WO2021104524A1 - 一种agv调度方法和装置 - Google Patents

一种agv调度方法和装置 Download PDF

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Publication number
WO2021104524A1
WO2021104524A1 PCT/CN2020/132888 CN2020132888W WO2021104524A1 WO 2021104524 A1 WO2021104524 A1 WO 2021104524A1 CN 2020132888 W CN2020132888 W CN 2020132888W WO 2021104524 A1 WO2021104524 A1 WO 2021104524A1
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Prior art keywords
workbench
idle
task
result
temporary storage
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PCT/CN2020/132888
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English (en)
French (fr)
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缪松华
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杭州海康机器人技术有限公司
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Priority claimed from CN201911201324.0A external-priority patent/CN112884261B/zh
Application filed by 杭州海康机器人技术有限公司 filed Critical 杭州海康机器人技术有限公司
Publication of WO2021104524A1 publication Critical patent/WO2021104524A1/zh

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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/06—Resources, workflows, human or project management; Enterprise or organisation planning; Enterprise or organisation modelling
    • G06Q10/063—Operations research, analysis or management
    • G06Q10/0631—Resource planning, allocation, distributing or scheduling for enterprises or organisations
    • G06Q10/06316—Sequencing of tasks or work
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/06—Resources, workflows, human or project management; Enterprise or organisation planning; Enterprise or organisation modelling
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/06—Resources, workflows, human or project management; Enterprise or organisation planning; Enterprise or organisation modelling
    • G06Q10/063—Operations research, analysis or management
    • G06Q10/0631—Resource planning, allocation, distributing or scheduling for enterprises or organisations

Definitions

  • This application relates to the field of electronic information technology, and in particular to an automated guided vehicle (AGV) scheduling method and device in a movable vehicle handling system.
  • AGV automated guided vehicle
  • the AGV-based mobile carrier handling system includes a handling server, a workbench, a movable carrier (such as a shelf), and an AGV.
  • the handling server is responsible for allocating tasks to the AGV, and dispatching the AGV to transport the designated movable carrier from the storage area to the workstation. After the worker performs the material picking operation on the workbench, the AGV will then transfer the movable carrier Return to the storage area.
  • Patent application CN201710230746.5 provides a warehouse automated sorting system and method.
  • the handling process is divided into three parts: the transportation from the warehouse storage area to the sorting area, the transportation in the sorting area, and the transportation from the sorting area. Area to warehouse storage area.
  • the three parts are delivered by different AGVs, which can solve the problem of AGV waiting in line in front of the workbench. It can be seen that this solution is a solution to the problem from the perspective of avoiding the waste of AGV resources caused by AGV waiting in line.
  • the purpose of the present application is to provide an AGV scheduling method and device, which can reduce the transportation cost of the transportation system.
  • the embodiment of the present application provides an AGV scheduling method, which is applied to a handling server in a movable vehicle handling system.
  • the movable vehicle handling system further includes an AGV; the method includes:
  • each pseudo-matching result includes k currently idle AGV i and the corresponding pending transport
  • the planned assignment result of task j among them, I and J are natural numbers greater than or equal to 1, and k is the minimum value of I and J; for each planned matching result, the proposed matching result is executed according to the current idle AGV in the proposed matching result.
  • the transportation distance of the assigned task to be transported and/or the issuance duration of the task to be assigned to be transported calculate the transport cost of each currently idle AGV to execute the task to be transported to be assigned, and accumulate the current idle AGV executes the task to be assigned
  • the transportation cost of the task to be moved the total transportation cost of the proposed matching result is obtained; the proposed matching result with the smallest total transportation cost is determined; each of the proposed matching results with the smallest total transportation cost is assigned to the current working state as idle state
  • the task to be transported in the pairing result is converted into a subtask according to the target position in the pairing result, and the currently idle AGV in the pairing result is scheduled to execute the subtask .
  • the movable carrier handling system further includes a workbench and a temporary storage area; the target location includes a workbench and/or a temporary storage area; and the plan that minimizes the total transport cost Matching each of the results to be assigned in the matching result with a target location whose current working status is idle includes: dividing the results of each to be assigned according to the target workbench of the to-be-carrying task in each of the results to be assigned; If there is a workbench whose current working state is idle in the movable vehicle handling system, then for each workbench whose current working state is idle state, the calculation result of each scheduled assignment assigned to the workbench corresponds to the workbench.
  • the estimated time of arrival of the workbench, the result of the assignment with the shortest estimated time of arrival is paired with the workbench whose current working state is idle; if there is no workbench whose current working state is idle in the mobile vehicle handling system , Or there is a workbench whose current working status is idle but there is no proposed dispatch result assigned to the workbench, if there is a temporary storage area whose current working state is idle, then the current working state is assigned to each workbench
  • the temporary storage area in idle state calculate the estimated arrival time corresponding to each temporary storage area in the idle state of the current work state for each proposed allocation result divided into the workbench, and select an unmatched estimated time for each temporary storage area The results of the proposed assignment with the shortest arrival time are matched.
  • the method of calculating the estimated time of arrival of each proposed dispatch result divided into the workbench corresponding to the workbench is: calculating the AGV in the proposed dispatch result and the planned dispatch result
  • the sum of the distance of the movable carrier indicated by the task to be carried and the distance between the movable carrier and the workbench, and the quotient of the sum of the distance and the driving speed of the AGV is determined as the result of the proposed assignment corresponds to the workbench
  • the method of calculating the estimated arrival time corresponding to each temporary storage area for each result to be assigned to the workbench is: Calculate the AGV in the result of the assignment and the task to be carried in the result of the assignment
  • the sum of the distance of the indicated movable vehicle and the distance between the movable vehicle and the temporary storage area, and the quotient of the sum of the distance and the driving speed of the AGV is determined as the predicted result corresponding to the temporary storage area. Time of arrival.
  • the allocating temporary storage areas whose current working status is idle for each work station includes: determining the number of temporary storage areas that can be allocated to each work station whose current working status is idle N, the N temporary storage areas that are closest to the workbench and whose working status is idle and have not yet been assigned are allocated to the workbench; for each temporary storage area, an unpaired plan with the shortest estimated time of arrival is selected.
  • the allocation results are matched, including: according to the order of the distance between the temporary storage area allocated to the workbench and the workbench, select an unmatched proposed distribution result with the shortest estimated arrival time for each temporary storage area in turn Pair it up.
  • the method for determining the number N of temporary storage areas that can be allocated to each workbench in an idle state is: counting the results of the proposed allocation among the results of the proposed matching with the smallest total transportation cost The total amount, and determine the number of results to be dispatched belonging to each workbench according to the target workbench of the task to be transported in the results to be dispatched; if the total amount of results to be dispatched is not greater than the current work status is idle state temporary storage The number of areas, the number of temporary storage areas that can be allocated to each workbench in the idle state is determined, N is the number of results to be allocated for the workbench; if the total amount of results to be allocated is greater than the current work state, it is idle The number of temporary storage areas of the state is determined according to the proportional relationship between the number of results to be assigned to each workbench, and the number of temporary storage areas that can be allocated to each workbench in the idle state is determined.
  • the target location in the pairing result is a temporary storage area, converting the subtask to a slave
  • the task to be transported from the target position to the target workbench of the task to be transported in the pairing result again participates in the proposed matching with the currently idle AGV.
  • the target position in the pairing result is a workbench
  • the task to be carried in the pairing result It is from the temporary storage area assigned to the workbench that is closest to the workbench to the task to be transported to the workbench, and the temporary storage area allocated to the workbench is in the order of the closest to the farthest from the workbench. Sort, and start with the second temporary storage area in the order, and perform the following operations on each temporary storage area in sequence: take the temporary storage area before the temporary storage area as the target position, and start from the temporary storage area according to the target position.
  • the task to be transported from the storage area to the workbench is converted into a subtask from the temporary storage area to the target location, and a currently idle AGV is scheduled to execute the subtask, and after the scheduling is completed, the subtask is converted to the target
  • the task to be transported from the position to the workbench again participates in the proposed matching with the currently idle AGV.
  • the movable carrier handling system further includes a storage area; the method further includes: the remaining picking time of any workbench in the movable carrier handling system is less than a preset At the time threshold, if there is an idle AGV, the idle AGV closest to the workbench is scheduled to arrive at the workbench and wait, and when the picking task of the workbench is completed, the idle AGV that has arrived at the workbench is scheduled to take the workbench.
  • the movable carrier on the upper side is transported back to the storage area, so that the working state of the workbench is changed from the working state to the idle state.
  • the movable carrier handling system further includes a storage area; the method further includes: the remaining picking time of any workbench in the movable carrier handling system is less than a preset At the time threshold, if there is an idle AGV, the idle AGV closest to the workbench is scheduled to arrive at the workbench and wait, and when the picking task of the workbench is completed, the idle AGV that has arrived at the workbench is scheduled to take the workbench.
  • the movable carrier on the upper side is transported back to the storage area, so that the working state of the workbench is changed from the working state to the idle state.
  • the embodiment of the present application provides an AGV scheduling device, which is applied to a handling server in a movable vehicle handling system.
  • the movable vehicle handling system further includes: AGV; the device includes: a matching unit for matching In the mobile vehicle handling system, I currently idle AGV and J tasks to be transported are quasi-matched, and multiple results are obtained.
  • Each quasi-matching result includes k currently idle AGV i and the corresponding task to be transported j
  • the results of the proposed allocation where I and J are natural numbers greater than or equal to 1, and k is the minimum value of I and J; the calculation unit is used for each proposed matching result, according to the current idle in the proposed matching result
  • the AGV executes the transport distance of the task to be assigned to be transported and/or the issuance time of the task to be transported to be assigned, calculates the transport cost of each currently idle AGV to execute the task to be transported to be assigned, and accumulates the execution of each currently idle AGV
  • the handling cost of the task to be handled to be dispatched is used to obtain the total handling cost of the proposed matching result; the determining unit is used to determine the expected matching result with the smallest total handling cost; the matching unit is used to determine the expected matching result with the smallest total handling cost
  • Each of the results to be dispatched is paired with the target position whose current working status is idle; the task processing unit is used for each pairing result, and
  • the movable carrier transportation system includes a workbench and a temporary storage area; the target location includes a workbench and/or a temporary storage area; the pairing unit minimizes the total transportation cost Matching each of the results to be assigned in the results to be assigned with the target location whose current working status is idle, including: performing the results of each assignment according to the target workbench of the task to be carried in the results of the to be assigned Division; if there is a workbench whose current working state is idle in the movable vehicle handling system, then for each workbench whose current working state is idle state, calculate the corresponding result of each proposed assignment to the workbench At the estimated time of arrival of the workbench, the result of the assignment with the shortest estimated time of arrival is paired with the workbench whose current working state is idle; if there is no one whose current working state is idle in the mobile vehicle handling system Workbench, or if there is a workbench whose current work status is idle but there is no result to be assigned to
  • the pairing unit when the pairing unit calculates the estimated time of arrival of each scheduled assignment result divided into the workbench corresponding to the workbench, it is used to calculate the AGV and the scheduled arrival time of the scheduled assignment result.
  • the sum of the distance of the movable vehicle indicated by the task to be carried and the distance between the movable vehicle and the workbench in the result of the proposed allocation, and the quotient of the sum of the distance and the driving speed of the AGV is determined as the corresponding result of the proposed allocation
  • the sum of the distance from the movable vehicle indicated by the task to be carried in the proposed assignment result and the distance between the movable vehicle and the temporary storage area, and the quotient of the sum of the distance and the driving speed of the AGV is determined as the proposed
  • the distribution result corresponds to the estimated
  • the pairing unit allocating a temporary storage area whose current working state is idle for each work station includes: determining the temporary storage area that can be allocated to each work station whose current working state is idle state. The number of storage areas is N, and the nearest N temporary storage areas that have not been allocated to the workbench and whose working status is idle are allocated to the workbench; the pairing unit selects an unmatched estimate for each temporary storage area Pairing the results to be assigned with the shortest arrival time, including: according to the order of the distance between the temporary storage area allocated to the workbench and the workbench, select an unmatched estimated arrival time for each temporary storage area in turn The shortest proposed allocation result is matched.
  • the pairing unit determines the number N of temporary storage areas that can be allocated to each workbench in an idle state, it is used to: count the results of the proposed matching with the smallest total transportation cost
  • the total number of results to be assigned, and the number of results to be assigned for each work platform is determined according to the target workbench of the task to be moved in the results to be assigned; if the total number of results to be assigned is not greater than the current working status, it is idle
  • the number of temporary storage areas of the state, the number of temporary storage areas that can be allocated to each workbench in the idle state is determined, N is the number of results to be allocated for the workbench; if the total amount of results to be allocated is greater than the current
  • the number of temporary storage areas whose working status is idle is determined according to the proportional relationship between the number of results to be assigned to each work station, and the number of temporary storage areas that can be allocated to each work station in idle state is determined.
  • the task processing unit after scheduling the currently idle AGV in the pairing result to execute the subtask, is also used to: if the target location in the pairing result is a temporary storage area, set The subtask is converted into a task to be transported from the target position to the target workbench of the task to be transported in the pairing result, and participates in the proposed matching with the currently idle AGV again.
