CN111338343A - Automatic guided vehicle scheduling method and device, electronic equipment and storage medium - Google Patents
Automatic guided vehicle scheduling method and device, electronic equipment and storage medium Download PDFInfo
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- G—PHYSICS
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
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- G—PHYSICS
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0285—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using signals transmitted via a public communication network, e.g. GSM network
Abstract
The invention belongs to the technical field of automatic guided vehicle scheduling, and discloses an automatic guided vehicle scheduling method, an automatic guided vehicle scheduling device, electronic equipment and a storage medium. The method comprises the steps of determining a starting position and an end position of the automatic guided vehicle on a virtual map according to an order task; determining a plurality of running paths to be selected in a virtual map according to the starting position and the end position, wherein each running path to be selected comprises a virtual intersection and a virtual road section; calculating the passing cost of each running path to be selected according to the virtual intersection and the virtual road section of each running path to be selected through a cost algorithm; and selecting a target running path from the running paths to be selected according to the traffic cost, and taking the target running path as a dynamic running path of the automatic guided vehicle. By the method, flexible scheduling of the automatic guided vehicles in a complex map scene can be achieved, and the technical problems that in the prior art, the scheduling algorithm of the automatic guided vehicles is inaccurate and not efficient, and conflicts, deadlocks and congestion occur when the automatic guided vehicles work are solved.
Description
Technical Field
The invention relates to the technical field of automatic guided vehicle scheduling, in particular to an automatic guided vehicle scheduling method, an automatic guided vehicle scheduling device, electronic equipment and a storage medium.
Background
An Automated Guided Vehicle (AGV) is an unmanned Automated transport Vehicle, and is widely used in the fields of manufacturing, storage and distribution, logistics transportation, and the like. For flexible manufacturing plants, the scheduling problem becomes more complex as the layout of the plant is limited and the number of AGVs increases.
Path planning is just one technical difficulty of AGV scheduling systems. The AGV path planning can be divided into single AGV path planning and multiple AGV path planning according to the planned AGV number. The single AGV path planning aims at finding the optimal path for a single AGV without considering the interference and collision problems of other AGVs, and main planning algorithms comprise Dijkstra algorithm, A-algorithm and the like. The multiple-AGV path planning means that multiple AGVs run simultaneously in the same scene, is different from the single-AGV path planning, conflicts exist in the multiple-AGV path planning, and whether conflicts exist in the AGVs and whether barriers exist in each other must be considered when the path planning is carried out. The path planning of the AGV can be classified into static planning and dynamic planning according to the planning type. Static planning refers to planning a path only in a static environment for a starting point to a specified end point without considering the dynamic influence of the environment and other AGVs. The planning method is simple in algorithm, interference and collision problems of the AGVs do not need to be considered, but each evaluation index of the static planning is low, the static planning method is generally used for a system with a single AGV or a few AGVs, otherwise collision and blockage easily occur in the operation process, and system paralysis is caused. The dynamic planning is based on the static planning, and when the dynamic path planning is performed, not only the optimal path is sought, but also the environmental influence, and the collision and collision problems with other AGV paths are considered in the path searching process. And the dynamic path planning judges whether the AGV runs according to a pre-specified path or not by monitoring the running state and the position information of each AGV. If the driving path or the time node changes, the path needs to be dynamically adjusted, so that conflict, deadlock and congestion of the AGV are avoided.
How to plan a smooth path from a starting point to an end point, avoiding the phenomena of collision, deadlock and the like, and realizing coordinated and efficient work is a difficult problem. In recent years, new methods and strategies in various robot control fields are gradually applied to the AGV system, and new technologies such as a multi-agent theory, a multi-robot coordination theory and the like are widely applied to development of the AGV system.
The above is only for the purpose of assisting understanding of the technical aspects of the present invention, and does not represent an admission that the above is prior art.
Disclosure of Invention
The invention mainly aims to provide a method and a device for scheduling an automatic guided vehicle, electronic equipment and a storage medium, and aims to solve the technical problems of conflict, deadlock and congestion of the automatic guided vehicle during working caused by inaccurate and inefficient scheduling algorithm of the automatic guided vehicle in the prior art.
In order to achieve the aim, the invention provides an automatic guided vehicle dispatching method, which comprises the following steps:
determining a starting position and an end position of the automatic guided vehicle on the virtual map according to the order task;
determining a plurality of running paths to be selected in the virtual map according to the starting position and the end position, wherein each running path to be selected comprises a virtual intersection and a virtual road section;
calculating the passing cost of each running path to be selected according to the virtual intersection and the virtual road section of each running path to be selected through a cost algorithm;
and selecting a target operation path from the operation paths to be selected according to the passing cost, and taking the target operation path as a dynamic operation path of the automatic guided vehicle.
Preferably, before the step of determining the starting position and the ending position of the automated guided vehicle on the virtual map according to the task of the order, the method further includes:
obtaining an original map of an environment where an automatic guided vehicle is located, and modeling an original path according to the original map;
and splitting the original path to generate a virtual map with virtual road sections and virtual intersections.
Preferably, the step of calculating the passing cost of each running path to be selected according to the virtual intersection and the virtual road section of each running path to be selected by a cost algorithm specifically includes:
calculating the intersection cost of each running path to be selected according to the virtual intersection of each running path to be selected through an intersection cost algorithm, and calculating the road section cost of each running path to be selected according to the virtual road section in each running path to be selected through a road section cost algorithm;
and summing the intersection cost and the road section cost of each running path to be selected to obtain the passing cost of each running path to be selected.
Preferably, the step of calculating the intersection cost of each running path to be selected by an intersection cost algorithm according to the virtual intersection of each running path to be selected specifically includes:
calculating the intersection free passing cost of the automatic guided vehicle at the virtual intersection through the intersection cost algorithm;
obtaining the parking waiting cost of the automatic guided vehicle at the intersection of the virtual intersection through a passing time schedule;
and summing the free passing cost of the intersection and the parking waiting cost of the intersection to obtain the intersection cost of the automatic guided vehicle on each running path to be selected.
