Control method and device of automated guided vehicle, automated guided vehicle and storage medium

Abstract

The embodiment of the invention provides a control method and device of an automated guided vehicle, the automated guided vehicle and a storage medium, and belongs to the technical field of intelligent warehouse logistics. The method comprises the steps of obtaining a current roadway serial number of a first material box in a warehouse-in and warehouse-out task; if the warehouse-in and warehouse-out instruction of the second material box is received within the preset time range, access evaluation is conducted on the target roadway; if the target roadway is a non-accessible roadway, determining a roadway search range according to the current roadway serial number; if the available access roadway is not found in the roadway search range, expanding the roadway search range until the available access roadway is found in the expanded roadway search range, and updating the warehouse-in and warehouse-out task; and if the number of the current material boxes in the updated warehouse-in and warehouse-out task reaches the preset bearing number, controlling the automatic guide vehicle to execute the warehouse-in and warehouse-out task. According to the embodiment of the invention, the task allocation difficulty of the automated guided vehicle can be reduced, the carrying efficiency of the automated guided vehicle is improved, and the logistics transportation efficiency is improved.

Description

Technical Field

[0001] This application relates to the field of intelligent warehousing and logistics technology, and in particular to a method and device for controlling an automated guided vehicle (AGV), the AGV and its storage medium. Background Technology

[0002] With the development of e-commerce and intelligent manufacturing, the "bin-to-person" order fulfillment model has become the mainstream solution for intelligent warehousing. Among these, multi-basket automated guided vehicles (AGVs) can handle multiple bins at a time, making them widely used in intelligent warehousing and reducing the number of AGVs required. However, multi-basket AGVs also present several problems during use. First, the task allocation for AGVs involving multiple bins in a single operation is complex. Second, the need for AGVs to operate at full capacity leads to excessively long waiting times, impacting logistics efficiency. Third, AGVs operating through multiple aisles can easily cause traffic congestion, affecting the efficiency of loading and unloading. Therefore, reducing the difficulty of task allocation for AGVs and improving their operational efficiency has become an urgent technical challenge. Summary of the Invention

[0003] The main objective of this application is to provide a method and apparatus for controlling an automated guided vehicle (AGV), an AGV, and a storage medium, which aims to reduce the difficulty of task allocation for the AGV and improve its operating efficiency.

[0004] To achieve the above objectives, a first aspect of this application provides a method for controlling an automated guided vehicle, the method comprising: When performing an inbound / outbound task, the current lane number of the first material box in the inbound / outbound task is obtained; wherein, the current lane number is the number of the first material box entering the target lane or leaving the target lane; If an inbound / outbound instruction for the second material box is received within a preset time range, the target roadway is evaluated for access based on the current roadway number and the inbound / outbound instruction to obtain access evaluation information; if the access evaluation information indicates that the target roadway is an inaccessible roadway, the roadway search range is determined based on the current roadway number. If no usable access lane is found within the lane search range, the lane search range is expanded until a usable access lane is found within the expanded lane search range, then the inbound / outbound task is updated. If the current number of material boxes in the updated inbound / outbound task reaches the preset carrying capacity, the automated guided vehicle (AGV) is controlled to execute the inbound / outbound task; wherein, the preset carrying capacity is the maximum carrying capacity of the AGV.

[0005] In some embodiments, if no usable access lane is found within the lane search range, the lane search range is expanded until a usable access lane is found within the expanded lane search range, and then the inbound / outbound task is updated, including: If no usable access lane is found within the lane search range, the lane search range is expanded according to a preset expansion step value, and a usable access lane is searched based on the expanded lane search range. If no usable access lane is found within the expanded lane search range within the preset time range, the expanded lane search range is further expanded according to the preset expansion step value until a usable access lane is found within the expanded lane search range multiple times, then the inbound / outbound task is updated; wherein, the number of lanes in the expanded lane search range multiple times is less than or equal to the preset maximum number of lanes.

[0006] In some embodiments, after expanding the search range of lanes according to a preset expansion step value if no usable access lane is found within the lane search range, and then searching for usable access lanes based on the expanded search range, the method further includes: If no usable access lane is found within the expanded lane search range after the preset waiting time has elapsed, the automated guided vehicle is controlled to perform the entry / exit task. or, If the number of lanes in the expanded lane search range reaches the maximum number of lanes, and no usable access lane is found in the expanded lane search range within the preset time range, the automated guided vehicle is controlled to perform the entry and exit task.

[0007] In some embodiments, after updating the inbound / outbound task if no available access lane is found within the lane search range, the method further includes: If the current number of material boxes in the updated inbound / outbound task is less than the preset carrying capacity, and no inbound / outbound instruction for the third material box is received within the preset time range, the automated guided vehicle is controlled to execute the inbound / outbound task.

[0008] In some embodiments, if an inbound / outbound instruction for the second material box is received within a preset time range, the target roadway is evaluated for access based on the current roadway number and the inbound / outbound instruction to obtain access evaluation information, including: If an inbound / outbound instruction for the second material box is received within the preset time range, the storage and retrieval requirement information of the second material box is obtained according to the inbound / outbound instruction; Obtain the storage location information of the target lane based on the current lane number; Based on the access demand information and the access location information, the target roadway is evaluated for access to obtain the access evaluation information.

[0009] In some embodiments, after receiving the inbound / outbound instruction of the second material box within a preset time range, and performing an access assessment on the target roadway based on the current roadway number and the inbound / outbound instruction to obtain access assessment information, the method further includes: If the access assessment information indicates that the target lane is an accessible lane, then update the inbound / outbound task; If the current number of material boxes in the updated inbound / outbound task reaches the preset carrying capacity, or if the inbound / outbound instruction for the third material box is not received within a preset time range, the automated guided vehicle is controlled to execute the inbound / outbound task.

[0010] In some embodiments, when performing an inbound / outbound task, the method further includes obtaining the current lane number of the first material box in the inbound / outbound task; wherein, the current lane number is the number after the first material box enters the target lane or exits from the target lane. If the inbound / outbound instruction of the second material box is not received within a preset time range, the automated guided vehicle is controlled to perform the inbound / outbound task.

[0011] To achieve the above objectives, a second aspect of this application provides a control device for an automated guided vehicle, the device comprising: The acquisition module is used to acquire the current lane number of the first material box in the inbound / outbound task when executing the inbound / outbound task; wherein, the current lane number is the number of the first material box entering the target lane or leaving the target lane; The storage and retrieval evaluation module is used to perform storage and retrieval evaluation on the target roadway based on the current roadway number and the storage and retrieval instruction if the second material box is received within a preset time range, and to obtain storage and retrieval evaluation information. The range determination module is used to determine the lane search range based on the current lane number if the access assessment information indicates that the target lane is an inaccessible lane. The search range expansion module is used to expand the search range if no usable access lane is found within the search range until a usable access lane is found within the expanded search range, and then update the inbound / outbound task. The control module is used to control the automated guided vehicle to perform the inbound / outbound task if the current number of material boxes in the updated inbound / outbound task reaches the preset carrying capacity; wherein, the preset carrying capacity is the maximum carrying capacity of the automated guided vehicle.

