CN117873005A - Priority control method, device and system for multi-system AGV scheduling tasks - Google Patents

Abstract

The application provides a priority control method, device and system for a multi-system AGV scheduling task, which relate to the technical field of industrial automation, and the method comprises the following steps: monitoring workshop state data in real time through a data acquisition system; the upper layer system generates an AGV scheduling task based on workshop state data and a preset task priority factor; and sending the AGV scheduling task to a lower execution system through a task interface, and executing the AGV scheduling task through the lower execution system so as to realize multi-system AGV task scheduling. The AGV scheduling task more suitable for the current workshop situation can be generated, the flexibility and the instantaneity of the AGV scheduling task are improved, the use efficiency of the AGV is improved, and the waste of production resources is avoided.

Description

Priority control method, device and system for multi-system AGV scheduling tasks

Technical Field

The present application relates to the field of industrial automation technology, and in particular to a priority control method, device and system for multi-system AGV scheduling tasks.

Background technique

At present, the current technology of AGV scheduling control mainly relies on fixed paths, manual operations or simple preset programs. In related technologies, AGV scheduling is usually performed through the AGV scheduling system according to the pre-set scheduling logic. However, this method often cannot adapt to the complex and changing production environment, resulting in poor scheduling flexibility, which in turn affects the efficiency and real-time requirements of AGV scheduling, resulting in low material handling efficiency and prone to errors.

Summary of the invention

The purpose of the present application is to provide a priority control method, device and system for multi-system AGV scheduling tasks to alleviate at least one technical problem existing in the prior art.

In a first aspect, the present invention provides a priority control method for multi-system AGV scheduling tasks, the method comprising:

Real-time monitoring of workshop status data through data acquisition system;

The upper-level system generates AGV scheduling tasks based on workshop status data and pre-set task priority factors;

The AGV scheduling task is sent to the lower-level execution system through the task interface, and the AGV scheduling task is executed by the lower-level execution system to realize multi-system AGV task scheduling.

In an optional implementation, the upper-level system includes at least a manufacturing execution system MES or a manufacturing operations system MOM.

In an optional implementation, the upper-level system generates an AGV scheduling task based on the workshop status data and pre-set task priority factors, including:

Obtain workshop status data and AGV status information in real time through MOM system or MES system;

Based on the workshop status data and AGV status information, the optimization algorithm is used to dynamically plan the optimal AGV scheduling strategy and generate the corresponding AGV scheduling tasks.

In an optional embodiment, the method further comprises:

The data acquisition system monitors the equipment status and production needs of the workshop in real time, and determines the priority of the AGV tasks to be executed based on their importance, urgency, equipment status and workshop environment factors;

Set a target priority for each AGV scheduling task based on the priority sorting.

In an optional implementation, the AGV scheduling task is sent to the lower-level execution system through a preset interface, and the AGV scheduling task is executed by the lower-level execution system, including:

Sending the task information of the AGV scheduling task to the lower-level AGV scheduling system through the HTTP protocol interface; wherein the task information at least includes the task type, task details, and task priority;

The AGV scheduling system executes the AGV scheduling tasks in sequence according to the generation time of the AGV scheduling tasks.

In an optional embodiment, after the AGV scheduling system executes the AGV scheduling task, the method further includes:

The AGV dispatching system feeds back the task execution results to the upper-level system;

Among them, the task execution results at least include executing, completed, waiting for execution, canceled execution, and reissued execution.

In an optional embodiment, the method further comprises:

Before the current AGV scheduling task is completed, the upper system operates the current AGV scheduling task by modifying the task interface or canceling the task interface.

In a second aspect, the present invention provides a priority control device for multi-system AGV scheduling tasks, the device comprising:

Data monitoring module, used to monitor workshop status data in real time through the data acquisition system;

The upper-level system generates a task module, which is used for the upper-level system to generate AGV scheduling tasks based on the workshop status data and pre-set task priority factors;

The task sending execution module is used to send the AGV scheduling task to the lower-level execution system through the task interface, and execute the AGV scheduling task through the lower-level execution system to realize multi-system AGV task scheduling.

