CN112036773A - AGV trolley task allocation method, AGV trolley task allocation equipment, storage medium and device - Google Patents
AGV trolley task allocation method, AGV trolley task allocation equipment, storage medium and device Download PDFInfo
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Abstract
The invention discloses an AGV trolley task allocation method, equipment, a storage medium and a device, wherein the method comprises the steps of obtaining information of goods to be carried, warehouse area information and AGV trolley information; carrying out priority classification on the goods to be transported according to priority information in the information of the goods to be transported, and acquiring a priority classification result; performing path planning on the AGV according to the position information of the AGV and the warehouse area information in the AGV information to obtain a path planning result; and distributing tasks to the AGV according to the priority classification result and the path planning result. Because the tasks are allocated to the AGV according to the priority classification result and the path planning result, compared with the prior art, the task allocation method is quicker and more efficient, and reduces the resource waste.
Description
Technical Field
The invention relates to the field of intelligent warehousing, in particular to an AGV trolley task allocation method, AGV trolley task allocation equipment, an AGV trolley task allocation storage medium and an AGV trolley task allocation device.
Background
At present, intelligent warehousing becomes an important part in industrial application, and the goods conveying speed can be increased and the labor cost can be reduced by controlling an AGV (automated Guided vehicle) trolley to finish conveying and storing of goods and the like. However, in the prior art, the AGV trolley transports goods easily because the task allocation is unreasonable, the goods are placed for a long time and are not transported, the AGV trolley is also easily not allocated with tasks and is idle for a long time, the resource waste is caused, and the transportation timeliness is low.
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 an AGV trolley task allocation method, equipment, a storage medium and a device, and aims to solve the technical problems of unreasonable AGV trolley task allocation and low carrying efficiency in the prior art.
In order to achieve the above purpose, the present invention provides an AGV task allocation method, which comprises the following steps:
acquiring information of goods to be transported, warehouse area information and AGV trolley information;
carrying out priority classification on the goods to be transported according to priority information in the information of the goods to be transported, and acquiring a priority classification result;
performing path planning on the AGV according to the position information of the AGV and the warehouse area information in the AGV information to obtain a path planning result;
and distributing tasks to the AGV according to the priority classification result and the path planning result.
Preferably, the step of performing priority classification on the goods to be transported according to the priority information in the information on the goods to be transported and acquiring a priority classification result includes:
acquiring the type information of the goods to be transported and the number of the assigned tasks of the AGV;
and carrying out priority classification on the goods to be transported according to the type information of the goods to be transported and the distributed task quantity, and acquiring a priority classification result.
Preferably, the step of performing priority classification on the goods to be transported according to the category information of the goods to be transported and the assigned task number, and obtaining a priority classification result includes:
determining the number of tasks to be issued and the type information of the trolley corresponding to the goods to be carried according to the type information of the goods to be carried;
matching the number of the tasks to be issued according to the number of the distributed tasks to obtain a first matching result;
matching the number of the tasks to be issued according to the trolley type information to obtain a second matching result;
and carrying out priority classification on the goods to be transported according to the first matching result and the second matching result, and acquiring a priority classification result.
Preferably, the step of performing priority classification on the goods to be transported according to the first matching result and the second matching result, and obtaining a priority classification result includes:
acquiring a first weight value of the first matching result and a second weight value of the second matching result;
determining a priority classification result according to the first weight value and the second weight value.
Preferably, the step of performing path planning on the AGV according to the car position information in the AGV car information and the warehouse area information to obtain a path planning result includes:
determining starting point information and end point information of the goods to be carried according to the trolley position information in the AGV trolley information and the warehouse area information;
planning a path of the AGV according to the starting point information and the end point information, and obtaining a path cost value;
determining a path planning result based on the path cost value.
Preferably, the step of determining a path planning result based on the path cost value includes:
sorting the path cost values according to the size sequence, and obtaining a sorting result;
and determining a path planning result according to the sequencing result.
Preferably, the step of determining a path planning result according to the sorting result further includes:
determining safety distance information when the AGV runs according to the information of the goods to be carried and the sequencing result;
and issuing the safety distance information to an AGV (automatic guided vehicle), planning a path according to the safety distance information, and obtaining a path planning result.
