Scheduling method and scheduling system for multiple vehicles to annularly penetrate through RGV

Abstract

The invention discloses a scheduling method and a scheduling system for multiple vehicles passing through an RGV in an annular mode, after a platform task request is received, the platform task request is analyzed, task information of a corresponding target task platform is obtained, the position of each no-load vehicle running on an annular track at present is obtained, and for each target task platform, the task information of each no-load vehicle running on the annular track is obtained; the real-time position of the no-load vehicle is located between the previous station and the target station, the no-load vehicle meets the vehicle deceleration condition, and the time for the vehicle to run to the target task station is not shorter than the stock time of the station to serve as a matched vehicle of the target task; and finally, sending target task information to each matched vehicle, wherein the target task information comprises goods taking platform information and unloading platform information. Therefore, by shortening the overall time consumption of the no-load RGV from task receiving to goods taking completion, the vacancy rate of the RGV is reduced, and the operation response efficiency of the single RGV is improved.

Description

Technical Field

[0001] This invention relates to the field of logistics RGVs, and more particularly to a multi-vehicle loop RGV scheduling method and scheduling system. Background Technology

[0002] With the rapid development of automated logistics systems and automated warehouses, rail-guided shuttle vehicles (RGVs) have become one of the core pieces of equipment in the logistics and warehousing field. They can easily and automatically connect with logistics systems such as inbound and outbound platforms, conveyors, elevators, and robots to complete the precise transportation of materials according to a preset plan. For systems with high material handling efficiency requirements, efficiency can be improved by increasing the number of RGVs or optimizing the scheduling logic. However, increasing the number of RGVs directly increases investment costs, and the efficiency improvement effect weakens after the number of RGVs increases to a certain threshold. Currently, the industry generally adopts a task-waiting operation mode, where RGVs remain stationary when there are no handling tasks, while scanning all platforms in real time for task information. When a material handling requirement arises at a specific platform, the stationary RGV starts, runs to that platform to complete the picking operation, and then transports the material to the designated unloading platform. After unloading, the RGV returns to a stationary state and enters the next cycle of waiting for tasks. However, due to the randomness of task arrival at the platform, the optimal waiting position for the RGV cannot be determined in advance. This means that after receiving a task, the RGV's path from the waiting position to the pickup platform often falls short of the minimum, increasing unnecessary travel distance. Furthermore, after starting from a completely stationary state, the RGV requires a considerable amount of time to accelerate to a stable, uniform speed, extending the overall pickup response time. Additionally, when an RGV executing a task is running on its path, all other RGVs within its coverage area must perform additional avoidance scheduling operations. This not only significantly increases the logical complexity of the scheduling system but also consumes the effective working time of other RGVs, leading to a decrease in the overall handling efficiency of the logistics system. Summary of the Invention

[0003] This invention addresses the shortcomings of existing technologies by providing a multi-vehicle looping RGV scheduling method, comprising the following steps:

[0004] Upon receiving a platform task request, the platform task request is parsed and the task information of the corresponding target platform is obtained.

[0005] The positions of all empty vehicles currently running on the circular track are obtained. For each target task station, empty vehicles whose real-time positions are between the preceding station and the target station, meet the vehicle deceleration conditions, and whose time to reach the target task station is not less than the station's preparation time are selected as the matching vehicles for the target task. The preceding station is the station before the target station along the vehicle's running direction.

[0006] Send target task information to each matched vehicle. The target task information includes pick-up platform information and unloading platform information.

[0007] Preferably, the step of selecting empty vehicles whose real-time location is between the preceding platform and the target platform, which meet the vehicle deceleration conditions, and whose travel time to the target platform is not less than the platform's preparation time, as the matching vehicles for the target task specifically includes:

[0008] S21, Collect the station status information of the target task station. The station status information includes the position of the target task station, the distance from the pallet to be loaded on the station to the station end point, and the running speed of the station conveyor line. Determine the station preparation time based on the station status information. The station preparation time is configured as the time required for the pallet to move from the station to the receiving position.

[0009] S22, collect the current real-time position and running speed of each empty vehicle, as well as the deceleration parameters of each empty vehicle. The deceleration parameters are the minimum distance required for the vehicle to decelerate from its maximum speed to a stop.

[0010] Preferably, the step of selecting empty vehicles whose real-time location is between the preceding platform and the target platform, which meet the vehicle deceleration conditions, and whose travel time to the target platform is not less than the platform's preparation time, as the matching vehicles for the target task, further includes:

[0011] S23, for each target task station i, select vehicles that simultaneously meet both location and time conditions from all empty vehicles as candidate task vehicles corresponding to that target task station i; the location condition is configured as the real-time coordinates of the empty vehicle j. satisfy: The The absolute coordinates of the preceding station (i-1) adjacent to the target station i and located on one side along the vehicle's direction of travel; the time condition is configured as the time taken for the empty vehicle to travel from its current position to the target station i. The time required to prepare goods at station i for the target task must be no less than the station preparation time. ,and ,in , , For the speed of unloaded vehicle j, Represents the absolute coordinates of the target task platform i. The time it takes for the tray at the target task station i to travel to the docking position;

[0012] S24, select the vehicle with the shortest no-load travel distance from the candidate task vehicles corresponding to the target task station i as the final task operation vehicle assigned to the target task station i. The no-load travel distance is the distance from the candidate task vehicle to the current real-time coordinates. Move along the set running direction to the absolute coordinates of the target station i The path length.

[0013] Preferably, unloaded vehicles without assigned tasks run continuously in the same direction on a circular track according to preset driving parameters.

[0014] Preferably, for adjacent platform tasks with different priorities, after receiving the task, the latest arrival time range of each task is extracted, and the waiting time when allocated according to the original priority order is calculated to determine whether the order needs to be adjusted and optimized.

