (4) The battery parameters obtained by the priority decision of the present invention, including battery power, battery life and battery temperature, can improve the energy efficiency management and range of the two vehicles.

[0036] (5) The AGV parameters obtained by the priority decision of the present invention include positioning matching rate, sensor recognition rate and vehicle control execution rate, which can not only improve the safety of the two vehicles, but also reduce the idle time of the two vehicles performing tasks.

[0037] (6) The abnormal parameters obtained by the priority decision of the present invention include the number of hours since the last abnormality of the base vehicle, the number of hours since the last abnormality of the BMS, and the number of hours since the last abnormality of the AGV system. When the two vehicles meet, the probability of abnormal failure can be reduced.

[0038] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. Attached Figure Description

[0039] Figure 1 This is a schematic diagram showing the path interaction between two AGV vehicles.

[0040] Figure 2 This is a flowchart of the AGV operation control method based on priority decision voting according to an embodiment of the present invention;

[0041] Figure 3 This is a flowchart of a method for controlling the operation of two AGVs with a meeting point according to an embodiment of the present invention;

[0042] Figure 4 This is a schematic diagram of the AGV operation control system based on priority decision voting according to an embodiment of the present invention. Detailed Implementation

[0043] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0044] In the description of this invention, it should be noted that the terms "comprising," "including," or any other variations thereof are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0045] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the step identifiers S101, S102, S103, etc. are used only for convenience of description and do not indicate the execution order. The corresponding execution order can be adjusted.

[0046] See Figure 2 As shown, the present invention provides an AGV operation control method based on priority decision voting, comprising:

[0047] S101, determine whether the distance of at least one of the two or more vehicles with intersecting paths from the task intersection point is less than the set distance; if so, execute S102 to S105.

[0048] S102, obtain the values ​​of specified parameters for each vehicle that has path intersection;

[0049] S103, obtain the weight ratio coefficient of the specified parameters of each vehicle;

[0050] S104, multiply the values ​​of the specified parameters of each vehicle by the weight ratio coefficient of each vehicle in sequence to obtain the AGV priority level coefficient of each vehicle.

[0051] S105 controls vehicles with intersecting paths to operate at the task intersection point in order of AGV priority level coefficient.

[0052] The AGV operation control method based on priority decision voting in this embodiment can be implemented by a controller. The controller can be an existing vehicle controller or a newly added controller. This embodiment does not impose any specific restrictions.

[0053] It should be noted that in S101, determining whether at least one of the two or more vehicles with intersecting paths is less than a set distance from the task intersection point, and if so, executing S102 to S105, can be understood as follows: as long as at least one vehicle is less than the set distance from the task intersection point, the process of S102 to S105 is executed; otherwise, each AGV executes its own task. Alternatively, it can be understood as follows: only when all vehicles are less than the set distance from the task intersection point, the process of S102 to S105 is executed; otherwise, each AGV executes its own task.

[0054] Furthermore, the control of vehicles with intersecting paths at the task intersection point, which operates in order of AGV priority level coefficient, specifically includes:

[0055] Vehicles with higher priority coefficients are given priority at task intersections. For vehicles with the same priority coefficient, vehicles with smaller numbers are given priority. These numbers are obtained from the AGV background scheduling system, and vehicles with smaller numbers are those deployed earlier.

[0056] In this embodiment, the specified parameters include: load parameters, vehicle parameters, battery parameters, AGV parameters, and anomaly parameters. The sub-parameters of the load parameters include: load rate, load type, and load height. The sub-parameters of the vehicle parameters include: distance to the target point, current vehicle speed, and current vehicle steering angle. The sub-parameters of the battery parameters include: battery charge, battery life, and battery temperature. The sub-parameters of the AGV parameters include: positioning matching rate, sensor recognition rate, and vehicle control execution rate. The sub-parameters of the anomaly parameters include: the number of hours since the last anomaly of the base vehicle, the number of hours since the last anomaly of the BMS, and the number of hours since the last anomaly of the AGV system.

[0057] It should be noted that the above parameters and sub-parameters can be increased or decreased according to actual needs, or other parameters can be used. This embodiment does not impose specific restrictions.

