AGV scheduling method, scheduling device, AGV device and storage medium

Abstract

The invention discloses an AGV scheduling method, scheduling equipment, AGV equipment and a storage medium, and the method comprises the steps: a scheduling equipment side creates a map information model based on the topological information of a to-be-scheduled region; under the condition that vehicle body registration messages sent by the multiple AGV devices are received and registration succeeds, a map information model is sent to the multiple AGV devices, and the map information model is used for indicating that the multiple AGV devices have unified attitude information in the to-be-dispatched area. The AGV equipment side receives the map information model sent by the scheduling equipment under the condition that the AGV equipment successfully registers to the scheduling equipment; and carrying out AGV scheduling in the to-be-scheduled area based on the map information model. Therefore, for the multiple brands of AGVs operating in the same area, the unified map information model is created, so that the hybrid scheduling of the multiple brands of AGVs can be compatible, and the operation efficiency of the AGVs is improved.

Description

Technical Field

[0001] This application relates to the technical field of Automated Guided Vehicle (AGV) scheduling, and in particular to an AGV scheduling method, scheduling equipment, AGV equipment, and storage medium. Background Technology

[0002] With the increasing prevalence of Automated Guided Vehicles (AGVs), previously only a single type was used within factories, with little requirement for topology mapping. However, with the development of smart logistics, the variety of goods within factories has increased, leading to a significant increase in the brands and types of automated handling AGVs needed.

[0003] Currently, an increasing number of logistics scenarios require the joint operation of AGVs of various brands and types. For example, there are already more than two thousand AGVs of various brands and types. However, there are some incompatibility issues in map building between AGVs of different brands. This results in the creation of map information models that are only applicable to their own brand, which is not conducive to the mixed scheduling of AGVs of multiple brands and reduces the operating efficiency of AGVs. Summary of the Invention

[0004] This application proposes an AGV scheduling method, scheduling device, AGV device, and storage medium. For multiple brands of AGVs operating in the same area, a unified map information model is created, which enables the mixed scheduling of multiple brands of AGVs and improves the operating efficiency of AGVs.

[0005] The technical solution of this application is implemented as follows:

[0006] In a first aspect, embodiments of this application provide an AGV scheduling method applied to scheduling equipment; the method includes:

[0007] Create a map information model based on the topology information of the area to be scheduled;

[0008] Upon receiving vehicle registration messages from multiple AGV devices and confirming successful registration, the map information model is sent to the multiple AGV devices; wherein, the map information model is used to indicate that the multiple AGV devices have unified attitude information within the scheduling area.

[0009] Through the aforementioned technical means, since multiple AGV devices can be of different brands, the scheduling device creates a unified map information model for multiple AGV devices in the area to be scheduled. This enables the coordinate unification of multiple brands of AGV devices operating in the same area, ensuring that multiple AGV devices have the same posture information within the area to be scheduled. In this way, not only is the problem of inconsistent map information models for different brands of AGV devices in the same area solved, but the use of this map information model also provides the necessary conditions for compatible mixed scheduling and traffic control of multiple brands of AGV devices, thereby improving the operating efficiency of AGVs.

[0010] In some embodiments, creating a map information model based on the topology information of the area to be scheduled may include: determining map topology information and safety configuration information in the map information model to describe the operating points and paths of AGV equipment based on the topology information of the area to be scheduled; wherein, the map topology information includes at least one of map name, modification time, node number, node coordinates, node type, specified shelf model, and node connectivity; the safety configuration information includes a safety scheme and an obstacle avoidance scheme for configuring safety obstacle avoidance on the path of the map topology information.

[0011] Through the aforementioned technical means, the map information model not only achieves coordinate unification but also includes map topology information and safety configuration information. The map topology information describes the operating points and paths of AGV equipment, while the safety configuration information configures safety obstacle avoidance for the issued paths. This enables the creation of a unified map information model, which provides the necessary conditions for compatible mixed scheduling of AGV equipment from various brands.

[0012] In some embodiments, the method further includes: after receiving vehicle registration messages sent by multiple AGV devices, processing the vehicle registration messages sent by each of the multiple AGV devices and generating a reply registration result message for each of the multiple AGV devices; and sending the reply registration result message to each of the multiple AGV devices, wherein the reply registration result message is used to indicate whether the corresponding AGV device has successfully registered.

[0013] Using the aforementioned technical means, each AGV device in a group of multiple AGV devices can send a vehicle registration message to the scheduling device, which can be to upload detailed information about the vehicle itself to the scheduling device. Then, the scheduling device notifies each AGV device of the registration processing result, that is, sends its respective reply registration result message, so that the scheduling device can update the map information model of each AGV device that has successfully registered.

[0014] In some embodiments, the method further includes: after sending the map information model to multiple AGV devices, determining whether a response model result message sent by the first AGV device is received within a first preset time; if no response model result message sent by the first AGV device is received within the first preset time, resending the map information model to the first AGV device; wherein the first AGV device is any one of the multiple AGV devices.

[0015] Using the above technical means, taking the first AGV device as an example, if the scheduling device does not receive the corresponding response model result message sent by the first AGV device within the first preset time, the waiting timeout will occur. In this case, the scheduling device needs to resend the map information model so that the scheduling device can update the map information model of the first AGV device.

[0016] In some embodiments, when a response model result message corresponding to the first AGV device is received within a first preset time, the method further includes: issuing an alarm signal when the response model result message indicates failure; and determining that the map information model in the first AGV device has been successfully updated when the response model result message indicates success.

[0017] Using the above technical means, taking the first AGV device as an example, when the scheduling device receives the response model result message sent by the first AGV device within the first preset time, the scheduling device can determine the next action of the scheduling device based on the response model result message, such as whether to issue an alarm, thereby realizing the updating of the map information model of each AGV device by the scheduling device.

[0018] In some embodiments, the method further includes: modifying the map information model when the topology information of the area to be scheduled changes, to obtain the modified map information model and the corresponding first version information.

[0019] Using the above-mentioned technical means, and considering the changes in on-site operations, the topology information of the area to be scheduled will also change accordingly. Therefore, the scheduling equipment will continuously modify the map information model to update the map information model in a timely manner and improve the operating efficiency of AGVs.

[0020] In some embodiments, after modifying the map information model, the method further includes: sending a message to the first AGV device to obtain the device map version; receiving a reply map version message from the first AGV device, wherein the reply map version message includes the current version information corresponding to the map information model in the first AGV device; comparing the first version information with the current version information; and sending the modified map information model to the first AGV device when the first version information and the current version information are inconsistent; wherein the first AGV device is any one of a plurality of AGV devices.

[0021] Using the aforementioned technical methods, and taking the first AGV device as an example, after the scheduling device modifies the map information model, the version information on both the scheduling device and the AGV device becomes inconsistent. In this case, it is necessary to synchronize the modified map information model to the AGV device side. For instance, if it is determined that the current version information of the map information model in the first AGV device is inconsistent with the first version information corresponding to the scheduling device, then the latest map information model needs to be sent to the first AGV device, thereby enabling the scheduling device to update the map information model of each AGV device in a timely manner.

[0022] Secondly, embodiments of this application provide an AGV scheduling method applied to AGV equipment, the method comprising:

[0023] If the AGV device successfully registers with the scheduling device, it receives the map information model sent by the scheduling device.

[0024] Based on the map information model, AGV scheduling is carried out in the area to be scheduled.

[0025] By using the above-mentioned technical means, after the scheduling equipment generates a map information model corresponding to the area to be scheduled, the map information model can be sent to each AGV device, enabling these AGV devices to be mixed and scheduled within the area to be scheduled. In this way, not only is the problem of inconsistent map information models of AGV devices of different brands in the same area solved, but the use of the map information model also provides the necessary conditions for the mixed scheduling and traffic control of AGV devices of multiple brands, thereby improving the operating efficiency of AGVs.

[0026] In some embodiments, AGV device scheduling is performed within a scheduling area based on a map information model, including: acquiring the point coordinate data of the AGV device in its own coordinate system; performing coordinate transformation on the point coordinate data of the AGV device to generate target coordinate data of the AGV device in the base coordinate system; and scheduling the AGV within the scheduling area based on the target coordinate data and the map information model.

[0027] Using the aforementioned technical means, taking a specific AGV device as an example, after obtaining the point coordinate data of the AGV device in its own coordinate system, the point coordinate data can be transformed to obtain the target coordinate data in the base coordinate system. Similarly, the point coordinate data of different AGV devices corresponding to different coordinate systems can be transformed to the target coordinate data in the base coordinate system, thereby achieving coordinate unification for AGV devices of different brands. This allows AGV devices of different brands to perform attitude description based on the same base coordinate system within the scheduling area.

[0028] In some embodiments, the method further includes: calibrating key feature points of the AGV device and determining calibration values ​​of the key feature points; obtaining measured values ​​of the key feature points and calculating errors based on the measured values ​​and calibration values ​​of the key feature points to determine calibration error results; and adjusting the target coordinate data of the AGV device based on the calibration error results.

[0029] Using the aforementioned technical means, taking a specific AGV device as an example, the AGV device can be calibrated for representative feature points to determine the calibration error. Then, the target coordinate data of the AGV device can be adjusted based on the calibration error results, thereby eliminating the differences in positioning results caused by systematic differences among AGV devices of different brands and improving the positioning accuracy of AGV devices of different brands.

[0030] In some embodiments, the method further includes: sending a vehicle registration message to a scheduling device; receiving a registration result message from the scheduling device in response to the AGV device; and determining whether the AGV device has successfully registered with the scheduling device based on the registration result message in response to the AGV device.

[0031] Through the aforementioned technical means, each AGV device can send a vehicle registration message to the scheduling device, which can upload detailed information about the vehicle to the scheduling device. Then, the scheduling device can notify the AGV device of the registration processing result, that is, receive a reply registration result message sent by the scheduling device. This facilitates the scheduling device to update the map information model of successfully registered AGV devices.

[0032] In some embodiments, after receiving a registration result message from the AGV device, the method further includes: issuing an alarm signal if the registration result message indicates failure; and waiting to receive a map information model sent by the scheduling device if the registration result message indicates success.

[0033] Using the aforementioned technical means, after the AGV device receives the registration processing result from the scheduling device, the next action of the AGV device can be determined. Specifically, if the AGV device receives a registration failure result from the platform, it will directly issue an alarm; if the AGV device receives a registration success result from the platform, it will wait for the map information model sent by the scheduling device, which will facilitate the scheduling device to update the map information model of the successfully registered AGV devices.

[0034] In some embodiments, after receiving the map information model sent by the scheduling device, the method further includes: performing model processing on the map information model to generate a response model result message corresponding to the AGV device; and sending the response model result message corresponding to the AGV device to the scheduling device.