  • the task processing unit after scheduling the currently idle AGV in the pairing result to execute the subtask, is further configured to: if the target position in the pairing result is a workbench, if the The task to be transported in the matching result is from the temporary storage area assigned to the workbench that is closest to the workbench to the task to be transported in the workbench, and the temporary storage area allocated to the workbench is in accordance with that of the workbench.
  • the following operations are performed in sequence for each temporary storage area in the sorting sequence from near to farthest, starting from the second temporary storage area in the sort: the previous temporary storage area of the temporary storage area is set as the target position, according to The target position converts the task to be transported from the temporary storage area to the workbench into a subtask from the temporary storage area to the target position, schedules a currently idle AGV to execute the subtask, and after the scheduling is completed, the The subtask is converted into a task to be transported from the target location to the workbench, and participates in the proposed matching with the currently idle AGV again.
  • the movable carrier handling system further includes a storage area; the device further includes: a warehouse returning unit, used for the remaining of any workbench in the movable carrier handling system
  • the picking time is less than the preset time threshold, if there is an idle AGV, the idle AGV closest to the workbench will be scheduled to arrive at the workbench and wait, and when the picking task of the workbench is completed, the scheduling has arrived at the workbench
  • the idle AGV transports the movable carrier on the workbench back to the storage area, so that the working state of the workbench is changed from the working state to the idle state.
  • the calculation unit calculates according to the transportation distance of each currently idle AGV in the proposed matching result to perform the task to be assigned to be transported and/or the issuance time length of the task to be assigned to be transported
  • the handling cost of each currently idle AGV to perform the task to be dispatched to be carried includes: according to the proposed matching result, the principle that the handling distance of each current idle AGV to carry out the task to be allocated is proportional to the handling cost, and/or each current The issuance time of the task to be transported by the idle AGV is inversely proportional to the transport cost.
  • the transport cost of each currently idle AGV to perform the task to be transported to be assigned is calculated; among them, each current idle AGV performs the task to be transported to be assigned
  • the transport distance is the sum of the distance between the currently idle AGV and the movable carrier indicated by the task to be transported to be assigned and the distance between the movable carrier and the target workbench of the task to be transported to be assigned.
  • An embodiment of the present application provides an electronic device, including a processor, and a non-transitory computer-readable storage medium connected to the processor through a bus; the non-transitory computer-readable storage medium stores data that can be used by the processor The executed instruction; when the processor executes the instruction, the foregoing AGV scheduling method is implemented.
  • the embodiments of the present application provide a non-transitory computer-readable storage medium that stores instructions that, when executed by a processor, cause the processor to execute the above-mentioned AGV scheduling method. step.
  • the embodiment of the present application provides a movable vehicle handling system, and the movable vehicle handling system includes a handling server and an AGV;
  • the AGV is used to perform tasks to be transported under the control of the transport server; the transport server is used to perform pseudo-matching on 1 currently idle AGV and J tasks to be transported in the mobile vehicle transport system to obtain Multiple quasi-matching results, each quasi-matching result includes k current idle AGV i and the corresponding to-be-carried task j to be assigned; where I and J are natural numbers greater than or equal to 1, and k is I and J
  • the minimum value in each of the proposed matching results for each of the proposed matching results, the current idle AGVs in the proposed matching results perform the transportation distance of the task to be assigned to be transported, and/or the issuance time of the task to be assigned to be transported, calculate each current
  • the idle AGV executes the handling cost of the to-be-moved task to be dispatched, and adds up the handling costs of the current idle AGVs to perform the to-be-moved task to be dispatched to obtain the total handling cost of the proposed matching result; determine the expected matching result with the smallest total handling
  • the movable carrier transportation system further includes: a workbench and a temporary storage area; the target location includes the workbench and/or the temporary storage area; the transportation server minimizes the total transportation cost Matching each of the results to be assigned in the results to be assigned with the target location whose current working status is idle, including: performing the results of each assignment according to the target workbench of the task to be carried in the results of the to be assigned Division; if there is a workbench whose current working state is idle in the movable vehicle handling system, then for each workbench whose current working state is idle state, calculate the corresponding result of each proposed assignment to the workbench At the estimated time of arrival of the workbench, the result of the assignment with the shortest estimated time of arrival is paired with the workbench whose current working state is idle; if there is no one whose current working state is idle in the mobile vehicle handling system Workbench, or if there is a workbench whose current work status is idle but there is no result to be assigned to
  • the movable carrier handling system further includes: a storage area; the handling server is also used for the remaining picking time of any workbench in the movable carrier handling system
  • the handling server is also used for the remaining picking time of any workbench in the movable carrier handling system
  • the expected matching result with the smallest handling cost is selected from the multiple expected matching results of the idle AGV and the task to be transported, and the allocation results of the expected matching results are compared with the current working status. Pair the target position in the idle state, and then convert the task to be carried in each pairing result into a subtask according to the target position in the pairing result, and schedule the current idle AGV in the pairing result to execute the subtask .
  • FIG. 1 is a schematic diagram of the architecture of a movable vehicle handling system provided by an embodiment of the present application
  • FIG. 2 is a flowchart of the AGV scheduling method provided by an embodiment of the present application.
  • FIG. 3 is an example diagram of a movable vehicle moving scene provided by an embodiment of the present application.
  • 4a to 4d are schematic diagrams of the moving results of the movable carrier provided by the embodiment of the present application.
  • FIG. 5 is a schematic structural diagram of an AGV scheduling device provided by an embodiment of the present application.
  • Fig. 6 is a schematic structural diagram of an electronic device provided by an embodiment of the present application.
  • Figure 1 is a schematic diagram of the architecture of a movable carrier handling system according to an embodiment of the present application.
  • the movable carrier handling system includes: a handling server, an AGV and a warehouse; the warehouse includes a workbench, Temporary storage area, and storage area.
  • the transport process of the movable carrier is divided into two transport processes from the storage area to the workbench and from the workbench to the storage area.
  • the multiple temporary storage areas configured in the mobile vehicle transportation system and the calculation of the transportation cost during task dispatch are optimized; for the mobile vehicle from The transportation process from the workbench to the storage area is optimized by scheduling idle AGVs in advance to wait before arriving at the workbench where the picking task is about to be completed.
  • the optimization of the transport process of the movable carrier from the storage area to the workbench is mainly realized by using the temporary storage area.
  • the main idea is: when the workbench is idle, dispatch the idle AGV to transport the movable carrier When the workbench is not idle, the idle AGV is dispatched to transport the movable vehicle to the temporary storage area to fill the temporary storage area so that when the workbench is idle again, Movable vehicles can be transported from the temporary storage area to the workbench. Since the temporary storage area is closer to the workbench, the workbench can be replenished more quickly and the workbench will not be idle for too long.
  • FIG. 2 is a flowchart of an AGV scheduling method according to an embodiment of the present application.
  • the method is applied to a handling server in a movable vehicle handling system.
  • the movable vehicle handling system also includes: AGV and warehouse; as shown in Figure 2
  • the method mainly includes the following steps:
  • Step 201 Perform different quasi-matching on I currently idle AGVs and J to-be-carried tasks in the mobile vehicle handling system to obtain different quasi-matching results, and each quasi-matching result includes k currently idle AGVs i
  • I currently idle AGVs can be all AGVs, or part of AGVs selected from all AGVs according to certain rules; where I and J are respectively greater than or equal to 1 K is the minimum of I and J, the current idle AGV i represents one of the I currently idle AGVs, and the current idle AGV is different when the value of i is different, and the task to be transported j represents J One of the tasks to be transported, and the value of j is different when the task to be transported is different.
  • the task to be transported corresponding to the current idle AGV refers to the waiting task to be assigned to the current idle AGV in the result of the assignment. Handling tasks.
  • the maximum number of times Num that can be used for different quasi-matching can be determined by the following formula:
  • the following formula can also be used to determine: Among them, to enumerate all the quasi-matching results, it is necessary to list all the possible quasi-matching methods between the current idle AGV and all the tasks to be transported.
  • Step 202 For each expected matching result, calculate each current idle AGV according to the transportation distance of each currently idle AGV in the expected matching result to perform the task to be assigned to be transported and/or the issuance duration of the task to be assigned to be transported The transportation cost of the task to be transported to be dispatched is executed, and the transportation cost of each currently idle AGV to perform the task to be transported to be allocated is accumulated to obtain the total transportation cost of the result to be matched.
  • the transportation cost refers to the cost to be paid for scheduling a certain AGV to perform a certain task to be transported. In the embodiment of the present application, it can be determined according to the transportation distance of the task to be transported and/or the delivery time of the task to be transported.
  • the transportation distance of the task is directly proportional to the transportation cost, and the delivery time of the task to be moved is inversely proportional to the transportation cost.
  • the transport distance of the task to be transported is the sum of the distance between the AGV and the movable carrier indicated by the task to be transported and the distance between the movable carrier and the target table of the transport task.
  • the issuing time of the task to be transported is the difference between the issuing time of the task to be transported and the current time.
  • the issuance time length of the task to be moved is the length of time that has elapsed since the server to be moved received the task to be moved. It should be noted that the task to be moved is sent to the handling server directly by the task generation device or indirectly through the intermediate device.
  • the time issued to the handling server is the issuance time of the task to be moved.
  • the time to calculate the transportation cost of the current idle AGV to perform the task to be moved is the current time .
  • the handling costs of handling tasks include:
  • the transportation distance of each currently idle AGV to perform the task to be assigned to be transported is proportional to the transportation cost, and/or the issuance time of the task to be transported to be assigned by each current idle AGV is inversely proportional to the transportation cost
  • the transportation distance of each currently idle AGV to perform the task to be transported to be assigned is: the current idle AGV and the task to be assigned to be transported
  • the distance in this article can refer to Euclidean distance, Manhattan distance, or Refers to other distances.
  • the issuance duration of the task to be carried to be dispatched by each currently idle AGV is: the time difference between the time when the task to be carried to be dispatched to be dispatched to the mobile vehicle handling system and the current time.
  • Step 203 Determine the result to be matched with the smallest total transportation cost.
  • the result of the expected matching with the smallest total transportation cost can be determined.
  • Step 204 Pair each of the to-be-assigned results in the to-be-matched results with the smallest total transportation cost with the target location whose current working state is idle.
  • the target location is a workbench and/or a temporary storage area.
  • the principle of matching each of the proposed matching results with the minimum total cost of handling and the target location in the idle state is: when there is a workbench in the idle state, the Workbenches whose working status is idle are used as the target location to be paired with the results of each dispatch; there is no workbench whose working state is idle, or there is a workbench whose working state is idle but the results of each dispatch are to be transported If the target workbench of the task is not the workbench, the temporary storage area whose working status is idle is matched with the results of each assignment.
  • the pairing of each proposed allocation result in the proposed matching result with the smallest total transportation cost with the target location whose current working state is idle includes:
  • the target workbenches of the tasks to be transported in different assignment results may be the same, and the same workbench can only handle one movable vehicle at the same time, the target workbenches for multiple tasks to be transported included are the same.
  • the target workbench can only be allocated to one of the results of the proposed allocation at the same time, while the other results of the proposed allocation can only be allocated to the temporary storage area.
  • each workbench or temporary storage area can only be used as the target workbench of the task to be moved at most, and the target workbench of the result to be assigned should be the target work of the task to be moved in the result of the assignment. station.
  • a proposed dispatch result corresponding to the estimated arrival time of a workbench can refer to: If the result of the assignment is paired with the workbench, the estimated time from the specified time until the current idle AGV in the result of the assignment will move the movable vehicle to the workbench.
  • the specified time can be the current time or other time, such as the time when the AGV starts to perform the task to be transported;
  • the estimated time of arrival according to the order of the distance between the temporary storage area allocated to the workbench and the workbench, from near to farthest, for each temporary storage area in turn, an unpaired, unmatched, shortest expected arrival time to be assigned result is selected for matching, Among them, the estimated time of arrival of a result of a proposed allocation corresponding to a temporary storage area can refer to: if the result of the proposed allocation is paired with the temporary storage area, the current idle AGV in the result of the proposed allocation will be available from the specified time. The estimated value of the elapsed time for the mobile vehicle to be transported to the temporary storage area.
  • the result to be assigned to a workbench means that the target workbench indicated by the task to be transported included in the result to be assigned is the workbench.
  • steps S12_1 and S12_2 are parallel steps, in no order, and determine which step to execute based on the specific conditions of the workbenches whose current working status is idle and the results to be assigned to each workbench.
  • the estimated time of arrival refers to the prediction of the time it takes to dispatch a certain AGV to carry a movable vehicle to a certain position, and the formula can be used Calculated, where ETA is the estimated time of arrival, d 1 represents the distance between the AGV and the movable vehicle, d 2 represents the distance between the movable vehicle and the location point, and v represents the driving speed of the AGV (implemented in this application)
  • the average travel speed of all AGVs can be used to represent the v value, which can be preset, for example, it can be preset based on experience, or it can be pre-tested and set based on the test results).
