Automatic guided vehicle scheduling method, system and device, electronic equipment and medium

Abstract

The invention discloses an automatic guided vehicle scheduling method, system and device, electronic equipment and a medium, and belongs to the technical field of intelligent scheduling. The method comprises the steps that a transportation task is sent to the automatic guide vehicle, so that the automatic guide vehicle generates initial reservation information according to the transportation task, the initial reservation information comprises an optimal path and time information, and the time information is used for reflecting a predicted time period of a driving area occupied by the automatic guide vehicle according to the optimal path; receiving a plurality of pieces of initial reservation information sent by the plurality of automated guided vehicles, and establishing a time map according to the plurality of pieces of initial reservation information; the time map is used for recording reservation occupation states of the driving area in different time periods; generating target reservation information according to the time map; and sending each piece of target reservation information to the corresponding automated guided vehicle, so that the automated guided vehicle executes a transportation task according to the target reservation information. Therefore, the embodiment of the invention solves the problem of response delay of the automatic guide vehicle scheduling method in the prior art.

Description

Technical Field

[0001] This invention belongs to the field of intelligent scheduling technology, specifically relating to an automated guided vehicle (AGV) scheduling method, system, device, electronic equipment, and medium. Background Technology

[0002] Automated Guided Vehicles (AGVs), also known as unmanned transport vehicles or automated guided vehicles, are widely used in the logistics and warehousing field. They can automatically travel along predetermined routes to transport goods and materials from the starting point to the destination, realizing the automation of the entire process of loading, unloading, and handling of goods and materials.

[0003] Currently, some large factories have hundreds of automated guided vehicles (AGVs). Traditional scheduling systems plan routes for these AGVs. When the number of tasks is too large, the computational demands of traditional scheduling systems increase, which can easily lead to problems such as response delays. In addition, some local emergencies can also cause traffic congestion and multiple AGVs waiting for each other. Summary of the Invention

[0004] The purpose of this invention is to provide an automated guided vehicle (AGV) scheduling method, system, device, electronic device, and medium that can solve the problem of response delay in existing AGV scheduling methods.

[0005] To solve the above-mentioned technical problems, the present invention is implemented as follows: In a first aspect, embodiments of the present invention provide an automated guided vehicle (AGV) scheduling method, the method comprising: A transportation task is sent to an automated guided vehicle (AGV) so that the AGV generates initial reservation information based on the transportation task. The initial reservation information includes an optimal route and time information. The time information is used to reflect the estimated time period during which the AGV occupies the driving area according to the optimal route. The system receives multiple initial reservation messages from multiple automated guided vehicles and establishes a time map based on these initial reservation messages. The time map is used to record the reservation occupancy status of the driving area at different time periods. Generate target reservation information based on the time map; Each of the target reservation information is sent to the corresponding automated guided vehicle, so that the automated guided vehicle performs the transportation task according to the target reservation information.

[0006] Optionally, generating target reservation information based on the time map includes: Based on the time map, conflict situations among multiple initial reservation information entries are determined; the conflict situations include conflicts among multiple initial reservation information entries for the driving area by multiple automated guided vehicles within the same time period; Sort the conflicting initial reservation information; Based on the sorting results, the target reservation information is determined from the conflicting initial reservation information.

[0007] Optionally, sorting the conflicting initial reservation information includes: For the automated guided vehicles corresponding to conflicting initial reservation information, the priority of the corresponding transportation task is obtained; The conflicting initial reservation information is sorted according to the priority of the transportation task.

[0008] Optionally, sorting the conflicting initial reservation information further includes: If at least two of the automated guided vehicles have the same priority for their transport tasks, obtain the waiting time and the number of failed reservations for the at least two automated guided vehicles. The initial reservation information of the at least two automated guided vehicles is sorted according to the waiting time and the number of reservation failures of the at least two automated guided vehicles.

[0009] Optionally, the automated guided vehicle (AGV) scheduling method also includes: The system receives accident area information reported by the automated guided vehicle (AGV), which indicates the driving area where the AGV detects a traffic obstacle during its operation. The time map is updated based on the accident area information to prohibit reservations for the driving area with traffic obstructions during a preset time period.

[0010] Optionally, the optimal path is the path with the shortest travel time calculated by the automated guided vehicle based on the starting speed, turning speed, acceleration / deceleration, and total path length.

[0011] Secondly, embodiments of the present invention provide an automated guided vehicle (AGV) dispatching system, including a management unit and an AGV; The management unit is used to send transportation tasks to automated guided vehicles (AGVs), enabling the AGVs to generate initial reservation information based on the transportation tasks. The initial reservation information includes an optimal route and time information, where the time information reflects the estimated time period during which the AGVs will occupy the driving area according to the optimal route. The management unit also receives multiple initial reservation messages from multiple AGVs and establishes a time map based on these messages. The time map records the reservation occupancy status of the driving area at different time periods. Furthermore, the management unit generates multiple target reservation messages based on the time map and sends each target reservation message to its corresponding AGV, enabling the AGVs to execute the transportation tasks according to the target reservation messages.

[0012] The automated guided vehicle is used to receive the transportation task, generate the initial reservation information according to the transportation task, send the initial reservation information to the management unit, and receive the target reservation information from the management unit.