[0015] If, after optimization, all tasks can be completed within their respective latest arrival times without any waiting conflicts, then tasks are assigned to the vehicle in the optimized order, and non-overlapping travel trajectories are planned simultaneously.

[0016] The present invention also discloses a multi-vehicle looping RGV scheduling device, comprising:

[0017] The task information parsing module, upon receiving a platform task request, parses the platform task request and obtains the task information of the corresponding target platform.

[0018] The vehicle matching module obtains the position of each empty vehicle currently running on the circular track. For each target task station, the empty vehicles whose real-time position is between the preceding station and the target station, meet the vehicle deceleration conditions, and whose time to reach the target task station is not less than the station's preparation time are selected as the matching vehicles for the target task. The preceding station is the station before the target station along the vehicle's running direction.

[0019] The task information sending module sends target task information to each matched vehicle. The target task information includes pickup platform information and unloading platform information.

[0020] Preferably, the vehicle filtering and matching module specifically includes:

[0021] Collect the station status information of the target task station. The station status information includes the location of the target task station, the distance from the pallet to be loaded on the station to the station end point, and the running speed of the station conveyor line. Determine the station preparation time based on the station status information. The station preparation time is configured as the time required for the pallet to move from the station to the receiving position.

[0022] The system collects the current real-time location and operating speed of each unloaded vehicle, as well as the deceleration parameters of each unloaded vehicle. The deceleration parameters are the minimum distance required for the vehicle to decelerate from its maximum speed to a stop.

[0023] Preferably, the vehicle filtering and matching module further includes:

[0024] For each target task station i, vehicles that simultaneously meet both location and time conditions are selected from all empty vehicles and designated as candidate task vehicles for that target task station i; the location condition is configured as the real-time coordinates of the empty vehicle j. satisfy: The The absolute coordinates of the preceding station (i-1) adjacent to the target station i and located on one side along the vehicle's direction of travel; the time condition is configured as the time taken for the empty vehicle to travel from its current position to the target station i. The time required to prepare goods at station i for the target task must be no less than the station preparation time. ,and ,in , , For the speed of unloaded vehicle j, Represents the absolute coordinates of the target task platform i. The time it takes for the tray at the target task station i to travel to the docking position;

[0025] The vehicle with the shortest no-load travel distance is selected from the candidate vehicles corresponding to the target task station i and assigned as the final task vehicle to the target task station i. The no-load travel distance is the distance from the candidate task vehicle to the current real-time coordinates. Move along the set running direction to the absolute coordinates of the target station i The path length.

[0026] Preferably, unloaded vehicles without assigned tasks run continuously in the same direction on a circular track according to preset driving parameters.

[0027] The present invention also discloses a multi-vehicle looping RGV scheduling system, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of any of the methods described above.

[0028] This embodiment discloses a multi-vehicle circular RGV scheduling method and system. Upon receiving a station task request, the system parses the request and obtains the task information for the corresponding target station. It also obtains the positions of all currently empty vehicles running on the circular track. For each target station, empty vehicles whose real-time position is between the preceding station and the target station, meet the vehicle deceleration conditions, and whose travel time to the target station is not less than the station's cargo preparation time are selected as the matching vehicles for that target task. The preceding station is the station preceding the target station along the vehicle's travel direction. Target task information, including pickup and unloading station information, is sent to each matching vehicle. By shortening the overall time from receiving a task to completing pickup for an empty RGV, the idle rate of the RGV is reduced, and the operational response efficiency of a single RGV is improved.

[0029] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0030] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this application, illustrate exemplary embodiments of the invention and, together with their description, serve to explain the invention and do not constitute an undue limitation thereof. In the drawings:

[0031] Figure 1 This is a flowchart illustrating the multi-vehicle looping RGV scheduling method disclosed in this embodiment.

[0032] Figure 2 This is a flowchart illustrating step S2 of the multi-vehicle looping RGV scheduling method disclosed in this embodiment.

[0033] Figure 3 This is a schematic diagram of the multi-vehicle looping RGV scheduling method device disclosed in this embodiment. Detailed Implementation

[0034] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the described embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0035] Unless otherwise defined, the technical or scientific terms used herein shall have the ordinary meaning as understood by one of ordinary skill in the art to which this invention pertains. The terms “first,” “second,” and similar terms used in the specification and claims of this patent application do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Similarly, the terms “an” or “a” and similar terms do not indicate a limitation of quantity, but rather indicate the presence of at least one.

[0036] This embodiment discloses a multi-vehicle looping RGV scheduling method, which specifically includes the following contents.

[0037] Step S1: After receiving the platform task request, parse the platform task request and obtain the task information of the corresponding target platform.

[0038] Specifically, upon receiving a platform task request, the system captures this request signal. This signal is triggered by the task detection device of a target task platform with pallet handling needs, which is one of the multiple platforms numbered from the beginning to the end along the circular track. Then, the system extracts core task information related to the target task platform from the captured task request signal. This includes the preset fixed position coordinates of the target task platform on the circular track, the distance from the pallet currently being handled on the platform to the platform's endpoint, and the operating speed of the conveyor line used to transport the pallet. Simultaneously, relevant information about the unloading platform corresponding to the current task is extracted, such as the preset fixed position coordinates of the unloading platform on the circular track. Furthermore, based on the extracted distance from the pallet on the platform to the transfer station and the operating speed of the platform's conveyor line, the system calculates the time required for the target task platform to transport the pallet to the transfer station. By fully and accurately analyzing the key parameters such as location, speed, and time contained in the task request, accurate data support was provided for the subsequent selection of suitable vehicles. At the same time, it was ensured that the subsequent vehicle matching work could be carried out around the two core objectives of minimizing the empty running distance of the vehicle from receiving the instruction to completing the pickup and ensuring that the pallet was ready when the vehicle arrived at the target task station.