  • the driving speeds of the AGVs are equal. In other possible embodiments, the driving speeds of the AGVs can also be considered to be unequal.
  • the speed of the i-th AGV is divided by vi.
  • the estimated time of arrival of i AGVs can be based on the following formula Calculated.
  • the estimated arrival time may also be expressed in the form of d 1 +d 2.
  • step S12_1 the specific method for calculating the estimated time of arrival of each scheduled assignment result divided into the workbench corresponding to the workbench is as follows:
  • step S12_2 the specific method for calculating the estimated time of arrival of each result of allocation to the workbench corresponding to each temporary storage area is as follows:
  • allocating temporary storage areas whose current working status is idle for each work station includes: determining the number of temporary storage areas that can be allocated to each work station whose current working status is idle. N, the nearest N temporary storage areas in the idle state that are not yet allocated to the workbench are allocated to the workbench, and N is a natural number greater than or equal to 1.
  • the determination of the number N of temporary storage areas that can be allocated to each workbench in the idle state in the current working state can be specifically adopted in the following steps:
  • a result to be assigned belongs to a workbench means that the target workbench indicated by the task to be moved in the result to be assigned is the workbench.
  • workbenches 1-3 in which the proposed assignment result of workbench 1 is 10, the proposed assignment result of workbench 2 is 6, and the proposed assignment result of workbench 3 is 6.
  • the distribution result is 4.
  • the number of results to be distributed in workbench 1 belongs to The ratio of the number of results to be assigned to workbench 2 and the number of results to be assigned to workbench 3 is 5:3:2, so the number of temporary storage areas allocated to workbench 1 in idle state is allocated to work
  • the ratio of the number of temporary storage areas where the working status of station 2 is idle and the number of temporary storage areas assigned to work station 3 in idle state is 5:3:2, that is, the working status assigned to work station 1 is idle
  • the number of temporary storage areas in the state is 5, the number of temporary storage areas allocated to workbench 2 in the idle state is 3, and the number of temporary storage areas allocated to workbench 3 in the idle state is 2.
  • steps S12_2_a2_1 and S12_2_a2_1 are parallel steps, in no particular order, which step is determined according to the comparison result of the total amount of results to be allocated and the number of temporary storage areas whose current working status is idle.
  • Step 205 For each pairing result, the task to be transported in the pairing result is converted into a subtask according to the target position in the pairing result, and the currently idle AGV in the pairing result is scheduled to execute the subtask.
  • step 204 the final purpose of matching each of the proposed matching results with the smallest total transportation cost to the target location whose current working status is idle is: to specify the current transportation for each proposed distribution result that is successfully matched Then, based on this target position, the task to be carried in the result of the assignment can be converted into a subtask according to this target position (that is, from the current position of the movable vehicle indicated by the task to be carried to this The transport task at the target location), and schedule the currently idle AGV in the pairing result to execute this subtask.
  • a complete task to be transported is to move the movable carrier from the storage area to the workbench. Therefore, in the embodiment of the present application, after pairing each of the to-be-dispatched results in the to-be-matched results with the smallest total transport cost with the target location whose current working state is idle, for any pairing result, according to the pairing
  • the target location in the result is the workbench or temporary storage area, which is divided into the following two situations:
  • the target position in the pairing result is the workbench.
  • the converted subtask and the task to be transported are essentially the same task. Therefore, after scheduling the AGV in the pairing result to execute this subtask, The entire task to be moved has been completed.
  • the target location in the pairing result is the temporary storage area.
  • the target location of the converted subtask is this temporary storage area.
  • the mobile carrier can be moved.
  • the tools were moved to the temporary storage area, but were not delivered to the workbench, so the entire task to be moved was not completed.
  • the subtask in order to finally complete the execution of the task to be transported, after scheduling the current idle AGV in the pairing result to execute the subtask, the subtask can be further converted to the target location (that is, the mobile carrier).
  • this step 205 after scheduling the currently idle AGV in the pairing result to execute the subtask, it may include: if the target location in the pairing result is a temporary storage area, converting the subtask to a slave The task to be transported from the target position to the target workbench of the task to be transported in the pairing result again participates in the proposed matching with the currently idle AGV.
  • the to-be-moved task that participates in the matching of the currently idle AGV may be the to-be-moved task from the storage area to the workbench, or it may be a certain slave.
  • the task to be transported from the storage area to the workbench is transformed into a task to be transported from a temporary storage area to the workbench after multiple task conversions.
  • the scheduling the currently idle AGV in the pairing result to execute the subtask may further include:
  • step S21 If the target location in the pairing result is a workbench, if the task to be transported in the pairing result is from the temporary storage area closest to the workbench to the task to be transported on the workbench, it will be assigned to the workbench.
  • the temporary storage areas of the workbench are sorted in the order from nearest to farthest from the workbench, and starting from the second temporary storage area in the ranking, the following operations are sequentially performed on each temporary storage area in the sorting (ie step S22):
  • the task to be transported from the target location to the workbench can again participate in the proposed matching with the currently idle AGV when any one of the following two conditions is met:
  • Condition 1 The working status of the workbench is idle.
  • Condition 2 In the temporary storage area allocated to the workbench, there is a temporary storage area that is closer to the workbench than the target location and is in an idle state.
  • the movable vehicles that need to be transported to the other temporary storage areas of the workbench can be moved to that distance.
  • the movable carrier in y can be transported to x
  • the movable carrier in z can be transported to y in sequence through the above two steps.
  • the idle AGV is scheduled to wait in advance, and the movable carrier can be transported from the workbench back to the storage after the workbench is finished picking
  • the bit zone makes it possible for the workbench to not wait for the arrival of the AGV after the picking is completed.
  • an idle AGV in order to prevent the movable carrier that has completed the picking from being placed on the workbench, an idle AGV can be dispatched to the workbench in advance and wait for the movable carrier to be transported back to the storage area.
  • a time threshold can be preset. When the remaining picking time of any workbench in the movable vehicle handling system is less than the preset time threshold, if there is an idle AGV, the idle AGV closest to the workbench is scheduled to arrive at the workbench and wait.
  • the idle AGV that has arrived at the workbench is dispatched to transport the movable carrier on the workbench back to the storage area, so that the working state of the workbench is changed from the working state to the idle state .
  • the completion of the current picking task of the workbench there can be multiple methods to determine the completion of the current picking task of the workbench. For example, when the picking time is fixed, when the remaining picking time of the workbench becomes 0, determine the workbench The current picking task is completed. For another example, when the picking time is not fixed, the worker can trigger the picking completion notification on the workbench, and when the handling server receives the picking completion notification, it determines that the current picking task of the workbench is completed.
  • the transport server Based on the above-mentioned optimization plan for the transporting process of the movable carrier from the storage area to the workbench (that is, the above steps 201-205), after the working state of the workbench becomes idle, the transport server performs steps 201-205 for the workbench Its replenishment starts a new round of picking.
  • Figure 3 is an example diagram of a movable vehicle moving scene provided by an embodiment of the present application.
  • Figure 3 shows a 12 ⁇ 12 grid map.
  • the length and width of each grid is 1 meter, and the gray grid Represents the storage area in the automated warehouse, the grid with horizontal stripes represents the workbench, and the grid with vertical stripes represents the temporary storage area.
  • the gray grid represents the storage area in the automated warehouse
  • the grid with horizontal stripes represents the workbench
  • the grid with vertical stripes represents the temporary storage area.
  • the picking time of workbenches A, B, and C is 5 minutes, 9 minutes, and 13 minutes, respectively.
  • there are 3 temporary storage areas near workbench A numbered from A1 to A3; there are two temporary storage areas near workbench B, numbered from B1 to B2; temporary storage areas nearer workbench C
  • the distance between the temporary storage area and workbench A is sorted from near to far: A1, A2, A3, B1, B2, C1, C2; the distance between temporary storage area and workbench B is sorted from near to far: B1, B2 , A1, A2, A3, C1, C2; The distance between the temporary storage area and the workbench C is sorted from near to far: C1, C2, B2, B1, A3, A2, A1.
  • the 5 AGVs are matched with the tasks to be transported in different ways, and the results to be matched with the smallest total transport cost are calculated. Assuming the results of the proposed matching with the smallest total transport cost, the results to be assigned are as follows:
  • AGV1001 and task to be transported 1 (the target workbench is workbench A);
  • AGV1002 and task to be moved 2 target workbench is workbench A;
  • AGV1003 and task 3 to be moved (the target workbench is workbench B);
  • AGV1004 and task 4 to be moved (the target workbench is workbench B);
  • the planned dispatch result 1 is paired with workbench A, so the AGV1001 is scheduled to perform the task to be transported 1.
  • the movable carrier indicated by task 1 to be transported is transported to workbench A;
  • the planned dispatch result 3 is paired with workbench B, so the AGV1003 and the task to be transported 3 are scheduled to be The movable vehicle indicated by task 3 to be transported is transported to workbench B;
  • the result 5 to be assigned is paired with workbench C, so AGV 1005 is also scheduled to perform task 5 to be transported, and the movable carrier indicated by task 5 to be transported is transported to workbench C.
  • the proposed allocation result 2 and the proposed allocation result 4 Pair with the temporary storage area that is, dispatch AGV1002 to transport the movable vehicle indicated by task 2 to be transported to the temporary storage area of workbench A, and dispatch AGV1004 to transport the movable vehicle indicated by task 4 to be transported to the workbench B's temporary storage area.
  • AGV1002 and AGV1004 can be matched with the task to be transported again, and the result of the matching with the smallest total cost of transportation is determined. It is assumed that the result of the matching with the smallest total cost of transportation , The results of the proposed distribution are as follows:
  • the result 2'to be assigned is paired with the temporary storage area A1. Therefore, the task to be transported 2 is divided into subtasks from the storage area to the temporary storage area A1, and AGV1002 is scheduled to execute the subtask, and finally the task indicated by the task to be transported 2
  • the movable vehicle is transported to the temporary storage area A1, and then this subtask is converted to the task to be transported 2'from the temporary storage area A1 to the workbench A (the issuance time of the converted task to be transported 2'is the same as the original to be transported The issuance time of task 2 is the same);
  • the result 4'to be assigned is paired with the temporary storage area B1. Therefore, the task 4 to be transported is divided into subtasks from the storage area to the temporary storage area B1, and AGV1004 is scheduled to execute the subtask, and finally the task indicated by the task 4 to be transported The movable vehicle is transported to the temporary storage area B1, and then this subtask is converted to the task to be transported 4'from the temporary storage area B1 to the workbench B (the issuance time of the converted task to be transported 4'is the same as the original to be transported The issuance time of task 4 is the same).
  • the completion time of the transport is also different. After the transport is completed, it becomes an idle AGV, so the idle AGV can be immediately matched with the task to be transported.
  • a preset time for example, 0.1 minutes
  • you can also wait for a preset time for example, 0.1 minutes
  • every fixed time for example, 1 minute
  • the five idle AGVs and the task to be transported are matched and the result of the proposed matching is calculated to determine the minimum total transport cost.
  • the target workbench That is, the working status of workbench A is not idle, and there is no temporary storage area that is closer to workbench A than temporary storage area A1 and is in an idle state in the temporary storage area assigned to workbench A, so the task to be transported 2 'Do not participate in this proposed matching, similarly to the task to be carried 4'will not participate in this proposed matching.
  • the proposed assignment result is as follows:
  • AGV1001 and task to be transported 6 (the target workbench is workbench A);
  • AGV1002 and task to be moved 7 target workbench is workbench A;
  • AGV1003 and task to be moved 8 (the target workbench is workbench B);
  • AGV1004 and task to be moved 9 (the target workbench is workbench C);
  • AGV1005 and task to be transported 10 (the target workbench is workbench C).
  • the result 6 to be assigned is paired with the temporary storage area A2.
  • the task to be transported 6 is converted into a subtask from the storage area to the temporary storage area A2, and AGV1001 is scheduled to perform this
  • the subtask is to transport the movable vehicle indicated by the task 6 to be transported to the temporary storage area A2, and then this subtask is converted to the task to be transported 6'from the temporary storage area A2 to the workbench A (its issuance time Same as the issuance time of task 6 to be transported).
  • the result 7 to be assigned is paired with the temporary storage area A3.
  • the task to be moved 7 is converted into a subtask from the storage area to the temporary storage area A3, and AGV1002 is scheduled to execute this
  • the sub-task is to transport the movable vehicle indicated by the task 7 to be transported to the temporary storage area A3, and then this sub-task is converted to the task to be transported from the temporary storage area A3 to the workbench A 7'(its issuance time Same as the issuance time of task 7 to be transported).
  • the result 8 to be assigned is paired with the temporary storage area B1.
  • the task to be moved 8 is converted into a subtask from the storage area to the temporary storage area B2.
  • Scheduling AGV1003 to execute this subtask, so as to transport the movable vehicle indicated by task 8 to be transported to temporary storage area B2, and then convert this subtask into task to be transported from temporary storage area B2 to workbench B 8'(
  • the issuance time is the same as the issuance time of the task to be transported 8).