[0013] Optionally, the automated guided vehicle is also used to exclude or adjust the time information of the driving area that caused the reservation failure, so as to generate new initial reservation information.

[0014] Optionally, the automated guided vehicle is also used to detect obstacles in the driving area it is currently in or the driving area it is about to enter while driving. If there are obstacles, it stops executing the target reservation information and reports the accident area information to the management unit.

[0015] Optionally, the management unit is further configured to determine the conflict situation of multiple initial reservation information according to the time map; the conflict situation includes the conflict of multiple initial reservation information of multiple automated guided vehicles in the same time period of the driving area; sort the conflicting initial reservation information; and determine the target reservation information from the conflicting initial reservation information according to the sorting result.

[0016] Optionally, the management unit is further configured to obtain the priority of the corresponding transportation task for the automated guided vehicle corresponding to the conflicting initial reservation information; and sort the conflicting initial reservation information according to the priority of the transportation task.

[0017] Thirdly, embodiments of the present invention provide an automated guided vehicle (AGV) dispatching device, comprising: The task assignment module is used to send transportation tasks to the automated guided vehicle (AGV), so that the AGV generates initial reservation information based on the transportation task. The initial reservation information includes optimal route and time information. The time information is used to reflect the estimated time period during which the AGV occupies the driving area according to the optimal route. The time map module is used to receive multiple initial reservation messages sent by multiple automated guided vehicles and to build a time map based on the multiple initial reservation messages; the time map is used to record the reservation occupancy status of the driving area at different time periods; The reservation information generation module is used to generate target reservation information based on the time map; The reservation information sending module is used to send the reservation information of each target to the corresponding automated guided vehicle, so that the automated guided vehicle can perform the transportation task according to the reservation information.

[0018] Optionally, the appointment information generation module includes: The conflict detection submodule is used to determine the conflict situation of multiple initial reservation information based on the time map; the conflict situation includes the conflict of multiple initial reservation information of multiple automated guided vehicles in the driving area within the same time period; The sorting submodule is used to sort the conflicting initial reservation information; The identification submodule is used to determine the target reservation information from the conflicting initial reservation information based on the sorting results.

[0019] Optionally, the sorting submodule includes: The first acquisition unit is used to acquire the priority of the corresponding transportation task for the automated guided vehicle corresponding to the conflicting initial reservation information; The first sorting unit is used to sort the conflicting initial reservation information according to the priority of the transportation task.

[0020] Optionally, the sorting submodule also includes: The second acquisition unit is used to acquire the waiting time and the number of reservation failures of the at least two automated guided vehicles when the priority of the transportation tasks of the at least two automated guided vehicles is the same. The second sorting unit is used to sort the initial reservation information of the at least two automated guided vehicles according to the waiting time and the number of reservation failures of the at least two automated guided vehicles.

[0021] Optionally, the automated guided vehicle (AGV) dispatching device also includes: An accident information receiving module is used to receive accident area information reported by the automated guided vehicle, wherein the accident area information is used to indicate the driving area where the automated guided vehicle detects a traffic obstacle during driving. The update module is used to update the time map based on the accident area information, so as to prohibit reservations for the driving area with traffic obstructions within a preset time period.

[0022] Fourthly, embodiments of the present invention provide an electronic device including a processor, a memory, and a program or instructions stored in the memory and executable on the processor, wherein the program or instructions, when executed by the processor, implement the steps of the method described in the first aspect.

[0023] Fifthly, embodiments of the present invention provide a readable storage medium on which a program or instructions are stored, which, when executed by a processor, implement the steps of the method described in the first aspect.

[0024] In this embodiment of the invention, a transportation task is sent to an automated guided vehicle (AGV), which generates initial reservation information based on the transportation task. This distributes the calculation of the optimal route from the management unit to the AGV for execution locally, significantly reducing the computational pressure on the management unit during peak periods due to handling a large number of route planning requests and effectively alleviating the response delay problem. Then, multiple initial reservation messages from the AGVs are received, and a time map is built based on these messages. The time map records the reservation occupancy status of the driving area at different time periods. The optimal route and time information of all AGVs are summarized, thereby understanding the occupancy status of all AGVs in a certain driving area for a future period. This provides a reliable data foundation for global coordination and facilitates the scheduling of AGVs. Target reservation information is generated based on the time map, solving the waiting or congestion problems that may occur when multiple AGVs are in a certain driving area. Each target reservation message is sent to the corresponding AGV, enabling the AGV to execute the transportation task based on the target reservation information, thus improving the reliability of task execution.

[0025] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this disclosure. Attached Figure Description

[0026] Figure 1 This is a flowchart of an automated guided vehicle (AGV) scheduling method according to an embodiment of the present invention; Figure 2 This is a flowchart of an automated guided vehicle (AGV) scheduling method according to another embodiment of the present invention; Figure 3This is a structural block diagram of an automated guided vehicle (AGV) dispatching device according to an embodiment of the present invention. Detailed Implementation

[0027] 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. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0028] The terms "first," "second," etc., used in the specification and claims of this invention are used to distinguish similar objects and are not used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that embodiments of the invention can be implemented in orders other than those illustrated or described herein. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0029] Automated Guided Vehicles (AGVs), also known as unmanned transport vehicles or automated guided vehicles, are widely used in the logistics and warehousing field. They can automatically travel along predetermined routes to transport goods and materials from the starting point to the destination, realizing the automation of the entire process of loading, unloading, and handling of goods and materials.