Preferably, the step of calculating the road segment cost of each running path to be selected according to the virtual road segment in each running path to be selected through a road segment cost algorithm specifically includes:
calculating the free passing cost of the automatic guided vehicle on the road section of the virtual road section through the road section cost algorithm;
obtaining the parking waiting cost of the automatic guided vehicle on the road section of the virtual road section through a passing time table;
and summing the free passing cost of the road section and the parking waiting cost of the road section to obtain the road section cost of the automatic guided vehicle on each running path to be selected.
Preferably, before the step of calculating the free-passing cost of the automatic guided vehicle on the road section of the virtual road section through the road section cost algorithm, the method further includes:
judging whether the current time of the virtual road section is in the blocking time or not according to a passing time table;
and when the current moment of the virtual road section is not in the blocking time, executing the step of calculating the free passing cost of the automatic guided vehicle on the road section of the virtual road section through the road section cost algorithm.
Preferably, after the step of determining whether the current time of the virtual road segment is in the blocked time according to the passing schedule, the method further includes:
and when the current moment of the virtual road section is in the blocking time, setting the road section cost of the automatic guided vehicle to be infinite.
In addition, in order to achieve the above object, the present invention further provides an automatic guided vehicle dispatching device, including:
the map planning module is used for determining a starting point position and an end point position of the automatic guided vehicle on the virtual map according to the order task;
the route acquisition module is used for determining a plurality of running routes to be selected in the virtual map according to the starting point position and the end point position, and each running route to be selected respectively comprises a virtual intersection and a virtual road section;
the cost calculation module is used for calculating the passing cost of each running path to be selected according to the virtual intersection and the virtual road section of each running path to be selected through a cost algorithm;
and the path generation module is used for selecting a target running path from the running paths to be selected according to the passing cost, and taking the target running path as a dynamic running path of the automatic guided vehicle.
In addition, to achieve the above object, the present invention also provides an electronic device, including: a memory, a processor and an automatic guided vehicle scheduler stored on the memory and executable on the processor, the automatic guided vehicle scheduler being configured to implement the steps of the automatic guided vehicle scheduling method as described above.
In addition, to achieve the above object, the present invention further provides a storage medium having an automatic guided vehicle scheduler stored thereon, wherein the automatic guided vehicle scheduler implements the steps of the automatic guided vehicle scheduling method as described above when being executed by a processor.
The starting position and the end position of the automatic guided vehicle are determined on the virtual map according to the order task; determining a plurality of running paths to be selected in the virtual map according to the starting position and the end position, wherein each running path to be selected comprises a virtual intersection and a virtual road section; calculating the passing cost of each running path to be selected according to the virtual intersection and the virtual road section of each running path to be selected through a cost algorithm; and selecting a target operation path from the operation paths to be selected according to the passing cost, and taking the target operation path as a dynamic operation path of the automatic guided vehicle. By the method, flexible scheduling of the automatic guided vehicles in a complex map scene can be achieved, the problems of conflict, deadlock and congestion of the automatic guided vehicles can be efficiently solved by adopting a self-developed cost algorithm, and the accuracy and reliability of scheduling of the automatic guided vehicles are better guaranteed, so that the technical problems that the automatic guided vehicles conflict, deadlock and congestion occur during working due to the fact that the scheduling algorithm of the automatic guided vehicles in the prior art is inaccurate and inefficient are solved.
Drawings
Fig. 1 is a schematic structural diagram of an electronic device in a hardware operating environment according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart illustrating a first embodiment of an automatic guided vehicle scheduling method according to the present invention;
FIG. 3 is a schematic diagram of a candidate operation path according to an embodiment of the present invention;
FIG. 4 is a schematic illustration of intersection merging in an embodiment of the present invention;
FIG. 5 is a schematic flow chart illustrating a second embodiment of an automated guided vehicle scheduling method according to the present invention;
FIG. 6 is a schematic diagram of a virtual map generation process of the automatic guided vehicle scheduling method of the present invention;
FIG. 7 is a flowchart illustrating a third exemplary embodiment of an automated guided vehicle scheduling method according to the present invention;
FIG. 8 is a schematic flow chart illustrating a fourth embodiment of an automated guided vehicle scheduling method according to the present invention;
FIG. 9 is a diagram illustrating the resolution of subtended deadlock in an embodiment of the present invention;
FIG. 10 is a schematic diagram of intersection conflict resolution in an embodiment of the present invention;
FIG. 11 is a schematic flow chart diagram illustrating a fifth exemplary embodiment of an automated guided vehicle scheduling method according to the present invention;
fig. 12 is a block diagram showing the configuration of the automatic guided vehicle dispatching device according to the first embodiment of the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1, fig. 1 is a schematic structural diagram of an electronic device in a hardware operating environment according to an embodiment of the present invention.
As shown in fig. 1, the electronic device may include: a processor 1001, such as a Central Processing Unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Wherein a communication bus 1002 is used to enable connective communication between these components. The user interface 1003 may include a Display screen (Display), an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a WIreless interface (e.g., a WIreless-FIdelity (WI-FI) interface). The Memory 1005 may be a Random Access Memory (RAM) Memory, or may be a Non-Volatile Memory (NVM), such as a disk Memory. The memory 1005 may alternatively be a storage device separate from the processor 1001.
Those skilled in the art will appreciate that the configuration shown in fig. 1 does not constitute a limitation of the electronic device and may include more or fewer components than those shown, or some components may be combined, or a different arrangement of components.
As shown in fig. 1, a memory 1005, which is a storage medium, may include therein an operating system, a network communication module, a user interface module, and an automatic guided vehicle scheduler.
In the electronic apparatus shown in fig. 1, the network interface 1004 is mainly used for data communication with a network server; the user interface 1003 is mainly used for data interaction with a user; the processor 1001 and the memory 1005 in the electronic device of the present invention may be disposed in the electronic device, and the electronic device calls the automatic guided vehicle scheduling program stored in the memory 1005 through the processor 1001 and executes the automatic guided vehicle scheduling method provided by the embodiment of the present invention.