[0035] Through the above technical means, after the AGV device receives the map information model, it can process the map information model and then send the processing result back to the scheduling device (i.e., reply model result message). This allows the scheduling device to determine its next action based on the reply model result message, such as whether to issue an alarm, thereby enabling the scheduling device to update the map information model of each AGV device.

[0036] In some embodiments, after the scheduling device modifies the map information model, the method further includes: receiving a message from the scheduling device to obtain the device map version; sending a reply map version message to the scheduling device based on the message to obtain the device map version, wherein the reply map version message includes the current version information corresponding to the map information model in the AGV device; and waiting to receive the modified map information model sent by the scheduling device.

[0037] Using the aforementioned technical methods, after the scheduling device modifies the map information model, the version information on both the scheduling device and the AGV device becomes inconsistent. In this case, it is necessary to synchronize the modified map information model to the AGV device side. Taking the first AGV device as an example, if it is determined that the current version information of the map information model in the AGV device is inconsistent with the first version information corresponding to the scheduling device, then it is necessary to wait for the modified map information model sent by the scheduling device. This enables the scheduling device to update the map information model of each AGV device in a timely manner.

[0038] Thirdly, embodiments of this application provide a scheduling device, which includes a creation unit, a first sending unit, and a first receiving unit, wherein:

[0039] Create a unit, configure it to create a map information model based on the topology information of the area to be scheduled;

[0040] The first sending unit is configured to send a map information model to multiple AGV devices when the first receiving unit receives vehicle registration messages from multiple AGV devices and the registration is successful; wherein, the map information model is used to indicate that the multiple AGV devices have unified attitude information in the area to be scheduled.

[0041] Fourthly, embodiments of this application provide a scheduling device, which includes a first memory and a first processor, wherein:

[0042] A first memory for storing computer programs that can run on a first processor;

[0043] A first processor is configured to execute the method described in the first aspect when running a computer program.

[0044] Fifthly, embodiments of this application provide an AGV device, which includes a second receiving unit and a scheduling unit, wherein:

[0045] The second receiving unit is configured to receive the map information model sent by the scheduling device when the AGV device successfully registers with the scheduling device.

[0046] The scheduling unit is configured to perform AGV scheduling within the area to be scheduled based on a map information model.

[0047] Sixthly, embodiments of this application provide an AGV device, which includes a second memory and a second processor, wherein:

[0048] The second memory is used to store computer programs that can run on the second processor;

[0049] A second processor is configured to execute the method described in the second aspect when running a computer program.

[0050] In a seventh aspect, embodiments of this application provide a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method described in the first aspect or the method described in the second aspect.

[0051] Eighthly, embodiments of this application provide a computer program product, including a computer program or instructions that, when executed by a processor, implement the method described in the first aspect or the method described in the second aspect.

[0052] Through the aforementioned technical means, since multiple AGV devices can be of different brands, the scheduling device creates a unified map information model for multiple AGV devices within the scheduling area and sends this map information model to the multiple AGV devices. This enables the coordinate unification of multiple brand AGV devices operating in the same area, ensuring that multiple AGV devices have the same posture information within the scheduling area. In this way, based on the interaction between the scheduling device and multiple AGV devices, not only is the problem of inconsistent map information models for different brands of AGV devices in the same area solved, but the map information model also provides the necessary conditions for compatible mixed scheduling and traffic control of multiple brand AGV devices, thereby improving AGV operating efficiency.

[0053] It should be understood that the above general description and the following detailed description are merely exemplary and explanatory, and are not intended to limit the technical solutions of this application. Attached Figure Description

[0054] Figure 1 This is a schematic diagram of the composition structure of a hybrid scheduling system provided in an embodiment of this application;

[0055] Figure 2 A flowchart illustrating an AGV scheduling method provided in this application embodiment. Figure 1 ;

[0056] Figure 3 This is a schematic diagram of the structure of a map information model provided in an embodiment of this application;

[0057] Figure 4 A schematic diagram of a message structure provided in an embodiment of this application;

[0058] Figure 5 A flowchart illustrating an AGV scheduling method provided in this application embodiment. Figure 2 ;

[0059] Figure 6 A flowchart illustrating an AGV scheduling method provided in this application embodiment. Figure 3 ;

[0060] Figure 7 A schematic diagram of a point cloud image provided in an embodiment of this application;

[0061] Figure 8 A schematic diagram illustrating the principle of map coordinate transformation provided in this application embodiment;

[0062] Figure 9 A flowchart illustrating an AGV scheduling method provided in this application embodiment. Figure 4 ;

[0063] Figure 10A detailed flowchart illustrating an AGV scheduling method provided in this application embodiment. Figure 1 ;

[0064] Figure 11 A detailed flowchart illustrating an AGV scheduling method provided in this application embodiment. Figure 2 ;

[0065] Figure 12 This is a schematic diagram of the composition structure of a scheduling device provided in an embodiment of this application;

[0066] Figure 13 This is a schematic diagram of the hardware structure of a scheduling device provided in an embodiment of this application;

[0067] Figure 14 This is a schematic diagram of the composition structure of an AGV device provided in an embodiment of this application;

[0068] Figure 15 This is a schematic diagram of the hardware structure of an AGV device provided in an embodiment of this application. Detailed Implementation

[0069] In order to gain a more detailed understanding of the features and technical content of the embodiments of this application, the implementation of the embodiments of this application will be described in detail below with reference to the accompanying drawings. The accompanying drawings are for reference and illustration only and are not intended to limit the embodiments of this application.

[0070] 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 this application.

[0071] In the following description, references are made to “some embodiments,” which describe a subset of all possible embodiments. However, it is understood that “some embodiments” may be the same subset or different subsets of all possible embodiments and may be combined with each other without conflict.

[0072] It should also be noted that the terms "first, second, and third" used in the embodiments of this application are only used to distinguish similar objects and do not represent a specific order of objects. It is understood that "first, second, and third" can be interchanged in a specific order or sequence where permitted, so that the embodiments of this application described herein can be implemented in an order other than that illustrated or described herein.

[0073] Furthermore, the reference to "embodiment" herein means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0074] It should be understood that new energy batteries are being used more and more widely in daily life and industry. For example, new energy vehicles equipped with batteries are already widely used. In addition, batteries are being used more and more in the field of energy storage.

[0075] Currently, new energy batteries are being used more and more widely in daily life and industry. They are not only used in energy storage systems for hydropower, thermal power, wind power, and solar power plants, but also extensively in electric vehicles such as electric bicycles, electric motorcycles, and electric cars, as well as in aerospace and other fields. With the continuous expansion of the application areas of power batteries, the market demand is also constantly increasing.

[0076] In this embodiment, the battery can be a single battery cell. A single battery cell refers to a basic unit capable of converting chemical energy into electrical energy, and can be used to manufacture battery modules or battery packs to supply power to electrical devices. A single battery cell can be a rechargeable battery, which is a battery cell that can be recharged after discharge to reactivate its active materials and continue to be used. A single battery cell can be a lithium-ion battery, sodium-ion battery, sodium-lithium-ion battery, lithium metal battery, sodium metal battery, lithium-sulfur battery, magnesium-ion battery, nickel-metal hydride battery, nickel-cadmium battery, lead-acid battery, etc., and this embodiment is not limited to these types.

[0077] In this embodiment, the battery may also be a single physical module comprising one or more battery cells to provide higher voltage and capacity. When there are multiple battery cells, the multiple battery cells are connected in series, parallel, or mixed via a busbar.

[0078] It should also be understood that the battery production process primarily utilizes semi-automated equipment to perform processes such as battery processing, assembly, transfer, and testing. Battery production lines typically employ transfer devices to move battery components from one process to the next for further processing and assembly. For example, Automated Guided Vehicles (AGVs), a core component of these transfer devices, have experienced explosive growth in recent years, and AGVs, characterized by their intelligent design and autonomous navigation capabilities, are widely used in intelligent logistics and warehousing.

[0079] With the development of intelligent logistics, AGVs are being used in more and more smart factories. Moreover, the types of goods in factories are diverse, which leads to an increase in the brands and types of automated handling AGVs needed. For example, there are forklift-type AGVs that transport pallets, and AGVs that dive into the bottom of the shelves and lift the goods to transport them.

[0080] For example, taking logistics scenarios as an example, an increasing number of logistics scenarios require the joint operation of multiple brands and types of AGVs, and there are currently more than two thousand AGV devices of various brands and types. However, considering the incompatibility issues in map building between different brands of AGVs, such as map coordinates, information models, and update mechanisms, the created map information models cannot be compatible with multiple brands of AGVs, which is not conducive to the mixed scheduling of multiple brands of AGVs and reduces the operating efficiency of AGVs. In other words, as the infrastructure for cross-system scheduling and traffic control of AGVs, solving this problem is particularly important.

[0081] Based on this, embodiments of this application provide an AGV scheduling method, scheduling device, AGV device, and storage medium. On the scheduling device side, a map information model is created based on the topology information of the area to be scheduled. Upon receiving vehicle registration messages from multiple AGV devices and confirming successful registration, the map information model is sent to the multiple AGV devices. This map information model indicates that the multiple AGV devices have unified attitude information within the area to be scheduled. On the AGV device side, upon successful registration with the scheduling device, the map information model sent by the scheduling device is received. Based on the map information model, AGV scheduling is performed within the area to be scheduled. Thus, since multiple AGV devices have different brands, this method unifies the coordinates of multiple brands of AGV devices operating within the same scheduling area, establishing a map information model to describe the AGV device's operating path and obstacle avoidance information. Furthermore, this map information model is compatible with mixed scheduling of multiple brands of AGV devices. This not only solves the problem of inconsistent map information models for different brands of AGV devices within the same area but also provides the necessary conditions for compatible mixed scheduling of multiple brands of AGV devices and traffic control, thereby improving AGV operating efficiency.

[0082] The various embodiments of this application will now be described in detail with reference to the accompanying drawings.

[0083] In one embodiment of this application, Figure 1 This is a schematic diagram illustrating the composition of a hybrid scheduling system provided in an embodiment of this application. Figure 1As shown, the hybrid scheduling system 10 may include a scheduling device 101 and multiple AGV devices 102. The multiple AGV devices 102 may include a first AGV device 1021, a second AGV device 1021, a third AGV device 1023, a fourth AGV device 1024, ...

[0084] In this embodiment, the scheduling device 101 can be referred to as an AGV scheduling system platform (or simply a "scheduling platform" or "platform side"), used to achieve mixed scheduling of multiple AGV devices 102 at the scheduling level. Furthermore, AGV devices can be automated machines that perform tasks. They can be controlled by humans, run pre-programmed procedures, or act according to principles established using artificial intelligence technology. Their task is to assist or replace human work, such as in manufacturing, construction, or hazardous jobs. For example, AGV devices can be automated sweeping machines, mobile robots, etc.

