CN117873005A

CN117873005A - Priority control method, device and system for multi-system AGV scheduling task

Info

Publication number: CN117873005A
Application number: CN202410173041.4A
Authority: CN
Inventors: 田松; 马擎天; 彭罕罕
Original assignee: Huansheng Photovoltaic Jiangsu Co Ltd
Current assignee: Huansheng Photovoltaic Jiangsu Co Ltd
Priority date: 2024-02-06
Filing date: 2024-02-06
Publication date: 2024-04-12

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 task

Technical Field

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

Background

Currently, current techniques for the dispatch control direction of AGVs rely primarily on fixed paths, manual operations, or simple preset procedures. In the related art, the AGV scheduling is generally performed through an AGV scheduling system according to preset scheduling logic, however, the method cannot be suitable for complex and changeable production environments, so that scheduling flexibility is poor, efficiency and real-time requirements of the AGV scheduling are further affected, material handling efficiency is low, and mistakes are easy to occur.

Disclosure of Invention

The application aims to provide a priority control method, device and system for a multi-system AGV scheduling task, so as to alleviate at least one technical problem in the prior art.

In a first aspect, the present invention provides a method for controlling priority of a task scheduled by an AGV in a plurality of systems, where the method includes:

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.

In an alternative embodiment, the upper layer system comprises at least a manufacturing execution system MES or a manufacturing operation system MOM.

In an alternative embodiment, the upper layer system generates an AGV scheduled task based on the shop status data and a preset task priority factor, comprising:

acquiring workshop state data and 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.

In an alternative embodiment, the method further comprises:

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 a target priority for each AGV scheduling task according to the priority ordering.

In an alternative embodiment, the sending the AGV scheduling task to the lower execution system through the preset interface, and executing the AGV scheduling task through the lower execution system includes:

task information of AGV scheduling tasks 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.

In an alternative embodiment, after the AGV scheduling system performs the AGV scheduling task, the method further comprises:

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

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

In an alternative embodiment, the method further comprises:

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.

In a second aspect, the present invention provides a priority control device for a multi-system AGV to schedule tasks, where the device includes:

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 workshop state data and preset task priority factors;

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

In a third aspect, the invention provides a priority control system for a multi-system AGV scheduling task, which comprises 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 execution system through the target task interface.

In a fourth aspect, the present invention provides a computer readable storage medium storing computer executable instructions that, when invoked and executed by a processor, cause the processor to implement the priority control method for multi-system AGV scheduling tasks of any of the foregoing embodiments.

According to the priority control method, device and system for the multi-system AGV scheduling task, workshop state data is monitored in real time through a data acquisition system, and then an upper system generates the AGV scheduling task based on the workshop state data and a preset task priority factor; and then the AGV scheduling task is sent to the lower execution system through the task interface, and the AGV scheduling task is executed through the lower execution system, so that the multi-system AGV task scheduling is realized. This mode generates AGV dispatch task through the upper strata system, can obtain the workshop state more macroscopically through the workshop state data of data acquisition system control to the changeable workshop environment of developments, can generate the AGV dispatch task of more being fit for the present workshop condition, promoted the flexibility and the instantaneity of AGV dispatch task, promoted the availability factor of AGV simultaneously, avoided the production wasting of resources.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a flowchart of a method for controlling priority of a multi-system AGV scheduling task according to an embodiment of the present application;

FIG. 2 is a flowchart of a method for controlling priority of a specific multi-system AGV scheduling task according to an embodiment of the present application;

FIG. 3 is a block diagram of a priority control device for a multi-system AGV scheduling task according to an embodiment of the present application;

FIG. 4 is a block diagram of a priority control system for a multi-system AGV scheduling task according to an embodiment of the present disclosure;

fig. 5 is a block diagram of an electronic device according to an embodiment of the present application.

Detailed Description

For the purposes of making the objects, technical solutions and advantages of the embodiments of the present application more clear, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, which are generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present application, as provided in the accompanying drawings, is not intended to limit the scope of the application, as claimed, but is merely representative of selected embodiments of the application. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, are intended to be within the scope of the present application.

It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.

The existing AGV scheduling task generating direction is usually performed manually, and is low in efficiency and prone to error. With the development of intelligent manufacturing, more and more enterprises begin to adopt an AGV scheduling system for production scheduling. However, the existing AGV scheduling system does not fully utilize the functions of the existing AGV scheduling system to control the priorities of the AGV scheduling tasks, meanwhile, the current AGV scheduling task management mode is single, the AGV scheduling system is only supported to control the scheduling of the AGVs, the existing AGV scheduling system is not integrated with an enterprise existing production execution system (MES/MOM), the task scheduling of the cross-system level is achieved, and the use efficiency of the AGVs is low.