In addition, in order to achieve the above object, the present invention further provides an AGV task allocation apparatus, which includes a memory, a processor, and an AGV task allocation program stored in the memory and capable of running on the processor, wherein the AGV task allocation program is configured to implement the AGV task allocation steps described above.
In addition, in order to achieve the above object, the present invention further provides a storage medium, in which an AGV task allocation program is stored, and when being executed by a processor, the AGV task allocation program implements the steps of the AGV task allocation method described above.
In addition, in order to achieve the above object, the present invention further provides an AGV task assigning device, including:
the information acquisition module is used for acquiring information of goods to be transported, information of a warehouse area and AGV trolley information;
the priority classification module is used for performing priority classification on the information of the goods to be transported according to the priority information in the information of the goods to be transported and acquiring a priority classification result;
the path planning module is used for planning the path of the AGV according to the position information of the AGV and the warehouse area information in the AGV information to obtain a path planning result;
and the task allocation module is used for allocating tasks to the AGV according to the priority classification result and the path planning result.
According to the method, information of goods to be carried, information of a warehouse area and information of an AGV are obtained; carrying out priority classification on the goods to be transported according to priority information in the information of the goods to be transported, and acquiring a priority classification result; performing path planning on the AGV according to the position information of the AGV and the warehouse area information in the AGV information to obtain a path planning result; and distributing tasks to the AGV according to the priority classification result and the path planning result. Therefore, the task allocation is carried out on the AGV according to the priority classification result and the path planning result, compared with the prior art, the task allocation is quicker and more efficient, and the resource waste is reduced.
Drawings
FIG. 1 is a schematic diagram of an AGV task assignment facility in a hardware operating environment according to an embodiment of the present invention;
FIG. 2 is a schematic flowchart of a task allocation method for an AGV according to a first embodiment of the present invention;
FIG. 3 is a flowchart illustrating a task allocation method for an AGV according to a second embodiment of the present invention;
FIG. 4 is a flowchart illustrating a task allocation method for an AGV according to a third embodiment of the present invention;
FIG. 5 is a block diagram of the AGV task assignment 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 AGV cart task allocation device in a hardware operating environment according to an embodiment of the present invention.
As shown in FIG. 1, the AGV car task assignment 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), and the optional user interface 1003 may further include a standard wired interface and a wireless interface, and the wired interface for the user interface 1003 may be a USB interface in the present invention. 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 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 AGV task assignment equipment, and may include more or fewer components than shown, or some components in combination, or a different arrangement of components.
As shown in FIG. 1, memory 1005, identified as one type of computer storage medium, may include an operating system, a network communications module, a user interface module, and an AGV cart task assignment program.
In the AGV task allocation device shown in fig. 1, the network interface 1004 is mainly used to connect to a backend server, and perform data communication with the backend server; the user interface 1003 is mainly used for connecting user equipment; the AGV task allocation device calls an AGV task allocation program stored in the memory 1005 through the processor 1001, and executes the AGV task allocation method provided by the embodiment of the present invention.
Based on the hardware structure, the embodiment of the AGV car task allocation method is provided.
Referring to fig. 2, fig. 2 is a schematic flow chart of a first embodiment of the AGV cart task allocation method of the present invention, and the first embodiment of the AGV cart task allocation method of the present invention is provided.
In a first embodiment, the AGV task assignment method includes the following steps:
step S10: and acquiring information of goods to be carried, warehouse region information and AGV trolley information.
It should be noted that the execution main body of the embodiment may be a device including an intelligent warehousing management system, and the intelligent warehousing management system has a comprehensive material management function and has functions of dynamic inventory, and stock level management. The device may be a computer or a device having the function.
It should be understood that the information about the goods to be transported may include information about the weight, number, type, size, and storage location of the goods to be transported, the information about the warehouse area may include information about shelf location corresponding to the warehousing area, the temporary storage area, and the ex-warehouse area, information about the type of the shelf, the number of the storage location corresponding to the shelf, and the area of the travelable area, and the information about the AGV cart may include information about the maximum weight of the goods that the cart can carry, the number of the carts, the location of the cart during transportation, and the type of the AGV cart.