[0085] In this embodiment, the multiple AGV devices 102 may include various types such as forklift AGVs, lurking AGVs, towing AGVs, backpack AGVs, roller AGVs, and lifting AGVs, and the multiple AGV devices 102 may also have different brands. That is to say, this can be a mixed scheduling of AGV devices from multiple brands (or "AGV devices from different manufacturers").

[0086] In this embodiment of the application, a unified map information model can be created on the scheduling device side. When AGV devices of different brands register to the scheduling device side or when the map information model versions of the scheduling device side and the AGV device side are inconsistent, the scheduling device side and the AGV device side interact to update the map information model of the AGV device side.

[0087] In another embodiment of this application, Figure 2 A flowchart illustrating an AGV scheduling method provided in this application embodiment. Figure 1 .like Figure 2 As shown, the method may include:

[0088] S201, Based on the topology information of the area to be scheduled, create a map information model.

[0089] It should be noted that, in this embodiment of the application, the method is applied to the scheduling device in the hybrid scheduling system 10, which can interact with multiple AGV devices, and the multiple AGV devices have different brands.

[0090] It should also be noted that, in this embodiment of the application, taking the area to be scheduled as an example, after receiving the topology information of the area to be scheduled, the scheduling device can create a map information model for compatible mixed scheduling of multi-brand AGV devices.

[0091] It should also be noted that, in the embodiments of this application, the topology information of the area to be scheduled can be drawn by a certain AGV device based on the on-site environment, and used as the topology information in the base coordinate system to create the map information model; or, it can be that a certain AGV device first draws the topology information in a certain coordinate system based on the on-site environment, and then performs coordinate system transformation to convert it into the topology information in the base coordinate system to create the map information model. No limitation is made here.

[0092] It should also be noted that the topology information here can refer to the topology map of the area to be scheduled. A topology map is a diagram that represents the environment as a topological structure with nodes and related connecting lines. Here, nodes represent important locations in the environment, including but not limited to key feature points such as load-bearing columns, wall corners, or special markers, and lines represent the path relationships (or connectivity relationships) between nodes.

[0093] In some embodiments, the scheduling device creates a map information model based on the topology information of the area to be scheduled, which may include: determining map topology information and safety configuration information in the map information model to describe the operating points and paths of AGV equipment based on the topology information of the area to be scheduled; wherein, the map topology information includes at least one of map name, modification time, node number, node coordinates, node type, specified shelf model, and node connectivity; the safety configuration information includes a safety scheme and an obstacle avoidance scheme for configuring safety obstacle avoidance on the path of the map topology information.

[0094] In this embodiment of the application, the description of the map information model can adopt the JavaScript Object Notation (JSON) format, as shown in Table 1.

[0095] Table 1

[0096]

[0097] In this embodiment, map topology information is used to describe the AGV's operating locations and paths. Here, map topology information includes the map name, modification time, and node set, where the node set is a set of path points. Specific information may include objects such as node transformations, node coordinates, node types, specified shelf models, and node connectivity. In one possible implementation, Table 2 is an illustrative map topology information table.

[0098] Table 2

[0099]

[0100]

[0101] In this embodiment, the safety configuration information describes the obstacle avoidance configuration performed by the scheduling device on the path issued in the topology map. The specific obstacle avoidance is adjusted and controlled by each brand of AGV based on the device's operating posture. In one possible implementation, Table 3 is an illustrative safety configuration information table. The specific content may include a set of safety schemes and action-based obstacle avoidance. The safety scheme set includes the safety configurations of different schemes under load and no load conditions, while action-based obstacle avoidance addresses certain AGV actions, such as charging, which may require adjustments to the obstacle avoidance scheme.

[0102] Table 3

[0103]

[0104]

[0105] Understandably, in this embodiment of the application, a map information model is created on the scheduling device side, and the map information model is as follows: Figure 3 As shown, the map information model can include three parts: unified coordinate information 301, map topology information 302, and safety configuration information 303. The unified coordinate information 301 is used to ensure that multiple brands of AGVs use the same posture description in the map topology information.

[0106] In this embodiment, for unified coordinate information, the coordinate system used to create the map information model can be used as the base coordinate system. After the map information model is sent to each AGV, each AGV is scheduled based on this map information model. One possible implementation is that one AGV device first draws the topology information in a certain coordinate system based on the site environment, and then performs coordinate transformation to convert it to topology information in the base coordinate system for map information model creation; alternatively, one AGV device can draw the topology information in a certain coordinate system based on the site environment and directly use it as the base coordinate system for map information model creation. After the created map information model is sent to each AGV, each AGV is scheduled based on this map information model, thus facilitating coordinate unification.

[0107] In other words, in this embodiment of the application, the map information model not only achieves coordinate unification, but also includes map topology information and safety configuration information. The map topology information is used to describe the operating points and paths of the AGV equipment, while the safety configuration information configures the safety obstacle avoidance of the issued path, thereby creating a unified map information model. This map information model provides the necessary conditions for compatible mixed scheduling of AGVs from various brands.

[0108] S202, upon receiving vehicle registration messages from multiple AGV devices and confirming successful registration, a map information model is sent to the multiple AGV devices; wherein, the map information model is used to indicate that the multiple AGV devices have unified attitude information within the area to be scheduled.

[0109] In this embodiment, the scheduling device interacts with multiple AGV devices. Each AGV device can send a vehicle registration message to the scheduling device. The scheduling device can process each AGV device's vehicle registration message and determine whether each AGV device has successfully registered with the scheduling device.

[0110] In some embodiments, the method may further include, upon receiving vehicle registration messages from multiple AGV devices, processing the vehicle registration messages sent by each of the multiple AGV devices and generating a corresponding registration result message for each of the multiple AGV devices; and sending the corresponding registration result message to each of the multiple AGV devices.

[0111] In this embodiment, the message format for interaction between the scheduling device and the AGV device can adopt the communication interface message format specified in the "Data Interface Specification for Industrial AGVs and Their Scheduling Systems", such as... Figure 4 The message structure shown is as follows. The message structure may include: a message frame header, message type, message data, message body checksum, and message frame trailer. The main components of the message body are the message type and message data. Here, vehicle registration messages, registration result reply messages, etc., belong to different message types.

[0112] Understandably, after the scheduling device receives and processes the vehicle registration messages sent by multiple AGV devices, the scheduling device can send corresponding reply registration result messages to the multiple AGV devices. Then, the multiple AGV devices receive the reply registration result messages sent by the scheduling device, where the reply registration result messages are used to indicate whether the corresponding AGV device has successfully registered.

[0113] In other words, in this embodiment of the application, each AGV device can send a vehicle registration message to the scheduling device, which can be to upload detailed information about the vehicle body to the scheduling device; then the scheduling device notifies each AGV device of the registration processing result, that is, sends its own reply registration result message, so that the scheduling device can update the map information model of each AGV device that has successfully registered.

[0114] In this way, after processing the vehicle registration message of each AGV device, the scheduling device can send a registration result reply message to each AGV device. This reply message can be used to indicate whether the corresponding AGV device has successfully registered with the scheduling device. If multiple AGV devices have successfully registered with the scheduling device, the scheduling device can send map information models to these multiple AGV devices.

[0115] In this way, since multiple AGV devices can be of different brands, the scheduling device creates a unified map information model for multiple AGV devices in the area to be scheduled. This enables the coordinate unification of multiple brands of AGV devices operating in the same area, so that multiple AGV devices have the same posture information in the area to be scheduled. This not only solves the problem of inconsistent map information models for AGV devices of different brands in the same area, but also provides the necessary conditions for compatible mixed scheduling and traffic control of multiple brands of AGV devices, thereby improving the operating efficiency of AGVs.

[0116] It is also understandable that after receiving the map information model sent by the scheduling device, the multiple AGV devices can also send their respective response model result messages back to the scheduling device. In some embodiments, the method may further include: after sending the map information model to the multiple AGV devices, determining whether a response model result message corresponding to the first AGV device is received within a first preset time; if no response model result message corresponding to the first AGV device is received within the first preset time, retransmitting the map information model to the first AGV device.

[0117] It should be noted that in this embodiment, the first AGV device can be any one of multiple AGV devices. Taking the first AGV device as an example, after the scheduling device sends the map information model to the first AGV device, the scheduling device can wait for the first AGV device to send back a response model result message. Due to the influence of communication transmission between the scheduling device and the first AGV device, the response model result message sent back by the first AGV device may be lost. In this case, the waiting time is infinitely long and is a meaningless long-term wait.

[0118] Therefore, in this embodiment of the application, to avoid excessively long waiting times for the scheduling device, a first preset time can be set as a metric to measure whether the scheduling device has received the response model result message from the first AGV device. At this point, two possibilities exist: the scheduling device may receive the response model result message sent by the first AGV device within the first preset time, or it may not receive the response model result message sent by the first AGV device within the first preset time.

[0119] In one possible implementation, if the scheduling device does not receive the response model result message sent by the first AGV device within a first preset time, i.e. the scheduling device waits for a timeout, the scheduling device can resend the map information model. Then, the AGV devices of each brand process the repeatedly received messages, generate corresponding new response model result messages, and send them to the scheduling device again. The scheduling device then continues to determine whether it has received the response model result message sent by the first AGV device within the first preset time.

[0120] It should also be noted that, in this embodiment, the number of times the scheduling device re-issues the map information model can be limited. For example, the number of times the scheduling device re-issues the map information model may not exceed a preset number. If the scheduling device still fails to receive the corresponding response model result message after the preset number of times, then the scheduling device will no longer re-issue the map information model. The preset number of times can be set to one, two, three, or more times, etc., and no limitation is made here.

[0121] In other words, in this embodiment of the application, if the scheduling device does not receive the response model result message sent by the first AGV device within a first preset time, the waiting timeout occurs, and the scheduling device resends the map information model to the first AGV device so that the scheduling device can update the map information model of the first AGV device.

[0122] In another possible implementation, when the response model result message sent by the first AGV device is received within a first preset time, the method may further include: issuing an alarm signal when the response model result message indicates failure; and determining that the map information model in the first AGV device has been successfully updated when the response model result message indicates success.

[0123] In this embodiment, after receiving the map information model, the first AGV device can generate a corresponding response model result message, i.e., the model processing result, and send it to the scheduling device so that the scheduling device can determine the next action, such as directly issuing an alarm or confirming that the map information model in the first AGV device has been successfully updated. For example, if the response model result message received by the scheduling device indicates failure, for example, that the map information model is not applicable to the first AGV device, the scheduling device can directly issue an alarm; if the response model result message received by the scheduling device indicates success, for example, that the map information model is applicable to the first AGV device, the scheduling device can confirm that the map information model in the first AGV device has been successfully updated.