[0030] Currently, some large factories have hundreds of automated guided vehicles (AGVs). Traditional scheduling systems plan routes for these AGVs. When the number of tasks is too large, the computational demands of traditional scheduling systems increase, which can easily lead to problems such as response delays. In addition, some local emergencies can also cause traffic congestion and multiple AGVs waiting for each other.

[0031] Therefore, one of the core concepts of this invention is that by sending transportation tasks to automated guided vehicles (AGVs), the AGVs can calculate preliminary initial reservation information based on the transportation tasks, thereby reducing the computational burden on the management unit and solving the problem of response delay. Furthermore, by summarizing and processing the initial reservation information of multiple AGVs and establishing a time map, it is possible to analyze and judge the occupancy status of the driving area in different time periods, thereby planning the final target reservation information and minimizing congestion and conflicts of AGVs.

[0032] This invention provides an automated guided vehicle (AGV) scheduling method, system, device, electronic device, and medium that can solve the problem of response delay in existing AGV scheduling methods.

[0033] The automated guided vehicle (AGV) scheduling method provided by the present invention will be described in detail below with reference to the accompanying drawings, through specific embodiments and application scenarios.

[0034] Figure 1 This is a flowchart of an automated guided vehicle (AGV) scheduling method according to an embodiment of the present invention, as follows: Figure 1 As shown, this automated guided vehicle (AGV) scheduling method is applicable to management units, such as terminal equipment and central processing units. Figure 1 The illustrated embodiment includes at least the following steps 101-104.

[0035] In step 101, a transportation task is sent to the automated guided vehicle (AGV) so that the AGV generates initial reservation information based on the transportation task. The initial reservation information includes optimal route and time information. The time information is used to reflect the estimated time period during which the AGV occupies the driving area according to the optimal route.

[0036] When the management unit receives a transportation task for goods or materials, it sends the corresponding transportation task to the automated guided vehicle (AGV). In some embodiments, the transportation task includes origin information, destination information, task number, task priority, pallet number, etc., so that when the AGV receives the transportation task, it can calculate based on the relevant information in the transportation task to obtain the optimal route and the time information for traveling according to the optimal route. The time information includes the estimated time period when the AGV occupies each driving area. The AGV also uses the optimal route and the corresponding time information as initial reservation information and uploads the initial reservation information.

[0037] Understandably, during peak operating periods, there are numerous transportation tasks. Distributing these tasks to different automated guided vehicles (AGVs) distributes the computational load of initial route planning across multiple AGVs' computing units. This significantly reduces the computational pressure on the management unit during peak periods due to the large number of route planning calculations, thereby effectively alleviating the system response delay problem. Furthermore, each AGV performs local calculations, enabling faster generation of initial reservation information and effectively improving the speed of initial reservation information generation.

[0038] In step 102, multiple initial reservation messages sent by multiple automated guided vehicles are received, and a time map is established based on the multiple initial reservation messages; the time map is used to record the reservation occupancy status of the driving area at different time periods.

[0039] The management unit divides the working map into multiple driving areas and receives initial reservation information from multiple automated guided vehicles (AGVs). The initial reservation information includes the optimal route for each AGV and the occupancy time information for each different driving area. The initial reservation information is summarized to create a time map. In some embodiments, the time map includes a time map coordinate system, where the X-axis and Y-axis represent the coordinates of different driving areas, and the T-axis represents the time coordinate. All initial reservation information is converted into a coordinate point on the time map coordinate system, thereby intuitively judging the occupancy status of the driving area in different time periods, providing an accurate data foundation for subsequent global detailed planning.

[0040] In step 103, target reservation information is generated based on the time map.

[0041] The final target reservation information is generated based on the reservation occupancy status displayed on the time map. It is understood that in actual operation, some driving areas may be occupied by different automated guided vehicles (AGVs) at the same time. In order to avoid such conflicts, some embodiments coordinate the conflict information of the time map obtained by summarizing the initial reservation information to generate target reservation information. The original conflicting initial reservation information is coordinated into conflict-free target reservation information, thereby solving the congestion and waiting problems that may occur when multiple AGVs are in a certain driving area. The application of the time map ensures that each AGV can complete its corresponding task more efficiently.

[0042] In step 104, each of the target reservation information is sent to the corresponding automated guided vehicle, so that the automated guided vehicle performs the transportation task according to the target reservation information.

[0043] By sending the target reservation information to the corresponding automated guided vehicle (AGV), a closed loop of dispatching instructions is achieved. The AGV executes the transportation task based on the target reservation information. Since the target reservation information contains the final optimal route and time information, the AGV can drive according to the final optimal route and time information, which can execute the task efficiently and reliably, avoid uncertain conflicts during the driving process, and improve the reliability of the transportation task execution process.