An embodiment of the present invention provides an automatic guided vehicle scheduling method, and referring to fig. 2, fig. 2 is a schematic flow diagram of a first embodiment of the automatic guided vehicle scheduling method according to the present invention.
In this embodiment, the automatic guided vehicle scheduling method includes the following steps:
step S10: and determining the starting position and the ending position of the automatic guided vehicle on the virtual map according to the order task.
It should be noted that the path planning method for the automatic guided vehicle in this embodiment may be applied to the fields of manufacturing, warehousing and distribution, logistics transportation, and the like, and the automatic guided vehicle performs independent or cooperative operations to complete the order task. Specifically, the Automated Guided Vehicle may be an Automated Guided Vehicle (Automated Guided Vehicle) which is equipped with an electromagnetic or optical Automated guide device, can travel along a predetermined guide path, and has safety protection and various transfer functions. Alternatively, the number of the automatic guided vehicles may be one or more, and the types of the automatic guided vehicles may be the same type or different types. The path planning method for the automatic guided vehicle provided by the embodiment can enrich the path planning lines of the automatic guided vehicle and improve the system operation efficiency.
It is easily understood that an order task is received, and a running path of the automated guided vehicle is determined based on a start position and an end position in the order task on the virtual map. The order task refers to a task waiting for processing of the automatic guided vehicle in the system, such as goods waiting for transportation in a warehouse, the order task comprises a starting point and an end point of the object to be transported, and the starting point position and the end point position of the automatic guided vehicle are determined on the virtual map according to the starting point and the end point of the object to be transported.
Step S20: and determining a plurality of running paths to be selected in the virtual map according to the starting position and the end position, wherein each running path to be selected comprises a virtual intersection and a virtual road section.
It is easily understood that an order task is received, and a running path of the automated guided vehicle is determined based on a start position and an end position in the order task on the virtual map. The order task refers to a task waiting for processing of the automatic guided vehicle in the system, such as goods waiting for transportation in a warehouse, the order task comprises a starting point and an end point of the object to be transported, and the starting point position and the end point position of the automatic guided vehicle are determined on the virtual map according to the starting point and the end point of the object to be transported. And determining a plurality of running paths to be selected in the virtual map according to the starting position and the end position, wherein each running path to be selected refers to a running path from the starting point of the object to be transported to the task end point of the automatic guided vehicle. Optionally, there may be multiple running paths determined based on the starting point and the ending point in the order task, and the running path may be selected from fixed paths or may generate a shortest path according to the starting point position and the ending point position of the order task.
Specifically, the starting point position and the end point position of the automatic guided vehicle are determined according to the starting point position and the end point position in the order task, the running path passing through the starting point position and the end point position is selected from a virtual map to serve as a plurality of running paths to be selected of the automatic guided vehicle, an original map of the environment where the automatic guided vehicle is located is obtained, the original path is modeled according to the original map, the original path is split into paths to generate the virtual map with virtual road sections and virtual road junctions, each running path to be selected respectively comprises the virtual road junctions and the virtual road sections, for example, referring to fig. 3, fig. 3 is a schematic diagram of the running path to be selected in the embodiment of the invention, the starting point position a and the end point position B of the automatic guided vehicle are determined according to the starting point position a and the end point position B, the running path passing through the starting point position a and the end point position B is selected from the virtual map to serve as a plurality of running paths to be selected of the automatic guided vehicle, the running path to be selected can comprise ①②③④, and the running paths to be selected can also comprise other running paths.
Step S30: and calculating the passing cost of each running path to be selected according to the virtual intersection and the virtual road section of each running path to be selected through a cost algorithm.
It should be noted that the operation routes passing through the starting position and the ending position are selected from the virtual map as a plurality of to-be-selected operation routes of the automatic guided vehicle, each to-be-selected operation route respectively comprises a virtual intersection and a virtual road section, according to a passing time schedule, the passing time schedule comprises the passing time of all the automatic guided vehicles at each virtual intersection and virtual road section, the passing cost of the automatic guided vehicle passing through a certain virtual intersection or virtual road section at a certain moment is dynamically calculated by using a cost algorithm, and the passing cost of the virtual intersection and the virtual road section of each to-be-selected operation route is obtained.
Step S40: and selecting a target operation path from the operation paths to be selected according to the passing cost, and taking the target operation path as a dynamic operation path of the automatic guided vehicle.
The method is easy to understand, the passing cost of the virtual intersection and the virtual road section of each running path to be selected is dynamically calculated by using a cost algorithm, a target running path is selected from the running paths to be selected according to the passing cost, the passing cost of each running path to be selected is compared, a running path with the minimum passing cost is obtained from the running paths to be selected, the running path has the minimum passing cost, no conflict and no deadlock, the running path is the target running path, and the target running path is used as the dynamic running path of the automatic guided vehicle. By adopting the self-research cost algorithm, the problems of conflict, deadlock and congestion of the automatic guided vehicles can be efficiently solved, and the flexible scheduling of a plurality of automatic guided vehicles in various complex map scenes is realized.
It should be noted that, a target operation path is selected from the operation paths to be selected according to the traffic cost, and the target operation path is used as a dynamic operation path of the automatic guided vehicle, and the automatic guided vehicle travels according to the dynamic operation path; if the target running path is calculated, the dynamic running path of the automatic guided vehicle is successful; and if the target running path is not calculated, the dynamic running path of the automatic guided vehicle fails.
Specifically, if the dynamic operation path of the automatic guided vehicle is successfully planned, whether the automatic guided vehicle needs to be parked and wait is judged, if the automatic guided vehicle does not need to be parked and wait, the automatic guided vehicle is controlled to run according to the dynamic operation path of the automatic guided vehicle, if the automatic guided vehicle needs to be parked and wait, the automatic guided vehicle waits for a preset time, and then the dynamic operation path planning is performed again on the automatic guided vehicle according to the steps S10 to S40.