It can be understood that the dynamic checking can be simultaneously checking in different places, and the goods in and out of the warehouse can be recorded while checking; the dynamic inventory can be used for acquiring the goods storage condition in real time, and auditing is convenient. The position management can be associated with the position of the fourth number (position of the rack) through radio frequency identification.
In the specific implementation, the computer can acquire information of goods to be transported, warehouse area information and AGV trolley information according to a storage and retrieval mode, and also can acquire the information of goods to be transported and the warehouse area information in a system query mode, and the AGV trolley information can be acquired through historical data stored by a network server.
Step S20: and carrying out priority classification on the goods to be transported according to the priority information in the information of the goods to be transported, and acquiring a priority classification result.
The priority information may be a parameter for determining a priority level for scheduling the carriage transportation for each work process when the computer processes a plurality of work processes.
It will be appreciated that the priority classification result may be information that the computer orders the truck transfer tasks for the cargo to be transferred.
In specific implementation, the computer can perform priority classification on the goods to be transported according to the type information in the information of the goods to be transported, for example, when the type of the goods to be transported is fresh food, the goods to be transported is preferentially arranged in the front of the task allocation sequence, and the tasks are issued according to the sequence.
Step S30: and planning the path of the AGV according to the position information of the AGV and the warehouse area information to obtain a path planning result.
The AGV cart information may include AGV cart type information, position information, power information, and the like. The trolley position information can be the position information of the trolley in the running process, and can also be the position information staying in a certain area of the warehouse. The path planning result can be a strategy for forming a carrying route of the trolley for the goods to be carried.
It can be understood that the path planning may be shortest path planning in a discrete range, and the path information may be generated according to the trolley position information and the warehouse area information, and the path information may include path parameter information, topology information, the number of nodes, and the like, and the computer may traverse all executable travel paths according to the ant colony algorithm and select the shortest path in the same time.
In the specific implementation, the computer performs path planning on the AGV according to the position information of the AGV and the warehouse area information, and can traverse a plurality of path plans through an ant colony algorithm to screen out the shortest path in the same time. In specific application, the path planning can be used for carrying out timely strain planning according to the real-time position information of the trolley.
Step S40: and distributing tasks to the AGV according to the priority classification result and the path planning result.
It should be noted that the priority classification result may be the sorting information of the vehicle transportation task arranged by the computer for the goods to be transported, and the path planning result may be the shortest path selected by the computer in the same time.
In the concrete implementation, the computer allocates the tasks to the trolleys according to the sequencing information of the trolley carrying tasks arranged for the goods to be carried and the shortest path in the same time. .
According to the embodiment, information of goods to be carried, information of a warehouse area and information of an AGV trolley are obtained; carrying out priority classification on the goods to be transported according to priority information in the information of the goods to be transported, and acquiring a priority classification result; performing path planning on the AGV according to the position information of the AGV and the warehouse area information in the AGV information to obtain a path planning result; and distributing tasks to the AGV according to the priority classification result and the path planning result. Because the priority classification is carried out on the goods to be carried and the task allocation is carried out on the trolley according to the path planning, the embodiment is quicker and more efficient compared with the task allocation in the prior art, and the resource waste is reduced.
Referring to fig. 3, fig. 3 is a flowchart illustrating a task allocation method for AGVs according to a second embodiment of the present invention, and the second embodiment of the task allocation method for AGVs according to the present invention is provided based on the first embodiment shown in fig. 2.
In the second embodiment, the step S20 includes:
step S201: and acquiring the type information of the goods to be transported and the number of the distributed tasks of the AGV.
It should be noted that the type information of the goods to be transported may be information for classifying the type of the goods to be transported, and the assigned task quantity may be a quantity of the goods to be transported that the trolley needs to transport before receiving the assigned task quantity.
It can be understood that the information of the types of the goods to be carried can be classified according to the types and sizes of the goods to be carried and then corresponds to the information.
In the concrete realization, the goods to be carried can be stored in positions such as a storage area, a temporary storage area, a delivery area and the like, and the goods to be carried can be stored and placed according to the types of goods shelves.
Step S202: and carrying out priority classification on the goods to be transported according to the type information of the goods to be transported and the distributed task quantity, and acquiring a priority classification result.
It should be noted that the dolly has a limited number of tasks to be received and distributed, and the priority classification result may be a result corresponding to the priority ranking of the tasks to be issued.