  • the result 9 to be assigned is paired with the temporary storage area C1.
  • the task to be transported 9 is converted into a subtask from the storage area to the temporary storage area C1, and AGV1004 is scheduled to execute this subtask, thereby indicating the task to be transported 9
  • the mobile vehicle is transported to the temporary storage area C1, and then this subtask is converted to the task to be transported 9'from the temporary storage area C1 to the workbench C (its issuance time is the same as the issuance time of the task to be transported 9 ).
  • the result 10 to be assigned is paired with the temporary storage area C2.
  • the task to be transported 10 is converted into a subtask from the storage area to the temporary storage area C2, and AGV1005 is scheduled to execute this subtask, thereby indicating the task to be transported 10
  • the movable vehicle is transported to the temporary storage area C2, and then this sub-task is converted to the task to be transported 10' from the temporary storage area C2 to the workbench C (its issuance time is the same as the issuance time of the task to be transported 10 ).
  • the results to be assigned are as follows:
  • AGV1002 and task 2'to be transported (the target workbench is workbench A); it should be noted that task 2'to be transported is not considered in terms of the transport distance or the delivery time, the corresponding transport cost will be It is relatively small, so it is very likely that the idle AGV and the task to be transported are included in the result of the allocation of the idle AGV and the task to be transported in different matching results and the total cost of the transport is determined to be the smallest.
  • AGV1003 and task to be transported 12 (the target workbench is workbench A);
  • AGV1004 and task 13 to be moved (the target workbench is workbench B);
  • the result 11 is to be assigned to be paired with workbench A. Therefore, the AGV 1002 is dispatched to transport the movable vehicle from the temporary storage area A1 to the workbench A. All other results to be distributed failed to match.
  • task 2'to be transported is from the temporary storage area closest to workbench A, after dispatching AGV1002 to transport the movable vehicle from temporary storage area A1 to workbench A, it can continue to move from temporary storage area A2 to
  • the task to be transported 6'of workbench A is converted into a subtask from the temporary storage area A2 to A1, and the AGV1002 is scheduled to execute this subtask, thereby transporting the movable vehicle from A2 to A1, and converting this subtask from A1 To be transported task 6" to workbench A.
  • Task, the AGV1002 is scheduled to execute this subtask, so as to transport the movable vehicle from A3 to A2, and convert this subtask into a task to be transported from A2 to workbench A 7".
  • the specific handling result is shown in Figure 4d.
  • the AGV scheduling process can be continuously executed in accordance with the method shown in Figure 2.
  • the AGV scheduling method in the embodiment of the present application has been described in detail above and taken as an example.
  • the present application also provides an AGV scheduling device, which will be described in detail below with reference to FIG. 5.
  • FIG. 5 is a schematic structural diagram of an AGV dispatching device according to an embodiment of the present application.
  • the device is applied to a handling server in a movable vehicle handling system.
  • the movable vehicle handling system also includes: AGV; as shown in FIG.
  • the AGV scheduling device 500 includes: a pseudo-matching unit 501, which is used to perform pseudo-matching on I currently idle AGV and J to-be-transported tasks in the mobile vehicle handling system to obtain multiple pseudo-matching results, each The expected matching result includes k current idle AGV i and the corresponding to-be-carried task j to be assigned; where I and J are natural numbers greater than or equal to 1, and k is the minimum value of I and J; calculation unit 502 , Used to calculate each current idle AGV according to the handling distance of each current idle AGV in the proposed matching result and/or the issuance time of the to-be-moving task to be dispatched for each expected matching result Perform the transportation cost of the to-be-moved task to be dispatched, add up the transportation cost of each currently idle AGV to perform the task-to-be-dispatched to obtain the total transportation cost of the result to be matched; the determining unit 503 is used to determine that the total transportation cost is the smallest Matching unit 504,
  • the movable carrier transport system includes a workbench and a temporary storage area; the target location includes a workbench and/or a temporary storage area; the pairing unit 504 minimizes the total transport cost Matching each of the results to be assigned in the results to be assigned with the target location whose current working status is idle, including: dividing the results of each to be assigned according to the target workbench of the to-be-carrying task in the results of each to be assigned ; If there is a workbench whose current working state is idle in the mobile vehicle handling system, then for each workbench whose current working state is idle state, calculate the result of each scheduled assignment assigned to the workbench corresponding to For the estimated time of arrival of the workbench, the result of the assignment with the shortest estimated time of arrival is paired with the workbench whose current working state is idle; if there is no work whose current working state is idle in the mobile vehicle handling system If there is a workbench whose current working status is idle but there is no result
  • the pairing unit 504 calculates the estimated time of arrival of each scheduled assignment result divided into the workbench corresponding to the workbench, and is used to calculate the AGV and the scheduled arrival time of the scheduled assignment result.
  • the sum of the distance of the movable carrier indicated by the task to be carried and the distance between the movable carrier and the workbench in the assignment result, and the quotient of the sum of the distance and the driving speed of the AGV is determined as the result to be assigned corresponding to The estimated time of arrival of the workbench;
  • the pairing unit 504 calculates the estimated arrival time of each temporary storage area corresponding to each of the results of allocation to the workbench, and is used to: calculate the AGV in the results of the proposed allocation
  • the sum of the distance from the movable vehicle indicated by the task to be carried in the proposed assignment result and the distance between the movable vehicle and the temporary storage area, and the quotient of the sum of the distance and the driving speed of the AGV is determined as the proposed The distribution result corresponds to the estimated time of
  • the pairing unit 504 allocates a temporary storage area whose current working state is idle for each work station, including: determining that the current working state that can be allocated to each work station is idle temporary storage The number of zones is N, and the N temporary storage areas closest to the workbench that have not been allocated and whose working status is idle are allocated to the workbench; the pairing unit selects an unpaired expected arrival for each temporary storage area The shortest time to be assigned results are matched, including: according to the order of the distance between the temporary storage area allocated to the workbench and the workbench, the shortest unmatched estimated arrival time is selected for each temporary storage area in turn The results of the proposed distribution are matched.
  • the pairing unit 504 determines the number N of temporary storage areas that can be allocated to each workbench in an idle state, it is used to count the number of the matching results with the smallest total transportation cost.
  • the total number of results to be assigned, and the number of results to be assigned belonging to each workbench is determined according to the target workbench of the task to be transported in the results to be assigned; if the total number of results to be assigned is not greater than the current working status, it is idle
  • the number of temporary storage areas that can be allocated to each workbench is determined as the number of temporary storage areas in the idle state.
  • N is the number of results to be allocated for the workbench; if the total number of results to be allocated is greater than the current work
  • the number of temporary storage areas in the idle state is determined according to the proportional relationship between the number of results to be assigned to each work station, and the number of temporary storage areas that can be allocated to each work station in the idle state is determined.
  • the task processing unit 505 after scheduling the currently idle AGV in the pairing result to execute the subtask, is also used to: if the target location in the pairing result is a temporary storage area, then The subtask is converted into a task to be transported from the target position to the target workbench of the task to be transported in the pairing result, and participates in the proposed matching with the currently idle AGV again.
  • the task processing unit 505 after scheduling the currently idle AGV in the pairing result to execute the subtask, is also used to: if the target position in the pairing result is a workbench, if the pairing result
  • the task to be transported in the result is from the temporary storage area assigned to the workbench closest to the workbench to the task to be transported in the workbench, and the temporary storage area allocated to the workbench is in accordance with that of the workbench. Sort from the nearest to the farthest, and start from the second temporary storage area, and perform the following operations on each temporary storage area in the sequence:
  • the previous temporary storage area of the temporary storage area is used as the target location, and the task to be transported from the temporary storage area to the workbench is converted into a subtask from the temporary storage area to the target location according to the target location, and a subtask is scheduled.
  • the currently idle AGV executes the sub-task, and after the scheduling is completed, the sub-task is converted into a task to be transported from the target location to the workbench, and participates in the intended matching with the currently idle AGV again.
  • the movable carrier handling system further includes a storage area; the device also includes: a warehouse returning unit 506, which is used for the remaining picking of any workbench in the movable carrier handling system.
  • a warehouse returning unit 506 which is used for the remaining picking of any workbench in the movable carrier handling system.
  • the calculation unit 502 calculates each current idle AGV in the result of the matching result to perform the transportation distance of the task to be dispatched to be transported and/or the issuance time length of the task to be transported to be allocated.
  • the handling cost of the current idle AGV to perform the task to be dispatched to be dispatched includes: according to the proposed matching result, the handling distance of each current idle AGV to execute the task to be dispatched is proportional to the handling cost, and/or each current idle
  • the issuance time of the task to be carried by the AGV to be dispatched is inversely proportional to the principle of the carrying cost, and the carrying cost of each currently idle AGV to perform the task to be carried to be dispatched is calculated; among them, each currently idle AGV executes the carrying of the task to be carried
  • the distance is the sum of the distance between the currently idle AGV and the movable carrier indicated by the task to be transported to be assigned and the distance between the movable carrier and the target workbench of the task to be transported to be assigned
  • the electronic device 600 includes a processor 601 and a non-transitory computer-readable storage medium 602 connected to the processor 601 through a bus;
  • the transient computer-readable storage medium 602 stores instructions that can be executed by the processor 601; when the processor 601 executes the instructions, the AGV scheduling method as shown in FIG. 2 is implemented.
  • the embodiment of the present application also provides a non-transitory computer-readable storage medium, the non-transitory computer-readable storage medium stores instructions, and when the instructions are executed by a processor, the processor executes as shown in FIG. 2 Steps in the AGV scheduling method.
  • a computer program product containing instructions is also provided, which when running on a computer, causes the computer to execute any AGV scheduling method in the foregoing embodiments.