Specifically, if the dynamic operation path of the automatic guided vehicle is not planned, whether the automatic guided vehicle is on a virtual road section is judged; and if the automatic guided vehicle is on the virtual road section, performing dynamic operation path planning on the automatic guided vehicle again according to the steps S10 to S40. If the automatic guided vehicle is not on the virtual road section, judging whether the automatic guided vehicle is at the virtual intersection; and if the automatic guided vehicle is at the virtual intersection, dynamically planning the running path of the automatic guided vehicle again according to the steps S10 to S40 when the automatic guided vehicle drives out of the virtual intersection.
The method comprises the steps of determining a starting position and an ending position of the automatic guided vehicle on a virtual map according to an order task; determining a plurality of running paths to be selected in the virtual map according to the starting position and the end position, wherein each running path to be selected comprises a virtual intersection and a virtual road section; calculating the passing cost of each running path to be selected according to the virtual intersection and the virtual road section of each running path to be selected through a cost algorithm; and selecting a target operation path from the operation paths to be selected according to the passing cost, and taking the target operation path as a dynamic operation path of the automatic guided vehicle. By the method, flexible scheduling of the automatic guided vehicles in a complex map scene can be achieved, the problems of conflict, deadlock and congestion of the automatic guided vehicles can be efficiently solved by adopting a self-developed cost algorithm, and the accuracy and reliability of scheduling of the automatic guided vehicles are better guaranteed, so that the technical problems that the automatic guided vehicles conflict, deadlock and congestion occur during working due to the fact that the scheduling algorithm of the automatic guided vehicles in the prior art is inaccurate and inefficient are solved.
Referring to fig. 5, fig. 5 is a schematic flow chart of an automatic guided vehicle scheduling method according to a second embodiment of the present invention.
Based on the first embodiment, before the step S10, the method for dispatching an automatic guided vehicle according to this embodiment further includes:
step S101: the method comprises the steps of obtaining an original map of the environment where the automatic guided vehicle is located, and modeling an original path according to the original map.
It should be noted that the path is defined by an edge, and the edge is determined by two points. The method comprises the steps of obtaining an original map of an environment where an automatic guided vehicle is located, describing the original map by using an edge set, modeling an original path according to the original map, wherein the original path comprises a road section number, two endpoint numbers and an endpoint coordinate, converting the road section number, the two endpoint numbers and the endpoint coordinate into an adjacency list to be stored, and obtaining the original path.
Step S102: and splitting the original path to generate a virtual map with virtual road sections and virtual intersections.
It is easy to understand that the virtual map is obtained by splitting an original road section into a virtual road section and a virtual intersection, and fig. 6 is a schematic diagram of generating the virtual map according to the automatic guided vehicle scheduling method of the present invention; expanding the intersection in the original path into a circular intersection with a certain radius to obtain a virtual intersection, wherein the circle center is the intersection in the original path; the road section between the two virtual intersections is a virtual road section.
According to the method, an original map of the environment where the automatic guided vehicle is located is obtained, and an original path is modeled according to the original map; and splitting the original path to generate a virtual map with virtual road sections and virtual intersections. By modeling the original map and splitting the original map into the virtual map in the mode, flexible scheduling of the automatic guided vehicle in a complex map scene can be realized.
Referring to fig. 7, fig. 7 is a schematic flow chart of an automatic guided vehicle scheduling method according to a third embodiment of the present invention.
Based on the first embodiment, in the step S30, the method for dispatching an automatic guided vehicle in this embodiment specifically includes:
step S301: and calculating the intersection cost of each running path to be selected according to the virtual intersection of each running path to be selected through an intersection cost algorithm, and calculating the road section cost of each running path to be selected according to the virtual road section in each running path to be selected through a road section cost algorithm.
It should be noted that the operation routes passing through the starting position and the ending position are selected from the virtual map as a plurality of to-be-selected operation routes of the automatic guided vehicle, each to-be-selected operation route respectively comprises a virtual intersection and a virtual road section, a passage time table can be constructed for calculating intersection cost and road section cost, the passage time table comprises passage time of all automatic guided vehicles at each virtual intersection and virtual road section according to the passage time table, the passage cost of the automatic guided vehicle passing through a certain virtual intersection or virtual road section at a certain moment is dynamically calculated by using a cost algorithm, and the passage cost of the virtual intersection and the virtual road section of each to-be-selected operation route is obtained. The cost algorithm is divided into an intersection cost algorithm and a road section cost algorithm according to a virtual map, the passing cost of the virtual intersection and the virtual road section of each running path to be selected can be defined as the passing cost required by the automatic guided vehicle to pass through the virtual intersection or the virtual road section at a certain time, and the value range of the passing cost is zero to infinity.
Step S302: and summing the intersection cost and the road section cost of each running path to be selected to obtain the passing cost of each running path to be selected.
The cost algorithm is divided into an intersection cost algorithm and a road section cost algorithm according to the virtual map, and the intersection cost and the road section cost of each running path to be selected are summed to obtain the passing cost of each running path to be selected. The passing cost of the virtual intersection and the virtual road section of each running path to be selected can be defined as the passing cost required by the automatic guided vehicle to pass through the virtual intersection or the virtual road section at a certain time, and the value range of the passing cost is zero to infinity.
In the embodiment, the intersection cost of each running path to be selected is calculated through an intersection cost algorithm according to the virtual intersection of each running path to be selected, and the road section cost of each running path to be selected is calculated through a road section cost algorithm according to the virtual road section in each running path to be selected; and summing the intersection cost and the road section cost of each running path to be selected to obtain the passing cost of each running path to be selected. By the aid of the method, the problems of conflict, deadlock and congestion of the automatic guided vehicle can be efficiently solved by adopting a self-researched cost algorithm, and accuracy and reliability of automatic guided vehicle scheduling are better guaranteed.
Referring to fig. 8, fig. 8 is a schematic flow chart of an automatic guided vehicle scheduling method according to a fourth embodiment of the present invention.