[0039] Step S2: Obtain the position of each empty vehicle currently running on the circular track. For each target task station, select empty vehicles whose real-time position is between the preceding station and the target station, meet the vehicle deceleration conditions, and whose time to reach the target task station is not less than the station's preparation time as the matching vehicle for the target task. The preceding station is the station before the target station along the vehicle's running direction.

[0040] Specifically, the scheduling system first uses position detection units such as photoelectric sensors or encoders deployed on the circular track to collect real-time position information of all trolleys that are currently in an empty state (i.e., not performing picking or unloading tasks). For a given target task station, the scheduling system first identifies the preceding station, which is the station located ahead of and adjacent to the target task station along the trolley's preset counter-clockwise running direction. Then, all empty trolleys are screened based on three core conditions. The first condition is that the trolley's real-time position must be between the preset fixed position coordinates of the preceding station and the preset fixed position coordinates of the target task station. This range ensures that the trolley's path to the target task station is the shortest, preventing trolleys from detouring around the track and increasing costs. The first screening criterion is that the trolley must meet deceleration requirements. Specifically, the distance from the trolley's real-time position to the preset fixed coordinates of the target task station cannot be less than the minimum distance required for the trolley to decelerate from its maximum operating speed to a complete stop. This condition ensures that the trolley can smoothly decelerate from its current operating speed to a stop before reaching the target task station, avoiding parking position deviations or safety hazards due to insufficient deceleration distance. The third screening criterion is that the time required for the trolley to travel from its current real-time position to the target task station cannot be less than the preparation time of the target task station. This condition ensures that when the trolley arrives at the target task station, the pallet on the station has already been transported to the receiving position via the conveyor line, avoiding waiting time due to the pallet not being ready after the trolley arrives, and reducing unnecessary stops. After screening based on these three criteria, the remaining empty trolleys are the matching vehicles suitable for the current target task. It can accurately select the most suitable vehicle to perform the current target task, which not only ensures the shortest unloaded travel and stable operation of the vehicle, but also avoids the situation of the vehicle waiting for goods. At the same time, since the selected vehicle has a relatively fixed operating range, there is no need to avoid or coordinate with other vehicles, which reduces the effective working time of other vehicles in operation due to avoidance, and improves the overall operating efficiency of the system.

[0041] Step S3: Send target task information to each matched vehicle. The target task information includes pickup platform information and unloading platform information.

[0042] Specifically, the system sends instructions containing detailed information about the target task to each selected matching vehicle. This information includes the pickup station number, the preset fixed position coordinates of the pickup station on the loop track, and the specific location of the pickup station's connecting point. Similarly, it sends instructions to the unloading station number, the preset fixed position coordinates of the unloading station on the loop track, and the specific location of the unloading point. If multiple tasks are running concurrently, the instructions also include the priority information of the current task and a suggested running speed optimized based on the vehicle's running time and station preparation time. Upon receiving this instruction, the vehicle's onboard control system does not need to switch from its current empty moving state to a stationary state and restart. Instead, it smoothly transitions from its original empty task-finding state to the task execution state of moving towards the pickup station. It then continues to travel in a preset counter-clockwise direction to the pickup station to complete the pickup operation. After pickup, it then travels to the corresponding unloading station according to the unloading station information in the instruction to complete the unloading operation. By issuing clear and detailed task information to the matched vehicles, it is ensured that the trolleys can accurately perform picking and unloading operations, avoiding path deviations or operational errors caused by ambiguous task information. At the same time, since the trolleys do not need to restart from a stationary state and can directly switch from an unloaded moving state to a task execution state, the acceleration time of the trolleys is greatly shortened. Furthermore, the matched vehicles do not need to avoid or coordinate with other trolleys during task execution, thereby improving the overall handling efficiency.

[0043] In this embodiment, step S2 specifically includes the following:

[0044] Step S21: Collect the station status information of the target task station. The station status information includes the location of the target task station, the distance from the pallet to be loaded on the station to the station end point, and the running speed of the station conveyor line. Determine the station preparation time based on the station status information. The station preparation time is configured as the time required for the pallet to move from the station to the receiving position.

[0045] Specifically, the dispatching system uses dedicated detection equipment deployed along the circular track to collect station status information one by one. The location information of the target station is its preset fixed position on the circular track, which can be obtained by reading the positioning data bound to the station or identifying position markers on the track. The distance from the pallet to be loaded on the station to the station's endpoint is detected in real time by laser distance sensors or infrared sensors installed on the station, accurately capturing the actual interval between the pallet's current position and the station's endpoint. The operating speed of the station's conveyor line is calculated by collecting the motor speed from the speed sensor on the conveyor line's drive motor, and then combining this with structural parameters such as the conveyor line's transmission ratio and roller diameter. After obtaining these three core pieces of information, the dispatching system calculates the time required for the pallet to move from its current position to the receiving position via the conveyor line, based on the correspondence between the distance from the pallet to the station's endpoint and the station's conveyor line operating speed. This time is the station's preparation time, and after calculation, it is uploaded and stored in the dispatching system's task processing database in real time. By collecting key status parameters of the target task station and calculating the accurate station preparation time, a core time reference standard is provided for the subsequent selection of suitable empty vehicles. This ensures that when the selected vehicle arrives at the target task station, the pallet has just been moved to the receiving position, avoiding invalid waiting due to the pallet not being ready after the vehicle arrives. The clear station location information also provides a basis for judging the relative distance between the empty vehicle and the target station, helping to achieve the scheduling goal of the shortest empty vehicle journey.

[0046] Step S22: Collect the current real-time position and running speed of each empty vehicle, as well as the deceleration parameters of each empty vehicle. The deceleration parameters are the minimum distance required for the vehicle to decelerate from its maximum speed to a stop.