In the third aspect, the present invention provides a priority control system for multi-system AGV scheduling tasks, including an upper-level system and a lower-level execution system, wherein the upper-level system includes a manufacturing execution system MES or a manufacturing operations system MOM, and the lower-level execution system includes an AGV scheduling system; the upper-level system communicates with the lower-level execution system through a target task interface.

In a fourth aspect, the present invention provides a computer-readable storage medium, which stores computer-executable instructions. When the computer-executable instructions are called and executed by a processor, the computer-executable instructions prompt the processor to implement the priority control method for multi-system AGV scheduling tasks of any one of the aforementioned implementation modes.

The priority control method, device and system of multi-system AGV scheduling tasks provided by the present application first monitor the workshop status data in real time through the data acquisition system, and then the upper system generates the AGV scheduling task based on the workshop status data and the pre-set task priority factors; and then sends the AGV scheduling task to the lower execution system through the task interface, and the AGV scheduling task is executed by the lower execution system to realize multi-system AGV task scheduling. This method generates AGV scheduling tasks through the upper system, and can obtain the workshop status more macroscopically through the workshop status data monitored by the data acquisition system, so as to generate AGV scheduling tasks that are more suitable for the current workshop situation for the dynamic and changeable workshop environment, thereby improving the flexibility and real-time performance of the AGV scheduling tasks, and at the same time improving the utilization efficiency of AGVs and avoiding waste of production resources.

BRIEF DESCRIPTION OF THE DRAWINGS

In order to more clearly illustrate the specific implementation methods of the present application or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

FIG1 is a flow chart of a priority control method for multi-system AGV scheduling tasks provided by an embodiment of the present application;

FIG2 is a flowchart of a specific priority control method for multi-system AGV scheduling tasks provided in an embodiment of the present application;

FIG3 is a structural diagram of a priority control device for multi-system AGV scheduling tasks provided by an embodiment of the present application;

FIG4 is a structural diagram of a priority control system for multi-system AGV scheduling tasks provided by an embodiment of the present application;

FIG5 is a structural diagram of an electronic device provided in an embodiment of the present application.

Detailed ways

In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various different configurations.

Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application for which protection is sought, but merely represents selected embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.

It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, it does not require further definition and explanation in the subsequent drawings.

The existing AGV scheduling task generation direction is usually done manually, which is inefficient and prone to errors. With the development of intelligent manufacturing, more and more companies are beginning to use AGV scheduling systems for production scheduling. However, the existing AGV scheduling system does not fully utilize its functions to control the priority of AGV scheduling tasks. At the same time, the current AGV scheduling task management method is single, which only supports the AGV scheduling system to schedule and control AGVs. It has not been integrated with the company's existing production execution system (MES/MOM) to achieve cross-system-level task scheduling, resulting in low efficiency in the use of AGVs.

At the same time, the current technology of AGV scheduling control mainly relies on fixed paths, manual operations or simple preset programs. This method often cannot meet the needs of real-time and flexibility when dealing with complex and changing production environments. In addition, the material handling efficiency is low and prone to errors.

For example, the Chinese patent number CN201810375649.X discloses an RFID-based AGV scheduling system, which reads the RFID tag on the AGV through an RFID reader to achieve scheduling control of the AGV. However, this system requires a large number of RFID devices and tags, which is costly, and the flexibility and scalability of the system are limited.

Chinese patent number CN103568297A discloses an AGV-based material handling system and a control method thereof. The method controls the operation of the AGV through a preset handling route and time, but does not fully utilize the idle time of the AGV.

Most scholars focus on flexible manufacturing systems or job shops, and consider the task scheduling problem of multiple AGVs with the optimization goal of minimizing time efficiency indicators and vehicle handling distance. However, these studies usually use intelligent optimization algorithms to solve static task scheduling solutions, but in a dynamic scheduling environment, this method may not meet the real-time requirements.

Based on this, the embodiments of the present application provide a priority control method, device and system for multi-system AGV scheduling tasks, which can generate AGV scheduling tasks that are more suitable for the current workshop conditions, improve the flexibility and real-time performance of AGV scheduling tasks, and at the same time improve the utilization efficiency of AGV and avoid waste of production resources.

The embodiment of the present application provides a priority control method for multi-system AGV scheduling tasks, as shown in FIG1 , the method mainly includes the following steps:

Step S110: monitor the workshop status data in real time through the data acquisition system.