In the concrete implementation, the computer can determine the type information of the trolley according to the type information of the goods to be transported which can only be lifted by the warehousing system and the number of the tasks which are allocated corresponding to the trolley, perform priority classification on the goods to be transported according to the corresponding type information of the trolley and the number of the tasks which are allocated corresponding to the trolley, perform priority sequencing on the tasks to be issued, and obtain a priority classification result.
Further, in order to enable the trolley to carry the goods more efficiently and reduce waiting time, the number of tasks to be issued and the trolley type information corresponding to the goods to be carried can be determined according to the type information of the goods to be carried; matching the number of the tasks to be issued according to the number of the distributed tasks to obtain a first matching result; matching the number of the tasks to be issued according to the trolley type information to obtain a second matching result; and carrying out priority classification on the goods to be transported according to the first matching result and the second matching result, and acquiring a priority classification result.
It should be noted that the number of tasks to be issued may be the number of tasks corresponding to the number of goods to be transported, and the cart type information may include cart type, maximum cart carrying capacity, cart number, cart working time efficiency, and the like.
It can be understood that the first matching result may be a matching result obtained after matching the number of tasks to be issued according to the number of assigned tasks, for example, there are A, B, C three trolleys, and the number of assigned vehicles a is 5; the number of the tasks allocated to the vehicle B is 3; the number of the tasks allocated to the vehicle C is 2, the number of the tasks to be issued is 9, the three vehicles A, B, C can be arranged to carry, and the computer allocates the number to be allocated to A, B, C according to the allocated number of the vehicles, such as: the number of tasks to be allocated of the vehicle A is 2; the number of tasks to be allocated of the vehicle B is 4; and the number of tasks to be allocated to the vehicle C is 5.
It should be understood that the second matching result may be obtained after matching the number of tasks to be issued according to the cart type information, for example, determining corresponding cart type information according to the type information of the goods to be handled, such as: the existing 5 fresh goods need to be carried, and because the weight and the size of each goods are different, the corresponding types of trolleys are different, and the types of trolleys can comprise traction type, tray type, fork truck type, special type and the like; according to the forklift type carrying trolleys matched and corresponding with fresh goods, A, B, C existing forklift type trolleys are determined to carry goods according to trolley type information, and the number of tasks corresponding to the 5 goods to be carried is distributed to A, B, C
In the concrete implementation, aiming at the condition of multiple rows in a flat warehouse, a main transport trolley can be a pallet truck, when multiple rows of cargos are delivered from the warehouse and multiple rows of cargos are delivered into the warehouse, the matching can be carried out according to the number of tasks to be issued and the number of the trolleys, the current task allocation mode is judged, and when the number of trolleys is larger than the number of tasks to be issued, the task matching can be carried out on the trolleys corresponding to the cargos to be carried according to the serial number of the warehouse, for example, 5 conventional AGV trolleys are provided, the cargos to be carried are respectively arranged in a first row, a second row and a third row, namely, the first row of No. 4 trolleys and the second row of No. 5 trolleys are allocated sequentially, and the tasks carried out by the trolleys are distinguished. When the maximum bearable task number of the trolley is less than the number of tasks to be issued, the tasks can be allocated according to a task round-robin mode, for example: when the trolley completes the task of the first round of distribution according to the storage position row number, the second round of trolley can distribute the task according to the storage position row number distributed by the first round of trolley. In practical application, the computer can uniformly distribute tasks to the trolleys, and 2 trolleys cannot carry out the same row of tasks. The computer can also carry out priority classification on the goods to be transported according to the first matching result and the second matching result and obtain a priority classification result; for example, there are 10 goods to be distributed, the goods to be distributed include 6 refrigerated goods and 4 radioactive goods, the cart type is preferentially matched according to the goods type, there are A, B, C for the forklift truck which carries the refrigerated goods, the number of tasks allocated to the truck a is 3, the number of tasks allocated to the truck B is 2, the number of tasks allocated to the truck C is 1, 6 refrigerated goods are allocated to A, B, C according to 1, 2 and 3, there is a special carrying cart D, E which carries the radioactive goods, the number of allocated to the truck D is 1, the number of allocated to the truck E is 3, and 4 radioactive goods are allocated to the truck D and the truck E according to 3 and 1.