[0124] In other words, in this embodiment of the application, after the scheduling device receives the response model result message sent by the first AGV device within a first preset time, the scheduling device can determine the next action of the scheduling device based on the response model result message, such as whether to issue an alarm, thereby realizing the updating of the map information model of each AGV device by the scheduling device.

[0125] In some embodiments, considering changes in field operations, the method may further include: modifying the map information model when the topology information of the area to be scheduled changes, to obtain the modified map information model and the corresponding first version information.

[0126] In this embodiment of the application, considering the changes in on-site business, the topology information of the area to be scheduled will also change accordingly. Therefore, the scheduling device will continuously modify the map information model to update the map information model in a timely manner and improve the AGV operating efficiency.

[0127] In some embodiments, assuming the map information model in the first AGV corresponds to the current version, after the scheduling device modifies the map information model, the modified map information model corresponds to the first version. See also Figure 5 The method may also include:

[0128] S501, send a message to the first AGV device to obtain the device map version.

[0129] S502, receive the reply map version message from the first AGV device, wherein the reply map version message includes the current version information corresponding to the map information model in the first AGV device.

[0130] S503 compares the information from the first version with the information from the current version.

[0131] S504, send the modified map information model to the first AGV device.

[0132] S505, process terminated.

[0133] It should be noted that for step S503, the first version information is compared with the current version information. If the first version information is inconsistent with the current version information, then step S504 is executed to send the modified map information model to the first AGV device; if the first version information is consistent with the current version information, then step S505 is executed, and the process can end at this time.

[0134] It should be noted that in this embodiment, the first AGV device can be any one of multiple AGV devices. When the scheduling device modifies the map information model, inconsistencies may occur between the two versions. In this case, the scheduling device can send a message to the first AGV device to obtain the current version information of the map information model in the first AGV device. If the versions are inconsistent, the latest version of the modified map information model needs to be synchronized to the AGV side (e.g., the first AGV), which helps to update the map information model of AGV devices of various brands in a timely manner.

[0135] It should also be noted that, in this embodiment of the application, after the scheduling device sends the modified map information model to the first AGV device, the first AGV device waits to receive the map information model message sent by the scheduling device. After receiving the corresponding message, it processes the latest received map information model and sends a reply map model result message to the scheduling device. The scheduling device waits to receive the reply map model result message from the first AGV device. If the wait times out, the scheduling device resends the modified map information model until the scheduling device confirms that the first AGV device has successfully processed the map information model.

[0136] Therefore, in this embodiment, taking the first AGV device among multiple AGV devices as an example, after the scheduling device modifies the map information model, the version information on the scheduling device and the AGV devices becomes inconsistent. In this case, it is necessary to synchronize the modified map information model to the AGV device side. For example, if it is determined that the current version information of the map information model in the first AGV device is inconsistent with the first version information corresponding to the scheduling device, then the latest map information model needs to be sent to the first AGV device, thereby enabling the scheduling device to update the map information model of each AGV device in a timely manner.

[0137] This application provides an AGV scheduling method applied to a scheduling device. The scheduling device creates a map information model based on the topology information of the area to be scheduled. Upon receiving vehicle registration messages from multiple AGV devices and confirming successful registration, the scheduling device sends the map information model to the multiple AGV devices. This map information model indicates that the multiple AGV devices have unified attitude information within the area to be scheduled. Since the multiple AGV devices can be of different brands, the scheduling device creates a unified map information model for the multiple AGV devices within the area to be scheduled. This enables the coordinate unification of multiple brands of AGV devices operating in the same area, ensuring that the multiple AGV devices have the same attitude information within the area to be scheduled. This not only solves the problem of inconsistent map information models for different brands of AGV devices within the same area, but also provides the necessary conditions for compatible mixed scheduling and traffic control of multiple brands of AGV devices, thereby improving AGV operating efficiency.

[0138] In yet another embodiment of this application, Figure 6 A flowchart illustrating an AGV scheduling method provided in this application embodiment. Figure 3 .like Figure 6 As shown, the method may include:

[0139] S601: After the AGV device successfully registers with the scheduling device, it receives the map information model sent by the scheduling device.

[0140] It should be noted that, in this embodiment, the method is applied to AGV devices in the hybrid scheduling system 10. Multiple AGV devices can interact with the scheduling device, and these multiple AGV devices have different brands. This embodiment uses one of the AGV devices as an example for explanation.

[0141] It should also be noted that, in the embodiments of this application, the AGV device can only receive the map information model sent by the scheduling device if it successfully registers with the scheduling device. Therefore, in some embodiments, the method may further include: sending a vehicle registration message to the scheduling device; receiving a reply registration result message from the scheduling device; and determining whether the AGV device has successfully registered with the scheduling device based on the reply registration result message.

[0142] In this application embodiment, a unified map information model is the foundation for realizing mixed scheduling of multi-brand AGV equipment. This application embodiment also establishes a map information model update mechanism, providing the necessary conditions for compatible mixed scheduling of AGV equipment from various brands. Furthermore, in this application embodiment, the message format for interaction between the scheduling device and the AGV equipment can adopt the communication interface message format specified in the "Data Interface Specification for Industrial Application AGVs and Their Scheduling Systems," such as... Figure 4 The message structure shown is as follows. The message structure may include: a message frame header, message type, message data, message body checksum, and message frame trailer. The main components of the message body are the message type and message data.

[0143] For example, in the embodiments of this application, according to the requirements of the map information model update mechanism, illustrative message types as shown in Table 4 can be added to the message types to describe the update of the map information model between the AGV device and the AGV unified scheduling platform.

[0144] Table 4

[0145]

[0146] Understandably, after the scheduling device receives and processes the vehicle registration messages sent by multiple AGV devices, the scheduling device can send corresponding reply registration result messages to the multiple AGV devices; then each AGV device receives the reply registration result message sent by the scheduling device to determine whether each AGV device has successfully registered with the scheduling device.

[0147] In other words, each AGV device can send a vehicle registration message to the scheduling device, which can upload detailed information about the vehicle to the scheduling device. Then, the scheduling device can notify the AGV device of the registration processing result, that is, receive a reply message from the scheduling device to confirm the registration result. This is beneficial for the scheduling device to update the map information model of successfully registered AGV devices.

[0148] It is also understood that, in the embodiments of this application, each AGV device can also determine its next action based on the reply registration result message. In some embodiments, after the AGV device receives its own reply registration result message, the method may further include: issuing an alarm signal if the reply registration result message indicates failure; and waiting to receive the map information model sent by the scheduling device if the reply registration result message indicates success.

[0149] In this embodiment, the alarm signal can be in the form of a pop-up dialog box, a voice broadcast, or an alarm tone. Here, if the registration result message indicates failure, it means the AGV device has failed to register with the scheduling device, and an alarm can be triggered directly. If the registration result message indicates success, it means the AGV device has successfully registered with the scheduling device, and it can wait to receive the map information model sent by the scheduling device. For example, the scheduling device can send a map model distribution message to the AGV device to distribute the map information model.

[0150] In other words, in this embodiment of the application, after the AGV device receives the registration processing result issued by the scheduling device, the next action of the AGV device can be determined; if the AGV device receives the registration result from the platform as a failure, it will directly issue an alarm; if the AGV device receives the registration result from the platform as a success, it will wait for the map information model sent by the scheduling device, which is conducive to the scheduling device updating the map information model of the successfully registered AGV device.

[0151] S602, based on a map information model, performs AGV scheduling within the area to be scheduled.

[0152] It should be noted that for each of the multiple AGV devices, after receiving the map information model sent by the scheduling device, the AGV device can perform AGV scheduling in the area to be scheduled based on the map information model; this enables multiple AGV devices to have unified attitude information in the area to be scheduled.

[0153] It should also be noted that, in the embodiments of this application, AGV device scheduling in the area to be scheduled based on the map information model may include: obtaining the point coordinate data of the AGV device in its own coordinate system; performing coordinate transformation on the point coordinate data of the AGV device to generate target coordinate data of the AGV device in the base coordinate system; and scheduling the AGV in the area to be scheduled based on the map information model according to the target coordinate data.

[0154] In this embodiment, when multiple AGV devices receive and successfully update the map information model, it indicates that these multiple AGV devices can use the map information model. At this time, based on the map information model, coordinate transformation is performed on the point coordinate data of each of the multiple AGV devices, enabling these multiple AGV devices to achieve a unified coordinate description, so that AGV devices of different brands have the same posture information in the same area.

[0155] For example, such as Figure 7As shown, this provides an example of a point cloud image, which can be captured by an AGV device. Based on this point cloud image, the topological information of the area to be scheduled can be determined, and a map information model with a base coordinate system can be created.

[0156] In other words, in this embodiment of the application, taking a certain AGV device as an example, after the AGV device obtains the point coordinate data in its own coordinate system, it performs coordinate transformation on the obtained point coordinate data based on the map information model to generate the target coordinate data of the AGV device in the base coordinate system.

[0157] It's important to clarify that a point refers to a location in space or on a plane, specifically a point represented by coordinates in a coordinate system. This can be a (x, y) position on a plane or a (x, y, z) position in three-dimensional space. In daily life and work, we often need to locate or navigate using points. For example, in a topological map, a point typically represents a specific location, such as a road intersection.

[0158] It should also be noted that the coordinate system corresponding to the map information model is the base coordinate system, while different AGV devices correspond to different AGV coordinate systems. Considering that different AGV devices correspond to different coordinate systems, coordinate transformation can be used to unify the coordinate systems of AGV devices from different brands.

[0159] For example, suppose the AGV device's own coordinate system (referred to as the "AGV coordinate system") is X'O'Y', and the base coordinate system is XOY, such as Figure 8 As shown, for a point P'(x', y') in the AGV coordinate system X'O'Y', point A on the horizontal axis X' represents the horizontal coordinate value x', and point B on the vertical axis Y' represents the vertical coordinate value y'. It is necessary to calculate the coordinate data of P' in the unified base coordinate system. The specific calculation process is as follows:

[0160] First, calculate the coordinates of P' in the intermediate coordinate system XO'Y. Rotating the AGV coordinate system X'O'Y' clockwise by θ (where θ should be negative) transforms it into the intermediate coordinate system XO'Y. Then, translating the intermediate coordinate system XO'Y by (-a, -b) transforms it into the base coordinate system XOY. At this point, the target coordinates (x, y) of a point P'(x', y') in the AGV coordinate system X'O'Y' in the base coordinate system XOY can be calculated. (The remaining text appears to be incomplete and requires further context.) Figure 8 In the base coordinate system shown, point C on the horizontal axis X represents the horizontal coordinate value x, and point D on the vertical axis Y represents the vertical coordinate value y. The formulas for calculating x and y are shown below:

[0161] x = x'*cos(θ) + y'*sin(θ) + a (1)

[0162] y = y'*cos(θ) - x'*sin(θ) + b (2)

[0163] In this way, for multiple AGV devices, the coordinates can be uniformly described by using the above coordinate transformation method and rotation and translation transformation.