[0058] Specifically, the job control methods based on the above parameters include:

[0059] (1) Within a set distance, when there is interaction along the AGV vehicle path, calculate the current load parameters, vehicle parameters, battery parameters, AGV parameters, and anomaly parameters of the AGV vehicle. The load parameters include sub-parameters (a, b, c), where a is the load rate, b is the load type, and c is the load height. The vehicle parameters include sub-parameters (d, e, f), where d is the distance to the target point, e is the current vehicle speed, and f is the current vehicle steering angle. The battery parameters include sub-parameters (g, h, i), where g is the battery charge, h is the battery life, and i is the battery temperature. The AGV parameters include sub-parameters (j, k, l), where j is the positioning matching rate, k is the sensor recognition rate, and l is the vehicle control execution rate. The anomaly parameters include sub-parameters (m, n, o), where m is the number of hours since the last anomaly of the base vehicle, n is the number of hours since the last anomaly of the BMS, and o is the number of hours since the last anomaly of the AGV system.

[0060] (2) All sub-parameters of the obtained AGV vehicle current load parameters, vehicle parameters, battery parameters, AGV parameters and abnormal parameters are scored using a lookup table method and converted to 0-100, forming a 1*15 matrix as follows:

[0061] M=[abcdefghijklmno]

[0062] (3) Set the weight ratio coefficients [K1,K2,K3,K4,K5] for load parameters, vehicle parameters, battery parameters, AGV parameters, and abnormal parameters according to the actual situation, and set the weight ratio coefficients [(A1,A2,A3), (B1,B2,B3), (C1,C2,C3), (D1,D2,D3), (E1,E2,E3)] for the sub-parameters of each parameter, satisfying the following rules:

[0063] K1+K2+K3+K4+K5=q (q is a fixed value, such as q=15 if preset),

[0064] A1 + A2 + A3 = 100%

[0065] B1 + B2 + B3 = 100%

[0066] C1 + C2 + C3 = 100%

[0067] D1 + D2 + D3 = 100%

[0068] E1 + E2 + E3 = 100%

[0069] Form a 15*1 matrix N -T= [K1*A1 K1*A2 K1*A3 K2*B1 K2*B2 K2*B3 K3*C1 K3*C2 K3*C3 K4*D1 K4*D2 K4*D3 K5*E1 K5*E2 K5*E3].

[0070] (4) Calculate the priority coefficient as follows:

[0071] f = M*N -T =

[0072] K1*A1*a + K1*A2*b + K1*A3*c + K2*B1*d + K2*B1*d + K2*B2*e + K2*B2*f + K3*C1*g + K3*C2*h + K3*C3*i + K4*D1*j + K4*D2*k + K4*D3*l + K5*E1*m + K5*E2*n + K5*E3*o;

[0073] Assume there are 2 vehicles that meet the conditions, then calculate the priority coefficients f1 and f2 of the two vehicles respectively as follows:

[0074] f1 = K1*A1*a1 + K1*A2*b1 + K1*A3*c1 + K2*B1*d1 + K2*B1*d1 + K2*B2*e1 + K2*B2*f1 + K3*C1*g1 + K3*C2*h1 + K3*C3*i1 + K4*D1*j1 + K4*D2*k1 + K4*D3*l1 + K5*E1*m1 + K5*E2*n1 + K5*E3*o1;

[0075] f2 = K1*A1*a2 + K1*A2*b2 + K1*A3*c2 + K2*B1*d2 + K2*B1*d2 + K2*B2*e2 + K2*B2*f2 + K3*C1*g + K3*C2*h2 + K3*C3*i2 + K4*D1*j2 + K4*D2*k2 + K4*D3*l2 + K5*E1*m2 + K5*E2*n2 + K5*E3*o2;

[0076] (5) If f1 > f2, then f1 has a higher priority and AGV1 executes the task first; if f1 < f2, then f2 has a higher priority and AGV2 executes the task first; if the two are equal, then the vehicle with the lower number in the AGV background scheduling system is taken to execute the task first.

[0077] See Figure 3 As shown, the AVG operation control method of the present invention will be described in detail below with two AGV vehicles as an example.