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Abstract

一种AGV调度方法和装置，应用于可移动载具搬运系统中的搬运服务器，该系统还包括AGV和仓库；方案为：从空闲AGV和待搬运任务的多种拟匹配结果中选择搬运总代价最小的拟匹配结果，将搬运总代价最小的拟匹配结果中的各分派结果与当前工作状态为空闲状态的目标位置进行配对（204），之后，将每一配对结果中的待搬运任务按照该配对结果中的目标位置转换为一子任务，并调度该配对结果中的当前空闲AGV执行所述子任务（205）。该方法能够降低可移动载具搬运系统的搬运代价。

Description

一种AGV调度方法和装置
本申请要求于2019年11月29日提交中国专利局、申请号为201911201324.0发明名称为“一种AGV调度方法和装置”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及电子信息技术领域，特别涉及一种可移动载具搬运系统中的无人搬运车(Automated Guided Vehicle，AGV)调度方法和装置。
背景技术
基于AGV的可移动载具搬运系统中，包括搬运服务器、工作台、可移动载具(例如货架)和AGV。在该搬运系统中，搬运服务器负责分配任务给AGV，调度该AGV搬运指定的可移动载具从储位区到工作站，工人在工作台进行物料拣选操作后，再由该AGV将可移动载具送回到储位区。
专利申请CN201710230746.5提供了一种仓库自动化分拣系统及方法，该方法中，将搬运过程分为三部分：从仓库储存区到分拣区的运送，分拣区内的运送，从分拣区到仓库储存区的运送。三个部分分别由不同的AGV完成运送，可以解决AGV在工作台前排队等待问题。可以看出，此方案是从避免AGV排队等待而造成AGV资源浪费的角度出发，给出的一种问题解决方案。
发明内容
有鉴于此，本申请的目的在于提供一种AGV调度方法和装置，能够降低搬运系统的搬运代价。
为了达到上述目的，本申请提供了如下技术方案：
本申请实施例提供了一种AGV调度方法，应用于可移动载具搬运系统中的搬运服务器，所述可移动载具搬运系统还包括：AGV；该方法包括：
对所述可移动载具搬运系统中I个当前空闲AGV和J个待搬运任务进行拟匹配，得到多个拟匹配结果，每一拟匹配结果中包括k个当前空闲AGV i与对应的待搬运任务j的拟分派结果；其中，I、J分别为大于或等于1的自然数，k为I和J中的最小值；对每一拟匹配结果，根据该拟匹配结果中各当前空闲AGV执行拟分派的待搬运任务的搬运路程、和/或拟分派的待搬运任务的下发时长，计算各当前空闲AGV执行拟分派的待搬运任务的搬运代价，累加所述各当前空闲AGV执行拟分派的待搬运任务的搬运代价，得到该拟匹配结果的搬运总代价；确定搬运总代价最小的拟匹配结果；将搬运总代价最小的拟匹配结果中的各拟分派结果，与当前工作状态为空闲状态的目标位置进行配对；对每一配对结果，将该配对结果中的待搬运任务按照该配对结果中的目标位置转换为一子任务，并调度该配对结果中的当前空闲AGV执行所述子任务。
在一种可能的实施例中，所述可移动载具搬运系统还中包括工作台、暂存区；所述目标位置包括工作台和/或暂存区；所述将搬运总代价最小的拟匹配结果中的各拟分派结果，与当前工作状态为空闲状态的目标位置进行配对，包括：按照所述各拟分派结果中的待搬运任务的目标工作台对所述各拟分派结果进行划分；如果所述可移动载具搬运系统中存在当前工作状态为空闲状态的工作台，则对每一当前工作状态为空闲状态的工作台，计算划分到该工作台的每一拟分派结果对应于该工作台的预计到达时间，将预计到达时间最短的拟分派结果与该当前工作状态为空闲状态的工作台配对；如果所述可移动载具搬运系统中不存在当前工作状态为空闲状态的工作台，或者存在当前工作状态为空闲状态的工作台但不存在划分到该工作台的拟分派结果，则若存在当前工作状态为空闲状态的暂存区，则为每一工作台分配当前工作状态为空闲状态的暂存区，计算划分到该工作台的每一拟分派结果对应于每一当前工作状态为空闲状态的暂存区的预计到达时 间，为每个暂存区选择一个尚未配对的预计到达时间最短的拟分派结果进行配对。
在一种可能的实施例中，所述计算划分到该工作台的每一拟分派结果对应于该工作台的预计到达时间的方法为：计算该拟分派结果中的AGV与该拟分派结果中的待搬运任务指示的可移动载具的距离和该可移动载具与该工作台的距离之和，将该距离之和与AGV的行驶速度的商确定为该拟分派结果对应于该工作台的预计到达时间；计算划分到该工作台的每一拟分派结果对应于每一暂存区的预计到达时间的方法为：计算该拟分派结果中的AGV与该拟分派结果中的待搬运任务指示的可移动载具的距离和该可移动载具与该暂存区的距离之和，将该距离之和与AGV的行驶速度的商确定为该拟分派结果对应于该暂存区的预计到达时间。
在一种可能的实施例中，所述为每一工作台分配当前工作状态为空闲状态的暂存区，包括：确定可分配给每一工作台的当前工作状态为空闲状态的暂存区数量N，将与该工作台距离最近的N个尚未被分配的工作状态为空闲状态的暂存区分配给该工作台；所述为每个暂存区选择一个尚未配对的预计到达时间最短的拟分派结果进行配对，包括：按照分配给该工作台的暂存区与该工作台的距离从近到远的顺序，依次为每个暂存区选择一个尚未配对的预计到达时间最短的拟分派结果进行配对。
在一种可能的实施例中，所述确定可分配给每一工作台的当前工作状态为空闲状态的暂存区数量N的方法为：统计搬运总代价最小的拟匹配结果中的拟分派结果总量，并根据各拟分派结果中的待搬运任务的目标工作台确定属于每一工作台的拟分派结果个数；如果所述拟分派结果总量不大于当前工作状态为空闲状态的暂存区数量，则确定可分配给每一工作台的工作状态为空闲状态的暂存区数量N为属于该工作台的拟分派结果个数；如果所述拟分派结果总量大于当前工作状态为空闲状态的暂存区数量，则按照属于各工作台的拟分派结果个数之间的比例关系，确定可分配给每一工作台的工作状态为空闲状态的暂存区数量N。
在一种可能的实施例中，调度该配对结果中的当前空闲AGV执行所述子任务之后，还包括：如果该配对结果中的目标位置是暂存区，则将所述子任务转换为从该目标位置到该配对结果中的待搬运任务的目标工作台的待搬运任务，再次参与和当前空闲AGV的拟匹配。
在一种可能的实施例中，调度该配对结果中的当前空闲AGV执行所述子任务之后，还包括：如果该配对结果中的目标位置是工作台，则若该配对结果中的待搬运任务是从距离该工作台最近的分配给该工作台的暂存区到该工作台的待搬运任务，则将已分配给该工作台的暂存区按照与该工作台的从近到远的顺序排序，并从排序第二的暂存区开始，依次对排序中的每一暂存区执行以下操作：将该暂存区的前一暂存区作为目标位置，按照该目标位置将从该暂存区到该工作台的待搬运任务转换为一从该暂存区到目标位置的子任务，调度一当前空闲AGV执行该子任务，并在调度完成后，将该子任务转换为从该目标位置到该工作台的待搬运任务，再次参与和当前空闲AGV的拟匹配。
在一种可能的实施例中，所述可移动载具搬运系统还包括储位区；该方法还包括：所述可移动载具搬运系统中的任一工作台的剩余拣货时间小于预设时间阈值时，如果存在空闲AGV，则调度距离该工作台最近的空闲AGV到达该工作台等待，并在该工作台的拣货任务完成时，调度已到达该工作台的空闲AGV将该工作台上的可移动载具搬运回储位区，以使该工作台的工作状态从工作状态转变为空闲状态。
在一种可能的实施例中，所述可移动载具搬运系统还包括储位区；该方法还包括：所述可移动载具搬运系统中的任一工作台的剩余拣货时间小于预设时间阈值时，如果存在空闲AGV，则调度距离该工作台最近的空闲AGV到达该工作台等待，并在该工作台的拣货任务完成时，调度已到达该工作台的空闲AGV将该工作台上的可移动载具搬运回储位区，以使该工作台的工作状态从工作状态转变为空闲状态。
本申请实施例提供了一种AGV调度装置，应用于可移动载具搬运系统中的搬运服务器，所述可移动载具搬运系统还包括：AGV；该装置包括：拟匹配单元，用于对所述可移动载具搬运系统中I个当前空闲AGV和J个待搬运任务进 行拟匹配，得到多个拟匹配结果，每一拟匹配结果中包括k个当前空闲AGV i与对应的待搬运任务j的拟分派结果；其中，I、J分别为大于或等于1的自然数，k为I和J中的最小值；计算单元，用于对每一拟匹配结果，根据该拟匹配结果中各当前空闲AGV执行拟分派的待搬运任务的搬运路程、和/或拟分派的待搬运任务的下发时长，计算各当前空闲AGV执行拟分派的待搬运任务的搬运代价，累加所述各当前空闲AGV执行拟分派的待搬运任务的搬运代价，得到该拟匹配结果的搬运总代价；确定单元，用于确定搬运总代价最小的拟匹配结果；配对单元，用于将搬运总代价最小的拟匹配结果中的各拟分派结果，与当前工作状态为空闲状态的目标位置进行配对；任务处理单元，用于对每一配对结果，将该配对结果中的待搬运任务按照该配对结果中的目标位置转换为一子任务，并调度该配对结果中的当前空闲AGV执行所述子任务。
在一种可能的实施例中，所述可移动载具搬运系统中包括工作台、暂存区；所述目标位置包括工作台和/或暂存区；所述配对单元，将搬运总代价最小的拟匹配结果中的各拟分派结果，与当前工作状态为空闲状态的目标位置进行配对，包括：按照所述各拟分派结果中的待搬运任务的目标工作台对所述各拟分派结果进行划分；如果所述可移动载具搬运系统中存在当前工作状态为空闲状态的工作台，则对每一当前工作状态为空闲状态的工作台，计算划分到该工作台的每一拟分派结果对应于该工作台的预计到达时间，将预计到达时间最短的拟分派结果与该当前工作状态为空闲状态的工作台配对；如果所述可移动载具搬运系统中不存在当前工作状态为空闲状态的工作台，或者存在当前工作状态为空闲状态的工作台但不存在划分到该工作台的拟分派结果，则若存在当前工作状态为空闲状态的暂存区，则为每一工作台分配当前工作状态为空闲状态的暂存区，计算划分到该工作台的每一拟分派结果对应于每一当前工作状态为空闲状态的暂存区的预计到达时间，为每个暂存区选择一个尚未配对的预计到达时间最短的拟分派结果进行配对。
在一种可能的实施例中，所述配对单元，计算划分到该工作台的每一拟分派结果对应于该工作台的预计到达时间时，用于：计算该拟分派结果中的AGV与该拟分派结果中的待搬运任务指示的可移动载具的距离和该可移动载具与该工作台的距离之和，将该距离之和与AGV的行驶速度的商确定为该拟分派结果对应于该工作台的预计到达时间；所述配对单元，计算划分到该工作台的每一拟分派结果对应于每一暂存区的预计到达时间时，用于：计算该拟分派结果中的AGV与该拟分派结果中的待搬运任务指示的可移动载具的距离和该可移动载具与该暂存区的距离之和，将该距离之和与AGV的行驶速度的商确定为该拟分派结果对应于该暂存区的预计到达时间。
在一种可能的实施例中，所述配对单元，为每一工作台分配当前工作状态为空闲状态的暂存区，包括：确定可分配给每一工作台的当前工作状态为空闲状态的暂存区数量N，将与该工作台距离最近的N个尚未被分配的工作状态为空闲状态的暂存区分配给该工作台；所述配对单元为每个暂存区选择一个尚未配对的预计到达时间最短的拟分派结果进行配对，包括：按照分配给该工作台的暂存区与该工作台的距离从近到远的顺序，依次为每个暂存区选择一个尚未配对的预计到达时间最短的拟分派结果进行配对。
在一种可能的实施例中，所述配对单元，确定可分配给每一工作台的当前工作状态为空闲状态的暂存区数量N时，用于：统计搬运总代价最小的拟匹配结果中的拟分派结果总量，并根据各拟分派结果中的待搬运任务的目标工作台确定属于每一工作台的拟分派结果个数；如果所述拟分派结果总量不大于当前工作状态为空闲状态的暂存区数量，则确定可分配给每一工作台的工作状态为空闲状态的暂存区数量N为属于该工作台的拟分派结果个数；如果所述拟分派结果总量大于当前工作状态为空闲状态的暂存区数量，则按照属于各工作台的拟分派结果个数之间的比例关系，确定可分配给每一工作台的工作状态为空闲状态的暂存区数量N。
在一种可能的实施例中，所述任务处理单元，调度该配对结果中的当前空闲AGV执行所述子任务之后，还用于：如果该配对结果中的目标位置是暂存区，则将所述子任务转换为从该目标位置到该配对结果中的待搬运任务的目标工作台的待搬运任务，再次参与和当前空闲AGV的拟匹配。
在一种可能的实施例中，所述任务处理单元，调度该配对结果中的当前空闲AGV执行所述子任务之后，还用于：如果该配对结果中的目标位置是工作台，则若该配对结果中的待搬运任务是从距离该工作台最近的分配给该工作台的暂存区到该工作台的待搬运任务，则将已分配给该工作台的暂存区按照与该工作台的从近到远的顺序排序，并从排序第二的暂存区开始，依次对排序中的每一暂存区执行以下操作：将该暂存区的前一暂存区作为目标位置，按照该目标位置将从该暂存区到该工作台的待搬运任务转换为一从该暂存区到目标位置的子任务，调度一当前空闲AGV执行该子任务，并在调度完成后，将该子任务转换为从该目标位置到该工作台的待搬运任务，再次参与和当前空闲AGV的拟匹配。