[0164] In other words, in this embodiment of the application, taking a certain AGV device as an example, after obtaining the point coordinate data of the AGV device in its own coordinate system, the point coordinate data can be transformed to obtain the target coordinate data in the base coordinate system; by analogy, the point coordinate data of different AGV devices corresponding to different coordinate systems can be transformed to the target coordinate data in the base coordinate system, thereby realizing the coordinate unification of AGV devices of different brands, so that AGV devices of different brands can be described in posture based on the same base coordinate system in the area to be scheduled.

[0165] In some embodiments, the method may further include: calibrating key feature points of the AGV device and determining calibration values ​​of the key feature points; obtaining measured values ​​of the key feature points and calculating errors based on the measured values ​​and calibration values ​​of the key feature points to determine calibration error results; and adjusting the target coordinate data of the AGV device based on the calibration error results.

[0166] It should also be noted that, in order to eliminate the differences in positioning results caused by systemic differences among AGV equipment from different brands, representative key feature points of each brand of AGV equipment can be calibrated separately. These key feature points can be selected from points with obvious characteristics, such as load-bearing columns, wall corners, or special markings, and can also be compatible with points at different laser heights to avoid affecting the calibration results.

[0167] In addition, in this embodiment, each feature point can be calibrated multiple times to determine the error between the measured value and the calibrated value. Then, the positioning result (e.g., target coordinate data) of the AGV device is adjusted according to the calibration error result, thereby improving the accuracy of the positioning result.

[0168] In other words, in this embodiment of the application, taking a certain AGV device as an example, the AGV device can be calibrated for representative feature points to determine the calibration error result, and then the target coordinate data of the AGV device can be adjusted according to the calibration error result, thereby eliminating the difference in positioning results caused by systematic differences among AGV devices of different brands and improving the positioning accuracy of AGV devices of different brands.

[0169] It is also understandable that after receiving the map information model sent by the scheduling device, the AGV device can also process the received map information model. In some embodiments, the method may further include: performing model processing on the map information model to generate a response model result message corresponding to the AGV device; and sending the response model result message corresponding to the AGV device to the scheduling device.

[0170] It should be noted that, in this embodiment, the AGV device can process the received map information model to generate a corresponding response model result message, i.e., the model processing result. If the model processing result is a failure, for example, the map information model is not applicable to the AGV device, an alarm can be triggered directly. If the model processing result is a success, for example, the map information model is applicable to the AGV device, a corresponding response model result message can be sent to the scheduling device, i.e., the model processing result is fed back to the scheduling device. This allows the scheduling device to determine its next action based on the received response model result message, such as whether to trigger an alarm or confirm that the map information model in the AGV device has been successfully updated.

[0171] In other words, in this embodiment of the application, after the AGV device receives the map information model, it can process the map information model and then send the processing result back to the scheduling device (i.e., reply model result message). This allows the scheduling device to determine its next action based on the reply model result message, such as whether to issue an alarm, thereby enabling the scheduling device to update the map information model for each AGV device.

[0172] It is also understandable that, considering changes in on-site operations, the scheduling equipment will continuously modify the map information model, resulting in inconsistencies between the map information model versions on the scheduling equipment side and the AGV side. Therefore, in some embodiments, after the scheduling equipment modifies the map information model, the method may further include: receiving a message from the scheduling equipment to obtain the device map version; based on the message, sending a reply map version message to the scheduling equipment, wherein the reply map version message includes the current version information corresponding to the map information model in the AGV device; and waiting to receive the modified map information model from the scheduling equipment.

[0173] It should be noted that in this embodiment, when the scheduling device modifies the map information model, inconsistencies may occur between the two versions. In this case, the scheduling device can send a message to the AGV device to obtain the device map version. After receiving the message, the AGV device can send a reply message to the scheduling device, which includes the current version information of the map information model in the AGV device. If the scheduling device confirms that the versions are inconsistent, it needs to synchronize the latest version of the modified map information model to the AGV device, thereby updating the map information model for each brand of AGV device.

[0174] It should also be noted that, in this embodiment, after the scheduling device sends the modified map information model to the AGV device, the AGV device waits to receive the map information model message sent by the scheduling device. Upon receiving the corresponding message, the AGV device processes the newly received map information model. If the processing fails, an alarm is triggered directly; if the processing is successful, a reply map model result message is sent to the scheduling device, and the AGV device also needs to provide feedback on the processing result to the scheduling device. The scheduling device waits for the processing result from the AGV device. If the wait times out, the scheduling device resends the modified map information model, and the AGV device is responsible for processing the duplicated message. If the AGV device fails to process the map information model, an alarm is triggered directly; if the AGV device successfully processes the map information model, the AGV device continues the process of providing feedback on the processing result to the scheduling device.

[0175] In other words, in this embodiment, after the scheduling device modifies the map information model, the version information on both the scheduling device and the AGV device becomes inconsistent. Therefore, it is necessary to synchronize the modified map information model to the AGV device side. Taking the first AGV device as an example, if it is determined that the current version information of the map information model in the AGV device is inconsistent with the first version information corresponding to the scheduling device, then it is necessary to wait for the modified map information model sent by the scheduling device, thereby enabling the scheduling device to update the map information model of each AGV device in a timely manner.

[0176] This application provides an AGV scheduling method applied to AGV devices. After an AGV device successfully registers with a scheduling device, it receives a map information model from the scheduling device. Then, based on the map information model, AGV scheduling is performed within the designated scheduling area. Thus, after the scheduling device generates a map information model corresponding to the scheduled area, it can send this model to each AGV device, enabling mixed scheduling of these AGV devices within the area. This not only solves the problem of inconsistent map information models among different brands of AGV devices in the same area, but also provides the necessary conditions for compatible mixed scheduling and traffic control of multi-brand AGV devices, thereby improving AGV operating efficiency.

[0177] In yet another embodiment of this application, Figure 9 A flowchart illustrating an AGV scheduling method provided in this application embodiment. Figure 4 .like Figure 9 As shown, the method may include:

[0178] S901, the scheduling equipment creates a map information model based on the topology information of the area to be scheduled.

[0179] S902, multiple AGV devices send their respective vehicle registration messages to the scheduling device.

[0180] S903, the scheduling device sends map information models to multiple AGV devices.

[0181] S904 After multiple AGV devices receive the map information model, AGV scheduling is performed in the area to be scheduled based on the map information model. The map information model is used to indicate that multiple AGV devices have unified attitude information in the area to be scheduled.

[0182] It should be noted that, in this embodiment of the application, the method is applied to a hybrid scheduling system 10, in which the scheduling device interacts with multiple AGV devices, and the multiple AGV devices have different brands.

[0183] It should also be noted that, in this embodiment of the application, after multiple AGV devices send their respective vehicle registration messages to the scheduling device, if the scheduling device receives the vehicle registration messages sent by multiple AGV devices and the registration is successful, then the scheduling device sends the map information model to the multiple AGV devices.

[0184] In some embodiments, the method may include: multiple AGV devices sending vehicle registration messages to a scheduling device respectively; after the scheduling device receives the vehicle registration messages sent by the multiple AGV devices, the scheduling device processes the vehicle registration messages sent by the multiple AGV devices and sends corresponding reply registration result messages to the multiple AGV devices; the multiple AGVs receive the reply registration result messages sent by the scheduling device to determine whether the multiple AGVs have successfully registered with the scheduling device.

[0185] It should be noted that, in this embodiment, after the scheduling device receives and processes the vehicle registration messages sent by multiple AGV devices, the scheduling device can send corresponding reply registration result messages to each of the multiple AGV devices. Then, the multiple AGV devices receive the reply registration result messages sent by the scheduling device to determine whether the multiple AGV devices have successfully registered with the scheduling device, and determine the next action of each AGV device based on the reply registration result messages. In other words, each AGV device can send a vehicle registration message to the scheduling device, specifically uploading detailed information about the vehicle itself to the scheduling device. Then, the scheduling device can notify each AGV device of the registration processing result, i.e., receive the reply registration result messages sent by the scheduling device, so that the scheduling device can update the map information model for each AGV.

[0186] It should also be noted that, in the embodiments of this application, it is assumed that the first AGV device can be any one of multiple AGV devices. In some embodiments, taking the first AGV device as an example, after the first AGV device receives the corresponding reply registration result message sent by the scheduling device, the method may further include: if the reply registration result message is a failure, the first AGV device issues an alarm signal; if the reply registration result message is a success, the first AGV device waits to receive the map information model sent by the scheduling device.

[0187] In this embodiment, the alarm signal can be in the form of a pop-up dialog box, a voice broadcast, or an alarm tone. Here, if the registration result message indicates failure, it means the first AGV device failed to register with the scheduling device, and an alarm can be triggered directly. If the registration result message indicates success, it means the first AGV device successfully registered with the scheduling device, and it can wait to receive the map information model sent by the scheduling device. For example, the scheduling device can send a map model distribution message to the first AGV device to distribute the map information model.

[0188] It should also be noted that, in the embodiments of this application, for each AGV device, AGV device scheduling based on the map information model within the scheduling area may include: obtaining the point coordinate data of the first AGV device in its own coordinate system; performing coordinate transformation on the point coordinate data of the first AGV device to generate target coordinate data of the first AGV device in the base coordinate system; and scheduling the AGV within the scheduling area based on the map information model according to the target coordinate data.

[0189] In this embodiment, the first AGV device is any one of multiple AGV devices. Taking the first AGV device as an example, when multiple AGV devices receive and successfully update the map information model, it indicates that these multiple AGV devices can use the map information model. At this point, by performing coordinate transformation on the point coordinate data of each of the multiple AGV devices based on the map information model, the coordinates of these multiple AGV devices can be uniformly described, allowing AGV devices of different brands to have the same posture information within the same area. For example, after the first AGV device obtains its point coordinate data in its own coordinate system, it performs coordinate transformation on the obtained point coordinate data based on the map information model to generate the target coordinate data of the first AGV device in the base coordinate system.

[0190] It should be noted that the coordinate system corresponding to the map information model is the base coordinate system, while different AGV devices correspond to different AGV coordinate systems. Considering that different AGV devices correspond to different coordinate systems, coordinate transformation can be used to unify the coordinate systems of AGV devices from different brands.