Based on the first embodiment, in the step S301, the method for dispatching an automatic guided vehicle in this embodiment specifically includes:
step S3011: calculating the intersection free passing cost of the automatic guided vehicle at the virtual intersection through the intersection cost algorithm;
it should be noted that, in the intersection cost algorithm, the process of the automatic guided vehicle passing through the virtual intersection is analyzed and modeled, and the straight line passing cost and the turning cost of the automatic guided vehicle passing through the virtual intersection are provided, so as to form the intersection free passing cost of the automatic guided vehicle at the virtual intersection; the intersection free-passing cost algorithm comprises the following steps:
among them, CostCrFor the free passing cost of the intersection, V is the speed of the automatic guided vehicle, L1Length of path for automatic guided vehicles at said virtual crossing, L2For the body length of the automatically guided vehicle, α is the curve of the automatically guided vehicle.
Step S3012: obtaining the parking waiting cost of the automatic guided vehicle at the intersection of the virtual intersection through a passing time schedule;
it is easy to understand that when the intersection free passage cost of the automatic guided vehicle at the virtual intersection is calculated through the intersection cost algorithm, the influence of other automatic guided vehicles is considered, the intersection stopping waiting cost of the automatic guided vehicle at the virtual intersection is introduced, according to a passage time table, the passage time table comprises the passage time of all the automatic guided vehicles at each virtual intersection and virtual road section, and the passage time of other automatic guided vehicles at the virtual intersection is combined, so that the waiting condition of the automatic guided vehicle at the virtual intersection can be divided into two situations of waiting and non-waiting. When the automatic guided vehicle is in the non-waiting condition, the parking waiting cost of the automatic guided vehicle at the intersection of the virtual intersection is infinite.
Step S3013: and summing the free passing cost of the intersection and the parking waiting cost of the intersection to obtain the intersection cost of the automatic guided vehicle on each running path to be selected.
It should be noted that, when the intersection free-passage cost of the automatic guided vehicle at the virtual intersection is calculated by the intersection cost algorithm, the intersection parking waiting cost of the automatic guided vehicle at the virtual intersection is introduced in consideration of the influence of other automatic guided vehicles, and the intersection free-passage cost and the intersection parking waiting cost are summed to obtain the intersection cost of the automatic guided vehicle at each running path to be selected.
Step S3014: and calculating the free passing cost of the automatic guided vehicle on the road section of the virtual road section through the road section cost algorithm.
It is easy to understand that in the road section cost algorithm, the process that an automatic guided vehicle passes through the virtual road section is analyzed and modeled, the free passing cost of the road section that the automatic guided vehicle passes through the virtual road section is provided, in the road section cost algorithm, the concept of blocking the road section is considered, a blocking road section table is constructed, the passing cost that the automatic guided vehicle passes through a certain virtual road section at a certain moment is calculated, the influence of other automatic guided vehicles on the automatic guided vehicle of the current running path to be selected is analyzed by combining a passing time table, and the road section parking waiting cost and the free passing cost of the road section of the automatic guided vehicle on the virtual road section are formed.
Step S3015: and obtaining the parking waiting cost of the automatic guided vehicle on the road section of the virtual road section through a passing time table.
It should be noted that, when the free passage cost of the automatic guided vehicle on the road section of the virtual road section is calculated through the road section cost algorithm, the influence of other automatic guided vehicles is considered, the stop waiting cost of the automatic guided vehicle on the road section of the virtual road section is introduced, according to a passage time table, the passage time table comprises the passage time of all the automatic guided vehicles at each virtual intersection and virtual road section, and the waiting condition of the automatic guided vehicle on the virtual road section can be divided into two situations of waiting and non-waiting by combining the passage time of other automatic guided vehicles on the virtual road section. When the automatic guided vehicle is in the non-waiting condition, the parking waiting cost of the automatic guided vehicle on the road section of the virtual road section is infinite.
Step S3016: and summing the free passing cost of the road section and the parking waiting cost of the road section to obtain the road section cost of the automatic guided vehicle on each running path to be selected.
It is easy to understand that when the free passage cost of the automatic guided vehicle on the road section of the virtual road section is calculated through the road section cost algorithm, the influence of other automatic guided vehicles is considered, the stop waiting cost of the automatic guided vehicle on the road section of the virtual road section is introduced, the free passage cost of the road section and the stop waiting cost of the road section are summed, and the road section cost of the automatic guided vehicle on each running path to be selected is obtained.
Specifically, as shown in fig. 9, fig. 9 is a schematic diagram of removing the opposite direction deadlock in the embodiment of the present invention, D to D represent an automatic guided vehicle operation station, D to D represent a virtual road section, C to C represent a virtual intersection, until the operation paths respectively represent the automatic guided vehicle, as shown in the figure, an AGV is an automatic guided vehicle, an AGV is another automatic guided vehicle, an AGV needs to operate from a station D to a station D, and an AGV selects a target operation path from the candidate operation paths according to the passage cost, and the target operation path is taken as a dynamic operation path, i.e., a path, of the AGV, if the AGV selects a target operation path from the candidate operation paths according to the passage cost, and the target operation path is taken as a dynamic operation path, i.e., a path, the AGV, when the AGV, the AGV cannot obtain an infinite number of use of the virtual road sections R and R during operation, and the AGV cannot continue to run in the process of the blocked AGV, the opposite direction deadlock can be avoided.
Specifically, as shown in fig. 10, fig. 10 is a schematic diagram of removing intersection conflict in the embodiment of the present invention, where D5 to D8 represent automatic guided vehicle operation stations, C2 represents a virtual intersection, and P1 is an outer circle boundary of the virtual intersection C2. Assuming that the AGV3 is an automatic guided vehicle, the AGV4 is another automatic guided vehicle, the AGV3 selects a target running path from the candidate running paths according to the passing cost, and uses the target running path as a dynamic running path of the AGV1, i.e. path h, the AGV4 selects a target running path from the candidate running paths according to the passing cost, and uses the target running path as a dynamic running path of the AGV1, the time when the AGV4 passes through the virtual intersection C2 overlaps with the AGV3, i.e. the AGV4 collides with the AGV3 at the virtual intersection C2, assuming that the time when the AGV3 reaches the virtual intersection C2 is earlier than the time when the AGV4 reaches the virtual intersection C2, the AGV4 selects a target running path from the candidate running paths according to the passing cost, and uses the target running path as a dynamic running path n of the AGV1, i.e. path n, the AGV4 enters the tube stop time, so that the AGV 365 waits at the boundary 58p 57324 of the virtual intersection C3623, until after the AGV3 exits the virtual intersection C2, the AGV4 stops waiting and continues to travel along the dynamic travel path of the AGV4, path n. By the mode, the problem of collision of the automatic guided vehicles at the road junction is effectively solved.