Meanwhile, the current technology of the scheduling control direction of the AGV mainly depends on a fixed path, manual operation or a simple preset program, and the method cannot meet the requirements of instantaneity and flexibility when processing complex and changeable production environments. And the material handling efficiency is low, and mistakes are easy to make.

For example, chinese patent No. cn201810375649.X discloses an AGV scheduling system based on RFID, which reads an RFID tag on an AGV through an RFID reader, and implements scheduling control on the AGV. However, such systems require a large number of RFID devices and tags, are costly, and have limited flexibility and extensibility.

Chinese patent No. CN103568297a discloses a material handling system based on an AGV and a control method thereof, which 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 are directed to flexible manufacturing systems or workshops that consider the task scheduling problem of multiple AGVs with the goal of minimizing the age index and the cart handling distance as optimization objectives. However, these studies typically employ intelligent optimization algorithms to solve the static task scheduling schemes, but in a dynamic scheduling environment, this approach may not meet the real-time requirements.

Based on this, the embodiment of the application provides a priority control method, device and system of multisystem AGV scheduling task, can generate the AGV scheduling task that is more suitable for the present workshop condition, has promoted the flexibility and the instantaneity of AGV scheduling task, has promoted the availability factor of AGV simultaneously, avoids the production waste of resources.

The embodiment of the application provides a priority control method for a multi-system AGV scheduling task, which is shown in FIG. 1, and mainly comprises the following steps:

step S110, monitoring workshop state data in real time through a data acquisition system.

In one embodiment, the data acquisition system may be a data acquisition device, an image acquisition device, etc. configured in a workshop, through which workshop state data is acquired, for example, various workshop information related to the scheduling of the AGV, such as a device state, a workshop environment, a idle state of the AGV trolley, etc.

Through carrying out real-time supervision to workshop status data, can acquire each item of workshop and the relevant circumstances of AGV dispatch in real time to make upper system can more comprehensive acquire the macroscopic information that needs to carry out the AGV dispatch, promoted workshop AGV dispatch's accuracy and instantaneity.

In step S120, the upper layer system generates an AGV scheduling task based on the workshop status data and a preset task priority factor.

In an alternative embodiment, the upper layer system includes at least a manufacturing execution system (manufacturing execution system, MES) or a manufacturing operations system (Manufacturing Operation Management, MOM). For example, MOM systems are suitable for use by flow enterprises and MES systems are suitable for use by discrete enterprises. In practical applications, the system may be an enterprise resource planning system (Enterprise Resource Planning, ERP) or other system related to enterprise production.

When determining task priority factors, real-time monitoring workshop equipment conditions and production requirements according to a data acquisition system, and determining priority sequencing by combining task importance, task urgency, equipment state and workshop environment factors of an AGV task to be executed; and setting a target priority for each AGV scheduling task according to the priority ordering. For example, according to the real-time monitoring of workshop equipment conditions and production requirements of the data acquisition system, various factors are comprehensively considered, and a proper priority is set for each AGV scheduling task.

In practical application, when a field device (a discharging connection table, a feeding connection table and a bus connection table) initiates an AGV feeding request signal, the system judges the type of the device corresponding to the device sending the feeding request, if the type of the device is the discharging connection table, a discharging task is generated, if the type of the device is the feeding connection table, a feeding task is generated if the bus connection table is in an idle state, a transferring task is generated if the bus connection table is in a use state, when a plurality of tasks are waiting to be triggered at the same time, the priority ordering of the scheduling tasks is carried out according to preset task priorities (such as discharging task > transferring task > feeding task), the discharging task is produced first, the transferring task is generated, and finally the feeding task is generated.

In one embodiment, the workshop status data and the AGV status information can be obtained in real time through a 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.

The optimization algorithm may include a shortest path algorithm, that is, when tasks with the same priority wait for execution, the priority of the scheduled task is dynamically raised, and the system increases the priority of the tasks with the shortest path and preferentially executes the tasks.

In one embodiment, the planning and scheduling strategy can be adaptively adjusted according to the importance of the task, the emergency degree of the task, the state of equipment and the workshop environment.

In practical application, the preset task priority may be, for example, a full-feed task > a transfer task > an empty-feed task, where the task priority is based on importance and urgency of the task: priority execution of full feed tasks, based on production conditions: the principle of 'one-by-one feeding' is followed, namely, each AGV trolley finishes one full-material task and performs one empty-material feeding task.

And step S130, the AGV scheduling task is sent to a lower execution system through a task interface, and the AGV scheduling task is executed through the lower execution system, so that multi-system AGV task scheduling is realized.