在一种可能的实施例中，所述可移动载具搬运系统还包括储位区；该装置还包括：回库单元，用于所述可移动载具搬运系统中的任一工作台的剩余拣货时间小于预设时间阈值时，如果存在空闲AGV，则调度距离该工作台最近的空闲AGV到达该工作台等待，并在该工作台的拣货任务完成时，调度已到达该工作台的空闲AGV将该工作台上的可移动载具搬运回储位区，以使该工作台的工作状态从工作状态转变为空闲状态。
在一种可能的实施例中，所述计算单元，根据该拟匹配结果中各当前空闲AGV执行拟分派的待搬运任务的搬运路程、和/或拟分派的待搬运任务的下发时长，计算各当前空闲AGV执行拟分派的待搬运任务的搬运代价，包括：按照该拟匹配结果中各当前空闲AGV执行拟分派的待搬运任务的搬运路程与搬运代价成正比的原则、和/或各当前空闲AGV拟分派的待搬运任务的下发时长与搬运代价成反比的原则，计算各当前空闲AGV执行拟分派的待搬运任务的搬运代价；其中，各当前空闲AGV执行拟分派的待搬运任务的搬运路程为该当前空闲AGV与拟分派的待搬运任务指示的可移动载具之间的距离和该可移动载具与拟分派的待搬运任务的目标工作台之间的距离之和。
本申请实施例提供了一种电子设备，包括处理器、以及与所述处理器通过总线相连的非瞬时计算机可读存储介质；所述非瞬时计算机可读存储介质存储有可被所述处理器执行的指令；所述处理器执行所述指令时实现上述AGV调度方法。
本申请实施例提供了一种非瞬时计算机可读存储介质，所述非瞬时计算机可读存储介质存储指令，所述指令在由处理器执行时使得所述处理器执行如上述AGV调度方法中的步骤。
本申请实施例提供了一种可移动载具搬运系统，所述可移动载具搬运系统包括搬运服务器、AGV；
所述AGV用于在所述搬运服务器的控制下执行待搬运任务；所述搬运服务器用于对所述可移动载具搬运系统中I个当前空闲AGV和J个待搬运任务进行拟匹配，得到多个拟匹配结果，每一拟匹配结果中包括k个当前空闲AGV i与对应的待搬运任务j的拟分派结果；其中，I、J分别为大于或等于1的自然数，k为I和J中的最小值；对每一拟匹配结果，根据该拟匹配结果中各当前空闲AGV执行拟分派的待搬运任务的搬运路程、和/或拟分派的待搬运任务的下发时长，计算各当前空闲AGV执行拟分派的待搬运任务的搬运代价，累加所述各当前空闲AGV执行拟分派的待搬运任务的搬运代价，得到该拟匹配结果的搬运总代价；确定搬运总代价最小的拟匹配结果；将搬运总代价最小的拟匹配结果中的各拟分派结果，与当前工作状态为空闲状态的目标位置进行配对；对每一配对结果，将该配对结果中的待搬运任务按照该配对结果中的目标位置转换为一子任务，并调度该配对结果中的当前空闲AGV执行所述子任务。
在一种可能的实施例中，所述可移动载具搬运系统还包括：工作台、暂存区；所述目标位置包括工作台和/或暂存区；所述搬运服务器将搬运总代价最小的拟匹配结果中的各拟分派结果，与当前工作状态为空闲状态的目标位置进行配对，包括：按照所述各拟分派结果中的待搬运任务的目标工作台对所述各拟分派结果进行划分；如果所述可移动载具搬运系统中存在当前工作状态为空闲状态的工作台，则对每一当前工作状态为空闲状态的工作台，计算划分到该工作台的每一拟分派结果对应于该工作台的预计到达时间，将预计到达时间最短的拟分派结果与该当前工作状态为空闲状态的工作台配对；如果所述可移动载具搬运系统中不存在当前工作状态为空闲状态的工作台，或者存在当前工作状态为空闲状态的工作台但不存在划分到该工作台的拟分派结果，则若存在当前工作状态为空闲状态的暂存区，则为每一工作台分配当前 工作状态为空闲状态的暂存区，计算划分到该工作台的每一拟分派结果对应于每一当前工作状态为空闲状态的暂存区的预计到达时间，为每个暂存区选择一个尚未配对的预计到达时间最短的拟分派结果进行配对。
在一种可能的实施例中，所述可移动载具搬运系统还包括：储位区；所述搬运服务器还用于所述可移动载具搬运系统中的任一工作台的剩余拣货时间小于预设时间阈值时，如果存在空闲AGV，则调度距离该工作台最近的空闲AGV到达该工作台等待，并在该工作台的拣货任务完成时，调度已到达该工作台的空闲AGV将该工作台上的可移动载具搬运回储位区，以使该工作台的工作状态从工作状态转变为空闲状态。
由上面的技术方案可知，本申请实施例中，从空闲AGV和待搬运任务的多种拟匹配结果中选择搬运代价最小的拟匹配结果，将该拟匹配结果中的各分派结果与当前工作状态为空闲状态的目标位置进行配对，之后，将每一配对结果中的待搬运任务按照该配对结果中的目标位置转换为一子任务，并调度该配对结果中的当前空闲AGV执行所述子任务。可以看出，由于在任务分派时选择了搬运单价最小的空闲AGV和待搬运任务的拟匹配结果，基于此拟匹配结果执行后续的与当前工作状态为空闲状态的目标位置进行配对，从而使得各配对结果中的待搬运任务被转换为子任务执行时，可以达到以较低的搬运代价实现可移动载具的搬运的目的。
附图说明
为了更清楚地说明本申请实施例和现有技术的技术方案，下面对实施例和现有技术中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实施例，本领域普通技术人员来讲还可以根据这些附图获得其他的附图。
图1是本申请实施例提供的可移动载具搬运系统的架构示意图；
图2是本申请实施例提供的AGV调度方法流程图；
图3是本申请实施例提供的可移动载具搬移场景示例图；
图4a至图4d是本申请实施例提供的可移动载具搬移结果示意图；
图5是本申请实施例提供的AGV调度装置的结构示意图；
图6是本申请实施例提供的电子设备的结构示意图。
具体实施方式
为使本申请的目的、技术方案、及优点更加清楚明白，以下参照附图并举实施例，对本申请进一步详细说明。显然，所描述的实施例仅仅是本申请一部分实施例，而不是全部的实施例。本领域普通技术人员基于本申请实施例中的实施例所获得的所有其他实施例，都属于本申请保护的范围。
参见图1，图1是本申请实施例可移动载具搬运系统的架构示意图，如图1所示，可移动载具搬运系统包括：搬运服务器、AGV和仓库；其中，仓库中包括工作台、暂存区、及储位区。
本申请实施例中，将可移动载具的搬运过程分为从储位区到工作台和从工作台到储位区两个搬运过程。其中，对于可移动载具从储位区到工作台的搬运过程，利用可移动载具搬运系统中配置的多个暂存区以及任务分派时的搬运代价计算实现优化；对于可移动载具从工作台到储位区的搬运过程，则是通过提前调度空闲AGV到达即将完成拣货任务的工作台前等待来实现优化。
以下结合图1所示可移动载具搬运系统，对可移动载具搬运过程的优化进行具体介绍：
一、从储位区到工作台的可移动载具搬运过程优化：
本申请实施例中，对于从储位区到工作台的可移动载具搬运过程的优化，主要是利用暂存区实现，其主要思想是：在工作台空闲时，调度空闲AGV搬运可移动载具到工作台进行补货，使工作台不空闲；而在工作台不空闲时，则调度 空闲AGV将可移动载具搬运到暂存区进行暂存区填满，以便工作台再次空闲时，可以从暂存区搬运可移动载具到工作台，由于暂存区距离工作台更近，因此可以使得工作台可以更快的得到补货，保证工作台不会空闲过久。无论是对工作台补货，还是对暂存区填满，都基于搬运代价考虑，找到搬运代价最小的AGV与待搬运任务的分派方案，从而使得可以以较小的搬运代价完成整个搬运过程。
参见图2，图2是本申请实施例AGV调度方法流程图，该方法应用于可移动载具搬运系统中的搬运服务器，所述可移动载具搬运系统还包括：AGV和仓库；如图2所示，该方法主要包括以下步骤：
步骤201、对所述可移动载具搬运系统中I个当前空闲AGV和J个待搬运任务进行不同的拟匹配，得到不同的拟匹配结果，每一拟匹配结果中包括k个当前空闲AGV i与对应的待搬运任务j的拟分派结果，I个当前空闲AGV可以是全部的AGV，也可以是按照一定规则从全部AGV中选出的部分AGV；其中，I、J分别为大于或等于1的自然数，k为I和J中的最小值，当前空闲AGV i表示I个当前空闲AGV中的一个当前空闲AGV，并且i取值不同时所表示的当前空闲AGV不同，待搬运任务j表示J个待搬运任务中的一个待搬运任务，并且j取值不同时所表示的待搬运任务不同，当前空闲AGV对应的待搬运任务是指在该拟分派结果中拟分派给该当前空闲AGV的待搬运任务。
本申请实施例中，当所述可移动载具搬运系统中存在空闲AGV和待搬运任务时，可以对当前空闲AGV和待搬运任务进行多次不同的拟匹配，每次拟匹配可以得到一个拟匹配结果，可以进行不同的拟匹配的最大次数Num(即要穷举所有拟匹配结果需要进行不同的拟匹配次数)可采用以下公式确定：
Figure PCTCN2020132888-appb-000001
另一种可能的实施例中也可采用以下公式确定：
Figure PCTCN2020132888-appb-000002
其中，要穷举所有拟匹配结果需要穷举所有当前空闲AGV和所有待搬运任务之间可能的拟匹配方式。
步骤202、对每一拟匹配结果，根据该拟匹配结果中各当前空闲AGV执行拟分派的待搬运任务的搬运路程、和/或拟分派的待搬运任务的下发时长，计算各当前空闲AGV执行拟分派的待搬运任务的搬运代价，累加所述各当前空闲AGV执行拟分派的待搬运任务的搬运代价，得到该拟匹配结果的搬运总代价。
本申请实施例中，提出搬运代价的概念。搬运代价是指调度某一AGV执行某一待搬运任务所需要付出的代价，本申请实施例中，可以根据待搬运任务的搬运路程和/或待搬运任务的下发时长确定，其中，待搬运任务的搬运路程与搬运代价成正比，待搬运任务的下发时长与搬运代价成反比。这里，待搬运任务的搬运路程是AGV与待搬运任务指示的可移动载具之间的距离和该可移动载具与该搬运任务的目标工作台之间的距离之和。待搬运任务的下发时长是待搬运任务的下发时间与当前时间的差值。待搬运任务的下发时长即从待搬运服务器接收到该待搬运任务起至今所经历的时长，需要说明的是，待搬运任务是由任务生成设备直接或通过中间设备间接下发到搬运服务器的，下发到搬运服务器的时间就是待搬运任务的下发时间，当将待搬运任务拟分配给某个当前空闲AGV后，计算该当前空闲AGV执行该待搬运任务的搬运代价的时间就是当前时间。
本步骤202中，根据该拟匹配结果中各当前空闲AGV执行拟分派的待搬运任务的搬运路程、和/或拟分派的待搬运任务的下发时长，计算各当前空闲AGV执行拟分派的待搬运任务的搬运代价，具体包括：
按照该拟匹配结果中各当前空闲AGV执行拟分派的待搬运任务的搬运路程与搬运代价成正比的原则、和/或各当前空闲AGV拟分派的待搬运任务的下发时长与搬运代价成反比的原则，计算各当前空闲AGV执行拟分派的待搬运任务的搬运代价；其中，各当前空闲AGV执行拟分派的待搬运任务的搬运路程为：该当前空闲AGV与拟分派的待搬运任务指示的可移动载具之间的距离和该可移动载具与拟分派的待搬运任务的目标工作台之间的距离之和，本文中的距离可以是 指欧式距离，也可以是曼哈顿距离，还可以是指其他距离。各当前空闲AGV拟分派的待搬运任务的下发时长是：该拟分派的待搬运任务下发到可移动载具搬运系统的时间与当前时间的时间差。
步骤203、确定搬运总代价最小的拟匹配结果。
在计算出所有拟匹配结果的搬运总代价之后，可以确定其中搬运总代价最小的拟匹配结果。
步骤204、将搬运总代价最小的拟匹配结果中的各拟分派结果，与当前工作状态为空闲状态的目标位置进行配对。
本申请实施例中，所述目标位置为工作台和/或暂存区。
本申请实施例中，将搬运总代价最小的拟匹配结果中的各拟分派结果，与当前工作状态为空闲状态的目标位置进行配对的原则是：存在工作状态为空闲状态的工作台时，将工作状态为空闲状态的工作台作为目标位置，与各拟分派结果进行配对；不存在工作状态为空闲状态的工作台，或者存在工作状态为空闲状态的工作台但各拟分派结果中的待搬运任务的目标工作台均不是该工作台，则将工作状态为空闲状态的暂存区与各拟分派结果进行配对。
本申请实施例中，所述将搬运总代价最小的拟匹配结果中的各拟分派结果，与当前工作状态为空闲状态的目标位置进行配对，具体包括：
S11、按照所述各拟分派结果中的待搬运任务的目标工作台对所述各拟分派结果进行划分；
由于不同拟分派结果中的待搬运任务的目标工作台可能相同，而同一工作台在同一时间只能够对处理一个可移动载具，因此对于多个所包括的待搬运任务的目标工作台相同的拟分派结果，在同一时间内目标工作台只能够被分配至其中一个拟分派结果，而其他拟分派结果则只能够被分配到暂存区，因此需要对各拟分派结果进行划分，即统计各待搬运任务的目标工作台，每个工作台或暂存区最多只能够作为一个待搬运任务的目标工作台，并且拟分派结果的目标工作台应当为该拟分派结果中待搬运任务的目标工作台。