In one embodiment, the data acquisition system can be a data acquisition device, an image acquisition device, etc. configured in the workshop, through which the workshop status data is collected, such as equipment status, workshop environment, idle and busy status of AGV carts, and other types of workshop information related to AGV scheduling.

By real-time monitoring of workshop status data, various situations related to AGV scheduling in the workshop can be obtained in real time, so that the upper-level system can more comprehensively obtain the macro information required for AGV scheduling, thereby improving the accuracy and real-time performance of workshop AGV scheduling.

Step S120: The upper-level system generates an AGV scheduling task based on the workshop status data and pre-set task priority factors.

In an optional implementation, the upper-level system includes at least a manufacturing execution system (MES) or a manufacturing operation management system (MOM). For example, a MOM system is suitable for process-based enterprises, and an MES system is suitable for discrete enterprises. In practical applications, it can also be an enterprise resource planning system (ERP) or other systems related to enterprise production and manufacturing.

When determining the task priority factors, the data acquisition system monitors the workshop equipment status and production needs in real time, and combines the task importance, task urgency, equipment status and workshop environment factors of the AGV task to be executed to determine the priority sorting; set the target priority for each AGV scheduling task based on the priority sorting. For example, based on the data acquisition system monitoring the workshop equipment status and production needs in real time, a suitable priority is set for each AGV scheduling task by comprehensively considering various factors.

In actual applications, when on-site equipment (discharging docking station, feeding docking station, busbar docking station) initiates an AGV feeding request signal, the system determines the equipment type corresponding to the equipment that issues the feeding request. If the equipment type is a discharging docking station, a discharging task is generated. If the equipment type is a feeding docking station, a feeding task is generated if the busbar docking station is idle. If the busbar docking station is in use, a transfer task is generated. When multiple tasks are waiting to be triggered at the same time, the scheduling tasks are prioritized according to the pre-set task priority (such as: discharging task>transfer task>feeding task). The discharging task is produced first, the transfer task is generated, and the feeding task is generated last.

In one implementation, the workshop status data and AGV status information can be acquired in real time through the MOM system or the MES system; based on the workshop status data and the AGV status information, an optimization algorithm is used to dynamically plan the optimal AGV scheduling strategy and generate corresponding AGV scheduling tasks.

The above optimization algorithm may include a shortest path algorithm, that is, when tasks of the same priority are waiting to be executed at the same time, the priority of the scheduled tasks is dynamically increased, and the system increases the priority of the task with the shortest path and executes it first.

In one implementation, the planning and scheduling strategy can be adaptively adjusted according to task importance, task urgency, equipment status, and workshop environment.

In actual applications, the above-mentioned pre-set task priorities may be, for example, full material delivery task > transfer task > empty material delivery task. In actual applications, based on the importance and urgency of the tasks: priority is given to full material delivery tasks; based on production conditions: the "one connection and one delivery" principle is followed, that is, each AGV vehicle performs an empty material delivery task after receiving a full material task.

Step S130, sending the AGV scheduling task to the lower-level execution system through the task interface, and executing the AGV scheduling task through the lower-level execution system to realize multi-system AGV task scheduling.

In one embodiment, the task interface is an HTTP protocol interface. The task information of the AGV scheduling task is sent to the lower-level AGV scheduling system through the HTTP protocol interface; wherein the task information at least includes the task type, task details, and task priority; the AGV scheduling system executes the AGV scheduling task in sequence according to the generation time of the AGV scheduling task.

The above-mentioned task types may include, for example, feeding tasks, discharging tasks, transfer tasks, pallet replenishment tasks, wrapping tasks, wrapping machine out-of-stock tasks, warehousing tasks, and out-of-stock tasks.

In the specific implementation, the lower-level execution system opens its own scheduling task generation interface to the upper-level system. The upper-level system sends a scheduling task generation request in JSON format to the server of the lower-level execution system through the interface using the Post method. The request task includes the starting point of the scheduling task, the end point of the scheduling task, and the type of the scheduling task. The upper-level system generates the scheduling task. After receiving the request, the lower-level system allocates a suitable AGV to the scheduling task to execute the task. After the AGV is allocated, the AGV information and scheduling task execution information of the scheduling task are returned through the task interface of the upper-level system.