[0044] In this embodiment of the invention, a transportation task is sent to an automated guided vehicle (AGV), which generates initial reservation information based on the transportation task. This distributes the calculation of the optimal route from the management unit to the AGV for execution locally, significantly reducing the computational pressure on the management unit during peak periods due to handling a large number of route planning requests and effectively alleviating the response delay problem. Then, multiple initial reservation messages from the AGVs are received, and a time map is built based on these messages. The time map records the reservation occupancy status of the driving area at different time periods. The optimal route and time information of all AGVs are summarized, thereby understanding the occupancy status of all AGVs in a certain driving area for a future period. This provides a reliable data foundation for global coordination and facilitates the scheduling of AGVs. Target reservation information is generated based on the time map, solving the waiting or congestion problems that may occur when multiple AGVs are in a certain driving area. Each target reservation message is sent to the corresponding AGV, enabling the AGV to execute the transportation task based on the target reservation information, thus improving the reliability of task execution.

[0045] Figure 2 This is a flowchart of an automated guided vehicle (AGV) scheduling method according to another embodiment of the present invention, such as... Figure 2 As shown, this automated guided vehicle (AGV) scheduling method is applicable to management units, such as terminal equipment and central processing units. Figure 2 The illustrated embodiment includes at least the following steps 201-204.

[0046] In step 201, a transportation task is sent to the automated guided vehicle (AGV) so that the AGV generates initial reservation information based on the transportation task. The initial reservation information includes optimal route and time information, and the time information is used to reflect the estimated time period during which the AGV occupies the driving area according to the optimal route.

[0047] When the management unit receives a transportation task for goods or materials, it sends the corresponding transportation task to the automated guided vehicle (AGV). In some embodiments, the transportation task includes origin information, destination information, task number, task priority, pallet number, etc., so that when the AGV receives the transportation task, it can calculate based on the relevant information in the transportation task to obtain the optimal route and the time information for traveling according to the optimal route. The time information includes the estimated time period when the AGV occupies each driving area. The AGV also uses the optimal route and the corresponding time information as initial reservation information and uploads the initial reservation information.

[0048] Understandably, during peak operating periods, there are numerous transportation tasks. Distributing these tasks to different automated guided vehicles (AGVs) distributes the computational load of initial route planning across multiple AGVs' computing units. This significantly reduces the computational pressure on the management unit during peak periods due to the large number of route planning calculations, thereby effectively alleviating the system response delay problem. Furthermore, each AGV performs local calculations, enabling faster generation of initial reservation information and effectively improving the speed of initial reservation information generation.

[0049] In step 202, multiple initial reservation messages sent by multiple automated guided vehicles are received, and a time map is established based on the multiple initial reservation messages; the time map is used to record the reservation occupancy status of the driving area at different time periods.

[0050] The management unit divides the working map into multiple driving areas and receives initial reservation information from multiple automated guided vehicles (AGVs). The initial reservation information includes the optimal route for each AGV and the occupancy time information for each different driving area. The initial reservation information is summarized to create a time map. In some embodiments, the time map includes a time map coordinate system, where the X-axis and Y-axis represent the coordinates of different driving areas, and the T-axis represents the time coordinate. All initial reservation information is converted into a coordinate point on the time map coordinate system, thereby intuitively judging the occupancy status of the driving area in different time periods, providing an accurate data foundation for subsequent global detailed planning.

[0051] In step 203, conflicts among multiple initial reservation information entries are determined based on the time map; the conflicts include conflicts among multiple initial reservation information entries for the driving area by multiple automated guided vehicles within the same time period.

[0052] By identifying conflicts in initial reservation information within the time map, the management unit can proactively and accurately identify driving areas that may cause congestion and waiting. Specifically, a conflict can be understood as multiple automated guided vehicles (AGVs) initiating initial reservations for the same driving area within the same time period. In this situation, if multiple AGVs perform transportation tasks according to the initial reservation information, collisions, congestion, or other conflicts may occur within the driving area. Therefore, in this embodiment, by identifying the data in the time map as specific conflict situations, early diagnosis and location of potential congestion risks are achieved, providing accurate targets for subsequent proactive intervention and avoiding on-site stagnation or chaos caused by conflicts only being discovered when the AGVs are actually driving.

[0053] In step 204, the conflicting initial reservation information is sorted.

[0054] When a conflict is identified based on the time map, the conflict is first located to pinpoint the specific driving area where the conflict occurred. Then, the initial reservation information of the conflicting vehicles is sorted. This step establishes a scheme for evaluating and comparing the automated guided vehicles and transportation tasks involved in the conflict. By sorting the initial reservation information of the automated guided vehicles involved in the conflict, the scientific nature of the conflict resolution is ensured.

[0055] In some embodiments, when there is no conflict, the target reservation information is directly generated from the initial reservation information, and the content of the initial reservation information and the target reservation information are consistent.

[0056] Step 204 above also includes the following sub-steps: for the automated guided vehicles corresponding to the conflicting initial reservation information, obtain the priority of the corresponding transportation task; sort the conflicting initial reservation information according to the priority of the transportation task.