S12_1、如果所述可移动载具搬运系统中存在当前工作状态为空闲状态的工作台，则对每一当前工作状态为空闲状态的工作台，计算划分到该工作台的每一拟分派结果对应于该工作台的预计到达时间，将预计到达时间最短的拟分派结果与该当前工作状态为空闲状态的工作台配对，其中，一个拟分派结果对应于一个工作台的预计到达时间可以是指：如果将该拟分派结果与该工作台配对，则从指定时间开始至该拟分派结果中的当前空闲AGV将可移动载具搬运至该工作台所经过的时间的预估值，预估的方式将在下文进行详细说明在此不再赘述，其中，指定时间可以是当前时间，也可以是其他时间如AGV开始执行待搬运任务的时间；
S12_2、如果所述可移动载具搬运系统中不存在当前工作状态为空闲状态的工作台，或者存在当前工作状态为空闲状态的工作台但不存在划分到该工作台的拟分派结果，则若存在当前工作状态为空闲状态的暂存区，则为每一工作台分配当前工作状态为空闲状态的暂存区，计算划分到该工作台的每一拟分派结果对应于每一暂存区的预计到达时间，按照分配给该工作台的暂存区与该工作台的距离从近到远的顺序，依次为每个暂存区选择一个尚未配对的预计到达时间最短的拟分派结果进行配对，其中，一个拟分派结果对应于一个暂存区的预计到达时间可以是指：如果将该拟分派结果与该暂存区配对，则从指定时间开始至该拟分派结果中的当前空闲AGV将可移动载具搬运至该暂存区所经过的时间的预估值。划分到一个工作台的拟分派结果是指：该拟分派结果中包括的待搬运任务指示的目标工作台为该一个工作台。
上述步骤S12_1和S12_2是并列步骤，无先后顺序，基于当前工作状态为空闲状态的工作台和划分到各工作台的拟分派结果的具体情况确定执行哪个步骤。
本申请实施例中，提出了预计到达时间的概念。预计到达时间是指对调度某个AGV将一个可移动载具搬运到某一位置点所需要花费的时间的预测，可以采用公式
Figure PCTCN2020132888-appb-000003
计算得到，其中ETA即预计到达时间，d 1表示AGV 与可移动载具之间的距离，d 2表示可移动载具与该位置点之间的距离，v表示AGV的行驶速度(本申请实施例中可以用所有AGV的平均行驶速度表示v值，可以预先设定，例如可以是根据经验预先设定的，也可以是预先进行行驶速度的测试并根据测试结果设定的)。在该实施例中，可以认为各AGV的行驶速度相等，在其他可能的实施例中，也可以认为各AGV的行驶速度不相等，为描述方便，以vi将第i个AGV的速度，则第i个AGV的预计到达时间可以是采用以下公式
Figure PCTCN2020132888-appb-000004
计算得到的。并且，对于可以认为各AGV的行驶速度相等的实施例中，由于各AGV的行驶速度相等，因此也可以是以d 1+d 2的形式表示预计到达时间。
基于上述对预计到达时间的定义可知：
上述步骤S12_1中，所述计算划分到该工作台的每一拟分派结果对应于该工作台的预计到达时间的具体方法如下：
计算该拟分派结果中的AGV与该拟分派结果中的待搬运任务指示的可移动载具的距离和该可移动载具与该工作台的距离之和，将该距离之和与AGV的行驶速度的商确定为该拟分派结果对应于该工作台的预计到达时间；
上述步骤S12_2中，所述计算划分到该工作台的每一拟分派结果对应于每一暂存区的预计到达时间的具体方法如下：
计算该拟分派结果中的AGV与该拟分派结果中的待搬运任务指示的可移动载具的距离和该可移动载具与该暂存区的距离之和，将该距离之和与AGV的行驶速度的商确定为该拟分派结果对应于该暂存区的预计到达时间。
在实际应用中，为每一工作台分配暂存区时，由于暂存区的数量是有限的，因此，需要先确定有多少暂存区可以分配给该工作台，另外，也要挑选与该工作台的较近的暂存区分配给该工作台。
因此，在上述步骤S12_2中，所述为每一工作台分配当前工作状态为空闲状态的暂存区，具体包括：确定可分配给每一工作台的当前工作状态为空闲状态的暂存区数量N，将与该工作台距离最近的N个尚未被分配的工作状态为空闲状态的暂存区分配给该工作台，N为大于等于1的自然数。
其中，所述确定可分配给每一工作台的当前工作状态为空闲状态的暂存区数量N，可具体采用以下步骤：
S12_2_a1、统计搬运总代价最小的拟匹配结果中的拟分派结果总量，并根据各拟分派结果中的待搬运任务的目标工作台确定属于每一工作台的拟分派结果个数；
一个拟分派结果属于一工作台是指：该拟分派结果中的待搬运任务所指示的目标工作台为该工作台。
S12_2_a2_1、如果所述拟分派结果总量不大于当前工作状态为空闲状态的暂存区数量，则确定可分配给每一工作台的工作状态为空闲状态的暂存区数量N为属于该工作台的拟分派结果个数；
S12_2_a2_2、如果所述拟分派结果总量大于(不包含本数)当前工作状态为空闲状态的暂存区数量，则按照属于各工作台的拟分派结果个数之间的比例关系，确定可分配给每一工作台的工作状态为空闲状态的暂存区数量N。
示例性的，假设一共有3个工作台，分别记为工作台1-3，其中属于工作台1的拟分派结果为10，属于工作台2的拟分派结果为6，属于工作台3的拟分派结果为4，此时拟分派结果总量为10+6+4＝20，假设当前工作状态为空闲状态的暂存区数量为10，则由于属于工作台1的拟分派结果个数、属于工作台2的拟分派结果个数以及属于工作台3的拟分派结果个数之比为5:3:2，因此分配给工作台1的工作状态为空闲状态的暂存区数量、分配给工作台2的工作状态为空闲状态的暂存区数量以及分配给工作台3的工作状态为空闲状态的暂存区数量之比为5:3:2，即分配给工作台1的工作状态为空闲状态的暂存区数量为5，分配给工作台2的工作状态为空闲状态的暂存区数量为3，分配给工作台3的工作状态为空闲状态的暂存区数量为2。
上述步骤S12_2_a2_1和S12_2_a2_1是并列的步骤，不分先后顺序，根据所述拟分派结果总量与当前工作状态为空 闲状态的暂存区数量的比较结果确定执行哪个步骤。
步骤205、对每一配对结果，将该配对结果中的待搬运任务按照该配对结果中的目标位置转换为一子任务，并调度该配对结果中的当前空闲AGV执行所述子任务。
步骤204中，将搬运总代价最小的拟匹配结果中的各拟分派结果，与当前工作状态为空闲状态的目标位置进行配对的最终目的是：为配对成功的每个拟分派结果指明本次搬运的目标位置，之后，就可以基于此目标位置，可以将该拟分派结果中的待搬运任务按照此目标位置转换成一个子任务(即从待搬运任务指示的可移动载具的当前位置到此目标位置的搬运任务)，并调度该配对结果中的当前空闲AGV执行此子任务。
在实际应用中，一个完整的待搬运任务是将可移动载具从储位区到工作台。因此，在本申请实施例中，在将搬运总代价最小的拟匹配结果中的各拟分派结果与当前工作状态为空闲状态的目标位置进行配对后，对于任一配对结果来说，根据该配对结果中的目标位置是工作台或暂存区，分为以下两种情况：
1)该配对结果中的目标位置是工作台。
此种情况下，将该配对结果中的待搬运任务转换为子任务后，转换后的子任务与待搬运任务实质上是同一任务，因此在调度该配对结果中的AGV执行此子任务之后，整个待搬运任务已执行完毕。
2)该配对结果中的目标位置是暂存区。
此种情况下，将该配对结果中的待搬运任务转换为子任务后，转换后的子任务的目标位置是此暂存区，调度该配对结果中的AGV执行此子任务之后，可移动载具被搬运到暂存区，并未被送达工作台，因此整个待搬运任务并未执行完毕。本申请实施例中，为了最终将这个待搬运任务执行完毕，在调度该配对结果中的当前空闲AGV执行此子任务之后，还可以进一步将此子任务转换为从该目标位置(即可移动载具被搬运到的暂存区)到该配对结果中的待搬运任务的目标工作台的待搬运任务，转换得到的待搬运任务再次参与和当前空闲AGV的拟匹配。
因此，本步骤205中，所述调度该配对结果中的当前空闲AGV执行所述子任务之后，可以包括：如果该配对结果中的目标位置是暂存区，则将所述子任务转换为从该目标位置到该配对结果中的待搬运任务的目标工作台的待搬运任务，再次参与和当前空闲AGV的拟匹配。
从上述情况2)的描述可以看出，本申请实施例中，参与和当前空闲AGV的拟匹配的待搬运任务，可能是从储位区到工作台的待搬运任务，也可能是某一从储位区到工作台的待搬运任务被经过多次任务转换后变成的从某一暂存区到工作台的待搬运任务。
本申请实施例中，所述调度该配对结果中的当前空闲AGV执行所述子任务之后，还可以包括：
S21、如果该配对结果中的目标位置是工作台，则若该配对结果中的待搬运任务是从距离该工作台最近的暂存区到该工作台的待搬运任务，则将已分配给该工作台的暂存区按照与该工作台的从近到远的顺序排序，并从排序第二的暂存区开始，依次对排序中的每一暂存区执行以下操作(即步骤S22)：
S22、将该暂存区的前一暂存区作为目标位置，按照该目标位置将从该暂存区到该工作台的待搬运任务转换为一子任务，调度一当前空闲AGV执行该子任务，并在调度完成后，将该子任务转换为从该目标位置到该工作台的待搬运任务，再次参与和当前空闲AGV的拟匹配。
其中，从该目标位置到该工作台的待搬运任务可以在满足以下两个条件中的任一条件的情况下再次参与和当前空闲AGV的拟匹配：
条件1：该工作台的工作状态为空闲状态。
条件2：分配给该工作台的暂存区中存在比目标位置距离该工作台更近且处于空闲状态的暂存区。
通过以上两个步骤，可以在将距离某工作台最近的暂存区的可移动载具搬运到工作台之后，将需要搬运到该工作台的其它暂存区中的可移动载具向距离该工作台更近的一个暂存区搬移，例如，从距离该工作台从近到远排序，各暂存区依次为x、y、z，则将x中的可移动载具搬运到该工作台后，可以通过以上两个步骤依次将y中的可移动载具搬运到x，z中的可移动载具搬运到y。
以上是对本申请实施例提供的从储位区到工作台的搬运方法的描述。
二、从工作台到储位区的可移动载具搬运过程优化
本申请实施例中，对于从工作台到储位区的可移动载具搬运过程优化，主要通过提前调度空闲AGV等待，工作台完成拣货后即可将可移动载具从工作台搬运回储位区，从使得工作台可以在拣货完成后不需要等待AGV的到来。
本申请实施例中，为了避免完成拣货的可移动载具被放置在工作台上占位，可以提前调度空闲AGV到工作台，等待搬运可移动载具回储位区。具体地，可以预先设置一个时间阈值。当所述可移动载具搬运系统中的任一工作台的剩余拣货时间小于预设时间阈值时，如果存在空闲AGV，则调度距离该工作台最近的空闲AGV到达该工作台等待，并在该工作台的拣货任务完成时，调度已到达该工作台的空闲AGV将该工作台上的可移动载具搬运回储位区，以使该工作台的工作状态从工作状态转变为空闲状态。
在实际应用中，确定该工作台的当前拣货任务完成，可以有多种方法，例如在拣货时间固定的情况下，当该工作台的剩余拣货时间变为0时，确定该工作台的当前拣货任务完成。又如在拣货时间不固定的情况下，可以由工作人员在工作台触发拣货完成通知，搬运服务器接收到拣货完成通知时，确定该工作台的当前拣货任务完成。
基于上述从储位区到工作台的可移动载具搬运过程优化方案(即上述步骤201-205)，工作台的工作状态变为空闲状态后，搬运服务器通过执行步骤201-205为该工作台其补货，从而开启新一轮的拣货。
以上对本申请实施例提供的AGV调度方法进行了原理性说明，下面结合具体的例子对本申请实施例提供的实施方法进行举例说明：
参见图3，图3是本申请实施例提供的可移动载具搬移场景示例图，如图3所示为一12×12的栅格地图，每个格子的长宽均是1米，灰色格子代表自动化仓库中的储位区，带水平条纹的格子代表工作台，带竖直条纹的格子代表暂存区。且假定满足以下3个条件：
(I)工作台A、B、C的拣货时间分别是5分钟、9分钟、13分钟。其中，距离工作台A较近的暂存区有3个，编号从A1至A3；距离工作台B较近的暂存区有2个，编号从B1至B2；距离工作台C较近的暂存区有2个，编号从C1至C2。假设暂存区与工作台A的距离从近到远排序为：A1、A2、A3、B1、B2、C1、C2；暂存区与工作台B的距离从近到远排序为：B1、B2、A1、A2、A3、C1、C2；暂存区与工作台C的距离从近到远排序为：C1、C2、B2、B1、A3、A2、A1。
(II)有5台AGV小车，编号从1001到1005，平均行驶速度1m/s；
(III)每个工作台的搬运任务量充足。
从图3可以看出，地图上最远的距离约12+12＝24米，据此可以估算AGV在任意两点之间行进时，最长需要0.5分钟左右，因此统一按0.5分钟。并且基于统一0.5分钟行进时长，设定拣货时间阈值为1分钟(即AGV从工作台到达最远的储位并搬运可移动载具返回到工作台需要的最长时间)，当工作台的剩余拣货时间低于该时间阈值时，调度空闲AGV到工作台等待执行从工作台到储位区的可移动载具搬移过程。