After the AGV dispatching system executes the AGV dispatching task, the AGV dispatching system feeds back the task execution result to the upper-level system; wherein the task execution result at least includes executing, completed, waiting for execution, canceled execution, and reissued execution.

Optionally, before the current AGV scheduling task is completed, the upper system operates the current AGV scheduling task by modifying the task interface or canceling the task interface. In the specific implementation, the lower execution system opens the task cancellation interface (cancelTask) to the upper system, and the upper system sends a scheduling task cancellation request in JSON format to the lower execution system server through the interface using the Post method. The request task includes the reqCode of the scheduling task, and the lower execution system generates the scheduling task. After receiving the request, the lower execution system server sends the instruction to cancel the task to the I/O register of the AGV. After receiving the corresponding command, the I/0 component changes the status bit at the corresponding position of the I/0 status register as the operation is executed, and the CPU executes the corresponding instruction to read the I/0 completion status, and the I/0 data is forwarded through the CPU register. After the task is canceled, the AGV information and scheduling task execution information that execute the scheduling task are transmitted back through the upper interface.

The embodiment of the present application provides a specific implementation process, which is mainly used to implement multi-system (MES/MOM/ERP) to perform AGV task scheduling on the lower-level execution system (AGV scheduling system) through cross-system, as shown in FIG2, including the following steps:

Step S1, the upper system (MES/MOM/ERP) sets the priority: the upper system defines the AGV scheduling task priority;

Step S2, the upper system (MES/MOM/ERP) generates a scheduling task;

Step S3, the interface sends the scheduling task: the scheduling task is sent to the lower-level AGV scheduling system through the interface;

Step S4, the lower-level system (AGV scheduling system) executes: the lower-level system receives the scheduling task and executes it.

The above-mentioned AGV task scheduling is to communicate with the AGV, select one from the idle AGVs, and guide the AGV to complete the transportation function along a certain route.

When conducting AGV scheduling, real-time path planning is performed through pre-setting, automatic path finding, and obstacle avoidance. That is, the AGV's route is optimally planned based on the location of the selected AGV and the target site location, and the AGV is guided to move along the planned route to complete the transportation function.

Optionally, the embodiment of the present application also provides MES or MOM query scheduling system currently executing or waiting in line for execution task information, including: task identification, task type (specific AGV task, random task, long-term task, charging task, etc.), task details (starting station, target station, product type, product quantity, etc.), task priority, task status (executing, completed, waiting for execution, canceled execution, reissued execution, etc.) and task start and end time. By querying the task information, the generation and execution of the scheduling task can be traced back, so that the specific situation of AGV task scheduling can be obtained more completely, which is convenient for the generation of subsequent tasks and the planning of the overall AGV task.

On-site personnel can use signals from certain equipment in the workshop as call information, or respond to on-site manual button actions as call information. After the system receives the call signal, the on-site operator will activate the corresponding call type scheduling task through the user interface of the PDA system. Once the scheduling task is triggered, the system will again pass the task to the lower-level system through the interface and execute the custom call type scheduling task that matches the on-site situation.

Through the MOM system interface docking, the lower-level scheduling system uploads equipment status information and task details in real time through the interface provided by the upper-level system. The upper-level system realizes comprehensive monitoring of the equipment operation status based on the received data. At the same time, a graphical interface is provided to display the AGV route and location information (part of it can consider using configuration software). Task information history, AGV work status log query and other functions.

In summary, this application obtains the status information of the production environment and AGV in real time through MOM/MES/ERP and other systems, uses the optimization algorithm to dynamically plan the optimal AGV scheduling strategy, and generates the corresponding AGV scheduling tasks. It can respond to changes in the production environment in real time and improve the flexibility and real-time performance of scheduling. It effectively improves the utilization efficiency of AGV, improves production efficiency, and reduces production costs. In addition, the present invention also has higher timeliness because rule-based algorithms have higher timeliness than intelligent algorithms.

Based on the above method embodiment, the embodiment of the present application also provides a priority control device for multi-system AGV scheduling tasks, as shown in FIG3 , the device mainly includes the following parts:

The data monitoring module 310 is used to monitor the workshop status data in real time through the data acquisition system;

The upper system generates a task module 320, which is used for the upper system to generate an AGV scheduling task based on the workshop status data and the preset task priority factors;

The task sending and executing module 330 is used to send the AGV scheduling task to the lower-level execution system through the task interface, and execute the AGV scheduling task through the lower-level execution system to realize multi-system AGV task scheduling.