[0191] For example, suppose the coordinate system of the first AGV device (referred to as the "AGV coordinate system") is X'O'Y', and the base coordinate system is XOY, such as Figure 8 As shown, for a point P'(x', y') in the AGV coordinate system X'O'Y', point A on the horizontal axis X' represents the horizontal coordinate value x', and point B on the vertical axis Y' represents the vertical coordinate value y'. It is necessary to calculate the coordinate data of P' in the unified base coordinate system. The specific calculation process is as follows: First, calculate the coordinate data of P' in the intermediate coordinate system XO'Y. Rotating the AGV coordinate system X'O'Y' clockwise by θ (where θ should be negative) can convert it to the intermediate coordinate system XO'Y; then, by translating the intermediate coordinate system XO'Y by (-a, -b), it can be transformed into the base coordinate system XOY. At this point, the target coordinate data (x, y) of a point P'(x', y') in the AGV coordinate system X'O'Y' in the base coordinate system XOY can be calculated. Wherein, in... Figure 8In the base coordinate system shown, point C on the horizontal axis X represents the horizontal coordinate value x, and point D on the vertical axis Y represents the vertical coordinate value y. The formulas for calculating x and y are shown in the aforementioned formulas (1) and (2), respectively.

[0192] Thus, for multiple AGV devices, the coordinate transformation method described above can be used to achieve a unified coordinate description through rotation and translation transformation. In other words, in this embodiment, taking a specific AGV device as an example, after obtaining the point coordinate data of the AGV device in its own coordinate system, the point coordinate data can be transformed to obtain the target coordinate data in the base coordinate system. Similarly, the point coordinate data of different AGV devices corresponding to different coordinate systems can be transformed to target coordinate data in the base coordinate system, thereby achieving coordinate unification for AGV devices of different brands. This allows AGV devices of different brands to have their posture described based on the same base coordinate system within the scheduling area.

[0193] In one possible implementation, based on Figure 1 The hybrid scheduling system 10 shown in this application provides an AGV scheduling method that is compatible with the hybrid scheduling of multiple brands of AGV equipment. For example, it includes creating a unified map information model, which includes the coordinates of AGV equipment of various brands, map topology information and safety configuration information, thereby solving the problem of inconsistent map information models of AGV equipment of various brands in the same area; and it also establishes a map information model update mechanism, which provides the necessary conditions for the hybrid scheduling of AGV equipment of various brands.

[0194] In this embodiment, a unified map information model is the foundation for achieving mixed scheduling of multi-brand AGV devices. The AGV scheduling system may include a scheduling device side and an AGV device side. A unified map information model is created on the scheduling device side. When AGV devices of different brands register with the scheduling device or when the map information model versions are inconsistent, the scheduling device side and the AGV device side interact to update the map information model. See details... Figure 1 As shown.

[0195] In this embodiment, the message format for interaction between the scheduling device and the AGV device adopts the communication interface message format specified in the interface specification, such as... Figure 4 The message structure is shown in the example. For instance, this interface specification could be the "Data Interface Specification for Industrial AGVs and Their Scheduling Systems," and detailed information can be found in the specification description.

[0196] (1) Create a unified map information model.

[0197] In this embodiment, a map information model is created on the scheduling device side. This map information model includes three parts: unified coordinate information, map topology information, and safety configuration information. Coordinate unification is used to ensure that the same attitude description is used for AGV devices from multiple brands in the map topology information.

[0198] In one possible embodiment, the map information model is as follows: Figure 3 As shown in Table 1, the map information model is described in JSON format.

[0199] (a) Coordinate unification: This ensures that AGV devices from different brands have the same posture description within the same area, and adjusts their positioning results by calibrating feature points. For example, this can provide a point cloud image of the site, the origin coordinates, and the coordinates of more than five points with key features. Figure 7 This is an example of a point cloud image provided in an embodiment of this application.

[0200] First, the coordinate systems of the AGV equipment from different brands are unified through rotation and translation transformations. Specifically, based on a point P'(x', y') in the X'O'Y' coordinate system of each brand of AGV equipment, the coordinates of P' in the unified base coordinate system are calculated. For example... Figure 8 As shown, the specific calculation process is as follows:

[0201] First, calculate the coordinates of P' in the coordinate system XO'Y. Then, rotate X'O'Y' clockwise by θ (θ should be negative at this time) to transform it into the coordinate system XO'Y. Then, the coordinate system XO'Y can be transformed into the coordinate system XOY by translation (-a, -b). At this point, the coordinates (x, y) of a point P'(x', y') in the coordinate system X'O'Y' in the base coordinate system XOY can be calculated, as shown in the above formulas (1) and (2).

[0202] Thus, the above coordinate transformation methods can achieve a unified coordinate description.

[0203] Then, each brand of AGV equipment can calibrate representative feature points separately. Feature points should be selected from locations with obvious characteristics, such as load-bearing columns, wall corners, or special markings, and compatible with different laser heights, to avoid affecting the calibration results. Each feature point can be calibrated multiple times to determine the error between the measured value and the calibrated value. The positioning results are then fine-tuned based on the calibration error results to eliminate differences in positioning results caused by system performance differences among AGV equipment of different brands.

[0204] (b) Map Topology Information: This describes the operating locations and paths of the AGV equipment. Map topology information includes the map name, modification time, and node set. The node set is a collection of path points, and specific information may include node number, node coordinates, node type, specified shelf model, and node connectivity. Specific map topology information is shown in Table 2.

[0205] (c) Safety Configuration Information: This information is used to configure obstacle avoidance for the scheduling equipment on the paths assigned in the topology map. Specific obstacle avoidance can be adjusted and controlled by each brand of AGV equipment based on its operating posture. Specific information includes a set of safety schemes and motion-based obstacle avoidance. The safety scheme set includes safety configurations for different schemes under load and no load conditions. Motion-based obstacle avoidance addresses certain AGV equipment actions, such as charging, which may require adjustments to the obstacle avoidance scheme. Specific safety configuration information is shown in Table 3.

[0206] (2) Map information model update mechanism.

[0207] (a) Create map information model update related message types.

[0208] Based on the requirements of the map information model update mechanism, message types as shown in Table 4 are added to the message types to describe the map model updates between AGV devices and scheduling devices.

[0209] (b) Map information model update process during the initial registration of AGV equipment of each brand.

[0210] In this embodiment, the message format, communication interface, and message type between the AGV device and the scheduling device can be agreed upon. The communication interface refers to the communication method used, such as Transmission Control Protocol (TCP) or Open Systems Interconnection (UDP). The AGV device uploads detailed information about its vehicle to the scheduling device, enabling the scheduling device to update the map information model for each brand and type of AGV device.

[0211] In one possible embodiment, multiple AGV devices are described using one of the AGV devices as an example. Figure 10 A detailed flowchart illustrating an AGV scheduling method provided in this application embodiment. Figure 1 .like Figure 10 As shown, the detailed process may include:

[0212] S1001, AGV equipment reports vehicle registration message.

[0213] S1002, the scheduling equipment receives and processes the AGV vehicle registration message.

[0214] S1003, the dispatching device sends a reply registration result message to the AGV device.

[0215] S1004, Dispatch equipment sends map information model.

[0216] S1005, the AGV device is waiting for the platform's response to the registration result message.

[0217] S1006, Confirmation of registration result.

[0218] S1007, the AGV equipment is triggering an alarm.

[0219] S1008, the AGV device is waiting to receive the map information model sent by the scheduling device.

[0220] Here, for step S1006, if the registration result is failure, then step S1007 is executed; if the registration result is success, then step S1008 is executed, and subsequent steps are continued.

[0221] S1009, AGV equipment processing map information model.

[0222] S1010, the AGV device acquires the model processing results.

[0223] S1011, the AGV device feeds back the model processing results to the scheduling device.

[0224] Here, for step S1010, if the model processing result is failure, then step S1007 is executed; if the model processing result is success, then step S1011 is executed, and subsequent steps are continued.

[0225] S1012, the scheduling equipment waits for the model processing results of the AGV equipment.

[0226] S1013, the scheduling equipment confirms the model processing results.

[0227] S1014, the dispatching equipment issues an alarm.

[0228] S1015, the dispatching equipment confirms that the map information model has been successfully updated.

[0229] Here, for step S1013, if the model processing result is failure, then step S1014 is executed; if the model processing result is success, then step S1015 is executed and the process ends.

[0230] In the embodiments of this application, combined with Figure 10 The detailed steps of this method are as follows:

[0231] Step 1, the process begins;

[0232] Step 2: After powering on, the AGV device sends a "vehicle registration" message to the scheduling device;

[0233] Step 3: The scheduling device receives and processes the registration messages of each brand of AGV equipment. After processing, it sends a "Reply to Registration Result" message to the AGV equipment to notify the AGV equipment of the registration processing result. Then, the scheduling device sends a "Map Model Distribution" message to each brand of AGV equipment to distribute the map information model.

[0234] Step 4: If the AGV device times out while waiting to receive the registration processing result, Step 2 is repeated, and the scheduling device processes the received duplicate registration message; if the AGV device receives a registration failure result from the platform, an alarm is triggered directly; if the AGV device receives a registration success result from the platform, it waits for the map information model message sent by the scheduling device.

[0235] Step 5: After receiving the map information model message sent by the scheduling device, the AGV device processes the map information model. If the processing fails, an alarm is triggered directly; if the processing is successful, a "Reply to Platform Map Model Result" message is sent to the scheduling device to provide feedback on the model processing result.

[0236] Step 6: The scheduling equipment waits for the model processing result from the AGV equipment. If the wait times out, the scheduling equipment resends the map information model, and the AGV equipment of each brand processes the duplicate received message. If the AGV equipment fails to process the map information model, an alarm is triggered directly. If the AGV equipment successfully processes the map information model, the step is completed, confirming that the map information model has been successfully updated.

[0237] Step 7, process ends.

[0238] (c) Update process when the map information model versions of the scheduling equipment side and the AGV equipment side are inconsistent.

[0239] Due to changes in on-site operations, the map information model is constantly being modified on the scheduling equipment side. When the scheduling equipment side makes modifications, the version information on both sides will be inconsistent. It is necessary to synchronize the latest version of the modified map information model to the AGV equipment side and update the map information model for each brand of AGV equipment.

[0240] In another possible embodiment, multiple AGV devices are still described using one AGV device as an example. Figure 11 A detailed flowchart illustrating an AGV scheduling method provided in this application embodiment. Figure 2 .like Figure 11As shown, the detailed process may include:

[0241] S1101, the scheduling device sends a message to the AGV device to obtain the device map version.

[0242] S1102, the AGV device receives and processes the message to obtain the device map version.

[0243] S1103, the AGV device sends a reply map version message to the scheduling device.

[0244] S1104, the scheduling equipment is waiting for the AGV equipment to reply with a map version message.