[0047] Specifically, the dispatching system collects the necessary information through multi-device collaboration: For the real-time location of each empty vehicle, sensors arranged at fixed intervals along the circular track identify passing empty vehicles in real time, and then, based on their own preset fixed positions on the track, deduce the specific location of each empty vehicle; the operating speed of each empty vehicle is calculated by the vehicle's own onboard control system, which collects the rotational speed of the drive wheels in real time and combines this with the diameter parameters of the vehicle's wheels to convert it into the vehicle's actual operating speed; and the deceleration parameters of each empty vehicle, which are the minimum distance required for the vehicle to decelerate from its maximum operating speed to a complete stop, are fixed parameters pre-determined at the factory based on the vehicle's braking system performance, weight, and load capacity. These parameters are pre-entered into the system's vehicle parameter database when each vehicle is connected to the dispatching system, and the dispatching system only needs to retrieve the corresponding empty vehicle's parameter from the database when needed. Accurately collecting the real-time location, speed, and fixed deceleration parameters of empty vehicles provides complete data support for subsequent screening of vehicles that meet scheduling requirements. Real-time location and speed help the scheduling system determine the travel distance and time required for each empty vehicle to reach the target task station, ensuring the shortest possible empty travel distance. Deceleration parameters ensure that the vehicle has sufficient distance to smoothly decelerate from its current speed to a stop before reaching the target task station, avoiding parking position deviations or safety issues caused by insufficient deceleration distance.

[0048] In this embodiment, step S2 further includes the following.

[0049] Step S23: For each target task station i, select vehicles that simultaneously meet both location and time conditions from all empty vehicles as candidate task vehicles corresponding to that target task station i; the location condition is configured as the real-time coordinates of the empty vehicle j. satisfy: The The absolute coordinates of the preceding station (i-1) adjacent to the target station i and located on one side along the vehicle's direction of travel; the time condition is configured as the time taken for the empty vehicle to travel from its current position to the target station i. The time required to prepare goods at station i for the target task must be no less than the station preparation time. ,and ,in , , For the speed of unloaded vehicle j, Represents the absolute coordinates of the target task platform i. The time it takes for the tray at the target task station i to travel to the docking position;

[0050] Specifically, we define a circular track with m (m≥1) RGVs, and we study the j-th (jϵ[0,m]) RGV. The RGVs can run counter-clockwise, and their coordinates increase counter-clockwise. We define i as any number of stations from 0 to n on the circular track; Represents the absolute coordinates of the car at platform i; Define Represents the minimum distance an RGV must travel to decelerate from its maximum speed to a complete stop; Definition Represents the real-time coordinates of the j-th RGV; Define Represents the speed of the j-th RGV; Definition Indicates the arrival of the j-th RGV at platform j. The runtime;

[0051]

[0052] definition Represents the distance from the i-th pallet to the end point of the platform; Define Represents the speed of the conveyor line at platform i; Defined This indicates the time it takes for the pallet at platform i to reach the docking position;

[0053]

[0054] In this embodiment, for each target task station with task requirements, the scheduling system first identifies the preceding station in the preset running direction of the vehicle, i.e., counterclockwise. This preceding station is the only station adjacent to the target task station and located ahead of it in its running direction. Then, the system retrieves the fixed position of the preceding station and the fixed position of the target task station from the preset station parameter database. At the same time, it retrieves the minimum deceleration distance corresponding to the target task station, which is the minimum distance required for the vehicle to smoothly decelerate from its maximum running speed to a complete stop. Next, the dispatching system retrieves the real-time location data of all empty trolleys and verifies each one individually: First, it checks whether the trolley's real-time position is between the fixed position of the preceding platform and the fixed position of the target platform minus the minimum deceleration distance, ensuring that the trolley's current location allows it to travel to the target platform without circling and provides sufficient distance to decelerate and stop. Then, the dispatching system calculates the time required for the trolley to travel from its current location to the fixed position of the target platform, based on its real-time speed. Simultaneously, it retrieves the previously determined preparation time for the target platform (the time required for the pallet on the platform to move from its current position to the receiving position), and checks whether the trolley's travel time is not less than the preparation time, ensuring that the pallet is ready when the trolley arrives at the target platform. Only empty trolleys that simultaneously meet the above position and time conditions are marked as candidate vehicles for that target platform by the dispatching system and added to the candidate vehicle list for that target platform. By limiting the location conditions, it is directly ensured that the candidate trolleys take the shortest path to the target task station, avoiding the unnecessary time consumption caused by detouring. At the same time, combined with the requirement of minimum deceleration distance, it ensures that the trolleys can stop smoothly when they arrive at the target station, eliminating safety hazards. The setting of time conditions effectively avoids the unnecessary waiting caused by the trolleys arriving without a tray in place, increasing the effective working time of the trolleys. This targeted screening method also reduces the number of vehicles that need to be processed in subsequent scheduling.

[0055] Step S24: Select the vehicle with the shortest empty running distance from the candidate task vehicles corresponding to the target task station i as the final task operation vehicle assigned to the target task station i. The empty running distance is the distance from the candidate task vehicle to the current real-time coordinates. Move along the set running direction to the absolute coordinates of the target station i The path length.