[0078] (1) When there is interaction between AGV vehicles, if the distance between the interaction points is less than the set safety distance, calculate the current load parameters (a,b,c), vehicle parameters (d,e,f), battery parameters (g,h,i), AGV parameters (j,k,l), and abnormal parameters (m,n,o) of the AGV vehicles. Assuming that the distance between the interaction points of two AGVs is less than the set safety distance, the parameters of AGV1 are obtained as follows: (a1,b1,c1), (d1,e1,f1), (g1,h1,i1), (j1,k1,l1), (m1,n1,o1) and the parameters of AGV2 are obtained as follows: (a2,b2,c2), (d2,e2,f2), (g2,h2,i2), (j2,k2,l2), (m2,n2,o2). At this time, Principle 1 is executed.

[0079] (2) The obtained AGV1 and AGV2 parameters are scored using a lookup table method according to the pre-set scores and converted to 0-100.

[0080] (2.1) Assume that the load parameters of AGV1 are full load, the load type is fragile, and the load height is 50cm; the load parameters of AGV2 are empty, the load type is none, and the load height is 0cm. According to the preset scoring criteria, the score is obtained by looking up the table, as shown in Table 1 below.

[0081] Table 1

[0082]

[0083] Then (a1,b1,c1) = (100,100,60), (a2,b2,c2) = (0,0,0).

[0084] (2.2) Assume that the parameters of AGV1 are 10 meters away from the target point, 2 km / h at the current speed, and 45° at the current turning angle, and the parameters of AGV2 are 60 meters away from the target point, 3.2 km / h at the current speed, and 45° at the current turning angle. According to the preset scoring criteria, the score is obtained by looking up the table, as shown in Table 2 below.

[0085] Table 2

[0086]

[0087] Then (d1,e1,f1) = (80,60,80), (d2,e2,f2) = (30,80,80).

[0088] (2.3) Assume that the battery parameters of AGV1 are 81% charge, 95% lifespan, and 27°C; and the battery parameters of AGV2 are 40% charge, 85% lifespan, and 40°C. According to the preset scoring criteria, the scores are obtained by looking up a table, as shown in Table 3 below.

[0089] Table 3

[0090] Battery power Less than 35% 35-50％ 50％-80％ 80-100％ Score 100 80 60 30 Battery life Less than 60% 60％-70％ 70-80％ 80-100％ Score 100 80 60 30 Battery temperature greater than 50° 45-50° 35-45° Less than 35° Score 100 80 60 30

[0091] Then (g1,h1,i1)=(30,30,30), (g2,h2,i2)=(80,30,60).

[0092] (2.4) Assume that the AGV parameters of the host computer of AGV1 are a positioning matching rate of 95%, a sensor recognition rate of 91%, and a vehicle control execution rate of 93%; the AGV parameters of the host computer of AGV2 are a positioning matching rate of 65%, a sensor recognition rate of 58%, and a vehicle control execution rate of 90%. According to the preset scoring criteria, the scores are obtained by looking up the table, as shown in Table 4 below.

[0093] Table 4

[0094]

[0095] Then (j1,k1,l1)=(100,100,100), (j2,k2,l2)=(60,0,80).

[0096] (2.5) Assume that the abnormal parameters of AGV1 are: the number of hours since the last abnormality of the base vehicle is 15 hours, the number of hours since the last abnormality of the BMS is 85 hours, and the number of hours since the last abnormality of the AGV system is 60 hours; the abnormal parameters of AGV2 are: the number of hours since the last abnormality of the base vehicle is 95 hours, the number of hours since the last abnormality of the BMS is 260 hours, and the number of hours since the last abnormality of the AGV system is 170 hours; according to the preset scoring criteria, the score is obtained by looking up a table, as shown in Table 5 below.

[0097] Table 5

[0098] Base vehicle anomaly count More than 240 hours 160-240 hours 80-160 hours Less than 80 hours Score 100 80 60 30 BMS anomaly count More than 240 hours 160-240 hours 80-160 hours Less than 80 hours Score 100 80 60 30 AGV anomaly count More than 240 hours 160-240 hours 80-160 hours Less than 80 hours Score 100 80 60 30

[0099] Then (m1,n1,o1)=(30,30,30), (m2,n2,o2)=(60,100,80).

[0100] (2.6) The data obtained in steps (2.1) to (2.5) are used to form 1*15 matrices M1 and M2, as follows:

[0101] M1=[100 100 60 80 60 80 30 30 30 100 100 100 30 30 30]

[0102] M2=[0 0 0 30 80 80 80 30 60 60 0 80 60 100 80]

[0103] (3) Obtain the weight ratio coefficient.