[0245] S1105, the dispatching device compares the received map version with the platform-side version information.

[0246] S1106, Check if the versions are consistent.

[0247] S1107, Dispatch equipment sends map information model.

[0248] S1108, the AGV device is waiting to receive the map information model sent by the scheduling device.

[0249] Here, for step S1106, if the judgment result is yes, that is, the versions are consistent, the process ends; if the judgment result is no, that is, the versions are inconsistent, steps S1107 to S1108 are executed, and subsequent steps are continued.

[0250] S1109, AGV equipment for processing map information model.

[0251] S1110, the AGV device acquires the model processing results.

[0252] S1111, the AGV equipment is triggering an alarm.

[0253] S1112, the AGV equipment feeds back the model processing results to the scheduling equipment.

[0254] Here, for step S1110, if the model processing result is failure, then step S1111 is executed; if the model processing result is success, then step S1112 is executed, and subsequent steps are continued.

[0255] S1113, the scheduling equipment is waiting for the model processing results of the AGV.

[0256] S1114, the scheduling equipment confirms the model processing results.

[0257] S1115, the dispatching equipment issues an alarm.

[0258] S1116, The dispatching equipment confirms that the map information model has been successfully updated.

[0259] Here, for step S1114, if the model processing result is failure, then step S1115 is executed; if the model processing result is success, then step S1116 is executed and the process ends.

[0260] In the embodiments of this application, combined with Figure 11 The detailed steps of this method are as follows:

[0261] Step 1, the process begins;

[0262] Step 2: The scheduling device sends a "Get Device Map Version Information" message to the AGV device to obtain the current map version information on each brand of AGV device;

[0263] Step 3: The AGV device receives and processes the map version information message, and then replies to the scheduling device with a "reply map version" type message, reporting the map information model version information of the device.

[0264] Step 4: The scheduling device compares the map information model version information on the AGV device side and the platform side. If the versions are consistent, the process will jump directly to step 8 to end the process; if the versions are inconsistent, the process will continue to step 5.

[0265] Step 5: The scheduling device then sends a "map model distribution" message to each brand of AGV device to distribute the map information model;

[0266] Step 6: The AGV device waits to receive the map information model message sent by the scheduling device. After receiving the message, it processes the map information model. If the processing fails, it will directly alarm; if the processing is successful, it will send a "Reply to Platform Map Model Result" type message to the scheduling device to provide feedback on the processing result.

[0267] Step 7: The scheduling equipment waits for the AGV equipment to process the map information model. If the wait times out, the scheduling equipment resends the map information model, and the AGV equipment of each brand is responsible for processing the duplicate messages. If the AGV equipment fails to process the map information model, an alarm is triggered directly. If the AGV equipment successfully processes the map information model, the process continues.

[0268] Step 8, process ends.

[0269] In other words, in this embodiment of the application, a unified map information model is created, which includes unified coordinates of AGVs of various brands, map topology information and safety configuration information, thus solving the problem of inconsistent map information models of AGVs of various brands in the same area; and an update mechanism for the map information model is formulated, providing the necessary conditions for the mixed scheduling of AGVs of various brands.

[0270] This application provides an AGV scheduling method compatible with mixed scheduling of multi-brand AGV equipment. The specific implementation of the aforementioned embodiments is described in detail through the above embodiments. It can be seen that, according to the technical solution of the aforementioned embodiments, by creating a unified map information model and map information model update mechanism: a coordinate system is established for multi-brand AGV equipment operating in the same area; a map information model is formulated to describe the AGV equipment's operating path and obstacle avoidance information; and a unified constraint is imposed on the AGV map information model update mechanism. In this way, unifying the map coordinates, topology information model, and update mechanism for multi-brand AGV equipment operating in the same area creates the necessary conditions for compatible mixed scheduling of multi-brand AGV equipment and traffic control, thereby improving AGV operating efficiency.

[0271] In yet another embodiment of this application, based on the same inventive concept as the foregoing embodiments, Figure 12 This is a schematic diagram illustrating the structural composition of a scheduling device provided in an embodiment of this application. Figure 12 As shown, the scheduling device 120 may include a creation unit 1201, a first receiving unit 1202, and a first sending unit 1203, wherein:

[0272] Create unit 1201 and configure it to create a map information model based on the topology information of the area to be scheduled.

[0273] The first sending unit 1203 is configured to send a map information model to multiple AGV devices when the first receiving unit 1202 receives vehicle registration messages sent by multiple AGV devices and the registration is successful; wherein, the map information model is used to indicate that the multiple AGV devices have unified attitude information in the area to be scheduled.

[0274] In some embodiments, the creation unit 1201 is configured to determine, based on the topology information of the area to be scheduled, map topology information and safety configuration information in the map information model used to describe the operating points and paths of AGV equipment; wherein, the map topology information includes at least one of map name, modification time, node number, node coordinates, node type, specified shelf model and node connectivity; the safety configuration information includes a safety scheme and an obstacle avoidance scheme for configuring safety obstacle avoidance on the path of the map topology information.

[0275] In some embodiments, see Figure 12The scheduling device 120 may further include a first processing unit 1204; wherein: the first processing unit 1204 is configured to, after the first receiving unit 1202 receives vehicle registration messages sent by multiple AGV devices, process the vehicle registration messages sent by each of the multiple AGV devices and generate a reply registration result message for each of the multiple AGV devices; the first sending unit 1203 is further configured to send the reply registration result message to each of the multiple AGV devices, wherein the reply registration result message is used to indicate whether the corresponding AGV device has successfully registered.

[0276] In some embodiments, the first sending unit 1203 is further configured to, after sending the map information model to multiple AGV devices, determine whether a response model result message sent by the first AGV device is received within a first preset time; if no response model result message sent by the first AGV device is received within the first preset time, resend the map information model to the first AGV device; wherein the first AGV device is any one of the multiple AGV devices.

[0277] In some embodiments, the first processing unit 1204 is further configured to, when receiving a response model result message sent by the first AGV device within a first preset time, issue an alarm signal if the response model result message indicates failure; and determine that the map information model in the first AGV device has been successfully updated if the response model result message indicates success.

[0278] In some embodiments, the creation unit 1201 is further configured to modify the map information model when the topology information of the area to be scheduled changes, so as to obtain the modified map information model and the corresponding first version information.

[0279] In some embodiments, the first sending unit 1203 is further configured to send a message to the first AGV device to obtain the device map version after modifying the map information model; the first receiving unit 1202 is further configured to receive a reply map version message from the first AGV device, wherein the reply map version message includes the current version information corresponding to the map information model in the first AGV device; the first processing unit 1204 is further configured to compare the first version information with the current version information; when the first version information is inconsistent with the current version information, the first sending unit 1203 sends the modified map information model to the first AGV device; wherein the first AGV device is any one of a plurality of AGV devices.

[0280] Understandably, in the embodiments of this application, a "unit" can be a portion of a circuit, a portion of a processor, a portion of a program or software, etc., and can also be a module or a non-modular one. Furthermore, the components in this embodiment 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 described above can be implemented in hardware or as a software functional module.

[0281] In yet another embodiment of this application, Figure 13 This is a schematic diagram of the hardware structure of a scheduling device provided in an embodiment of this application. Figure 13 As shown, the scheduling device 120 may include: a first communication interface 1301, a first memory 1302, and a first processor 1303; the various components are coupled together through a first bus system 1304. It is understood that the first bus system 1304 is used to realize the connection and communication between these components. In addition to a data bus, the first bus system 1304 also includes a power bus, a control bus, and a status signal bus. However, for clarity, in... Figure 13 All buses are designated as the first bus system 1304. The first communication interface 1301 is used for receiving and sending signals during information exchange with the AGV equipment.

[0282] The first memory 1302 is used to store computer programs that can run on the first processor 1303;

[0283] The first processor 1303 is configured to, when running the computer program, perform the following: create a map information model based on the topology information of the area to be scheduled; and, upon receiving vehicle registration messages from multiple AGV devices and upon successful registration, send the map information model to the multiple AGV devices; wherein the map information model is used to indicate that the multiple AGV devices have uniform attitude information within the area to be scheduled.

[0284] It is understood that the first memory 1302 in this embodiment can be volatile memory or non-volatile memory, or may include both volatile and non-volatile memory. The non-volatile memory can be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. The volatile memory can be random access memory (RAM), which is used as an external cache. By way of example, but not limitation, many forms of RAM are available, such as Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), Synchronous DRAM (SDRAM), Double Data Rate Synchronous DRAM (DDRSDRAM), Enhanced Synchronous DRAM (ESDRAM), Synchlink DRAM (SLDRAM), and Direct Rambus RAM (DRRAM). The first memory 1302 of the system and method described in this application is intended to include, but is not limited to, these and any other suitable types of memory.

[0285] The first processor 1303 may be an integrated circuit chip with signal processing capabilities. In implementation, each step of the above method can be completed by the integrated logic circuitry in the hardware of the first processor 1303 or by instructions in software form. The first processor 1303 may be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. It can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of this application. The general-purpose processor may be a microprocessor or any conventional processor. The steps of the methods disclosed in the embodiments of this application can be directly embodied in the execution of a hardware decoding processor, or executed by a combination of hardware and software modules in the decoding processor. The software modules may reside in random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, or other mature storage media in the art. The storage medium is located in the first memory 1302. The first processor 1303 reads the information in the first memory 1302 and completes the steps of the above method in conjunction with its hardware.

[0286] It is understood that the embodiments described in this application can be implemented using hardware, software, firmware, middleware, microcode, or a combination thereof. For hardware implementation, the processing unit can be implemented in one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), DSP devices (DSPDs), programmable logic devices (PLDs), field-programmable gate arrays (FPGAs), general-purpose processors, controllers, microcontrollers, microprocessors, other electronic units for performing the functions described in this application, or combinations thereof. For software implementation, the technology described in this application can be implemented through modules (e.g., procedures, functions, etc.) that perform the functions described in this application. Software code can be stored in memory and executed by a processor. The memory can be implemented in the processor or external to the processor.

[0287] Alternatively, as another embodiment, the first processor 1303 is also configured to perform the method described in any of the foregoing embodiments when running the computer program.

[0288] This embodiment provides a scheduling device. Since multiple AGV devices can be of different brands, this scheduling device creates a unified map information model for multiple AGV devices in the area to be scheduled. It can unify the coordinates of multiple brands of AGV devices operating in the same area, so that multiple AGV devices have the same posture information in the area to be scheduled. This not only solves the problem of inconsistent map information models of AGV devices of different brands in the same area, but also provides the necessary conditions for compatible mixed scheduling and traffic control of multiple brands of AGV devices, thereby improving the operating efficiency of AGVs.