Further, in order to enable task allocation to be more reasonable, the carrying timeliness can be guaranteed by acquiring a first weight value of the first matching result and a second weight value of the second matching result; determining a priority classification result according to the first weight value and the second weight value.
It should be noted that the first weight value may be a ratio score which is respectively specified for each task amount to be issued according to the size of the task amount allocated to the car and the importance degree of influencing the overall capacity of the first matching result. The second weighted value may be a ratio score which is respectively specified for the cargo type according to the size of the cargo type corresponding to the task to be issued and the importance degree of the influence on the overall capacity of the cargo type corresponding to the second distribution result.
In specific implementation, the computer can determine the proportion corresponding to the types of goods in the current task quantity to be issued according to the first weight value and the second weight value, and preferentially carry the goods corresponding to the second weight value when the second weight value accounts for a large amount.
In the embodiment, information of goods to be carried, information of a warehouse area and information of an AGV trolley are obtained; acquiring the type information of the goods to be transported and the number of the assigned tasks of the AGV; carrying out priority classification on the goods to be transported according to the type information of the goods to be transported and the number of the distributed tasks, obtaining a priority classification result, and carrying out path planning on the AGV according to the position information of the AGV and the warehouse area information in the AGV information to obtain a path planning result; and distributing tasks to the AGV according to the priority classification result and the path planning result. Because the priority classification is carried out on the goods to be transported according to the type information of the goods to be transported and the distributed task number, the task distribution of the embodiment is more reasonable compared with the prior art, and the goods transported by the trolley is more efficient.
Referring to fig. 4, fig. 4 is a flowchart illustrating a task allocation method for AGVs according to a third embodiment of the present invention, and the third embodiment of the task allocation method for AGVs according to the present invention is provided based on the first embodiment shown in fig. 2.
In the third embodiment, the step S30 includes:
step S301: and determining starting point information and end point information of the goods to be carried according to the trolley position information in the AGV trolley information and the warehouse area information.
It should be noted that the start point information may be the start point position information of the trolley, and the end point information may be the target position information to which the goods to be transported need to be transported. The destination information may be set by searching for shelf information included in the corresponding warehouse region information according to the information of the goods to be carried, and determining the target position information.
In the specific implementation, the computer can determine the starting point information and the end point information of the goods to be carried according to the trolley position information and the warehouse area information.
Step S302: and planning the path of the AGV according to the starting point information and the end point information, and acquiring the path cost value.
It should be noted that the path cost value may be a node cost value corresponding to information from the departure point to the target position when the car transports the goods.
In the concrete implementation, the warehouse management system can plan the path of the trolley according to the starting point information and the end point information to obtain a plurality of paths to be selected, divide the paths to be selected into a plurality of nodes, take the starting point of the trolley as the starting point, expand the starting point to the periphery, calculate the cost value of each node around through a cost function, select the minimum cost node as the next expansion point, and repeat the process until the target position is reached. And integrating the cost values corresponding to all the paths to be selected to obtain the path cost values corresponding to the paths to be selected.
Step S303: determining a path planning result based on the path cost value.
It should be noted that the path planning result may be a path determined according to the cost value of the path.
In specific implementation, the warehouse management system can determine the driving path of the trolley according to the path cost value.
Further, in order to select an optimal path and ensure the transportation timeliness of the trolley, the path cost values can be sequenced according to the magnitude sequence, and a sequencing result is obtained; and determining a path planning result according to the sequencing result.
In the specific implementation, when the trolley carries goods, a plurality of paths can be selected, the paths to be selected are sequenced from small to large according to the cost values, the sequencing result is obtained, and the path corresponding to the path cost value is the minimum is used as the final path.
Further, in order to ensure that the carrying process is safer and avoid collision accidents, safety distance information of the AGV during running can be determined according to the information of the goods to be carried and the sequencing result; and issuing the safety distance information to an AGV (automatic guided vehicle), planning a path according to the safety distance information, and obtaining a path planning result.
It should be noted that the safe distance information may be a necessary separation distance that is maintained to avoid collision of the cart with other carts when the cart is carrying the cargo.