[0012] To achieve the above objectives, a third aspect of the present application provides an automated guided vehicle (AGV) comprising a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the method described in the first aspect.

[0013] To achieve the above objectives, a fourth aspect of the present application provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the method described in the first aspect.

[0014] The automated guided vehicle (AGV) control method and device, AGV, and storage medium proposed in this application, before assigning inbound / outbound tasks to the AGV, set a preset time range and aisle search range. If an inbound / outbound command for a second material box is received within the preset time range, the system analyzes whether the aisle corresponding to the first material box can be used. If not, the aisle search range is expanded until a usable aisle is found. The inbound / outbound tasks are then updated to increase the number of material box inbound / outbound tasks within the preset time range. This allows the AGV to perform inbound / outbound operations on multiple material boxes while reducing the AGV's waiting time. Therefore, by coordinating task balancing and using preset time ranges to determine the inbound / outbound tasks of multiple material boxes, global optimization of material box handling is achieved for AGVs suitable for multiple baskets. This not only simplifies task allocation for the AGV but also increases inbound / outbound throughput, reduces waiting time, and minimizes local congestion. Attached Figure Description

[0015] Figure 1 This is a flowchart of the control method for the automated guided vehicle provided in the embodiments of this application; Figure 2 This is a flowchart of an automated guided vehicle control method provided in another embodiment of this application; Figure 3 yes Figure 1 The flowchart of step S102 in the document; Figure 4 This is a flowchart of an automated guided vehicle control method provided in another embodiment of this application; Figure 5 yes Figure 1 The flowchart of step S104 in the process; Figure 6 This is a flowchart of an automated guided vehicle control method provided in another embodiment of this application; Figure 7 This is a flowchart of an automated guided vehicle control method provided in another embodiment of this application; Figure 8 This is a plan view of the warehouse entry task allocation in the control method of the automated guided vehicle provided in this application embodiment; Figure 9 This is a plan view of the outbound task allocation in the control method of the automated guided vehicle provided in the embodiments of this application; Figure 10 This is a schematic diagram of the control device for the automated guided vehicle provided in the embodiments of this application; Figure 11 This is a schematic diagram of the hardware structure of the automated guided vehicle provided in the embodiments of this application. Detailed Implementation

[0016] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0017] It should be noted that although functional modules are divided in the device schematic diagram and a logical order is shown in the flowchart, in some cases, the steps shown or described may be performed in a different order than the module division in the device or the order in the flowchart. The terms "first," "second," etc., in the specification, claims, and the aforementioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

[0018] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing embodiments of this application only and is not intended to limit the scope of this application.

[0019] First, let's analyze some of the terms used in this application: Automated Guided Vehicle (AGV): A driverless transport vehicle that navigates along a predetermined path and is specifically designed for material handling in warehouses, factories, docks, and other similar locations.

[0020] Warehouse Execution System (WES) is a comprehensive solution integrating the functions of a Warehouse Management System (WMS) and a Warehouse Control System (WCS), primarily responsible for the execution and optimization of operations within the warehouse. WES is particularly important in automated storage and retrieval systems (AS / RS) because it can coordinate and control various automated equipment, such as stacker cranes, automatic palletizers, automatic sorters, and automatic packaging systems.

[0021] Warehouse Execution System (WCS): Used to guide real-time activities within warehouses and distribution centers (DCs). Acting as the "traffic police" of the warehouse / distribution center, the WCS is responsible for keeping everything running smoothly, maximizing the efficiency of material handling subsystems, and often including the activities of warehouse staff themselves.

[0022] Aisles: These are dedicated passageways running through the interior of a warehouse, primarily used for organizing the storage, handling, and circulation of goods. These aisles are typically designed to be wide and straight to allow forklifts and other machinery to move freely.

[0023] With the development of e-commerce and intelligent manufacturing, the "bin-to-person" order fulfillment model has become the mainstream solution for intelligent warehousing. Among them, multi-basket automated guided vehicles (AGVs) can significantly improve the efficiency of single handling because they can carry multiple bins at once (e.g., 3-6 bins), reduce the number of robots, and reduce the occupation of warehouse aisles and overall operating costs by handling robots.

[0024] However, multi-basket automated guided vehicles (AGVs) present the following problems compared to traditional single-container handling equipment: First, traditional single-bin automated guided vehicles (AGVs) have independent tasks, while multi-basket AGVs involve multiple bins in a single task. The entry or exit locations of these bins need to be considered together when allocating tasks, which increases complexity exponentially.

[0025] Secondly, the tendency of multi-basket automated guided vehicles (AGVs) to blindly pursue full loads can lead to excessively long waiting times, thereby reducing the throughput of material bins entering and leaving the warehouse. Conversely, dispatching underloaded AGVs too early fails to fully utilize the advantages of multi-basket AGVs.

[0026] Third, if the entry and exit strategy does not take into account the task distribution of automated guided vehicles, it is easy to cause traffic congestion in popular lanes, forming a system bottleneck.

[0027] Based on this, embodiments of this application provide a method and apparatus for controlling an automated guided vehicle (AGV), the AGV itself, and a storage medium. Before assigning inbound / outbound tasks to the AGV, a preset time range and aisle search range are set. When receiving an inbound / outbound task for a first material box, if an inbound / outbound task for a second material box is received within the preset time range, the system analyzes whether the aisle corresponding to the first material box can be used. If not, the aisle search range is expanded within the preset time range until a usable aisle is found. The inbound / outbound task is then updated to increase the number of material box inbound / outbound tasks within the preset time range. This allows the AGV to perform inbound / outbound operations on multiple material boxes while saving the AGV's waiting time. Therefore, by coordinating task balancing and using a preset time range to determine the inbound / outbound tasks of multiple material boxes, global optimization of material box handling is achieved for AGVs with multiple baskets. This not only increases the throughput of inbound / outbound operations but also reduces waiting time and avoids localized congestion.

[0028] The automated guided vehicle (AGV) control method and device, AGV and storage medium provided in this application are specifically described through the following embodiments. First, the control method of the AGV in this application embodiment is described.

[0029] The embodiments of this application can acquire and process relevant data based on artificial intelligence technology. Artificial intelligence (AI) refers to the theories, methods, technologies, and application systems that use digital computers or machines controlled by digital computers to simulate, extend, and expand human intelligence, perceive the environment, acquire knowledge, and use that knowledge to obtain optimal results.