[0057] In some embodiments, for the automated guided vehicles (AGVs) corresponding to conflicting initial reservation information, the priority of the corresponding transportation task is obtained. It is understood that each transportation task has a priority division, and some more urgent transportation tasks will have a higher priority, which facilitates the rapid processing of urgent transportation tasks. Therefore, in this embodiment, obtaining the priority of the transportation tasks of the AGVs with conflicting information enables the scheduling decision to directly serve the upper-level production or logistics business logic. By identifying and obtaining the priority of transportation tasks, the urgency or importance of the tasks can be distinguished, and resources can be allocated in a targeted manner.

[0058] Furthermore, based on the priority of the transportation tasks, the conflicting initial reservation information is sorted, thereby establishing a clear and stable conflict resolution standard. That is, reservation requests corresponding to transportation tasks with higher priority will obtain priority right-of-way and can be processed in advance, improving the predictability and fairness of the sorting behavior. In addition, the sorting rules based on task priority have good scalability and adaptability. For example, in a production management system, the priority of transportation tasks can be flexibly set or adjusted according to real-time needs, and the management unit can directly respond to changes in priority, thereby realizing efficient linkage between the scheduling method and dynamic production needs.

[0059] The above steps ensure that critical transportation tasks receive priority passage, thus optimizing the flexibility and responsiveness of the automated guided vehicle (AGV) scheduling method in complex transportation environments.

[0060] Step 204 above also includes the following sub-steps: when the transportation tasks of at least two of the automated guided vehicles have the same priority, obtain the waiting time and the number of reservation failures of the at least two automated guided vehicles; sort the initial reservation information of the at least two automated guided vehicles according to the waiting time and the number of reservation failures of the at least two automated guided vehicles.

[0061] When at least two of the automated guided vehicles (AGVs) have the same priority for their transport tasks, the waiting time and the number of failed reservations for the at least two AGVs are obtained. The waiting time and the number of failed reservations for the AGVs can reflect the real-time status and historical encounters of the AGVs. Therefore, when the priority criteria of the AGVs are the same, sorting them based on their waiting status can further reduce delays and congestion.

[0062] Acquiring the waiting time allows the management unit to perceive and quantify the delays caused by conflicts for automated guided vehicles (AGVs), while acquiring the number of failed reservations records the cumulative history of AGVs failing to acquire resources in previous conflicts. These two dimensions of data provide an objective basis for more refined comparisons and avoid the inefficient state of random selection when priorities are the same.

[0063] Based on the waiting time and number of failed reservations of at least two automated guided vehicles (AGVs), the initial reservation information of the at least two AGVs is sorted. It is understood that AGVs with longer waiting times or more failed reservations will receive a higher ranking under this rule. This effectively prevents some AGVs from being unable to receive resource allocation for extended periods due to continuous conflicts with tasks of the same priority, thus improving the fairness of service opportunities for all participating AGVs. Simultaneously, reducing abnormally long waiting times for individual AGVs also helps to lower the overall average task latency of the AGVs.

[0064] In step 205, target reservation information is determined from the conflicting initial reservation information based on the sorting results.

[0065] Based on the sorting results, target reservation information is determined from the conflicting initial reservation information. By sorting the initial reservation information, it is clearly specified which initial reservation information is confirmed and can be directly used as target reservation information, and which initial reservation information needs to be adjusted or waited for. After adjustment, new target reservation information is formed, thereby eliminating the decision-making deadlock of multiple automated guided vehicles competing to be in the same driving area at the same time. This ensures that under the condition of limited resources, the management unit can output a definite and conflict-free driving plan, maintaining the authority and order of the scheduling scheme.

[0066] In step 206, each of the target reservation information is sent to the corresponding automated guided vehicle, so that the automated guided vehicle performs the transportation task according to the target reservation information.

[0067] By sending the target reservation information to the corresponding automated guided vehicle (AGV), a closed loop of dispatching instructions is achieved. The AGV executes the transportation task based on the target reservation information. Since the target reservation information contains the final optimal route and time information, the AGV can drive according to the final optimal route and time information, which can execute the task efficiently and reliably, avoid uncertain conflicts during the driving process, and improve the reliability of the transportation task execution process.

[0068] In step 207, the accident area information reported by the automated guided vehicle is received. The accident area information is used to indicate the driving area where the automated guided vehicle detects a traffic obstacle during driving. In the above steps, the Automated Guided Vehicle (AGV) receives accident area information reported by the AGV, enabling the AGV to automatically perceive and respond to faults. When the AGV, acting as a mobile terminal, detects obstacles or abnormalities during its operation, it can immediately convert local accident area information into semantic information understandable by the management unit and report it to the management unit. This solves the problem that traditional scheduling methods may continue to dispatch AGVs to accident areas due to information update delays, leading to increased congestion in the accident areas. It achieves a closed-loop response from environmental changes to scheduling awareness.

[0069] In step 208, the time map is updated according to the accident area information to prohibit reservations for the driving area with traffic obstructions during a preset time period.

[0070] In the above steps, the time map is updated based on the accident area information to prohibit reservations for the driving area with traffic obstructions within a preset time period. By immediately marking the accident area as unavailable on the time map, which serves as the basis for global decision-making, it ensures that all subsequent scheduling decisions, i.e., generating new target reservation information, will not guide the automated guided vehicles to the accident area. This prevents secondary congestion from the source and protects the safety and efficiency of other automated guided vehicles. In addition, prohibiting reservations within the preset time period provides a definite time window for accident handling or obstruction removal, avoiding the possibility of further conflict or danger caused by prematurely releasing the accident area. It also avoids the waste of resources caused by permanent blockade, demonstrating the flexibility and reliability of management.