In the concrete realization, AGV dolly accessible infrared detection barrier discernment other vehicle positions, also can acquire around barrier information in real time through panoramic camera, warehouse management system confirms the goods that wait to carry required lane size in handling according to information such as goods size, weight that the goods information that waits to carry contains, confirms the route of traveling according to the sequencing result, and in handling, divide the lane distance when the dolly is gone according to lane size, and plan the route according to lane distance, and obtain the route planning result.
In the embodiment, information of goods to be carried, information of a warehouse area and information of an AGV trolley are obtained; carrying out priority classification on the goods to be transported according to priority information in the information of the goods to be transported, and acquiring a priority classification result; determining starting point information and end point information of the goods to be carried according to the trolley position information in the AGV trolley information and the warehouse area information; planning a path of the AGV according to the starting point information and the end point information, and obtaining a path cost value; and determining a path planning result based on the path cost value, and performing task allocation on the AGV according to the priority classification result and the path planning result. Compared with the prior art, the implementation of preferentially selecting the path according to the path cost value is more reasonable in path planning, and the path is planned before the task is dispatched, so that the trolley can carry goods more safely and is not easy to be confused.
In addition, an embodiment of the present invention further provides a storage medium, where an XX program is stored on the storage medium, and when being executed by a processor, the AGV task allocation program implements the steps of the AGV task allocation method described above.
Referring to FIG. 5, FIG. 5 is a block diagram of the AGV task assignment device according to the first embodiment of the present invention.
As shown in FIG. 5, the AGV task assigning apparatus according to the embodiment of the present invention includes:
the information acquisition module 10 is configured to acquire information of goods to be handled, information of a warehouse area, and information of an AGV.
And the priority classification module 20 is configured to perform priority classification on the information of the goods to be transported according to the priority information in the information of the goods to be transported, and obtain a priority classification result.
And the path planning module 30 is configured to plan a path of the AGV according to the car position information in the AGV car information and the warehouse area information, and obtain a path planning result.
And the task allocation module 40 is used for allocating tasks to the AGV according to the priority classification result and the path planning result.
According to the embodiment, information of goods to be carried, information of a warehouse area and information of an AGV trolley are obtained; carrying out priority classification on the goods to be transported according to priority information in the information of the goods to be transported, and acquiring a priority classification result; performing path planning on the AGV according to the position information of the AGV and the warehouse area information in the AGV information to obtain a path planning result; and distributing tasks to the AGV according to the priority classification result and the path planning result. Because the priority classification is carried out on the goods to be carried and the task allocation is carried out on the trolley according to the path planning, the embodiment is quicker and more efficient compared with the task allocation in the prior art, and the resource waste is reduced.
Further, the priority classification module 20 is further configured to obtain category information of the goods to be transported and the number of assigned tasks of the AGV; and carrying out priority classification on the goods to be transported according to the type information of the goods to be transported and the distributed task quantity, and acquiring a priority classification result.
Further, the priority classification module 20 is further configured to determine the number of tasks to be issued and the type information of the trolley corresponding to the goods to be transported according to the type information of the goods to be transported; matching the number of the tasks to be issued according to the number of the distributed tasks to obtain a first matching result; matching the number of the tasks to be issued according to the trolley type information to obtain a second matching result; and carrying out priority classification on the goods to be transported according to the first matching result and the second matching result, and acquiring a priority classification result.
Further, the priority classification module 20 is further configured to obtain a first weight value of the first matching result and a second weight value of the second matching result; determining a priority classification result according to the first weight value and the second weight value.
Further, the path planning module 30 is further configured to determine start point information and end point information of the goods to be transported according to the cart position information in the AGV cart information and the warehouse area information; planning a path of the AGV according to the starting point information and the end point information, and obtaining a path cost value; determining a path planning result based on the path cost value.
Further, the path planning module 30 is further configured to sort the path cost values according to a size order, and obtain a sorting result; and determining a path planning result according to the sequencing result.
Further, the path planning module 30 is further configured to determine safety distance information when the AGV travels according to the information of the goods to be transported and the sequencing result; and issuing the safety distance information to an AGV (automatic guided vehicle), planning a path according to the safety distance information, and obtaining a path planning result.