[0030] Foundational technologies in artificial intelligence generally include sensors, dedicated AI chips, cloud computing, distributed storage, big data processing, operating / interactive systems, and mechatronics. AI software technologies mainly encompass computer vision, robotics, biometrics, speech processing, natural language processing, and machine learning / deep learning.

[0031] The automated guided vehicle (AGV) control method provided in this application relates to the field of intelligent warehousing and logistics technology. The AGV control method provided in this application can be applied to a terminal, a server, or software running on either the terminal or the server. In some embodiments, the terminal can be a smartphone, tablet, laptop, desktop computer, etc.; the server can be configured as an independent physical server, a server cluster or distributed system composed of multiple physical servers, or a cloud server providing basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communication, middleware services, domain name services, security services, CDN, and big data and artificial intelligence platforms; the software can be an application implementing the AGV control method, but is not limited to the above forms.

[0032] This application can be used in a wide variety of general-purpose or special-purpose computer system environments or configurations. Examples include: personal computers, server computers, handheld or portable devices, tablet devices, multiprocessor systems, microprocessor-based systems, set-top boxes, programmable consumer electronics, network PCs, minicomputers, mainframe computers, and distributed computing environments including any of the above systems or devices. This application can be described in the general context of computer-executable instructions executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, etc., that perform specific tasks or implement specific abstract data types. This application can also be practiced in distributed computing environments where tasks are performed by remote processing devices connected via a communication network. In distributed computing environments, program modules can reside in local and remote computer storage media, including storage devices.

[0033] Figure 1 This is an optional flowchart of the control method for the automated guided vehicle provided in the embodiments of this application. Figure 1 The method may include, but is not limited to, steps S101 to S105.

[0034] Step S101: When executing the inbound / outbound task, obtain the current lane number of the first material box in the inbound / outbound task; wherein, the current lane number is the number of the first material box entering the target lane or leaving the target lane. Step S102: If the inbound / outbound instruction of the second material box is received within the preset time range, the target roadway is evaluated for access based on the current roadway number and the inbound / outbound instruction to obtain access evaluation information; Step S103: If the access evaluation information indicates that the target roadway is an inaccessible roadway, the roadway search range is determined based on the current roadway number. Step S104: If no usable access lane is found within the lane search range, the lane search range is expanded until a usable access lane is found within the expanded lane search range, then the inbound / outbound task is updated. Step S105: If the current number of material boxes in the updated inbound / outbound task reaches the preset carrying capacity, control the automated guided vehicle to execute the inbound / outbound task; wherein, the preset carrying capacity is the maximum carrying capacity of the automated guided vehicle.

[0035] Steps S101 to S105 as illustrated in this embodiment involve the following steps: When executing an inbound / outbound task, if the automated guided vehicle (AGV) needs to perform an inbound / outbound operation on the first material box, the sequence number of the target aisle for the first material box is first obtained as the current aisle sequence number. If an inbound / outbound instruction for the second material box is received within a preset time range, it is first determined whether the target aisle is an available access aisle. If the target aisle is not an accessible aisle, the aisle search range is determined based on the current aisle sequence number, and an available access aisle for the second material box that matches the inbound / outbound requirement is searched within the aisle search range. If no aisle is found, the aisle search range is expanded. If an available access aisle is found within the expanded aisle search range, the inbound / outbound task is updated, the number of material boxes transported in the inbound / outbound task is increased, and then, when the current number of material boxes in the inbound / outbound task reaches the preset carrying capacity, the AGV is controlled to execute the inbound / outbound task. Therefore, when the automated guided vehicle (AGV) assigns inbound and outbound tasks, the number of transported boxes should be increased as much as possible within a preset time range. During the process of increasing the number of transported boxes, the target aisle should be searched first. If no available storage aisle is found, the search range should be expanded until an available storage aisle is found. Only then should the transport operation of the second box be added to the inbound and outbound tasks. This maximizes the number of boxes transported by the AGV within the preset time range without affecting the waiting time of the AGV. This achieves global optimization of the AGV's box transport tasks, improves the throughput of the box inbound and outbound system, ensures the response efficiency of the AGV, and improves the transport efficiency of the boxes.

[0036] It should be noted that the automated guided vehicle (AGV) is controlled by a warehouse execution system (WESS), which is responsible for allocating the tasks of loading and unloading material boxes and controlling the AGV. In this embodiment, the AGV can transport at least one material box. To reduce the AGV's travel path, when the same AGV transports multiple material boxes at the same time, the material boxes are transported in the same or adjacent aisles as much as possible to improve the AGV's transport efficiency.

[0037] In step S101 of some embodiments, the inbound / outbound task includes an inbound task and an outbound task. An inbound task is characterized as moving a box into the warehouse, and an outbound task is characterized as moving a box out of the warehouse. The first box is the first box to be moved during either the inbound or outbound task. The target aisle is the aisle where the first box needs to be moved in or out, and the current aisle number is the target aisle number. In this embodiment, if the first box number is defined as Ⅰ during the inbound task, the first box is marked as the "first box" of the inbound task, and the aisle closest to the first box in the warehouse is determined as the target aisle. If an outbound instruction for the first box is received during the outbound task, and the first box number is defined as Ⅰ, the aisle where the first box is stored is defined as the target aisle.

[0038] In some applications, such as logistics, tote boxes are used to carry multiple parcels. Intelligent warehouse execution systems (AWDS) are applied at logistics transit stations. When parcels are being transferred, they are first stored in a warehouse. Once the tote boxes arrive at the transport node, they are then moved onto the transport vehicles using automated guided vehicles (AGVs). Therefore, AWDS can quickly and efficiently control AGVs to maximize the number of parcels handled, thereby increasing the transit speed of parcels and ultimately improving logistics efficiency.

[0039] Please see Figure 2 In some embodiments, after step S101, the method for controlling the automated guided vehicle may also include, but is not limited to, step S201: Step S201: If no inbound / outbound instruction for the second material box is received within the preset time range, the automated guided vehicle is controlled to perform the inbound / outbound task.

[0040] In step S201 of some embodiments, when the in / out instruction of the first material box is received, a timer begins. If the in / out instruction of the second material box is not received within a preset time range, the automated guided vehicle is operated to perform the in / out task, moving the first material box to or from the target aisle. It should be noted that the material box corresponding to the next in / out instruction received after the first material box is defined as the second material box.

[0041] Specifically, the inbound and outbound instructions include inbound and outbound instructions. During an inbound task, a timer starts upon receiving an inbound instruction for the first material box. If no inbound instruction for the second material box is received within a preset time range, the automated guided vehicle (AGV) is operated to move the first material box to the target aisle, thus completing the inbound process. During an outbound task, a timer starts upon receiving an outbound instruction for the first material box. If no outbound instruction for the second material box is received within a preset time range, the AGV is operated to remove the first material box from the target aisle, thus completing the outbound process.