[0056] Specifically, the dispatching system first retrieves the list of candidate vehicles for the corresponding target task station. For each candidate vehicle in the list, the system calculates the actual path length from its current real-time position to the fixed position on the target task station, based on the vehicle's current real-time position, the fixed position on the target task station, and the vehicle's preset counter-clockwise running direction. This path length is the candidate vehicle's unloaded travel distance. Since all candidate vehicles have passed the positional screening and their real-time positions are all within a specific range, the travel distance calculation does not need to consider looping; it only needs to calculate the straight-line distance between two points along the track. Subsequently, the dispatching system compares and sorts the unloaded travel distances of all candidate vehicles, selecting the candidate vehicle with the shortest unloaded travel distance and assigning it as the final task vehicle to that target task station. Choosing the trolley with the shortest unloaded travel distance as the final work vehicle minimizes the trolley's unloaded travel time from its current location to the target task platform, further reducing the trolley's idle rate and improving its utilization efficiency. At the same time, a shorter unloaded travel distance also means that the trolley has a lower probability of overlapping paths with other operating vehicles during its journey, effectively reducing the need for avoidance between different trolleys. In addition, this selection method based on the shortest travel distance can directly improve the overall material handling efficiency, ensuring that the target task can be started and executed as quickly as possible.

[0057] In this embodiment, unassigned empty vehicles continuously run in the same direction on the circular track according to preset driving parameters. Specifically, for unassigned empty rail shuttles, the scheduling system issues preset driving parameters to these vehicles. The preset driving direction is uniformly a fixed direction pre-set on the circular track to ensure that all empty vehicles run in the same direction to avoid driving conflicts within the track. The preset driving speed is set to a value that balances continuous operation stability and task response efficiency, ensuring that the speed is neither too low, causing a slow response when receiving subsequent tasks, nor too high, increasing the difficulty of subsequent deceleration and stopping. After receiving the preset driving parameters from the dispatch system, the empty vehicle immediately loads the parameters and starts running, maintaining the same direction and speed along the circular track. During continuous operation, the empty vehicle collects its current location information in real time through its onboard positioning device and obtains its real-time running speed through the speed detection unit of the drive system. This dynamic status information, including position and speed, is continuously and in real time uploaded to the dispatch system via industrial wireless communication, ensuring that the dispatch system can monitor the operational dynamics of each empty vehicle at any time. Simultaneously, as the empty vehicle runs along the track, it scans each station along the route in real time, interacting with the station's task detection device to detect new pickup requests, always in a dynamic task-seeking state, rather than waiting statically at a certain location as in traditional dispatching methods. Compared to traditional static waiting, dynamic operation significantly reduces RGV idle rate; it eliminates the need to restart and accelerate from a standstill, shortening the time from receiving a task to reaching the pickup station; and since empty vehicles run in the same direction, there is no need to issue special instructions for obstacle avoidance, reducing the effective time occupied by other vehicles and improving overall handling efficiency.

[0058] In another embodiment, in a circular track multi-vehicle scheduling system, when multiple target task stations simultaneously initiate pickup requests within the same time window (e.g., 10 seconds), and the candidate vehicle selection ranges for each task overlap (i.e., multiple tasks compete for the same batch of empty vehicles), leading to a shortage of initial vehicle resources and the availability of vehicles being less than 60% of the total number of tasks, and if some assigned vehicles experience sudden malfunctions during operation (e.g., drive system abnormalities, continuous loss of positioning signals for more than 3 seconds, brake failure), the resource shortage will be further exacerbated. Malfunctioning vehicles not only cannot continue performing their original tasks, but their occupied track positions may also reduce the detour efficiency of other vehicles. Simultaneously, the original task needs to re-enter the allocation queue, creating secondary resource competition with unassigned initial tasks, potentially triggering a chain reaction of delays across multiple tasks, and even causing high-priority tasks to miss production nodes due to continuous waiting. Specifically, the following steps can be included to resolve this issue.

[0059] Step S101: After capturing concurrent task requests, parse the information frame and identify high-priority tasks according to preset rules, extract core parameters and mark them as pending execution - high priority, and store them in a dedicated queue; temporarily cache ordinary tasks and pause allocation to ensure that high-priority tasks enter the scheduling link first. The information frame includes a task type field, urgency code, target pickup / unloading platform identifier, cargo attributes, etc.

[0060] Specifically, by entering the task batch capture and high-priority identification stage, a high-concurrency response mode is activated. All concurrent task requests are received via industrial Ethernet. The information frame of each task is parsed, including task type field, urgency code, target picking / unloading station identifier, and cargo attributes. Based on preset priority identification rules, such as urgency code 001 for urgent production orders and code 010 for regular replenishment tasks, high-priority tasks are identified. For confirmed high-priority tasks, core parameters such as the absolute position of the target station, station conveyor speed, and distance from the pallet to the receiving position are extracted to calculate preparation time and cargo stability requirements. These are marked as pending execution - high priority and added to a dedicated high-priority task queue. At the same time, ordinary tasks are temporarily stored in the system cache queue, suspending their allocation process to avoid ordinary tasks occupying limited resources and ensuring that high-priority tasks enter the scheduling link first. In addition, a unique identifier with a timestamp is generated for each task for subsequent full-process status tracking.

[0061] Step S102 involves calling the real-time resource module to scan for idle RGVs, filtering suitable vehicles based on location, deceleration distance, and arrival time, selecting and locking the optimal RGV, and simultaneously monitoring the RGV's operating status and fault conditions at high frequency. The real-time resource module collects, integrates, and updates key resource information of all RGVs on the circular track in real time, providing accurate and real-time data support for the scheduling system to select suitable RGVs and allocate tasks.

[0062] Specifically, by entering the high-optimization RGV screening, locking, and dynamic monitoring stage, the real-time resource management module is invoked to scan all idle RGVs on the circular track to obtain dynamic data such as the real-time coordinates, operating speed, and remaining power of each RGV. Based on the target station location of high-priority tasks, RGVs that meet the following three core conditions are selected: their real-time location is between the target station and the preceding station in the counterclockwise direction; the distance from their real-time location to the target station is not less than the minimum distance for the RGV to decelerate from its maximum speed to a stop; and the travel time from their current location to the target station is not less than the station's cargo preparation completion time. The optimal adapted RGV is selected based on the shortest no-load travel distance and the highest operational stability, prioritizing the RGV with the shortest travel distance and no fault records in the past 30 minutes. Immediately issue a task lock command to it and simultaneously update the status of the RGV in the system resource library to high-priority task execution to prevent it from being occupied by other ordinary tasks; after the lock is completed, the vehicle status monitoring module of the software starts high-frequency tracking to verify the running speed and position deviation of the RGV in real time, and at the same time monitor whether there are any abnormal situations such as the RGV running speed deviation exceeding the threshold or no change in coordinates, to ensure the initial stability of high-priority task execution.