In the embodiment, the intersection free-passing cost of the automatic guided vehicle at the virtual intersection is calculated through the intersection cost algorithm; obtaining the parking waiting cost of the automatic guided vehicle at the intersection of the virtual intersection through a passing time schedule; summing the free passing cost of the intersection and the parking waiting cost of the intersection to obtain the intersection cost of the automatic guided vehicle on each running path to be selected; calculating the free passing cost of the automatic guided vehicle on the road section of the virtual road section through the road section cost algorithm; obtaining the parking waiting cost of the automatic guided vehicle on the road section of the virtual road section through a passing time table; and summing the free passing cost of the road section and the parking waiting cost of the road section to obtain the road section cost of the automatic guided vehicle on each running path to be selected. By the aid of the method, the problems of conflict, deadlock and congestion of the automatic guided vehicles can be efficiently solved by adopting a self-developed cost algorithm, and the accuracy and reliability of dispatching of the automatic guided vehicles are better guaranteed, so that the technical problems that the automatic guided vehicles conflict, deadlock and congestion occur during working due to the fact that the dispatching algorithm of the automatic guided vehicles in the prior art is inaccurate and not efficient are solved.
Referring to fig. 11, fig. 11 is a schematic flow chart of an automatic guided vehicle scheduling method according to a fifth embodiment of the present invention.
Based on the first embodiment, before step S3014, the method for dispatching an automatic guided vehicle according to this embodiment further includes:
step S30141: and judging whether the current time of the virtual road section is in the blocking time or not according to the passing time table.
It should be noted that, in the road section cost algorithm, the process that the automatic guided vehicle passes through the virtual road section is analyzed and modeled, the free passage cost of the road section that the automatic guided vehicle passes through the virtual road section is provided, in the road section cost algorithm, the concept of blocking the road section is considered, a blocking road section table is constructed, the free passage cost that the automatic guided vehicle passes through a certain virtual road section at a certain moment is calculated, the influence of other automatic guided vehicles on the automatic guided vehicle of the current running path to be selected is analyzed by combining a passage time table and the blocking road section table, and whether the current moment of the virtual road section is in blocking time or not is judged according to the passage time table and the blocking road section table.
Step S30142: and when the current moment of the virtual road section is not in the blocking time, executing the step of calculating the free passing cost of the automatic guided vehicle on the road section of the virtual road section through the road section cost algorithm.
It is easy to understand that when the current time of the virtual road section is not in the blocking time, the free passing cost of the automatic guided vehicle on the road section of the virtual road section can be calculated through the road section cost algorithm.
Step S30143: and when the current moment of the virtual road section is in the blocking time, setting the road section cost of the automatic guided vehicle to be infinite.
It should be noted that, when the virtual road segment is not unblocked at the current time, the cost of the road segment of the automatic guided vehicle is set to infinity.
The embodiment judges whether the current time of the virtual road section is in the blocking time according to the passing time table; when the current time of the virtual road section is not in the blocking time, executing a step of calculating the road section free passing cost of the automatic guided vehicle on the virtual road section through the road section cost algorithm; and when the current moment of the virtual road section is in the blocking time, obtaining the road section cost of the automatic guided vehicle on each running path to be selected as infinity through a road section cost algorithm. By the method, the problems of conflict, deadlock and congestion of the automatic guided vehicle can be efficiently solved, and the accuracy and reliability of the automatic guided vehicle scheduling are better guaranteed.
In addition, an embodiment of the present invention further provides a storage medium, where an automatic guided vehicle scheduler is stored on the storage medium, and the automatic guided vehicle scheduler implements the steps of the automatic guided vehicle scheduling method when executed by a processor.
In addition, an embodiment of the present invention further provides an automatic guided vehicle scheduling apparatus, referring to fig. 12, and fig. 12 is a block diagram of a structure of the automatic guided vehicle scheduling apparatus according to the first embodiment of the present invention.
As shown in fig. 12, an automatic guided vehicle dispatching device according to an embodiment of the present invention includes:
and the map planning module 10 is used for determining a starting position and an ending position of the automatic guided vehicle on the virtual map according to the order task.
It should be noted that the path planning method for the automatic guided vehicle in this embodiment may be applied to the fields of manufacturing, warehousing and distribution, logistics transportation, and the like, and the automatic guided vehicle performs independent or cooperative operations to complete the order task. Specifically, the Automated Guided Vehicle may be an Automated Guided Vehicle (Automated Guided Vehicle) which is equipped with an electromagnetic or optical Automated guide device, can travel along a predetermined guide path, and has safety protection and various transfer functions. Alternatively, the number of the automatic guided vehicles may be one or more, and the types of the automatic guided vehicles may be the same type or different types. The path planning method for the automatic guided vehicle provided by the embodiment can enrich the path planning lines of the automatic guided vehicle and improve the system operation efficiency.
It is easily understood that an order task is received, and a running path of the automated guided vehicle is determined based on a start position and an end position in the order task on the virtual map. The order task refers to a task waiting for processing of the automatic guided vehicle in the system, such as goods waiting for transportation in a warehouse, the order task comprises a starting point and an end point of the object to be transported, and the starting point position and the end point position of the automatic guided vehicle are determined on the virtual map according to the starting point and the end point of the object to be transported.
And the path obtaining module 20 is configured to determine multiple to-be-selected operation paths in the virtual map according to the starting point position and the end point position, where each to-be-selected operation path includes a virtual intersection and a virtual road segment.