In an optional implementation, the upper-level system includes at least a manufacturing execution system MES or a manufacturing operations system MOM.

In an optional implementation manner, the upper system generates the task module 320, further configured to:

Obtain workshop status data and AGV status information in real time through MOM system or MES system;

Based on the workshop status data and AGV status information, the optimization algorithm is used to dynamically plan the optimal AGV scheduling strategy and generate the corresponding AGV scheduling tasks.

In an optional implementation manner, the above device further includes: a priority setting module, configured to:

The data acquisition system monitors the equipment status and production needs of the workshop in real time, and determines the priority of the AGV tasks to be executed based on their importance, urgency, equipment status and workshop environment factors;

Set a target priority for each AGV scheduling task based on the priority ranking.

In an optional implementation manner, the task delivery execution module 330 is further used to:

Sending the task information of the AGV scheduling task to the lower-level AGV scheduling system through the HTTP protocol interface; wherein the task information at least includes the task type, task details, and task priority;

The AGV scheduling system executes the AGV scheduling tasks in sequence according to the generation time of the AGV scheduling tasks.

In an optional embodiment, after the AGV scheduling system executes the AGV scheduling task, the above device further includes a scheduling result feedback module, which is used to:

The AGV dispatching system feeds back the task execution results to the upper-level system;

Among them, the task execution results at least include executing, completed, waiting for execution, canceled execution, and reissued execution.

In an optional embodiment, the above device further includes a task modification or cancellation module, which is used to:

Before the current AGV scheduling task is completed, the upper system operates the current AGV scheduling task by modifying the task interface or canceling the task interface.

The priority control device for multi-system AGV scheduling tasks provided in the embodiment of the present application has the same implementation principle and technical effects as those of the aforementioned method embodiment. For the sake of brief description, for parts not mentioned in the embodiment of the priority control device for multi-system AGV scheduling tasks, reference may be made to the corresponding contents in the aforementioned multi-system AGV scheduling task priority control method embodiment.

The embodiment of the present application also provides a priority control system for multi-system AGV scheduling tasks, as shown in Figure 4, including an upper system and a lower execution system, wherein the upper system includes a manufacturing execution system MES or a manufacturing operation system MOM, and the lower execution system includes an AGV scheduling system; the upper system communicates with the lower execution system through a target task interface. The specific execution method of the system refers to the aforementioned implementation method and will not be repeated here.

An embodiment of the present application also provides an electronic device, as shown in Figure 5, which is a structural diagram of the electronic device, wherein the electronic device 100 includes a processor 51 and a memory 50, the memory 50 stores computer executable instructions that can be executed by the processor 51, and the processor 51 executes the computer executable instructions to implement any of the above-mentioned priority control methods for multi-system AGV scheduling tasks.

In the embodiment shown in FIG. 5 , the electronic device further includes a bus 52 and a communication interface 53 , wherein the processor 51 , the communication interface 53 and the memory 50 are connected via the bus 52 .

The memory 50 may include a high-speed random access memory (RAM), and may also include a non-volatile memory, such as at least one disk storage. The communication connection between the system network element and at least one other network element is realized through at least one communication interface 53 (which may be wired or wireless), and the Internet, wide area network, local area network, metropolitan area network, etc. may be used. The bus 52 may be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus, or an EISA (Extended Industry Standard Architecture) bus, etc. The bus 52 may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, only one bidirectional arrow is used in FIG5, but it does not mean that there is only one bus or one type of bus.

The processor 51 may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above method can be completed by the hardware integrated logic circuit in the processor 51 or the instruction in the form of software. The above processor 51 can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor. The steps of the method disclosed in the embodiment of the present application can be directly embodied as a hardware decoding processor to execute, or the hardware and software modules in the decoding processor can be executed. The software module can be located in a mature storage medium in the field such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory, or an electrically erasable programmable memory, a register, etc. The storage medium is located in the memory, and the processor 51 reads the information in the memory and completes the steps of the priority control method for multi-system AGV scheduling tasks in the aforementioned embodiment in combination with its hardware.