[0063] Step S103: Lock the RGV to generate a dedicated path and conflict avoidance logic, push instructions and dynamically adjust parameters in stages of pickup, transfer and unloading; if the RGV fails, immediately lock the fault location, reset the high priority task status, guide other vehicles to bypass the restricted area and notify operation and maintenance.

[0064] Specifically, a dedicated execution path is generated for the locked RGV. Combining the closed-loop characteristics of the circular track, the shortest trajectory from the pickup station to the unloading station is planned, while embedding conflict avoidance logic: a high-priority task path protection instruction is issued to the track system, prohibiting other non-task RGVs from entering within 5 meters before and after the path segment. If a regular task RGV on the way approaches, it is guided to slow down and avoid it in advance. Staged instructions are pushed to the RGV executing the high-priority task through the real-time communication interface: During the pickup stage, the RGV is controlled to travel to the target station at the calculated adaptive speed. Before arrival, the deceleration docking logic is triggered, and it is linked with the station detection module to verify whether the pallet has reached the docking position. After confirmation, the pickup action is executed; During the transfer stage, the running speed of the RGV and the stability of the goods are continuously monitored; During the unloading stage, the RGV coordinates with the conveyor system of the unloading station to send a goods receiving preparation signal. After the station responds that it is ready, the RGV is controlled to complete the goods transfer. After receiving the station unloading completion signal, the transfer time is recorded. If, during this process, the vehicle status monitoring module fails to receive the RGV signal three times consecutively, or detects three consecutive anomalies such as the RGV's operating speed being less than a preset threshold, coordinate change being less than a preset threshold, or the distance from the real-time position to the target station during deceleration being less than the minimum deceleration distance but failing to decelerate to below a set threshold, it immediately determines the vehicle as faulty, marks the RGV as abnormal, locks its last valid positioning location, and sets a temporary no-entry zone within 5 meters before and after it; simultaneously, the high-priority task status is reset from "in execution" to "awaiting reallocation - high-priority expedited," increasing its priority by one level and re-adding it to the head of the high-priority task queue; at the same time, a fault alarm containing the RGV's ID and fault location is pushed to the maintenance terminal to guide rapid repair; in addition, the route clearing module broadcasts the no-entry zone information to all vehicles on the road, guiding them to bypass the faulty section in the original counterclockwise direction to avoid collisions or congestion.

[0065] In one specific embodiment, for adjacent platform tasks with different priorities, after receiving the task, the latest arrival time range of each task is extracted, and the waiting time when allocated according to the original priority order is calculated to determine whether the optimization order needs to be adjusted. If all tasks can still be completed within their respective latest arrival time without waiting conflicts after the optimization order of executing low-priority platform tasks first and then high-priority platform tasks, then the tasks are allocated to the vehicle according to the optimization order, and a non-overlapping driving trajectory is planned simultaneously.

[0066] In one specific embodiment, for adjacent station tasks with different priorities, after receiving the task, the latest arrival time range of each task is extracted, the waiting time when allocated according to the original priority order is calculated, and the order optimization logic is triggered to verify the feasibility of adjusting the order. If, after adjustment, all tasks can still be completed within their respective latest arrival times without waiting conflicts, such as executing low-priority station tasks first and then high-priority station tasks, then tasks are allocated to the vehicle according to the optimized order, and non-overlapping travel trajectories are planned synchronously. During operation, the arrival time is monitored in real time, and the buffer space is dynamically compressed to ensure timeliness.

[0067] The system acquires information on the mass, volume, and destination of goods for each task. Combining this with the vehicle's load capacity and volume limits, tasks with the same destination and whose overall attributes meet the vehicle's carrying capacity can be merged into a composite task. This composite task is marked as the highest priority, and a forward picking route is planned. The composite task is assigned to one vehicle, while the remaining tasks are assigned to another. During operation, onboard sensors monitor the stability of the goods and dynamically adjust the speed. Upon arrival at the destination, the merged goods are unloaded synchronously. Similarly, if different goods have the same starting and ending platform, and their total mass and volume are within the vehicle's carrying capacity, they can also be merged into a composite task. This composite task is assigned to the same vehicle, while the remaining tasks are assigned to other vehicles. This reduces the number of scheduling operations and improves transportation efficiency.

[0068] In one specific embodiment, when multiple unloading platforms for different tasks are located at the same address, and multiple RGVs performing tasks arrive at the unloading platform almost simultaneously due to differences in route planning or travel speed, a queue will form due to the limited number of unloading positions. This situation will cause the RGVs to be unable to unload in a timely manner after picking up the goods, extending the task cycle, and will also occupy the passage space at the end of the track, potentially causing congestion for subsequent vehicles.