[0104] (3.1) Set the weight ratio coefficients of load parameter K1, vehicle parameter K2, battery parameter K3, AGV parameter K4 and abnormal parameter K5 according to the actual situation. Assume K1=5, K2=1, K3=3, K4=4 and K5=2.

[0105] (3.2) The weight ratio coefficients of the sub-parameters are set in advance, as shown in Table 6 below.

[0106] Table 6

[0107] parameter Weighting ratio % parameter Weighting ratio % parameter Weighting ratio % A1 30 A2 40 A3 30 B1 40 B2 20 B3 40 C1 60 C2 20 C3 20 D1 40 D2 30 D3 30 E1 40 E1 30 E3 30

[0108] Multiply the weighting coefficients of K1-K5 by the weighting coefficients of A1-E3 to form a 15*1 matrix N. -T =[5*0.3 5*0.4 5*03.1*0.4 1*0.2 1*0.4 3*0.6 3*0.2 3*0.2 4*0.4 4*0.3 4*0.3 2*0.4 2*0.3 2*0.3] =[1.5 2 1.5 0.4 0.2 0.4 1.8 0.6 0.6 1.6 1.2 1.2 0.8 0.6 0.6].

[0109] (4) Based on matrices M1, M2, N -T Calculate the AGV priority coefficient, then the priority coefficient of AGV1 is f1 = M1 * N. -T ,Right now

[0110] f1=[100 100 60 80 60 80 30 30 30 100 100 100 30 30 30]*[1.5 2 1.50.4 0.2 0.4 1.8 0.6 0.6 1.6 1.21.2 0.8 0.6 0.6] -1 =

[0111] 100*1.5+100*2+60*1.5+80*0.4+60*0.2+80*0.4+30*1.8+30*0.6+30*0.6+100*1.6+100*1.2+100*1.2+30*0.8+30*0.6+30*0.6=1066;

[0112] The priority coefficient for AGV2 is f2 = M2 * N -1That is, f1 = [0 0 0 30 80 80 80 30 60 60 0 8060 100 80] * [1.5 21.5 0.4 0.2 0.4 1.8 0.6 0.6 1.6 1.2 1.2 0.8 0.6 0.6] -1 =

[0113] 0*1.5+0*2+0*1.5+30*0.4+80*0.2+80*0.4+80*1.8+30*0.6+60*0.6+60*1.6+0*1.2+80*1.2+60*0.8+100*0.6+80*0.6=606.

[0114] (5) Since 1066>606, i.e. f1>f2, f1 has a higher priority and AGV1 will execute the task first.

[0115] See Figure 4 As shown, the present invention also discloses an AGV operation control system based on priority decision-making voting, comprising:

[0116] The distance judgment module 401 is used to determine whether the distance of at least one of two or more vehicles with path intersection from the task intersection point is less than a set distance. If so, the parameter value acquisition module 402, the weight ratio coefficient acquisition module 403, the priority level coefficient acquisition module 404 and the priority level coefficient acquisition module 405 are executed.

[0117] The parameter value acquisition module 402 is used to acquire the values ​​of specified parameters of each vehicle that has path intersection;

[0118] The weight ratio coefficient acquisition module 403 is used to acquire the weight ratio coefficient of specified parameters for each vehicle.

[0119] The priority level coefficient acquisition module 404 is used to multiply the value of the specified parameter of each vehicle by the weight ratio coefficient of each vehicle in turn to obtain the AGV priority level coefficient of each vehicle.

[0120] The vehicle operation control module 405 is used to control vehicles with intersecting paths to operate in order of AGV priority level coefficient at the task intersection point.

[0121] The specific implementation of each module of an AGV operation control system based on priority decision voting is the same as that of the AGV operation control method based on priority decision voting, and will not be described again in this embodiment.

[0122] The above description is merely a preferred embodiment of the present invention; however, the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and its improved concepts, should be covered within the scope of protection of the present invention.

Claims

1. An AGV operation control method based on priority-based decision voting, characterized in that, include: S101, determine whether the distance of at least one of the two or more vehicles with path intersection from the task intersection point is less than the set distance; if so, execute S102 to S105. S102, obtain the values ​​of specified parameters for each vehicle that has path intersection; S103, obtain the weight ratio coefficient of the specified parameters of each vehicle; S104, multiply the values ​​of the specified parameters of each vehicle by the weight ratio coefficient of each vehicle in sequence to obtain the AGV priority level coefficient of each vehicle. S105 controls vehicles with intersecting paths to operate at the task intersection point in order of AGV priority level coefficient.