[0042] In step S201 of this embodiment, if the inbound / outbound instruction of the first material box is received and the next inbound / outbound instruction is not received within a preset time range, the automated guided vehicle will not wait even if it is not fully loaded, and will immediately start handling, thereby reducing the waiting time, improving the handling efficiency of the material box, and thus improving the logistics transportation efficiency.

[0043] Please see Figure 3 In some embodiments, step S102 may include, but is not limited to, steps S301 to S303: Step S301: If an inbound / outbound instruction for the second material box is received within a preset time range, the storage and retrieval requirement information of the second material box is obtained according to the inbound / outbound instruction. Step S302: Obtain the storage and retrieval location information of the target roadway based on the current roadway number; Step S303: Based on the access demand information and access location information, perform access assessment on the target roadway to obtain access assessment information.

[0044] In step S301 of some embodiments, timing begins after receiving the inbound / outbound instruction for the first material box. If the inbound / outbound instruction for the second material box is received within a preset time range, specifically, the warehouse control system initiates an inbound / outbound request for the second material box to obtain the inbound / outbound instruction. It should be noted that the warehouse execution system and the warehouse control system communicate with each other. The warehouse execution system is responsible for scheduling the automated guided vehicles (AGVs), allocating inbound / outbound tasks, and receiving inbound / outbound instructions from the warehouse control system. It also determines whether to add a handling operation for the second material box to the inbound / outbound task to update the task and achieve global optimization of the AGV handling quantity. The inbound / outbound instructions include inbound and outbound instructions. Only inbound instructions are received during inbound tasks, and only outbound instructions are received during outbound tasks. During an inbound task, timing begins after receiving the inbound instruction for the first material box, and the inbound instruction for the second material box is received within a preset time range. The storage / retrieval requirement information for the second material box is obtained based on the inbound instruction. When a delivery task is performed, the timer starts after receiving the delivery instruction for the first bin. Within a preset time range, the delivery instruction for the second bin is received. Based on the delivery instruction, the storage and retrieval requirement information for the second bin is obtained, which includes the information on the goods to be retrieved and the quantity to be retrieved.

[0045] In step S302 of some embodiments, the storage location information of the target aisle is obtained, specifically the information of the available storage locations in the target aisle. If it is an inbound task, the information of available storage locations to be inbound in the target aisle is obtained, and the information of the storage locations to be inbound is the serial number of the available storage locations to be inbound. If it is an outbound task, the information of the storage locations to be outbound in the target aisle is obtained, specifically including the serial number of the storage location to be outbound and the inventory information of each storage location serial number to be outbound.

[0046] In step S303 of some embodiments, as disclosed above, the access assessment information includes inbound assessment information and outbound assessment information. During an inbound task, the information on the storage location to be inbound is matched with the storage location demand information to determine whether the target aisle has a storage location number that matches the second material box, thus determining the inbound assessment information. During an outbound task, the information on the storage location to be outbound is compared with the corresponding access demand information. Specifically, candidate storage location numbers matching the picking goods information and the stored goods information are searched among the candidate storage location numbers in the target aisle, and the selected storage location number is selected from the candidate storage location numbers according to the picking quantity, thus determining the outbound assessment information. It should be noted that if the stored goods information and the picking goods information in the target aisle match, the outbound assessment information indicates that the target aisle is an available picking aisle. Furthermore, if the inventory information and the pickup information of the target lane do not match, and the inventory assessment information indicates that the target lane is an unavailable pickup lane, then it is necessary to select a warehouse location for outbound shipment by crossing other lanes.

[0047] In steps S301 to S303 of this embodiment, after receiving the entry / exit instruction of the second material box within a preset time range, the storage and retrieval demand information of the second material box is obtained, and the storage and retrieval location information of the target aisle is obtained. The storage and retrieval evaluation information is determined by matching the storage and retrieval demand information and the storage and retrieval location information to evaluate whether the target aisle can be used as the storage and retrieval aisle of the second material box, so as to achieve accurate analysis of the second material box handling task and reduce the handling span of the automated guided vehicle.

[0048] It should be noted that after the storage and retrieval assessment of the second material box is completed, if the storage and retrieval instructions for the third, fourth, fifth, ... Nth material box (N is the preset carrying capacity) are received, the storage and retrieval assessment of the target roadway must be carried out.

[0049] Please see Figure 4 In some embodiments, after step S102, the method for controlling the automated guided vehicle may also include, but is not limited to, steps S401 to S402: Step S401: If the access evaluation information indicates that the target roadway is an accessible roadway, then update the in / out task. Step S402: If the current number of material boxes in the updated inbound / outbound task reaches the preset carrying capacity, or if no inbound / outbound instruction for the third material box is received within the preset time range, the automated guided vehicle is controlled to execute the inbound / outbound task.

[0050] In step S401 of some embodiments, if the access evaluation information indicates that the target aisle is an accessible aisle, specifically, that the target aisle can be used as an aisle for storing or retrieving the second material box, then the inbound / outbound task is updated. It should be noted that updating the inbound / outbound task involves adding the handling operation of the second material box to the inbound / outbound task, thus updating the inbound / outbound task. For example, the second material box is designated as II. The updated inbound / outbound task records the access aisle number and access location number of the first and second material boxes, instructing the automated guided vehicle to quickly complete the handling of the first and second material boxes.

[0051] In step S402 of some embodiments, the preset carrying capacity is the maximum number of boxes that the automated guided vehicle can carry. If the current number of boxes in the updated inbound / outbound task reaches the preset carrying capacity, or if no inbound / outbound instruction for the third box is received within a preset time range, it means that there is no need to wait for the inbound / outbound instruction for the third box, and the automated guided vehicle can be directly controlled to execute the updated inbound / outbound task, specifically, to move the first box and the second box, and to take the first box and the second box out of or into the warehouse.

[0052] It should be noted that if the current number of boxes in the updated inbound / outbound task is less than the preset capacity, and an inbound / outbound instruction for the third box is received within the preset time range, the system continues to determine whether the target aisle can store the third box. If it can, the inbound / outbound task continues to be updated until the current number of boxes in the inbound / outbound task reaches the preset capacity. Furthermore, if the third box cannot be stored in the target aisle, an aisle search range needs to be set based on the current aisle number. The search range includes aisles adjacent to the target aisle, saving the automated guided vehicle's (AGV) transport distance and reducing aisle congestion. If an aisle where the third box can be stored is found within the search range, the inbound / outbound task is updated based on the aisle and storage location information of the third box. The system continues to receive inbound / outbound instructions for the fourth box, ..., the Nth box, within the preset time range until the preset time range is exceeded or the current number of boxes reaches the preset capacity. Therefore, when updating inbound and outbound tasks, the overall waiting time is limited to a preset time range, and storage locations are allocated as much as possible in the target aisle or adjacent aisles, reducing the number of aisle crossings, which can quickly and efficiently complete the handling of material boxes.