In addition, the embodiment of the present invention further provides a storage medium, where an AGV task allocation program is stored on the storage medium, and the AGV task allocation program, when executed by a processor, implements the steps of the AGV task allocation method described above.
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 AGV cart task allocation method provided in any embodiment of the present invention, and are not described herein again.
It should 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. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The use of the words first, second, third, etc. do not denote any order, but rather the words first, second, third, etc. are to be interpreted as names.
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 solutions 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., a Read Only Memory (ROM)/Random Access Memory (RAM), a magnetic disk, an optical disk), and includes several instructions for enabling a terminal device (e.g., a mobile phone, a computer, a server, an air conditioner, 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 AGV task allocation method is characterized by comprising the following steps:
acquiring information of goods to be transported, warehouse area information and AGV trolley information;
carrying out priority classification on the goods to be transported according to priority information in the information of the goods to be transported, and acquiring a priority classification result;
performing path planning on the AGV according to the position information of the AGV and the warehouse area information in the AGV information to obtain a path planning result;
and distributing tasks to the AGV according to the priority classification result and the path planning result.
2. The AGV task assigning method according to claim 1, wherein said step of classifying the priority of the to-be-transported goods according to the priority information in the information on the to-be-transported goods and obtaining the result of the classification of the priority includes:
acquiring the type information of the goods to be transported and the number of the assigned tasks of the AGV;
and carrying out priority classification on the goods to be transported according to the type information of the goods to be transported and the distributed task quantity, and acquiring a priority classification result.
3. The AGV task allocation method according to claim 2, wherein said step of performing priority classification on the to-be-transported loads according to the type information of the to-be-transported loads and the allocated task number and obtaining a result of the priority classification includes:
determining the number of tasks to be issued and the type information of the trolley corresponding to the goods to be carried according to the type information of the goods to be carried;
matching the number of the tasks to be issued according to the number of the distributed tasks to obtain a first matching result;
matching the number of the tasks to be issued according to the trolley type information to obtain a second matching result;
and carrying out priority classification on the goods to be transported according to the first matching result and the second matching result, and acquiring a priority classification result.
4. The AGV task assigning method of claim 3, wherein said step of performing priority classification on the to-be-transported goods according to the first matching result and the second matching result and obtaining a priority classification result comprises:
acquiring a first weight value of the first matching result and a second weight value of the second matching result;
determining a priority classification result according to the first weight value and the second weight value.
5. The AGV car task allocation method according to claim 1, wherein said step of performing path planning on the AGV cars according to the car position information and the warehouse area information in the AGV car information to obtain a path planning result comprises:
determining starting point information and end point information of the goods to be carried according to the trolley position information in the AGV trolley information and the warehouse area information;
planning a path of the AGV according to the starting point information and the end point information, and obtaining a path cost value;
determining a path planning result based on the path cost value.
6. The AGV car task allocation method of claim 4, wherein said step of determining a path planning result based on said path cost value specifically comprises:
sorting the path cost values according to the size sequence, and obtaining a sorting result;
and determining a path planning result according to the sequencing result.
7. The AGV car task assignment method of claim 6, wherein said step of determining a path plan result based on said sequencing results further comprises:
determining safety distance information when the AGV runs according to the information of the goods to be carried and the sequencing result;
and issuing the safety distance information to an AGV (automatic guided vehicle), planning a path according to the safety distance information, and obtaining a path planning result.
8. An AGV car task assigning apparatus, comprising: memory, a processor and a program stored on the memory and operable on the processor for AGV car task assignment, the AGV car task assignment program when executed by the processor implementing the steps of the AGV car task assignment method of any of claims 1 to 7.
9. A storage medium having stored thereon an AGV cart task allocation program which, when executed by a processor, implements the steps of the AGV cart task allocation method according to any one of claims 1 to 7.
10. An AGV car task assigning apparatus, comprising:
the information acquisition module is used for acquiring information of goods to be transported, warehouse area information and AGV trolley information;
the priority classification module is used for performing priority classification on the information of the goods to be transported according to the priority information in the information of the goods to be transported and acquiring a priority classification result;
the path planning module is used for planning the path of the AGV according to the position information of the AGV and the warehouse area information in the AGV information to obtain a path planning result;
and the task allocation module is used for allocating tasks to the AGV according to the priority classification result and the path planning result.
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