In one embodiment, the task interface is an HTTP protocol interface. Task information of AGV scheduling tasks 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.

The task types can include a feeding task, a discharging task, a transferring task, a tray supplementing task, a film winding machine stacking task, a warehousing task and a warehouse-out task.

In the implementation, the lower execution system opens a self-existing scheduling task generation interface to the upper system, the upper system sends a JSON format scheduling task generation request to a server of the lower execution system through the interface by a Post method, the request task comprises a starting point of the scheduling task, an ending point of the scheduling task and a type of the scheduling task, and the upper system generates the scheduling task. After the lower system is requested, a proper AGV is allocated for the scheduled task to execute the task. AGV information for executing the scheduled tasks and scheduled task execution information are returned through task interfaces of the upper layer system after the AGVs are distributed.

After the AGV scheduling system executes the AGV scheduling task, the AGV scheduling system feeds back a task execution result to the upper layer system; the task execution result at least comprises executing, executing completion, waiting for execution, canceling execution and reissuing execution.

Optionally, the upper layer system operates on the current AGV scheduled task by modifying or cancelling the task interface before the current AGV scheduled task is completed. In specific implementation, the lower execution system opens a task cancellation interface (cancelTask) to the upper system, the upper system sends a JSON-format scheduling task cancellation request to the lower execution system server through the interface by a Post method, the request task comprises a reqCode of the scheduling task, and the lower execution system generates the scheduling task. After the lower execution system server receives the request, the instruction of canceling the task is sent to the I/O register of the AGV, after the I/0 component receives the corresponding instruction, the corresponding position of the I/0 state register is changed along with the execution of the operation, the corresponding instruction is executed by the CPU to read the I/0 completion state, and the I/0 data is forwarded through the CPU register. AGV information for executing the scheduled tasks and scheduled task execution information are returned through the upper layer interface after the tasks are canceled.

The embodiment of the application provides a specific implementation flow, and the scheme is mainly used for realizing AGV task scheduling of a multi-system (MES/MOM/ERP) to a lower execution system (AGV scheduling system) through a cross-system, and the scheme is shown in FIG. 2 and comprises the following steps:

step S1, upper layer system (MES/MOM/ERP) sets priority: defining the priority of an AGV scheduling task in an upper system;

step S2, generating a scheduling task by an upper layer system (MES/MOM/ERP);

step S3, the interface issues a scheduling task: the scheduling task is issued to a lower AGV scheduling system through an interface;

step S4, the lower layer system (AGV scheduling system) executes: the underlying system receives the scheduled tasks and executes.

The AGV task scheduling is communicated with the AGVs, selects one AGV from the idle AGVs, and guides the AGVs to complete the transportation function according to a certain route.

When the AGVs are scheduled, real-time path planning is performed in a preset, automatic path searching and obstacle avoidance mode, namely, the traveling route of the AGVs is optimally planned according to the position of the selected AGVs and the position of the target station, and the AGVs are guided to travel according to the planned route, so that the transport function is completed.

Optionally, the embodiment of the present application further provides task information currently being executed or waiting to be executed in a MES or MOM query scheduling system, including: task identification, task type (specific AGV task, random task, long time task, charging task, etc.), task details (start station, target station, product type, product number, etc.), task priority, task status (executing, executing completed, waiting for execution, cancelling execution, reissuing execution, etc.), and task start-stop time. The generation and execution conditions of the scheduling task can be traced through inquiring the task information, so that the specific condition of the AGV task scheduling can be obtained more completely, and the generation of the follow-up task and the planning of the whole AGV task are facilitated.

The field personnel can act as call information based on certain equipment signals from the plant or in response to manual field button actions. After the system receives the call signal, the field operator will activate the corresponding call type dispatch task via the user interface of the PDA system. Once the dispatch task is triggered, the system will deliver the task to the underlying system again through the interface and execute the custom call class dispatch task that matches the field situation.

And the lower scheduling system uploads the equipment state information and task details in real time through interfaces provided by the upper system by means of MOM system interface docking. And the upper layer system realizes the comprehensive monitoring of the running condition of the equipment according to the received data. And a graphical interface is provided to display the AGV travel route and position information (some configuration software may be considered). Task information history, AGV working state log inquiry and other functions.

In summary, the method acquires the production environment and the state information of the AGVs in real time through MOM/MES/ERP systems and the like, dynamically plans out an optimal AGV scheduling strategy by using an optimization algorithm, and generates corresponding AGV scheduling tasks. The method can respond to the change of the production environment in real time, and improves the scheduling flexibility and instantaneity. The use efficiency of AGV is effectively improved, production efficiency is improved, and production cost is reduced. In addition, the method and the device have higher timeliness, and compared with an intelligent algorithm, the rule algorithm has higher timeliness.