[0053] In steps S401 to S402 of this embodiment, when the second material box is stored in the same target aisle, the inbound / outbound task is updated. When the current number of material boxes in the inbound / outbound task reaches the preset carrying capacity, or when no inbound / outbound instruction for the third material box is received within a preset time range, the automated guided vehicle (AGV) is controlled to perform the inbound / outbound task. This aims to keep the AGV within the target aisle as much as possible, reduce the number of aisles the AGV crosses, improve the AGV's handling efficiency, and reduce congestion in the aisle.

[0054] In step S103 of some embodiments, if no storage location for the second material box is found in the target aisle, and the storage assessment information indicates that the target aisle is an inaccessible aisle, then the aisle search range is determined based on the current aisle number. It should be noted that, in this embodiment, to reduce the number of aisles crossed by the automated guided vehicle (AGV) and allow the AGV to complete the transport within the target aisle or its adjacent aisles, the aisle search range is primarily determined by using the aisles at both ends of the target aisle as the search area. Specifically, if the current aisle number is H, the aisle search range is [H+1, H-1], and an available aisle search is performed based on this range to find an aisle where the second material box can be stored.

[0055] It should be noted that if an available storage lane for the second material box is found within the lane search range, the search for available storage lanes ends, the inbound / outbound task is updated, and the timer continues. If no inbound / outbound instruction for the third material box is received within the preset time range, the automated guided vehicle (AGV) is controlled to execute the inbound / outbound task. If an available storage lane is found within the lane search range, and an inbound / outbound instruction for the third material box is still received within the preset time range, then the search range is further evaluated to determine if it can be used as an available storage lane for the third material box. If not, the search range is expanded; if it is, the inbound / outbound task is updated. Therefore, by searching for available storage lanes within the lane search range and expanding the search range when unavailable, the inbound / outbound task is globally optimized, reducing lane span and waiting time while maximizing the transport of more material boxes.

[0056] Please see Figure 5 In some embodiments, step S104 may include, but is not limited to, steps S501 to S502: Step S501: If no usable access lane is found within the lane search range, the lane search range is expanded according to the preset expansion step value, and usable access lanes are searched based on the expanded lane search range. Step S502: If no usable access lane is found within the expanded lane search range within the preset time range, the expanded lane search range is further expanded according to the preset expansion step value until a usable access lane is found within the expanded lane search range multiple times, then the inbound / outbound task is updated; wherein, the number of lanes in the expanded lane search range multiple times is less than or equal to the maximum number of lanes.

[0057] In step S501 of some embodiments, as disclosed above, the core task of this embodiment is to reduce the number of lanes the automated guided vehicle (AGV) crosses, and to complete the transport as much as possible in the same lane or adjacent lanes. Therefore, if no usable lane is found within the current lane search range, the lane search range is expanded according to a preset expansion step value to obtain an expanded lane search range. For example, if the lane search range is [H+1, H-1], and the preset expansion step value is 1, the expanded lane search range is [H+2, H-2].

[0058] After expanding the search area, continue searching for available storage and retrieval aisles that match the second material box, based on the expanded search area. In the inbound task, search for aisles where the second material box can be stored according to the expanded search area. In the outbound task, search whether the storage location of the second material box is within the expanded search area.

[0059] In step S502 of some embodiments, if no usable access lane for the second hopper is found within a preset time range after the expanded lane search range, the expanded lane search range continues to be expanded according to a preset expansion step value. This continues until no usable access lane is found within the preset time range, until the number of lanes in the expanded lane search range reaches the maximum number of lanes, which is the maximum number of lanes that the automated guided vehicle can cross in a preset time. If the number of lanes in the expanded lane search range is less than or equal to the maximum number of lanes, and a usable access lane exists within the preset time range, the inbound / outbound task is directly updated.

[0060] For example, if the expanded lane search range is [H+2, H-2], and then expands to [H+3, H-3], and so on, if no usable access lanes are found within the preset time range, the search for usable access lanes will stop when X in [H+X, HX] equals the maximum number of lanes, and the automated guided vehicle will be directly controlled to complete the transport of the first material box.

[0061] In steps S501 to S502 of this embodiment, the available access lanes for the second material box are searched within an expanded lane search range. If no lane is found, the lane search range is further expanded according to a preset expansion step value. Therefore, by gradually expanding the lane search range to search for the access lanes for the second material box, it is possible to achieve full load as much as possible and minimize lane crossings within a preset time range, avoiding local congestion within the lanes and making the material box handling smoother.

[0062] Please see Figure 6 In some embodiments, after step S501, the method for controlling the automated guided vehicle further includes, but is not limited to, step S601 or step S602: Step S601: If a usable access lane is not found in the expanded lane search range after the preset waiting time has expired, the automated guided vehicle is controlled to perform the entry and exit task. Step S602: If the number of lanes in the expanded lane search range reaches the maximum number of lanes, and no usable access lane is found in the expanded lane search range within the preset time range, the automated guided vehicle is controlled to perform the entry and exit task.

[0063] In step S601 of some embodiments, if no usable storage / retrieval lane is found within the expanded lane search range after a preset time period, the automated guided vehicle (AGV) is directly controlled to perform the inbound / outbound task, i.e., the first material box is moved. The second material box becomes the first material box to be moved by the next AGV, reducing the waiting time and the number of lanes crossed by the AGV. For example, if the current inbound / outbound task is defined as ①, although the inbound / outbound instruction for the second material box has been received, but the preset time period has expired and no suitable storage / retrieval lane for the second material box has been found within the gradually expanding lane search range, the AGV is directly controlled to move the first material box. At the same time, a second inbound / outbound task is generated based on the inbound / outbound instruction of the second material box and defined as ②, with the second material box serving as the "first box" of the second inbound / outbound task. Similarly, each time a material box in / out instruction is received, a timer is started, aisle search is performed, and the aisle search range is expanded. The goal is to fully load the automated guided vehicle (AGV) within a limited waiting time and minimize crossing aisles. If this is not possible, the next AGV will continue to perform the same operation, thus achieving effective allocation of material box in / out tasks, improving material box in / out efficiency, and consequently improving logistics and transportation efficiency.

[0064] In step S602 of some embodiments, or, if the lane search range is continuously expanded within a preset time range, and the number of lanes in the expanded lane search range reaches the maximum number of lanes, then the automated guided vehicle is controlled to perform the entry and exit task.

[0065] In some embodiments, the aisle search range is continuously expanded until the number of aisles in the aisle search range reaches the maximum number of aisles, and it is still within the preset time range. It can also continue to wait for other material box inbound / outbound instructions to select material boxes whose inbound / outbound requirements meet the aisle search range, and continue to update the inbound / outbound tasks to add more material box handling operations to the inbound / outbound tasks and increase the number of materials handled by the automated guided vehicle.