It is easily understood that an order task is received, and a running path of the automated guided vehicle is determined based on a start position and an end position in the order task on the virtual map. The order task refers to a task waiting for processing of the automatic guided vehicle in the system, such as goods waiting for transportation in a warehouse, the order task comprises a starting point and an end point of the object to be transported, and the starting point position and the end point position of the automatic guided vehicle are determined on the virtual map according to the starting point and the end point of the object to be transported. And determining a plurality of running paths to be selected in the virtual map according to the starting position and the end position, wherein each running path to be selected refers to a running path from the starting point of the object to be transported to the task end point of the automatic guided vehicle. Optionally, there may be multiple running paths determined based on the starting point and the ending point in the order task, and the running path may be selected from fixed paths or may generate a shortest path according to the starting point position and the ending point position of the order task.
Specifically, the starting point position and the end point position of the automatic guided vehicle are determined according to the starting point position and the end point position in the order task, the running path passing through the starting point position and the end point position is selected from a virtual map to serve as a plurality of running paths to be selected of the automatic guided vehicle, an original map of the environment where the automatic guided vehicle is located is obtained, the original path is modeled according to the original map, the original path is split into paths to generate the virtual map with virtual road sections and virtual road junctions, each running path to be selected respectively comprises the virtual road junctions and the virtual road sections, for example, referring to fig. 3, fig. 3 is a schematic diagram of the running path to be selected in the embodiment of the invention, the starting point position a and the end point position B of the automatic guided vehicle are determined according to the starting point position a and the end point position B, the running path passing through the starting point position a and the end point position B is selected from the virtual map to serve as a plurality of running paths to be selected of the automatic guided vehicle, the running path to be selected can comprise ①②③④, and the running paths to be selected can also comprise other running paths.
And the cost calculation module 30 is configured to calculate the passing cost of each running path to be selected according to the virtual intersection and the virtual road section of each running path to be selected through a cost algorithm.
It should be noted that the operation routes passing through the starting position and the ending position are selected from the virtual map as a plurality of to-be-selected operation routes of the automatic guided vehicle, each to-be-selected operation route respectively comprises a virtual intersection and a virtual road section, according to a passing time schedule, the passing time schedule comprises the passing time of all the automatic guided vehicles at each virtual intersection and virtual road section, the passing cost of the automatic guided vehicle passing through a certain virtual intersection or virtual road section at a certain moment is dynamically calculated by using a cost algorithm, and the passing cost of the virtual intersection and the virtual road section of each to-be-selected operation route is obtained.
And the path generating module 40 is configured to select a target operation path from the to-be-selected operation paths according to the traffic cost, and use the target operation path as a dynamic operation path of the automatic guided vehicle.
The method is easy to understand, the passing cost of the virtual intersection and the virtual road section of each running path to be selected is dynamically calculated by using a cost algorithm, a target running path is selected from the running paths to be selected according to the passing cost, the passing cost of each running path to be selected is compared, a running path with the minimum passing cost is obtained from the running paths to be selected, the running path has the minimum passing cost, no conflict and no deadlock, the running path is the target running path, and the target running path is used as the dynamic running path of the automatic guided vehicle. By adopting the self-research cost algorithm, the problems of conflict, deadlock and congestion of the automatic guided vehicles can be efficiently solved, and the flexible scheduling of a plurality of automatic guided vehicles in various complex map scenes is realized.
It should be noted that, a target operation path is selected from the operation paths to be selected according to the traffic cost, and the target operation path is used as a dynamic operation path of the automatic guided vehicle, and the automatic guided vehicle travels according to the dynamic operation path; if the target running path is calculated, the dynamic running path of the automatic guided vehicle is successful; and if the target running path is not calculated, the dynamic running path of the automatic guided vehicle fails.
For example, referring to fig. 4, fig. 4 is a junction merging schematic diagram in the embodiment of the invention, as shown in fig. 4, a virtual junction ①②③④⑤ is close to each other, if a plurality of automatic guided vehicles pass nearby, the automatic guided vehicles may collide when the virtual junctions ①②③④⑤ are close to each other, the virtual junctions ①②③④⑤ may be merged into a large junction, only one automatic guided vehicle is allowed to pass within the same time period in the merged large junction, and other automatic guided vehicles are all outside the merged large junction, when the automatic guided vehicles run to the merged large junction, it is judged whether the automatic guided vehicles need to stop, and the automatic guided vehicles wait for automatic guidance, and if the automatic guided vehicles need to stop, the automatic guided vehicles wait for waiting, step S40 is performed.
Specifically, if the dynamic operation path of the automatic guided vehicle is not planned, whether the automatic guided vehicle is on a virtual road section is judged; and if the automatic guided vehicle is on the virtual road section, performing dynamic operation path planning on the automatic guided vehicle again according to the steps S10 to S40. If the automatic guided vehicle is not on the virtual road section, judging whether the automatic guided vehicle is at the virtual intersection; if the automatic guided vehicle is at a virtual intersection, when the automatic guided vehicle drives out of the virtual intersection, the automatic guided vehicle scheduling device performs dynamic operation path planning on the automatic guided vehicle again according to the map planning module 10 to the path generation module 40.
In the embodiment, the map planning module 10 is used for determining a starting position and an ending position of the automatic guided vehicle on the virtual map according to the order task; a path obtaining module 20, configured to determine multiple to-be-selected operation paths in the virtual map according to the starting point position and the end point position, where each to-be-selected operation path includes a virtual intersection and a virtual road segment; the cost calculation module 30 is configured to calculate the passing cost of each running path to be selected according to the virtual intersection and the virtual road section of each running path to be selected through a cost algorithm; and the path generating module 40 is used for selecting a target running path from the running paths to be selected according to the traffic cost, and taking the target running path as a dynamic running path of the automatic guided vehicle. By the method, flexible scheduling of the automatic guided vehicles in a complex map scene can be achieved, the problems of conflict, deadlock and congestion of the automatic guided vehicles can be efficiently solved by adopting a self-developed cost algorithm, and the accuracy and reliability of scheduling of the automatic guided vehicles are better guaranteed, so that the technical problems that the automatic guided vehicles conflict, deadlock and congestion occur during working due to the fact that the scheduling algorithm of the automatic guided vehicles in the prior art is inaccurate and inefficient are solved.