Based on the above method embodiment, the embodiment of the present application further provides a priority control device for a multi-system AGV scheduling task, as shown in fig. 3, where the device mainly includes the following parts:

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

an upper layer system generating task module 320, configured to generate an AGV scheduling task based on the plant status data and a preset task priority factor;

the task issuing execution module 330 is configured to send the AGV scheduling task to the lower execution system through the task interface, and execute the AGV scheduling task through the lower execution system, so as to implement multi-system AGV task scheduling.

In an alternative embodiment, the above-mentioned upper layer system generation task module 320 is further configured to:

In an alternative embodiment, the apparatus further comprises: a priority setting module, configured to:

In an alternative embodiment, the task issuing execution module 330 is further configured to:

In an alternative embodiment, after the AGV scheduling system performs the AGV scheduling task, the apparatus further includes a scheduling result feedback module, configured to:

In an alternative embodiment, the apparatus further includes a task modifying or cancelling module configured to:

The implementation principle and the generated technical effects of the priority control device for the multi-system AGV scheduling task provided by the embodiment of the application are the same as those of the embodiment of the method, and for the sake of brief description, reference may be made to corresponding contents in the embodiment of the priority control method for the multi-system AGV scheduling task where the embodiment of the priority control device for the multi-system AGV scheduling task is not mentioned.

The embodiment of the application also provides a priority control system of the AGV scheduling task of the multiple systems, which is shown in FIG. 4 and comprises an upper system and a lower system, wherein the upper system comprises a manufacturing execution system MES or a manufacturing operation system MOM, and the lower system comprises an AGV scheduling system; the upper layer system communicates with the lower execution system through the target task interface. The specific implementation manner of the system refers to the foregoing embodiment, and will not be described herein.

The embodiment of the present application further provides an electronic device, as shown in fig. 5, which is a schematic structural diagram of the electronic device, where the electronic device 100 includes a processor 51 and a memory 50, where 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 a priority control method of any one of the above multi-system AGV scheduling tasks.

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

The memory 50 may include a high-speed random access memory (RAM, random Access Memory), and may further include a non-volatile memory (non-volatile memory), such as at least one magnetic disk memory. The communication connection between the system network element and at least one other network element is achieved via at least one communication interface 53 (which may be wired or wireless), and the internet, wide area network, local network, metropolitan area network, etc. may be used. Bus 52 may be an ISA (Industry Standard Architecture ) bus, a PCI (Peripheral Component Interconnect, peripheral component interconnect standard) bus, or EISA (Extended Industry Standard Architecture ) bus, among others. The bus 52 may be classified as an address bus, a data bus, a control bus, or the like. For ease of illustration, only one bi-directional arrow is shown in FIG. 5, but not only one bus or type of bus.

The processor 51 may be an integrated circuit chip with signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuits of hardware in the processor 51 or by instructions in the form of software. The processor 51 may be a general-purpose processor, including a central processing unit (Central Processing Unit, CPU for short), a network processor (Network Processor, NP for short), etc.; but also digital signal processors (Digital Signal Processor, DSP for short), application specific integrated circuits (Application Specific Integrated Circuit, ASIC for short), field-programmable gate arrays (Field-Programmable Gate Array, FPGA for short) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of a method disclosed in connection with the embodiments of the present application may be embodied directly in hardware, in a decoded processor, or in a combination of hardware and software modules in a decoded processor. The software modules may be located in a random access memory, flash memory, read only memory, programmable read only memory, or electrically erasable programmable memory, registers, etc. as well known in the art. The storage medium is located in the memory, and the processor 51 reads the information in the memory, and combines the hardware to complete the steps of the priority control method of the multi-system AGV scheduling task of the previous embodiment.

The embodiment of the application further provides a computer readable storage medium, where the computer readable storage medium stores computer executable instructions, where the computer executable instructions, when being called and executed by a processor, cause the processor to implement the priority control method for the multi-system AGV scheduling task, and the specific implementation can refer to the foregoing method embodiment and will not be repeated herein.

The computer program product of the priority control method, device and system for multi-system AGV scheduling task provided in the embodiments of the present application includes a computer readable storage medium storing program codes, where the instructions included in the program codes may be used to execute the method described in the foregoing method embodiment, and specific implementation may refer to the method embodiment and will not be repeated herein.

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

The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a non-volatile computer readable storage medium executable by a processor. Based on such understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.

In the description of the present application, it should also be noted that, unless explicitly specified and limited otherwise, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the terms in this application will be understood by those of ordinary skill in the art in a specific context.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present application.

Claims

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;

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;

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

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;

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:

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

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.