[0066] In steps S601 to S602 of this embodiment, if no usable access lane is found within the expanded lane search range after the preset time period has elapsed after the expanded search range, the automated guided vehicle (AGV) will directly perform the entry / exit task. Alternatively, even if the preset time period has not elapsed, but the number of lanes in the expanded lane search range reaches the maximum number of lanes, the AGV will still perform the entry / exit task, reducing the waiting time and energy consumption of the AGV and improving the efficiency of AGV handling.

[0067] Please see Figure 7 In some embodiments, after step S502, the method for controlling the automated guided vehicle may also include, but is not limited to, step S701: Step S701: If the current number of material boxes in the updated inbound / outbound task is less than the preset carrying capacity, and no inbound / outbound instruction for the third material box is received within the preset time range, the automated guided vehicle is controlled to execute the inbound / outbound task.

[0068] In step S701 of some embodiments, if an available access lane is found within the expanded lane search range, indicating that the second material box can be put into or taken out of storage, then the in / out operation of the second material box is added to the in / out task, thus updating the in / out task. It should be noted that after the in / out task is updated, the current material box quantity of the in / out task is updated synchronously, and compared with the preset carrying capacity. If the current material box quantity does not reach the preset carrying capacity, the system continues to wait for the in / out instruction of the third material box. If the in / out instruction of the third material box is not received within a preset time range, the automated guided vehicle is directly controlled to execute the in / out task, i.e., to move the first and second material boxes.

[0069] In some embodiments, if the current number of bins in the updated inbound / outbound task reaches the preset capacity, indicating that the automated guided vehicle (AGV) is fully loaded, the AGV is directly controlled to execute the inbound / outbound task. If the current number of bins in the updated inbound / outbound task does not reach the preset capacity, and the AGV continues to receive inbound / outbound instructions for a third bin within a preset time range, the AGV searches again for an available access lane for the third bin within the target lane. If the target lane is an unavailable access lane, the lane search range is set and / or expanded, and so on. After the inbound / outbound task is updated, any new inbound / outbound instruction received within the preset time range will trigger an available access lane search, or the lane search range will be gradually expanded until an available access lane is found. Therefore, the AGV can handle more bin inbound / outbound tasks within a limited time, and the number of lanes the AGV crosses can be reduced, thus reducing energy consumption during AGV handling and extending the AGV's service life.

[0070] In step S701 of this embodiment, after the inbound / outbound task is updated, the system continues to wait for the inbound / outbound instruction of the third material box. If the inbound / outbound instruction is not received within the preset time range, the automated guided vehicle is directly controlled to perform the inbound / outbound task, thereby reducing the waiting time of the automated guided vehicle and improving the efficiency of the material box inbound / outbound.

[0071] Please refer to Figure 8 and Figure 9 The operation method of the automated guided vehicle of this application is explained separately for inbound and outbound tasks. Figure 8 This is a floor plan of the automated guided vehicle (AGV) within the warehouse during an inbound task. Figure 9 This is a floor plan of the automated guided vehicle (AGV) within the warehouse during outbound operations. Figure 8 and Figure 9 SKU1, SUK2, SUK3, SUK4, and SUK5 are the product serial numbers stored in the material bins, and AGV stands for Automated Guided Vehicle. This embodiment sets up an AGV with multiple baskets, and each AGV has a preset carrying capacity of 6, indicating that one AGV has 6 baskets and can transport 6 material bins.

[0072] When automated guided vehicles (AGVs) are performing warehousing tasks, efforts should be made to ensure that each AGV completes the warehousing of at least one bin within the same or adjacent aisles. Furthermore, the number of aisles a AGV can operate within should not exceed the maximum number of aisles at any given time to reduce congestion. Additionally, if no new warehousing instruction is received within a preset timeframe while each AGV is performing a warehousing task, it should begin transporting materials even if it is not fully loaded, thus improving transport efficiency.

[0073] Specifically, upon receiving the inbound instruction for the first material bin, it is identified as an inbound task for group A. If the preset time range is 5 minutes, and no inbound instruction for the second material bin is received within 5 minutes, the inbound task for group A is switched, and the automated guided vehicle (AGV1) is operated to execute the inbound task for group A. Simultaneously, upon receiving a new inbound instruction, it is identified as an inbound task for group B, and the process continues to wait for 5 minutes.

[0074] During the warehousing task of Group A, if a warehousing instruction for the second material box is received within 5 minutes, and there is a usable storage location for the second material box in the target aisle of the first material box, the target aisle is determined to be an available storage aisle, and the warehousing operation for the second material box is added to the warehousing task. Simultaneously, the system continues to wait for the warehousing instruction for the second material box. If more than 5 minutes have passed, the Automated Guided Vehicle (AGV1) directly executes the warehousing task of Group A, i.e., performs the warehousing operation for both the first and second material boxes. If a warehousing instruction for the second material box is received within 5 minutes, but there is no usable storage location for the second material box in the target aisle, the aisle search range is set to [H+1, H-1], and the system searches within this range for an aisle where the second material box is available. If an aisle is found, the warehousing operation for the second material box is directly added to the warehousing task. If no usable lane for the second bin is found within the current lane search range, the lane search range is expanded to [H+2, H-2]. If no usable lane is found within the expanded range, the search range continues to expand until the maximum number of lanes is reached. At this point, the lane search stops, and the A group's inbound task is switched to another group. The AGV1 is then used to move the first bin, and the B group's inbound task is determined based on the second bin's inbound instruction. The second bin is defined as the "first bin" for the B group's inbound task. If a usable lane for the second bin is found within the expanded search range, the inbound operation for the second bin is added to the inbound task, and the system continues to wait for the third bin's inbound instruction, and so on. If the current number of bins in the inbound task reaches 6 within 5 minutes, indicating that the AGV1 is fully loaded, no further inbound instructions are needed, and the AGV1 is directly used to complete the inbound operation for all bins in the inbound task. Figure 8 As can be seen, when allocating warehousing tasks, this application tries to ensure that the automated guided vehicles (AGVs) complete the warehousing of the material boxes within the same lane, minimizing the number of lane crossings. This reduces the energy consumption and equipment wear of the AGVs, and the shorter path means lower energy consumption and less mechanical wear, thus extending the lifespan of the AGVs.

[0075] like Figure 9As shown, when automated guided vehicles (AGVs) perform outbound tasks, they should be guided to complete at least one outbound task within the same or adjacent aisles, and the number of aisles should not exceed the maximum number of aisles during outbound tasks to reduce aisle congestion. Furthermore, if no new outbound instruction is received within a preset time frame, each AGV will begin handling even if it is not fully loaded, improving handling efficiency and thus enhancing overall logistics efficiency.