It should be understood that the above is only an example, and the technical solution of the present invention is not limited in any way, and in a specific application, a person skilled in the art may set the technical solution as needed, and the present invention is not limited thereto.
It should be noted that the above-described work flows are only exemplary, and do not limit the scope of the present invention, and in practical applications, a person skilled in the art may select some or all of them to achieve the purpose of the solution of the embodiment according to actual needs, and the present invention is not limited herein.
In addition, the technical details that are not described in detail in this embodiment may refer to the automatic guided vehicle scheduling method provided in any embodiment of the present invention, and are not described herein again.
Further, it is to be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solution of the present invention or portions thereof that contribute to the prior art may be embodied in the form of a software product, where the computer software product is stored in a storage medium (e.g. Read Only Memory (ROM)/RAM, magnetic disk, optical disk), and includes several instructions for enabling a terminal device (e.g. a mobile phone, a computer, a server, or a network device) to execute the method according to the embodiments of the present invention.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. An automatic guided vehicle scheduling method, characterized in that the method comprises:
determining a starting position and an end position of the automatic guided vehicle on the virtual map according to the order task;
determining a plurality of running paths to be selected in the virtual map according to the starting position and the end position, wherein each running path to be selected comprises a virtual intersection and a virtual road section;
calculating the passing cost of each running path to be selected according to the virtual intersection and the virtual road section of each running path to be selected through a cost algorithm;
and selecting a target operation path from the operation paths to be selected according to the passing cost, and taking the target operation path as a dynamic operation path of the automatic guided vehicle.
2. The method of claim 1, wherein the step of determining a start location and an end location of the automated guided vehicle on the virtual map based on the ordered task is preceded by the step of:
obtaining an original map of an environment where an automatic guided vehicle is located, and modeling an original path according to the original map;
and splitting the original path to generate a virtual map with virtual road sections and virtual intersections.
3. The method according to claim 2, wherein the step of calculating the passing cost of each running path to be selected through a cost algorithm according to the virtual intersection and the virtual road section of each running path to be selected specifically comprises:
calculating the intersection cost of each running path to be selected according to the virtual intersection of each running path to be selected through an intersection cost algorithm, and calculating the road section cost of each running path to be selected according to the virtual road section in each running path to be selected through a road section cost algorithm;
and summing the intersection cost and the road section cost of each running path to be selected to obtain the passing cost of each running path to be selected.
4. The method according to claim 3, wherein the step of calculating the intersection cost of each running path to be selected according to the virtual intersection of each running path to be selected by an intersection cost algorithm specifically comprises:
calculating the intersection free passing cost of the automatic guided vehicle at the virtual intersection through the intersection cost algorithm;
obtaining the parking waiting cost of the automatic guided vehicle at the intersection of the virtual intersection through a passing time schedule;
and summing the free passing cost of the intersection and the parking waiting cost of the intersection to obtain the intersection cost of the automatic guided vehicle on each running path to be selected.
5. The method according to claim 3, wherein the step of calculating the road segment cost of each candidate operation path through a road segment cost algorithm according to the virtual road segment in each candidate operation path specifically comprises:
calculating the free passing cost of the automatic guided vehicle on the road section of the virtual road section through the road section cost algorithm;
obtaining the parking waiting cost of the automatic guided vehicle on the road section of the virtual road section through a passing time table;
and summing the free passing cost of the road section and the parking waiting cost of the road section to obtain the road section cost of the automatic guided vehicle on each running path to be selected.
6. The method of claim 5, wherein the step of calculating the road segment free-passage cost of the automated guided vehicle on the virtual road segment by the road segment cost algorithm is preceded by the step of:
judging whether the current time of the virtual road section is in the blocking time or not according to a passing time table;
and when the current moment of the virtual road section is not in the blocking time, executing the step of calculating the free passing cost of the automatic guided vehicle on the road section of the virtual road section through the road section cost algorithm.
7. The method of claim 6, wherein the step of determining whether the current time of the virtual road segment is in the blocked time according to the transit schedule further comprises:
and when the current moment of the virtual road section is in the blocking time, setting the road section cost of the automatic guided vehicle to be infinite.
8. An automated guided vehicle dispatch device, the device comprising:
the map planning module is used for determining a starting point position and an end point position of the automatic guided vehicle on the virtual map according to the order task;
the route acquisition module is used for determining a plurality of running routes to be selected in the virtual map according to the starting point position and the end point position, and each running route to be selected respectively comprises a virtual intersection and a virtual road section;
the cost calculation module is used for calculating the passing cost of each running path to be selected according to the virtual intersection and the virtual road section of each running path to be selected through a cost algorithm;
and the path generation module is used for selecting a target running path from the running paths to be selected according to the passing cost, and taking the target running path as a dynamic running path of the automatic guided vehicle.
9. An electronic device, characterized in that the device comprises: memory, a processor and an automatic guided vehicle scheduler stored on the memory and executable on the processor, the automatic guided vehicle scheduler being configured to implement the steps of the automatic guided vehicle scheduling method of any one of claims 1 to 7.
10. A storage medium having stored thereon an automatic guided vehicle scheduler that, when executed by a processor, performs the steps of the automatic guided vehicle scheduling method of any of claims 1 to 7.
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| CN112926808A (en) * | 2021-04-22 | 2021-06-08 | 湖北普罗劳格科技股份有限公司 | Logistics path planning method, device, equipment and computer readable storage medium |
| CN112926808B (en) * | 2021-04-22 | 2023-09-19 | 湖北普罗格科技股份有限公司 | Logistics path planning method, device, equipment and computer readable storage medium |
| TWI796017B (en) * | 2021-11-16 | 2023-03-11 | 新加坡商鴻運科股份有限公司 | Automated guided vehicle scheduling method, electronic device and computer-readable storage medium |
| CN114360247A (en) * | 2021-12-31 | 2022-04-15 | 北京万集科技股份有限公司 | Control method for vehicle formation and related product |
| CN114360247B (en) * | 2021-12-31 | 2023-06-02 | 北京万集科技股份有限公司 | Control method for vehicle formation and related products |
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