[0289] In yet another embodiment of this application, based on the same inventive concept as the foregoing embodiments, Figure 14 This is a schematic diagram illustrating the structural composition of an AGV device provided in an embodiment of this application. Figure 14 As shown, the AGV device 140 may include a second receiving unit 1401 and a scheduling unit 1402, wherein:

[0290] The second receiving unit 1401 is configured to receive the map information model sent by the scheduling device when the AGV device successfully registers with the scheduling device.

[0291] The scheduling unit 1402 is configured to perform AGV scheduling within the area to be scheduled based on a map information model.

[0292] In some embodiments, see Figure 14 The AGV device 140 may also include a second processing unit 1403, configured to acquire the point coordinate data of the AGV device in its own coordinate system; perform coordinate transformation on the point coordinate data of the AGV device to generate target coordinate data of the AGV device in the base coordinate system; and a scheduling unit 1402, configured to perform AGV scheduling in the area to be scheduled based on the target coordinate data and a map information model.

[0293] In some embodiments, the second processing unit 1403 is further configured to calibrate key feature points of the AGV device, determine the calibration values ​​of the key feature points; obtain the measured values ​​of the key feature points, and perform error calculation based on the measured values ​​and calibration values ​​of the key feature points to determine the calibration error result; and adjust the target coordinate data of the AGV device based on the calibration error result.

[0294] In some embodiments, see Figure 14The AGV device 140 may further include a second sending unit 1404 configured to send a vehicle registration message to the scheduling device; and a second receiving unit 1401 configured to receive a reply registration result message from the scheduling device; and to determine whether the AGV device has successfully registered with the scheduling device based on the reply registration result message.

[0295] In some embodiments, the second processing unit 1403 is further configured to, after the second receiving unit 1401 receives the reply registration result message from the AGV device, issue an alarm signal if the reply registration result message indicates failure, and wait to receive the map information model sent by the scheduling device if the reply registration result message indicates success.

[0296] In some embodiments, the second processing unit 1403 is further configured to perform model processing on the map information model after receiving the map information model sent by the scheduling device, and generate a response model result message corresponding to the AGV device; the second sending unit 1404 is further configured to send the response model result message corresponding to the AGV device to the scheduling device.

[0297] In some embodiments, the second receiving unit 1401 is further configured to receive a message to obtain the map version of the AGV device sent by the scheduling device after the scheduling device modifies the map information model; the second processing unit 1403 is further configured to send a reply map version message to the scheduling device based on the message to obtain the map version of the AGV device, wherein the reply map version message includes the current version information corresponding to the map information model in the AGV device; and wait to receive the modified map information model sent by the scheduling device.

[0298] Understandably, in this embodiment, a "unit" can be a portion of a circuit, a portion of a processor, a portion of a program or software, etc., and can also be a module or a non-modular component. Furthermore, the components in this embodiment 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 module.

[0299] In yet another embodiment of this application, Figure 15 This is a schematic diagram of the hardware structure of an AGV device provided in an embodiment of this application. Figure 15As shown, the AGV device 140 may include: a second communication interface 1501, a second memory 1502, and a second processor 1503; the various components are coupled together via a second bus system 1504. It is understood that the second bus system 1504 is used to realize the connection and communication between these components. In addition to a data bus, the second bus system 1504 also includes a power bus, a control bus, and a status signal bus. However, for clarity, in... Figure 15 The various buses are all labeled as the second bus system 1504. The second communication interface 1501 is used for receiving and sending signals during information exchange with the scheduling equipment.

[0300] The second memory 1502 is used to store computer programs that can run on the second processor 1503;

[0301] The second processor 1503 is used to perform the following when running the computer program: receiving a map information model sent by the scheduling device when the AGV device successfully registers with the scheduling device; and scheduling the AGV within the area to be scheduled based on the map information model.

[0302] Alternatively, as another embodiment, the second processor 1503 is also configured to perform the method described in any of the foregoing embodiments when running the computer program.

[0303] It is understood that the second memory 1502 has similar hardware functions to the first memory 1302, and the second processor 1503 has similar hardware functions to the first processor 1303; these will not be described in detail here.

[0304] This embodiment provides an AGV device. After the scheduling device generates a map information model corresponding to the area to be scheduled, it can send the map information model to each AGV device, enabling these AGV devices to be mixed and scheduled within the area to be scheduled. This not only solves the problem of inconsistent map information models of AGV devices of different brands in the same area, but also provides the necessary conditions for compatible mixed scheduling and traffic control of multi-brand AGV devices using the map information model, thereby improving the operating efficiency of AGVs.

[0305] In another embodiment of this application, a computer-readable storage medium is provided, on which a computer program is stored, which, when executed, implements the AGV scheduling method described in any of the foregoing embodiments.

[0306] In yet another embodiment of this application, a computer program product is also provided, including a computer program or instructions that, when executed, implement the AGV scheduling method as described in any of the foregoing embodiments.

[0307] It should be noted that the embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of hardware embodiments, software embodiments, or embodiments combining software and hardware aspects. Moreover, this application can take the form of a computer program product implemented on one or more computer-readable storage media (including but not limited to disk storage and optical storage) containing computer-usable program code.

[0308] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0309] It should also be noted that, in this application, 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 limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0310] The sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0311] The methods disclosed in the several method embodiments provided in this application can be arbitrarily combined without conflict to obtain new method embodiments.

[0312] The features disclosed in the several product embodiments provided in this application can be arbitrarily combined without conflict to obtain new product embodiments.

[0313] The features disclosed in the several method or device embodiments provided in this application can be arbitrarily combined without conflict to obtain new method or device embodiments.

[0314] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. An AGV scheduling method, characterized in that, Applied to scheduling equipment, the method includes: Create a map information model based on the topology information of the area to be scheduled; Upon receiving vehicle registration messages from multiple AGV devices and confirming successful registration, the map information model is sent to the multiple AGV devices; wherein, the map information model is used to indicate that the multiple AGV devices have unified attitude information within the area to be scheduled.

2. The method according to claim 1, characterized in that, The creation of a map information model based on the topology information of the area to be scheduled includes: Based on the topology information of the area to be scheduled, determine the map topology information and safety configuration information in the map information model used to describe the operating points and paths of AGV equipment; The map topology information includes at least one of the following: map name, modification time, node number, node coordinates, node type, specified shelf model, and node connectivity; the security configuration information includes a security scheme and an obstacle avoidance scheme configured on the path of the map topology information.

3. The method according to claim 1, characterized in that, The method further includes: After receiving the vehicle registration messages sent by the multiple AGV devices, process the vehicle registration messages sent by each of the multiple AGV devices, and generate the respective registration result messages of each of the multiple AGV devices. Each of the plurality of AGV devices is sent a corresponding reply registration result message, wherein the reply registration result message is used to indicate whether the corresponding AGV device has successfully registered.

4. The method according to claim 1, characterized in that, The method further includes: After sending the map information model to the multiple AGV devices, it is determined whether a response model result message sent by the first AGV device is received within a first preset time. If no response model result message is received from the first AGV device within the first preset time, the map information model is resent to the first AGV device. The first AGV device is any one of the plurality of AGV devices.

5. The method according to claim 4, characterized in that, If the method further includes receiving a response model result message from the first AGV device within the first preset time period, the method also includes: An alarm signal is issued when the response model result message indicates failure; When the response model result message indicates success, it is determined that the map information model in the first AGV device has been successfully updated.

6. The method according to any one of claims 1 to 5, characterized in that, The method further includes: When the topology information of the area to be scheduled changes, the map information model is modified to obtain the modified map information model and the corresponding first version information.

7. The method according to claim 6, characterized in that, After modifying the map information model, the method further includes: Send a message to the first AGV device to obtain the device map version; Receive a response map version message from the first AGV device, wherein the response map version message includes the current version information corresponding to the map information model in the first AGV device; Compare the first version information with the current version information; When the first version information is inconsistent with the current version information, the modified map information model is sent to the first AGV device; The first AGV device is any one of the plurality of AGV devices.

8. An AGV scheduling method, characterized in that, Applied to AGV equipment, the method includes: If the AGV device successfully registers with the scheduling device, it receives the map information model sent by the scheduling device. Based on the map information model, AGV scheduling is performed within the area to be scheduled.

9. The method according to claim 8, characterized in that, The step of scheduling AGVs within the designated scheduling area based on the map information model includes: Obtain the point coordinate data of the AGV device in its own coordinate system; The point coordinate data of the AGV device are transformed to generate the target coordinate data of the AGV device in the base coordinate system; Based on the target coordinate data, AGV scheduling is performed within the scheduled area using the map information model.

10. The method according to claim 9, characterized in that, The method further includes: The key feature points of the AGV equipment are calibrated, and the calibration values ​​of the key feature points are determined. Obtain the measured values ​​of the key feature points, and calculate the error based on the measured values ​​and the calibration values ​​of the key feature points to determine the calibration error result; The target coordinate data of the AGV equipment is adjusted based on the calibration error results.

11. The method according to claim 8, characterized in that, The method further includes: Send a vehicle registration message to the scheduling equipment; Receive the registration result message from the AGV device sent by the scheduling device; Based on the registration result message, it is determined whether the AGV device has successfully registered with the scheduling device.

12. The method according to claim 11, characterized in that, After receiving the registration result message from the AGV device, the method further includes: An alarm signal is issued when the response registration result message indicates failure; When the reply registration result message indicates success, wait to receive the map information model sent by the scheduling device.

13. The method according to claim 8, characterized in that, After receiving the map information model sent by the scheduling device, the method further includes: The map information model is processed to generate a response model result message corresponding to the AGV device; The response model result message corresponding to the AGV device is sent to the scheduling device.

14. The method according to any one of claims 8 to 13, characterized in that, After the scheduling device modifies the map information model, the method further includes: Receive the device map version acquisition message sent by the scheduling device; Based on the obtained device map version message, a reply map version message is sent to the scheduling device, wherein the reply map version message includes the current version information corresponding to the map information model in the AGV device; Waiting to receive the modified map information model sent by the scheduling device.

15. A scheduling device, characterized in that, The scheduling device includes a first memory and a first processor, wherein: The first memory is used to store computer programs that can run on the first processor; The first processor is configured to perform the method as described in any one of claims 1 to 7 when running the computer program.

16. An AGV device, characterized in that, The AGV device includes a second memory and a second processor, wherein: The second memory is used to store computer programs that can run on the second processor; The second processor is configured to perform the method as described in any one of claims 8 to 14 when running the computer program.

17. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the method as described in any one of claims 1 to 7, or the method as described in any one of claims 8 to 14.

18. A computer program product having a computer program or instructions stored thereon, characterized in that, When the computer program or instructions are executed by a processor, they implement the method as described in any one of claims 1 to 7, or the method as described in any one of claims 8 to 14.

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