[0071] In some embodiments, the preset time can be ten minutes or one hour. This application does not limit this and can determine it according to the on-site situation.

[0072] In this embodiment of the invention, by quickly incorporating accident area information into a time map and blocking resources, unexpected events can be accommodated and handled with minimal disturbance (affecting only appointments related to the accident area). This guides multiple automated guided vehicles (AGVs) to bypass the accident area, enabling replanning and global coordination. This not only greatly improves the availability and reliability of the logistics system under real and complex working conditions, but also enhances the advancement and practicality of the AGV scheduling method.

[0073] In some embodiments, the optimal path is the path with the shortest travel time calculated by the automated guided vehicle (AGV) based on its starting speed, turning speed, acceleration / deceleration, and total path length. Defining the optimal path as the shortest travel time allows path planning to be based on time efficiency, guiding the AGV's local calculation module to perform time cost assessments. This avoids selecting paths that, while short in distance, might have longer actual travel times due to excessive turns or frequent starts and stops. Consequently, the time information in the generated initial reservation information is closer to the actual travel results, improving the quality of the initial reservation information.

[0074] Furthermore, by incorporating parameters characterizing the motion of automated guided vehicles (AGVs), such as initial speed, turning speed, and acceleration / deceleration, into the calculation model, path planning is no longer based on idealized, uniform motion assumptions. Instead, it is based on the characteristics of AGVs accelerating, decelerating, and slowing down during turns in actual operation. By combining this with the total path length, the actual travel time for a given path can be estimated more accurately. This personalized calculation based on its own performance model allows AGVs of different models or load conditions to obtain time predictions that match their capabilities even for the same path, enhancing the accuracy of time information. By standardizing the calculation criteria for the optimal path, the data quality of the initial reservation information is ensured, thereby improving the reliability of the final output of the entire scheduling method.

[0075] Secondly, the present invention provides an automated guided vehicle (AGV) scheduling system, comprising a management unit and AGVs. The management unit is used to send transportation tasks to the AGVs, enabling the AGVs to generate initial reservation information based on the transportation tasks. The initial reservation information includes an optimal route and time information, wherein the time information reflects the estimated time period during which the AGVs will occupy a driving area according to the optimal route. The management unit receives multiple initial reservation messages from multiple AGVs and establishes a time map based on the multiple initial reservation messages. The time map records the reservation occupancy status of the driving area at different time periods. Multiple target reservation messages are generated based on the time map. Each target reservation message is sent to the corresponding AGV, enabling the AGV to execute the transportation task according to the target reservation message. The AGVs receive the transportation tasks and generate the initial reservation information based on the transportation tasks; send the initial reservation information to the management unit; and receive the target reservation information from the management unit.

[0076] In this embodiment of the invention, a transportation task is sent to an automated guided vehicle (AGV), which generates initial reservation information based on the transportation task. This distributes the calculation of the optimal route from the management unit to the AGV for execution locally, significantly reducing the computational pressure on the management unit during peak periods due to handling a large number of route planning requests and effectively alleviating the response delay problem. Then, multiple initial reservation messages from the AGVs are received, and a time map is built based on these messages. The time map records the reservation occupancy status of the driving area at different time periods. The optimal route and time information of all AGVs are summarized, thereby understanding the occupancy status of all AGVs in a certain driving area for a future period. This provides a reliable data foundation for global coordination and facilitates the scheduling of AGVs. Target reservation information is generated based on the time map, solving the waiting or congestion problems that may occur when multiple AGVs are in a certain driving area. Each target reservation message is sent to the corresponding AGV, enabling the AGV to execute the transportation task based on the target reservation information, thus improving the reliability of task execution.

[0077] In some embodiments, the automated guided vehicle is further configured to exclude or adjust the time information of the driving area that caused the reservation failure, in order to generate new initial reservation information.

[0078] In some embodiments, the automated guided vehicle is further configured to detect obstacles in the driving area it is currently in or the driving area it is about to enter while driving. If such obstacles exist, the vehicle stops executing the target reservation information and reports the accident area information to the management unit.

[0079] In some embodiments, the management unit is further configured to determine the conflict situation of multiple initial reservation information according to the time map; the conflict situation includes the conflict of multiple initial reservation information of multiple automated guided vehicles in the same time period of the driving area; sort the conflicting initial reservation information; and determine the target reservation information from the conflicting initial reservation information according to the sorting result.

[0080] In some embodiments, the management unit is further configured to obtain the priority of the corresponding transportation task for the automated guided vehicle corresponding to the conflicting initial reservation information; and sort the conflicting initial reservation information according to the priority of the transportation task.

[0081] As the system implementation is basically similar to the method implementation, it is described in a relatively simple way. For relevant details, please refer to the description of the method implementation.