An embodiment of the present application also provides a computer-readable storage medium, which stores computer-executable instructions. When the computer-executable instructions are called and executed by a processor, the computer-executable instructions prompt the processor to implement the above-mentioned priority control method for multi-system AGV scheduling tasks. The specific implementation can be found in the aforementioned method embodiment, which will not be repeated here.

The computer program product of the priority control method, device and system for multi-system AGV scheduling tasks provided in the embodiments of the present application includes a computer-readable storage medium storing program code, and the instructions included in the program code can be used to execute the methods described in the previous method embodiments. The specific implementation can be found in the method embodiments, which will not be repeated here.

Unless otherwise specifically stated, the relative steps, numerical expressions and values of the components and steps set forth in these embodiments do not limit the scope of the present application.

If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a non-volatile computer-readable storage medium that is executable by a processor. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

In the description of this application, it should also be noted that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

Claims (10)

1. The priority control method for the multi-system AGV scheduling task is characterized by comprising the following steps:

monitoring workshop state data in real time through a data acquisition system;

the upper layer system generates an AGV scheduling task based on the workshop state data and a preset task priority factor;

and sending the AGV scheduling task to a lower execution system through a task interface, and executing the AGV scheduling task through the lower execution system so as to realize multi-system AGV task scheduling.

2. The method of claim 1, wherein the upper layer system includes at least a manufacturing execution system MES or a manufacturing operation system MOM.

3. The priority control method of multi-system AGV scheduling tasks according to claim 1, wherein the upper layer system generates an AGV scheduling task based on the shop status data and a preset task priority factor, comprising:

acquiring the workshop state data and the AGV state information in real time through an MOM system or an MES system;

and dynamically planning an optimal AGV scheduling strategy by using an optimization algorithm based on the workshop state data and the AGV state information, and generating corresponding AGV scheduling tasks.

4. The method of priority control for a multi-system AGV to schedule tasks according to claim 1, further comprising:

according to the real-time monitoring of the workshop equipment condition and the production requirement of the data acquisition system, the priority ranking is determined by combining the task importance, the task emergency degree, the equipment state and the workshop environment factors of the AGV task to be executed;

and setting target priority for each AGV scheduling task according to the priority sequence.

5. The priority control method of multi-system AGV scheduling tasks according to claim 1, wherein the AGV scheduling tasks are sent to a lower execution system through a preset interface, and the AGV scheduling tasks are executed by the lower execution system, comprising:

the task information of the AGV scheduling task is sent to a lower AGV scheduling system through an HTTP interface; the task information at least comprises a task type, task details and task priorities;

and the AGV scheduling system sequentially executes the AGV scheduling tasks according to the generation time of the AGV scheduling tasks.

6. The method of claim 1, further comprising, after the AGV scheduling system performs the AGV scheduling task:

the AGV scheduling system feeds back a task execution result to the upper system;

the task execution result at least comprises execution, execution completion, waiting for execution, cancellation and reissuing execution.

7. The method of priority control for a multi-system AGV to schedule tasks according to claim 1, further comprising:

before the current AGV scheduling task is not executed, the upper layer system operates the current AGV scheduling task by modifying the task interface or canceling the task interface.

8. A priority control device for a multi-system AGV to schedule tasks, the device comprising:

the data monitoring module is used for monitoring workshop state data in real time through the data acquisition system;

the upper layer system generating task module is used for generating an AGV scheduling task based on the workshop state data and a preset task priority factor;

and the task issuing execution module is used for sending the AGV scheduling task to the lower execution system through a task interface, and executing the AGV scheduling task through the lower execution system so as to realize multi-system AGV task scheduling.

9. The priority control system for the AGV scheduling tasks of the multiple systems is characterized by comprising an upper system and a lower execution system, wherein the upper system comprises a Manufacturing Execution System (MES) or a manufacturing operation system (MOM), and the lower execution system comprises an AGV scheduling system; the upper layer system communicates with the lower layer execution system through a target task interface.

10. A computer readable storage medium storing computer executable instructions which, when invoked and executed by a processor, cause the processor to implement the priority control method of the multi-system AGV scheduling task of any one of claims 1 to 7.