[0069] By continuously tracking the dynamic data of all RGVs executing tasks in real-time task monitoring, and calculating the estimated arrival time of each RGV based on the location of the unloading platform, the number and occupancy status of the docking stations are retrieved. When the estimated arrival time difference of multiple RGVs is detected to be less than a preset threshold and exceeds the docking station's capacity, an unloading conflict warning is immediately triggered, and task information is aggregated to the conflict handling queue. The travel speed and path of low-priority or long-distance RGVs are adjusted in layers according to task priority and travel location to ensure that the RGV arrival interval is not less than the average unloading time of a single docking station. After the first RGV arrives, a docking station is allocated according to the priority and first-come-first-served principle, guiding subsequent RGVs to queue orderly in the safe waiting area. The docking station status is monitored in real time, and the next RGV is scheduled to enter in sequence. After each RGV completes unloading, its status is updated to idle and it is scheduled to the nearest unassigned task platform. At the same time, the load status of the unloading platform is updated in real time. If congestion continues for more than a preset time, an early warning is automatically pushed to the operation and maintenance terminal to prompt manual intervention. Through prediction, staggered peak, allocation, and linkage of the entire process, queuing congestion is effectively avoided, and the scheduling efficiency is kept stable.

[0070] Step S104: After the high-priority task is completed, verify the data archive and reset RGV to idle; allocate resources to prioritize the handling of unfinished high-priority tasks, and release the suspension of ordinary tasks after the high-priority task is advanced, restore normal system scheduling and monitor track density to prevent congestion.

[0071] Specifically, after receiving the unloading completion signal from the RGV executing the high-priority task, including the RGV that has been reassigned after a failure, the system retrieves the entire process data of the task, including the time consumed at each stage of picking / transfer / unloading, RGV operating parameters, and fault handling records. After verifying the integrity of the data and confirming that no critical nodes are missing, the data is archived to the system task database, forming a high-priority task closed loop. Then, in the resource management module, the status of the RGV is reset from high-priority task execution to idle, making it available to receive new tasks. If there are still unfinished high-priority tasks, such as those reassigned after a fault, the software initiates a secondary resource contention and allocation logic: it rescans the currently available RGVs, removing the affected areas from the fault-prone restricted zones during the screening process, and prioritizes allocating resources to unfinished high-priority tasks; once all high-priority tasks are in progress or completed, the software releases the paused state of the ordinary task cache queue, allocates ordinary tasks to the available RGVs, restores the normal scheduling rhythm of the system, and continuously monitors the vehicle density of each track segment, dividing it into monitoring units of 10 meters. If the density of a certain segment exceeds 4 vehicles / 10 meters, a dynamic speed adjustment command is issued to the empty RGVs in that segment to maintain a 2-meter safe distance and avoid local congestion affecting the execution of subsequent tasks.

[0072] The multi-vehicle circular RGV scheduling method disclosed in this embodiment, upon receiving a station task request, parses the request and obtains the task information of the corresponding target task station. It also obtains the positions of all currently empty vehicles running on the circular track. For each target task station, it selects empty vehicles whose real-time position is between the preceding station and the target station, meet the vehicle deceleration conditions, and whose travel time to the target station is not less than the station's cargo preparation time, as matching vehicles for that target task. The preceding station is the station preceding the target station along the vehicle's travel direction. Target task information, including pickup and unloading station information, is sent to each matching vehicle. By shortening the overall time from receiving a task to completing pickup for an empty RGV, the idle rate of RGVs is reduced, and the operational response efficiency of a single RGV is improved.

[0073] In another embodiment, a multi-vehicle circular RGV scheduling device is also disclosed, including a task information parsing module 1, a vehicle filtering and matching module 2, and a task information sending module 3. The task information parsing module 1 is used to parse the station task request and obtain the task information of the corresponding target task station after receiving it. The vehicle filtering and matching module 2 is used to obtain the positions of each empty vehicle currently running on the circular track. For each target task station, it filters out empty vehicles whose real-time position is between the preceding station and the target station, meet the vehicle deceleration conditions, and whose time to reach the target task station is not less than the station's cargo preparation time, as matching vehicles for that target task. The preceding station is the station preceding the target station along the vehicle's running direction. The task information sending module 3 is used to send target task information to each matching vehicle, the target task information including cargo pickup station information and cargo unloading station information.

[0074] In this embodiment, the vehicle screening and matching module 2 specifically includes collecting the station status information of the target task station. The station status information includes the location of the target task station, the distance from the pallet to be loaded on the station to the station end point, and the running speed of the station conveyor line. Based on the station status information, the station preparation time is determined. The station preparation time is configured as the time required for the pallet to move from the station to the receiving position. The module also collects the current real-time location and running speed of each empty vehicle, as well as the deceleration parameters of each empty vehicle. The deceleration parameters are the minimum distance required for the vehicle to decelerate from its maximum speed to a stop.

[0075] In this embodiment, the vehicle screening and matching module 2 further includes, for each target task station i, selecting vehicles that simultaneously meet both location and time conditions from all empty vehicles as candidate task vehicles corresponding to that target task station i; the location condition is configured as the real-time coordinates of the empty vehicle j. satisfy: The The absolute coordinates of the preceding station (i-1) adjacent to the target station i and located on one side along the vehicle's direction of travel; the time condition is configured as the time taken for the empty vehicle to travel from its current position to the target station i. The time required to prepare goods at station i for the target task must be no less than the station preparation time. ,and ,in , , For the speed of unloaded vehicle j, Represents the absolute coordinates of the target task platform i. The time it takes for the pallet to travel from the target task station i to the receiving position; the vehicle with the shortest empty running distance is selected from the candidate task vehicles corresponding to the target task station i as the final task operation vehicle assigned to the target task station i, wherein the empty running distance is the distance from the current real-time coordinates of the candidate task vehicle. Move along the set running direction to the absolute coordinates of the target station i The path length.

[0076] In this embodiment, unloaded vehicles without assigned tasks continuously run in the same direction along a circular track according to preset driving parameters.

[0077] It should be noted that the various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. Regarding the cloud-based multi-user printing system disclosed in the embodiments, since it corresponds to the cloud-based multi-user printing method disclosed in the embodiments, the description is relatively simple, and relevant parts can be referred to the method section.