2. The AGV operation control method based on priority decision voting according to claim 1, characterized in that, The control of vehicles with intersecting paths to operate at the task intersection point according to the AGV priority level coefficient includes: Vehicles with higher priority coefficients are given priority at task intersections. For vehicles with the same priority coefficient, vehicles with smaller numbers are given priority. These numbers are obtained from the AGV background scheduling system, and vehicles with smaller numbers are those deployed earlier.

3. The AGV operation control method based on priority decision voting according to claim 1, characterized in that, The specified parameters include: load parameters, vehicle parameters, battery parameters, AGV parameters, and abnormal parameters.

4. The AGV operation control method based on priority decision voting according to claim 3, characterized in that, The sub-parameters of the load parameters include: load rate, load type, and load height.

5. The AGV operation control method based on priority decision voting according to claim 3, characterized in that, The sub-parameters of the vehicle parameters include: distance to the target point, current vehicle speed, and current vehicle steering angle.

6. The AGV operation control method based on priority decision voting according to claim 3, characterized in that, The sub-parameters of the battery parameters include: battery capacity, battery life, and battery temperature.

7. The AGV operation control method based on priority decision voting according to claim 3, characterized in that, The sub-parameters of the AGV parameters include: positioning matching rate, sensor recognition rate, and vehicle control execution rate.

8. The AGV operation control method based on priority decision voting according to claim 3, characterized in that, The sub-parameters of the abnormal parameters include: the number of hours since the last abnormality of the base vehicle, the number of hours since the last abnormality of the BMS, and the number of hours since the last abnormality of the AGV system.

9. The AGV operation control method based on priority decision voting according to claim 3, characterized in that, Obtaining the values ​​of specified parameters for each vehicle with path intersection includes: Obtain the values ​​of each sub-parameter of the load parameter, each sub-parameter of the vehicle parameter, each sub-parameter of the battery parameter, each sub-parameter of the AGV parameter, and each sub-parameter of the abnormal parameter respectively; The process of obtaining the weighting ratio coefficients for specified parameters of each vehicle specifically includes: Obtain the first weighting coefficients for load parameters, vehicle parameters, battery parameters, AGV parameters, and abnormal parameters respectively; Obtain the second weighting coefficients for each sub-parameter of the load parameter, each sub-parameter of the vehicle parameter, each sub-parameter of the battery parameter, each sub-parameter of the AGV parameter, and each sub-parameter of the abnormal parameter; The weighting ratios of the load parameters are obtained by multiplying the first weighting ratio of the load parameter with the second weighting ratio of each sub-parameter of the load parameter; the weighting ratios of the vehicle parameters are obtained by multiplying the first weighting ratio of the vehicle parameter with the second weighting ratio of each sub-parameter of the vehicle parameter; the weighting ratios of the battery parameters are obtained by multiplying the first weighting ratio of the battery parameter with the second weighting ratio of each sub-parameter of the battery parameter; the weighting ratios of the AGV parameters are obtained by multiplying the first weighting ratio of the AGV parameter with the second weighting ratio of each sub-parameter of the AGV parameter; and the weighting ratios of the abnormal parameters are obtained by multiplying the first weighting ratio of the abnormal parameters with the second weighting ratio of each sub-parameter of the abnormal parameters.

10. An AGV operation control system based on priority-based decision-making and voting, characterized in that, include: The distance judgment module is used to determine whether the distance of at least one of two or more vehicles with path intersection to the task intersection point is less than a set distance. If so, the parameter value acquisition module, weight ratio coefficient acquisition module, priority level coefficient acquisition module and priority level coefficient acquisition module are executed. The parameter value acquisition module is used to obtain the values ​​of specified parameters for each vehicle that has path intersection; The weight ratio coefficient acquisition module is used to obtain the weight ratio coefficient of specified parameters for each vehicle. The priority level coefficient acquisition module is used to multiply the values ​​of the specified parameters of each vehicle by the weight ratio coefficient of each vehicle in sequence to obtain the AGV priority level coefficient of each vehicle. The vehicle operation control module is used to control vehicles with intersecting paths to operate in order of AGV priority coefficient at the task intersection point.

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