[0082] Thirdly, Figure 3 This is a structural block diagram of an automated guided vehicle (AGV) dispatching device according to an embodiment of the present invention. Please refer to it. Figure 3 This invention provides an automated guided vehicle (AGV) dispatching device, comprising: The task assignment module 301 is used to send a transportation task to the automated guided vehicle (AGV) so that the AGV generates initial reservation information based on the transportation task. The initial reservation information includes optimal route and time information. The time information is used to reflect the estimated time period during which the AGV occupies the driving area according to the optimal route. The time map module 302 is used to receive multiple initial reservation messages sent by multiple automated guided vehicles, and to build a time map based on the multiple initial reservation messages; the time map is used to record the reservation occupancy status of the driving area in different time periods; Reservation information generation module 303 is used to generate target reservation information based on the time map; The reservation information sending module 304 is used to send each of the target reservation information to the corresponding automated guided vehicle, so that the automated guided vehicle can perform the transportation task according to the target reservation information.

[0083] In this embodiment of the invention, a transportation task is sent to an automated guided vehicle (AGV), which generates initial reservation information based on the transportation task. This distributes the calculation of the optimal route from the management unit to the AGV for execution locally, significantly reducing the computational pressure on the management unit during peak periods due to handling a large number of route planning requests and effectively alleviating the response delay problem. Then, multiple initial reservation messages from the AGVs are received, and a time map is built based on these messages. The time map records the reservation occupancy status of the driving area at different time periods. The optimal route and time information of all AGVs are summarized, thereby understanding the occupancy status of all AGVs in a certain driving area for a future period. This provides a reliable data foundation for global coordination and facilitates the scheduling of AGVs. Target reservation information is generated based on the time map, solving the waiting or congestion problems that may occur when multiple AGVs are in a certain driving area. Each target reservation message is sent to the corresponding AGV, enabling the AGV to execute the transportation task based on the target reservation information, thus improving the reliability of task execution.

[0084] In some embodiments, the reservation information generation module 303 includes: The conflict detection submodule is used to determine the conflict situation of multiple initial reservation information based on the time map; the conflict situation includes the conflict of multiple initial reservation information of multiple automated guided vehicles in the driving area within the same time period; The sorting submodule is used to sort the conflicting initial reservation information; The identification submodule is used to determine the target reservation information from the conflicting initial reservation information based on the sorting results.

[0085] In some embodiments, the sorting submodule includes: The first acquisition unit is used to acquire the priority of the corresponding transportation task for the automated guided vehicle corresponding to the conflicting initial reservation information; The first sorting unit is used to sort the conflicting initial reservation information according to the priority of the transportation task.

[0086] In some embodiments, the sorting submodule further includes: The second acquisition unit is used to acquire the waiting time and the number of reservation failures of the at least two automated guided vehicles when the priority of the transportation tasks of the at least two automated guided vehicles is the same. The second sorting unit is used to sort the initial reservation information of the at least two automated guided vehicles according to the waiting time and the number of reservation failures of the at least two automated guided vehicles.

[0087] In some embodiments, the automated guided vehicle (AGV) dispatching device further includes: An accident information receiving module is used to receive accident area information reported by the automated guided vehicle, wherein the accident area information is used to indicate the driving area where the automated guided vehicle detects a traffic obstacle during driving. The update module is used to update the time map based on the accident area information, so as to prohibit reservations for the driving area with traffic obstructions within a preset time period.

[0088] As the apparatus embodiment is basically similar to the method embodiment, it is described in a relatively simple manner. For relevant details, please refer to the description of the method embodiment.

[0089] This invention also provides an electronic device, including: a processor, a memory, and a computer program stored in the memory and capable of running on the processor. When the computer program is executed by the processor, it implements the various processes of the above-described automated guided vehicle scheduling method embodiments and achieves the same technical effects. To avoid repetition, it will not be described again here.

[0090] This invention also provides a readable storage medium storing a program or instructions. When the program or instructions are executed by a processor, they implement the various processes of the above-described automated guided vehicle (AGV) scheduling method embodiments and achieve the same technical effects. To avoid repetition, these will not be described again here.

[0091] The processor is the processor in the electronic device described in the above embodiments. The readable storage medium includes computer-readable storage media, such as computer read-only memory (ROM), random access memory (RAM), magnetic disk, or optical disk.

[0092] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover 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 limitations, 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 that element. Furthermore, it should be noted that the scope of the methods and apparatuses in the embodiments of the present invention is not limited to performing functions in the order shown or discussed, but may also include performing functions substantially simultaneously or in the reverse order, depending on the functions involved. For example, the described methods may be performed in a different order than described, and various steps may be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.

[0093] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal (which may be a mobile phone, computer, server, electronic device, or network device, etc.) to execute the methods described in the various embodiments of the present invention.

[0094] The embodiments of the present invention have been described above with reference to the accompanying drawings. However, the present invention is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of the present invention without departing from the spirit and scope of the claims, and all of these forms are within the protection scope of the present invention.

Claims

1. A method for scheduling automated guided vehicles (AGVs), characterized in that, include: A transportation task is sent to an automated guided vehicle (AGV) so that the AGV generates initial reservation information based on the transportation task. The initial reservation information includes an optimal route and time information. The time information is used to reflect the estimated time period during which the AGV occupies the driving area according to the optimal route. The system receives multiple initial reservation messages from multiple automated guided vehicles and establishes a time map based on these initial reservation messages. The time map is used to record the reservation occupancy status of the driving area at different time periods. Generate target reservation information based on the time map; Each of the target reservation information is sent to the corresponding automated guided vehicle, so that the automated guided vehicle performs the transportation task according to the target reservation information.