[0076] Specifically, upon receiving the outbound instruction for the first material bin, it is identified as an outbound task for group A. If the preset time range is 5 minutes, and no outbound instruction for the second material bin is received within 5 minutes, the outbound task for group A is switched, and the automated guided vehicle (AGV1) is operated to execute the outbound task for group A. Simultaneously, upon receiving a new outbound instruction, it is identified as an outbound task for group B, and the process continues to wait for 5 minutes.

[0077] During the outbound task of Group A, if an outbound instruction for the second material box is received within 5 minutes, and the target aisle where the first material box is located is the storage location for the second material box, confirming that the target aisle is an available storage aisle, then the outbound operation for the second material box is added to the outbound task. Simultaneously, the system continues to wait for the outbound instruction for the second material box. If more than 5 minutes have passed, the Automated Guided Vehicle (AGV1) directly executes the outbound task of Group A, i.e., executes the outbound operation for both the first and second material boxes. If an outbound instruction for the second material box is received within 5 minutes, but the aisle where the second material box is stored is not the target aisle, then the aisle search range is set to [H+1, H-1], and the system searches within this range for the existence of an aisle storing the second material box. If such an aisle exists, the outbound operation for the second material box is directly added to the outbound task. If the second bin is not located in the corresponding lane within the lane search range, the lane search range is expanded to [H+2, H-2]. If the expanded search range still does not contain the second bin, the search range is expanded further until the maximum number of lanes is reached. At this point, the search stops, and the outbound task for Group A is switched to another group. The AGV1 is then used to move the first bin, and the outbound task for Group B is determined based on the outbound command for the second bin. The second bin is defined as the "first bin" for Group B's outbound task. If the lane containing the second bin is found within the expanded search range, the outbound operation for the second bin is added to the outbound task, and the system continues to wait for the outbound command for the third bin, and so on. If the current number of bins in the outbound task reaches 6 within 5 minutes, indicating that the AGV1 is fully loaded, no further outbound commands are needed, and the AGV1 is directly used to complete the outbound operation for all bins in the outbound task. Figure 9It is understood that when allocating outbound tasks, this application tries to make the automated guided vehicles (AGVs) take out the boxes from the same lane or the boxes from adjacent lanes, thereby reducing the distance the AGVs travel, reducing the energy consumption and equipment wear of the AGVs, and the shorter path means lower energy consumption and less mechanical wear, thus extending the life of the AGVs.

[0078] In summary, this invention employs a novel global optimization method to allocate inbound and outbound tasks. It limits the number of boxes loaded by the automated guided vehicle (AGV) within a preset time frame and minimizes the crossing of aisles, significantly reducing the AGV's travel path, drastically lowering its empty run rate and total travel distance, and improving single-machine efficiency. Simultaneously, it increases the throughput of boxes during inbound and outbound processes, improving efficiency and thus enhancing overall logistics efficiency. Furthermore, setting a maximum number of aisles allows the AGV to operate in different areas, preventing localized congestion and ensuring smoother AGV handling.

[0079] Please see Figure 10 The application embodiment also provides a control device for an automated guided vehicle (AGV), which can implement the above-described control method for the AAV. The device includes: The acquisition module 1001 is used to acquire the current lane number of the first material box in the inbound / outbound task when executing the inbound / outbound task; wherein, the current lane number is the number of the first material box entering the target lane or leaving the target lane. The storage and retrieval evaluation module 1002 is used to perform storage and retrieval evaluation on the target roadway according to the current roadway number and the storage and retrieval instruction if the second material box is received within a preset time range, and to obtain storage and retrieval evaluation information. The scope determination module 1003 is used to determine the search scope of the roadway based on the current roadway number if the access assessment information indicates that the target roadway is an inaccessible roadway. The search range expansion module 1004 is used to expand the search range if no usable access lane is found within the search range, until a usable access lane is found within the expanded search range, and then update the inbound / outbound task. The control module 1005 is used to control the automated guided vehicle to perform the inbound / outbound task if the current number of material boxes in the updated inbound / outbound task reaches the preset carrying capacity; wherein, the preset carrying capacity is the maximum carrying capacity of the automated guided vehicle.

[0080] The specific implementation of the control device for the automated guided vehicle is basically the same as the specific implementation of the control method for the automated guided vehicle described above, and will not be repeated here.

[0081] This application also provides an electronic device, which includes a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the aforementioned control method for the automated guided vehicle. This electronic device can be any smart terminal, including a tablet computer, an in-vehicle computer, or similar device.

[0082] Please see Figure 11 , Figure 11 The hardware structure of an electronic device according to another embodiment is illustrated. The electronic device includes: The processor 1101 can be implemented using a general-purpose CPU (Central Processing Unit), microprocessor, application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of this application. The memory 1102 can be implemented as a read-only memory (ROM), a static storage device, a dynamic storage device, or a random access memory (RAM). The memory 1102 can store the operating system and other applications. When the technical solutions provided in the embodiments of this specification are implemented through software or firmware, the relevant program code is stored in the memory 1102 and is called and executed by the processor 1101 to execute the control method of the automated guided vehicle according to the embodiments of this application. Input / output interface 1103 is used to implement information input and output; The communication interface 1104 is used to enable communication and interaction between this device and other devices. Communication can be achieved through wired means (such as USB, network cable, etc.) or wireless means (such as mobile network, WIFI, Bluetooth, etc.). Bus 1105 transmits information between various components of the device (e.g., processor 1101, memory 1102, input / output interface 1103, and communication interface 1104); The processor 1101, memory 1102, input / output interface 1103 and communication interface 1104 are connected to each other within the device via bus 1105.

[0083] This application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described method for controlling an automated guided vehicle.

[0084] Memory, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs and non-transitory computer-executable programs. Furthermore, memory may include high-speed random access memory, and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some embodiments, memory may optionally include memory remotely located relative to the processor, and these remote memories can be connected to the processor via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0085] The automated guided vehicle (AGV) control method and apparatus, AGV, and storage medium provided in this application embodiment, before assigning inbound / outbound tasks to the AGV, set a preset time range and aisle search range. If an inbound / outbound instruction for a second material box is received within the preset time range, the system analyzes whether the aisle corresponding to the first material box can be used. If not, the aisle search range is expanded until a usable aisle is found, and then the inbound / outbound task is updated to increase the number of material box inbound / outbound tasks within the preset time range. This allows the AGV to perform inbound / outbound operations on multiple material boxes while saving the AGV's waiting time. Therefore, by coordinating task balancing and using preset time ranges to determine the inbound / outbound tasks of multiple material boxes, global optimization of material box handling is achieved for AGVs suitable for multiple baskets. This not only simplifies AGV task allocation but also increases inbound / outbound throughput, reduces waiting time, and minimizes local congestion.