[0078] In other embodiments, a multi-vehicle loop-through RGV scheduling and storage system is also provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the cloud service-based multi-user printing method described in the above embodiments.

[0079] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

[0080] In summary, the above description is only a preferred embodiment of the present invention. All equivalent changes and modifications made within the scope of the claims of the present invention should be covered by the present invention.

Claims

1. A multi-vehicle circular RGV scheduling method, characterized in that, Includes the following steps: S1, after receiving the platform task request, parse the platform task request and obtain the task information of the corresponding target platform; S2, obtain the position of each empty vehicle currently running on the circular track, and for each target task station, select empty vehicles whose real-time position is between the preceding station and the target station, meet the vehicle deceleration conditions, and whose time to run to the target task station is not less than the station's preparation time as the matching vehicle for the target task; the preceding station is the station before the target station along the vehicle running direction. S3, send target task information to each matched vehicle, the target task information including pickup platform information and unloading platform information.

2. The multi-vehicle looping RGV scheduling method according to claim 1, characterized in that, Step S2 includes: S21, Collect the station status information of the target task station. The station status information includes the position of the target task station, the distance from the pallet to be loaded on the station to the station end point, and the running speed of the station conveyor line. Determine the station preparation time based on the station status information. The station preparation time is configured as the time required for the pallet to move from the station to the receiving position. S22, collect the current real-time position and running speed of each empty vehicle, as well as the deceleration parameters of each empty vehicle. The deceleration parameters are the minimum distance required for the vehicle to decelerate from its maximum speed to a stop.

3. The multi-vehicle looping RGV scheduling method according to claim 2, characterized in that, Step S2 further includes: S23, for each target task station i, select vehicles that simultaneously meet both location and time conditions from all empty vehicles as candidate task vehicles corresponding to that target task station i; the location condition is configured as the real-time coordinates of the empty vehicle j. satisfy: The The absolute coordinates of the preceding station (i-1) adjacent to the target station i and located on one side along the vehicle's direction of travel; the time condition is configured as the time taken for the empty vehicle to travel from its current position to the target station i. The time required to prepare goods at station i for the target task must be no less than the station preparation time. ,and ,in , , For the speed of unloaded vehicle j, Represents the absolute coordinates of the target task platform i. The time it takes for the tray at the target task station i to travel to the docking position; S24, select the vehicle with the shortest no-load travel distance from the candidate task vehicles corresponding to the target task station i as the final task operation vehicle assigned to the target task station i. The no-load travel distance is the distance from the candidate task vehicle to the current real-time coordinates. Move along the set running direction to the absolute coordinates of the target station i The path length.

4. The multi-vehicle looping RGV scheduling method according to claim 3, characterized in that: Unloaded vehicles without assigned tasks run continuously in the same direction on a circular track according to preset driving parameters.

5. The multi-vehicle looping RGV scheduling method according to claim 3, characterized in that: For adjacent platform tasks with different priorities, after receiving the task, extract the latest arrival time range of each task, calculate the waiting time when allocated according to the original priority order, and determine whether the order needs to be adjusted and optimized. If, after optimization, all tasks can be completed within their respective latest arrival times without any waiting conflicts, then tasks are assigned to the vehicle in the optimized order, and non-overlapping travel trajectories are planned simultaneously.

6. A multi-vehicle looping RGV dispatching device, characterized in that, include: The parsing module, upon receiving a platform task request, parses the platform task request and obtains the task information of the corresponding target platform. The vehicle filtering module obtains the position of each empty vehicle currently running on the circular track. For each target task station, it filters out empty vehicles whose real-time position is between the preceding station and the target station, meet the vehicle deceleration conditions, and whose time to reach the target task station is not less than the station's preparation time, as the matching vehicles for the target task. The preceding station is the station before the target station along the vehicle's running direction. The information sending module sends target task information to each matched vehicle. The target task information includes pickup platform information and unloading platform information.

7. A multi-vehicle looping RGV dispatching device according to claim 6, characterized in that, The vehicle screening module specifically includes: Collect the station status information of the target task station. The station status information includes the location of the target task station, the distance from the pallet to be loaded on the station to the station end point, and the running speed of the station conveyor line. Determine the station preparation time based on the station status information. The station preparation time is configured as the time required for the pallet to move from the station to the receiving position. The system collects the current real-time location and operating speed of each unloaded vehicle, as well as the deceleration parameters of each unloaded vehicle. The deceleration parameters are the minimum distance required for the vehicle to decelerate from its maximum speed to a stop.

8. A multi-vehicle looping RGV dispatching device according to claim 7, characterized in that, The vehicle screening module also includes: For each target task station i, vehicles that simultaneously meet both location and time conditions are selected from all empty vehicles and designated as candidate task vehicles for that target task station i; the location condition is configured as the real-time coordinates of the empty vehicle j. satisfy: The The absolute coordinates of the preceding station (i-1) adjacent to the target station i and located on one side along the vehicle's direction of travel; the time condition is configured as the time taken for the empty vehicle to travel from its current position to the target station i. The time required to prepare goods at station i for the target task must be no less than the station preparation time. ,and ,in , , For the speed of unloaded vehicle j, Represents the absolute coordinates of the target task platform i. The time it takes for the tray at the target task station i to travel to the docking position; The vehicle with the shortest no-load travel distance is selected from the candidate vehicles corresponding to the target task station i and assigned as the final task vehicle to the target task station i. The no-load travel distance is the distance from the candidate task vehicle to the current real-time coordinates. Move along the set running direction to the absolute coordinates of the target station i The path length.

9. A multi-vehicle looping RGV dispatching device according to claim 8, characterized in that: Unloaded vehicles without assigned tasks run continuously in the same direction on a circular track according to preset driving parameters.

10. A multi-vehicle looping RGV scheduling system, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, it implements the steps of the method as described in any one of claims 1-6.

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