2. The automated guided vehicle (AGV) scheduling method according to claim 1, characterized in that, The step of generating target reservation information based on the time map includes: Based on the time map, conflict situations among multiple initial reservation information entries are determined; the conflict situations include conflicts among multiple initial reservation information entries for the driving area by multiple automated guided vehicles within the same time period; Sort the conflicting initial reservation information; Based on the sorting results, the target reservation information is determined from the conflicting initial reservation information.

3. The automated guided vehicle (AGV) scheduling method according to claim 2, characterized in that, The sorting of conflicting initial reservation information includes: For the automated guided vehicles corresponding to conflicting initial reservation information, the priority of the corresponding transportation task is obtained; The conflicting initial reservation information is sorted according to the priority of the transportation task.

4. The automated guided vehicle (AGV) scheduling method according to claim 3, characterized in that, The sorting of conflicting initial reservation information also includes: If at least two of the automated guided vehicles have the same priority for their transport tasks, obtain the waiting time and the number of failed reservations for the at least two automated guided vehicles. The initial reservation information of the at least two automated guided vehicles is sorted according to the waiting time and the number of reservation failures of the at least two automated guided vehicles.

5. The automated guided vehicle (AGV) scheduling method according to claim 1, characterized in that, Also includes: The system receives accident area information reported by the automated guided vehicle (AGV), which indicates the driving area where the AGV detects a traffic obstacle during its operation. The time map is updated based on the accident area information to prohibit reservations for the driving area with traffic obstructions during a preset time period.

6. The automated guided vehicle (AGV) scheduling method according to claim 1, characterized in that, The optimal path is the path with the shortest travel time calculated by the automated guided vehicle based on the starting speed, turning speed, acceleration / deceleration, and total path length.

7. An automated guided vehicle (AGV) dispatching system, characterized in that, Includes management units and automated guided vehicles; The management unit is used to send transportation tasks to automated guided vehicles (AGVs), enabling the AGVs to generate initial reservation information based on the transportation tasks. The initial reservation information includes an optimal route and time information, where the time information reflects the estimated time period during which the AGVs will occupy the driving area according to the optimal route. The management unit also receives multiple initial reservation messages from multiple AGVs and establishes a time map based on these messages. The time map records the reservation occupancy status of the driving area at different time periods. Furthermore, the management unit generates multiple target reservation messages based on the time map and sends each target reservation message to its corresponding AGV, enabling the AGVs to execute the transportation tasks according to the target reservation messages. The automated guided vehicle is used to receive the transportation task and generate the initial reservation information based on the transportation task; The initial reservation information is sent to the management unit, and the target reservation information is received from the management unit.

8. The automated guided vehicle (AGV) dispatching system according to claim 7, characterized in that, The automated guided vehicle is also used to exclude or adjust the time information of the driving area that caused the reservation failure, so as to generate new initial reservation information.

9. The automated guided vehicle (AGV) dispatching system according to claim 7, characterized in that, The automated guided vehicle is also used to detect obstacles in the driving area it is currently in or the driving area it is about to enter while driving. If there are obstacles, it stops executing the target reservation information and reports the accident area information to the management unit.

10. The automated guided vehicle (AGV) dispatching system according to claim 7, characterized in that, The management unit is further configured to determine the conflict situation of multiple initial reservation information according to the time map; the conflict situation includes the conflict of multiple initial reservation information of multiple automated guided vehicles in the same time period of the driving area; sort the conflicting initial reservation information; and determine the target reservation information from the conflicting initial reservation information according to the sorting result.

11. The automated guided vehicle (AGV) dispatching system according to claim 7, characterized in that, The management unit is also used to obtain the priority of the corresponding transportation task for the automated guided vehicle corresponding to the conflicting initial reservation information; and to sort the conflicting initial reservation information according to the priority of the transportation task.

12. An automated guided vehicle (AGV) dispatching device, characterized in that, include: The task assignment module is used to send transportation tasks to the automated guided vehicle (AGV), so that the AGV generates initial reservation information based on the transportation task. The initial reservation information includes optimal route and time information. The time information is used to reflect the estimated time period during which the AGV occupies the driving area according to the optimal route. The time map module is used to receive multiple initial reservation messages sent by multiple automated guided vehicles and to build a time map based on the multiple initial reservation messages; the time map is used to record the reservation occupancy status of the driving area at different time periods; The reservation information generation module is used to generate target reservation information based on the time map; The reservation information sending module is used to send the reservation information of each target to the corresponding automated guided vehicle, so that the automated guided vehicle can perform the transportation task according to the reservation information.

13. An electronic device, characterized in that, It includes a processor, a memory, and a program or instructions stored in the memory and executable on the processor, wherein the program or instructions, when executed by the processor, implement the steps of the automated guided vehicle scheduling method as described in claims 1-6.

14. A readable storage medium, characterized in that, The readable storage medium stores a program or instructions that, when executed by a processor, implement the steps of the automated guided vehicle scheduling method as described in claims 1-6.

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