[0086] The embodiments described in this application are for the purpose of more clearly illustrating the technical solutions of the embodiments of this application, and do not constitute a limitation on the technical solutions provided by the embodiments of this application. As those skilled in the art will know, with the evolution of technology and the emergence of new application scenarios, the technical solutions provided by the embodiments of this application are also applicable to similar technical problems.

[0087] Those skilled in the art will understand that the technical solutions shown in the figures do not constitute a limitation on the embodiments of this application, and may include more or fewer steps than shown, or combine certain steps, or different steps.

[0088] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs.

[0089] Those skilled in the art will understand that all or some of the steps in the methods disclosed above, as well as the functional modules / units in the systems and devices, can be implemented as software, firmware, hardware, or suitable combinations thereof.

[0090] The terms “first,” “second,” “third,” “fourth,” etc. (if present) in the specification and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms “comprising” and “having,” and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0091] It should be understood that in this application, "at least one (item)" means one or more, and "more than" means two or more. "And / or" is used to describe the relationship between related objects, indicating that three relationships can exist. For example, "A and / or B" can represent three cases: only A exists, only B exists, and both A and B exist simultaneously, where A and B can be singular or plural. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship. "At least one (item) of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one (item) of a, b, or c can represent: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, and c can be single or multiple.

[0092] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of the units described above is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0093] The units described above as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0094] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0095] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes multiple instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this application. The aforementioned storage medium includes various media capable of storing programs, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0096] The preferred embodiments of the present application have been described above with reference to the accompanying drawings, but this does not limit the scope of the claims of the present application. Any modifications, equivalent substitutions, and improvements made by those skilled in the art without departing from the scope and substance of the embodiments of the present application shall be within the scope of the claims of the present application.

Claims

1. A method for controlling an automated guided vehicle, characterized in that, The method includes: When performing an inbound / outbound task, the current lane number of the first material box in the inbound / outbound task is obtained; wherein, the current lane number is the number of the first material box entering the target lane or leaving the target lane; If an inbound / outbound instruction for the second material box is received within a preset time range, the target roadway is evaluated for storage / access based on the current roadway number and the inbound / outbound instruction to obtain storage / access evaluation information. If the access assessment information indicates that the target lane is an inaccessible lane, the lane search range is determined based on the current lane number; If no usable access lane is found within the lane search range, the lane search range is expanded until a usable access lane is found within the expanded lane search range, then the inbound / outbound task is updated. If the current number of material boxes in the updated inbound / outbound task reaches the preset carrying capacity, the automated guided vehicle (AGV) is controlled to execute the inbound / outbound task; wherein, the preset carrying capacity is the maximum carrying capacity of the AGV.

2. The method according to claim 1, characterized in that, If no usable access lane is found within the lane search range, the lane search range is expanded until a usable access lane is found within the expanded lane search range. Then, the inbound / outbound task is updated, including: If no usable access lane is found within the lane search range, the lane search range is expanded according to a preset expansion step value, and a usable access lane is searched based on the expanded lane search range. If no usable access lane is found within the expanded lane search range within the preset time range, the expanded lane search range is further expanded according to the preset expansion step value until a usable access lane is found within the expanded lane search range multiple times, then the inbound / outbound task is updated; wherein, the number of lanes in the expanded lane search range multiple times is less than or equal to the preset maximum number of lanes.

3. The method according to claim 2, characterized in that, After expanding the search range of available access lanes according to a preset expansion step value if no usable access lane is found within the search range, and then searching for available access lanes based on the expanded search range, the method further includes: If no usable access lane is found within the expanded lane search range after the preset waiting time has elapsed, the automated guided vehicle is controlled to perform the entry / exit task. or, If the number of lanes in the expanded lane search range reaches the maximum number of lanes, and no usable access lane is found in the expanded lane search range within the preset time range, the automated guided vehicle is controlled to perform the entry and exit task.

4. The method according to claim 2, characterized in that, If no usable access lane is found within the lane search range, the lane search range is expanded until a usable access lane is found within the expanded lane search range. After updating the inbound / outbound task, the method further includes: If the current number of material boxes in the updated inbound / outbound task is less than the preset carrying capacity, and no inbound / outbound instruction for the third material box is received within the preset time range, the automated guided vehicle is controlled to execute the inbound / outbound task.

5. The method according to any one of claims 1 to 4, characterized in that, If an inbound / outbound instruction for the second material box is received within a preset time range, the target roadway is evaluated for access based on the current roadway number and the inbound / outbound instruction to obtain access evaluation information, including: If an inbound / outbound instruction for the second material box is received within the preset time range, the storage and retrieval requirement information of the second material box is obtained according to the inbound / outbound instruction; Obtain the storage location information of the target lane based on the current lane number; Based on the access demand information and the access location information, the target roadway is evaluated to obtain the access evaluation information.

6. The method according to any one of claims 1 to 4, characterized in that, After receiving the inbound / outbound instruction of the second material box within the preset time range, and performing an access assessment on the target roadway based on the current roadway number and the inbound / outbound instruction to obtain access assessment information, the method further includes: If the access assessment information indicates that the target lane is an accessible lane, then update the inbound / outbound task; If the current number of material boxes in the updated inbound / outbound task reaches the preset carrying capacity, or if the inbound / outbound instruction for the third material box is not received within a preset time range, the automated guided vehicle is controlled to execute the inbound / outbound task.

7. The method according to any one of claims 1 to 4, characterized in that, When performing an inbound / outbound task, the method further includes obtaining the current lane number of the first material box in the inbound / outbound task; wherein the current lane number is the number of the first material box entering the target lane or leaving the target lane. If the inbound / outbound instruction of the second material box is not received within the preset time range, the automated guided vehicle is controlled to perform the inbound / outbound task.

8. A control device for an automated guided vehicle, characterized in that, The device includes: The acquisition module is used to acquire the current lane number of the first material box in the inbound / outbound task when executing the inbound / outbound task; wherein, the current lane number is the number of the first material box entering the target lane or leaving the target lane; The storage and retrieval evaluation module is used to perform storage and retrieval evaluation on the target roadway based on the current roadway number and the storage and retrieval instruction if the second material box is received within a preset time range, and to obtain storage and retrieval evaluation information. The range determination module is used to determine the lane search range based on the current lane number if the access assessment information indicates that the target lane is an inaccessible lane. The search range expansion module is used to expand the search range if no usable access lane is found within the search range until a usable access lane is found within the expanded search range, and then update the inbound / outbound task. The control module is used to control the automated guided vehicle to perform the inbound / outbound task if the current number of material boxes in the updated inbound / outbound task reaches the preset carrying capacity; wherein, the preset carrying capacity is the maximum carrying capacity of the automated guided vehicle.

9. An automated guided vehicle, characterized in that, The automated guided vehicle includes a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the control method of the automated guided vehicle according to any one of claims 1 to 7.

10. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the control method of the automated guided vehicle as described in any one of claims 1 to 7.

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