基于上述假设条件以及根据上述假设条件设定的拣货时间阈值，在图3所示的场景中实施本申请的方法的过程如下：
(1)初始时，5台AGV空闲，且3个工作台及7个暂存区均为空闲状态。
此时，将5台AGV与待搬运任务进行不同的拟匹配并计算确定搬运总代价最小的拟匹配结果，假设搬运总代价最小的拟匹配结果中，拟分派结果如下：
拟分派结果1：AGV1001与待搬运任务1(目标工作台为工作台A)；
拟分派结果2：AGV1002与待搬运任务2(目标工作台为工作台A)；
拟分派结果3：AGV1003与待搬运任务3(目标工作台为工作台B)；
拟分派结果4：AGV1004与待搬运任务4(目标工作台为工作台B)；
拟分派结果5：AGV1005与待搬运任务5(目标工作台为工作台C)。
3个工作台的工作状态为空闲状态，因此，将5个拟分派结果与3个工作台配对：
假设拟分派结果1对应于工作台A的预计到达时间小于拟分派结果2对应于工作台A的预计到达时间，则拟分派结果1与工作台A配对，因此调度AGV1001执行待搬运任务1，将待搬运任务1指示的可移动载具搬运到工作台A；
假设拟分派结果3对应于工作台B的预计到达时间小于拟分派结果4对应于工作台B的预计到达时间，则拟分派结果3与工作台B配对，因此调度AGV1003与待搬运任务3，将待搬运任务3指示的可移动载具搬运到工作台B；
同时，拟分派结果5与工作台C配对，因此还调度AGV1005执行待搬运任务5，将待搬运任务5指示的可移动载具搬运到工作台C。
在一种可能的实施例中，由于AGV1002和AGV1004仍是空闲的，可以是在调度AGV10001、AGV1003、AGV1005执行待搬运任务之前，根据已经得到的拟分派结果，将拟分派结果2和拟分派结果4与暂存区进行配对，即调度AGV1002将待搬运任务2指示的可移动载具搬运到工作台A的暂存区，并调度AGV1004将待搬运任务4指示的可移动载具搬运到工作台B的暂存区。
在另一种可能的实施例中也可以是在调度AGV1001、AGV1003、AGV1005执行待搬运任务之后，由于AGV1002和AGV1004仍是空闲的，且调度AGV1001、AGV1003、AGV1005执行待搬运任务将花费一定时长，各AGV以及工作台的状态可能发生变化，因此，可以再次将AGV1002和AGV1004与待搬运任务进行不同的拟匹配，并确定搬运总代价最小的拟匹配结果，假设搬运总代价最小的拟匹配结果中，拟分派结果如下：
拟分派结果2’：AGV1002与待搬运任务2(目标工作台为工作台A)；
拟分派结果4’：AGV1004与待搬运任务4(目标工作台为工作台B)。
此时不存在空闲工作台，因此，将2个拟分派结果与7个暂存区配对：
拟分派结果2’与暂存区A1配对，因此，将待搬运任务2拆分为从储位区到暂存区A1的子任务，调度AGV1002执行该子任务，最终将待搬运任务2指示的可移动载具搬运到暂存区A1，之后将此子任务转换为从暂存区A1到工作台A的待搬运任务2’(转换得到的待搬运任务2’的下发时间与原待搬运任务2的下发时间相同)；
拟分派结果4’与暂存区B1配对，因此，将待搬运任务4拆分为从储位区到暂存区B1的子任务，调度AGV1004执行该子任务，最终将待搬运任务4指示的可移动载具搬运到暂存区B1，之后将此子任务转换为从暂存区B1到工作台B的待搬运任务4’(转换得到的待搬运任务4’的下发时间与原待搬运任务4的下发时间相同)。
最终搬运结果如图4a所示(工作台和暂存区中的黑色长方形代表可移动载具)。
由于AGV搬运可移动载具的路程不同，搬运完成时间也不同，搬运完成后即成为空闲AGV，因此可以即刻对空闲 下来的AGV和待搬运任务再次进行拟匹配。在实际实现时，为了避免频繁执行此拟匹配操作，当空闲AGV小于一定数量时，也可以等待一个预设时间(例如0.1分钟)之后再执行此操作，又或者每隔固定时间(例如1分钟)执行一次此拟匹配操作，本申请对此不做限制。
下文中为描述方便省去了部分涉及时间的数值的单位，被省略的单位默认为分钟。假设此时的时间为T＝0，即初始时的时间为T＝0，且采用每隔1分钟执行一次拟匹配操作，则：
(2)T＝1时，5台AGV均再次成为空闲AGV。
此时不存在工作状态为空闲状态的工作台，因此将5台空闲AGV和待搬运任务进行拟匹配并计算确定搬运总代价最小的拟匹配结果，对于待搬运任务2’，由于目标工作台，即工作台A，的工作状态不为空闲，且分配给工作台A的暂存区中不存在比暂存区A1距离工作台A更近且处于空闲状态的暂存区，因此待搬运任务2’不参与本次拟匹配，同理待搬运任务4’也不参与本次拟匹配，假设搬运总代价最小的拟匹配结果中，拟分派结果如下：
拟分派结果6：AGV1001与待搬运任务6(目标工作台为工作台A)；
拟分派结果7：AGV1002与待搬运任务7(目标工作台为工作台A)；
拟分派结果8：AGV1003与待搬运任务8(目标工作台为工作台B)；
拟分派结果9：AGV1004与待搬运任务9(目标工作台为工作台C)；
拟分派结果10：AGV1005与待搬运任务10(目标工作台为工作台C)。
5个暂存区(A2、A3、B2、C1、C2)的工作状态为空闲状态，因此，将5个拟分派结果与5个暂存区配对：
假设拟分派结果6对应于暂存区A2的预计到达时间小于拟分派结果7对应于暂存区A2的预计到达时间，则：
拟分派结果6与暂存区A2配对，对于拟分派结果6与暂存区A2这一配对结果，将待搬运任务6转换为从储位区到暂存区A2的子任务，调度AGV1001执行此子任务，从而将待搬运任务6指示的可移动载具搬运到暂存区A2，之后，将此子任务转换为从暂存区A2到工作台A的待搬运任务6’(其下发时间与待搬运任务6的下发时间相同)。
拟分派结果7与暂存区A3配对，对于拟分派结果7与暂存区A3这一配对结果，将待搬运任务7转换为从储位区到暂存区A3的子任务，调度AGV1002执行此子任务，从而将待搬运任务7指示的可移动载具搬运到暂存区A3，之后，将此子任务转换为从暂存区A3到工作台A的待搬运任务7’(其下发时间与待搬运任务7的下发时间相同)。
由于拟分派结果8的目标工作台是工作台B，拟分派结果8与暂存区B1配对，对于此配对结果，将待搬运任务8转换为从储位区到暂存区B2的子任务，调度AGV1003执行此子任务，从而将待搬运任务8指示的可移动载具搬运到暂存区B2，之后，将此子任务转换为从暂存区B2到工作台B的待搬运任务8’(其下发时间与待搬运任务8的下发时间相同)。
假设拟分派结果9对应于工作台C1的预计到达时间小于拟分派结果10对应于工作台C1的预计到达时间，则：
拟分派结果9与暂存区C1配对，对于此配对结果，将待搬运任务9转换为从储位区到暂存区C1的子任务，调度AGV1004执行此子任务，从而将待搬运任务9指示的可移动载具搬运到暂存区C1，之后，将此子任务转换为从暂存区C1到工作台C的待搬运任务9’(其下发时间与待搬运任务9的下发时间相同)。
拟分派结果10与暂存区C2配对，对于此配对结果，将待搬运任务10转换为从储位区到暂存区C2的子任务，调度AGV1005执行此子任务，从而将待搬运任务10指示的可移动载具搬运到暂存区C2，之后，将此子任务转换为从暂存区C2到工作台C的待搬运任务10’(其下发时间与待搬运任务10的下发时间相同)。
最终搬运结果如图4b所示(工作台和暂存区中的黑色长方形代表可移动载具)。
(3)T＝2时，5台AGV均为空闲AGV。
此时不存在工作状态为空闲状态的工作台和暂存区，因此，既不需要工作台补货，也不需要填满暂存区，即使将空闲AGV和待搬运任务进行拟匹配，也无法与工作台或暂存区配对，因此不执行拟匹配等操作。
(4)T＝3时，5台AGV仍然为空闲状态。
与T＝2时相同。
(5)T＝4时，工作台A的剩余拣货时间为1，需要调度距离工作台A最近的空闲AGV(假设是AGV1001)到工作台A等待搬运可移动载具回储位区。
(6)T＝5时，工作台A完成拣货，调度AGV1001把可移动载具从工作台A搬运回储位区，具体搬运结果如图4c所示。
AGV1001将可移动载具从工作台搬运回储位区的过程中，工作台A的工作状态变为空闲状态。将剩余4台空闲AGV和待搬运任务进行不同的拟匹配并确定搬运总代价最小的拟匹配结果，假设搬运总代价最小的拟匹配结果中，拟分派结果如下：
拟分派结果11：AGV1002与待搬运任务2’(目标工作台为工作台A)；这里需要说明的是，待搬运任务2’无论是从搬运路程还是下发时长上考虑，对应的搬运代价都会相对较小，因此在将空闲AGV与待搬运任务进行不同的拟匹配并确定搬运总代价最小的拟匹配结果中，包括空闲AGV与此待搬运任务的拟分派结果的可能性非常大。
拟分派结果12：AGV1003与待搬运任务12(目标工作台为工作台A)；
拟分派结果13：AGV1004与待搬运任务13(目标工作台为工作台B)；
拟分派结果14：AGV1005与待搬运任务14(目标工作台为工作台C)。
由于只有工作台A是空闲的，因此拟分派结果11与工作台A配对，因此，调度AGV1002将可移动载具从暂存区A1搬运到工作台A。其它拟分派结果均配对失败。
由于待搬运任务2’是从距离工作台A最近的暂存区，因此，在调度AGV1002将可移动载具从暂存区A1搬运到工作台A之后，还可继续将从暂存区A2到工作台A的待搬运任务6’转换为从暂存区A2到A1的子任务，调度AGV1002执行此子任务，从而将可移动载具从A2搬运到A1，并将此子任务转换为从A1到工作台A的待搬运任务6”。将可移动载具从A2搬运到A1，继续将从暂存区A3到工作台A的待搬运任务7’转换为从暂存区A3到A2的子任务，调度AGV1002执行此子任务，从而将可移动载具从A3搬运到A2，并将此子任务转换为从A2到工作台A的待搬运任务7”。具体搬运结果如图4d所示。
以此类推，AGV调度过程可以按照图2所示方法持续执行下去。
以上对本申请实施例AGV调度方法进行了详细说明并举例，本申请还提供了一种AGV调度装置，以下结合图5进行详细说明。
参见图5，图5是本申请实施例AGV调度装置的结构示意图，该装置应用于可移动载具搬运系统中的搬运服务器，所述可移动载具搬运系统还包括：AGV；如图5所示，该AGV调度装置500包括：拟匹配单元501，用于对所述可移动载具搬运系统中I个当前空闲AGV和J个待搬运任务进行拟匹配，得到多个拟匹配结果，每一拟匹配结果中包括k个当前空闲AGV i与对应的待搬运任务j的拟分派结果；其中，I、J分别为大于或等于1的自然数，k为I和J中的最小值；计算单元502，用于对每一拟匹配结果，根据该拟匹配结果中各当前空闲AGV执行拟分派的待搬运任务的搬运路程、和/或拟分派的待搬运任务的下发时长，计算各当前空闲AGV执行拟分派的待搬运任务的搬运代价，累加所述各当 前空闲AGV执行拟分派的待搬运任务的搬运代价，得到该拟匹配结果的搬运总代价；确定单元503，用于确定搬运总代价最小的拟匹配结果；配对单元504，用于将搬运总代价最小的拟匹配结果中的各拟分派结果，与当前工作状态为空闲状态的目标位置进行配对；任务处理单元505，用于对每一配对结果，将该配对结果中的待搬运任务按照该配对结果中的目标位置转换为一子任务，并调度该配对结果中的当前空闲AGV执行所述子任务。
图5所示装置中，所述可移动载具搬运系统中包括工作台、暂存区；所述目标位置包括工作台和/或暂存区；所述配对单元504，将搬运总代价最小的拟匹配结果中的各拟分派结果，与当前工作状态为空闲状态的目标位置进行配对，包括：按照所述各拟分派结果中的待搬运任务的目标工作台对所述各拟分派结果进行划分；如果所述可移动载具搬运系统中存在当前工作状态为空闲状态的工作台，则对每一当前工作状态为空闲状态的工作台，计算划分到该工作台的每一拟分派结果对应于该工作台的预计到达时间，将预计到达时间最短的拟分派结果与该当前工作状态为空闲状态的工作台配对；如果所述可移动载具搬运系统中不存在当前工作状态为空闲状态的工作台，或者存在当前工作状态为空闲状态的工作台但不存在划分到该工作台的拟分派结果，则若存在当前工作状态为空闲状态的暂存区，则为每一工作台分配当前工作状态为空闲状态的暂存区，计算划分到该工作台的每一拟分派结果对应于每一当前工作状态为空闲状态的暂存区的预计到达时间，为每个暂存区选择一个尚未配对的预计到达时间最短的拟分派结果进行配对。
图5所示装置中，所述配对单元504，计算划分到该工作台的每一拟分派结果对应于该工作台的预计到达时间时，用于：计算该拟分派结果中的AGV与该拟分派结果中的待搬运任务指示的可移动载具的距离和该可移动载具与该工作台的距离之和，将该距离之和与AGV的行驶速度的商确定为该拟分派结果对应于该工作台的预计到达时间；所述配对单元504，计算划分到该工作台的每一拟分派结果对应于每一暂存区的预计到达时间时，用于：计算该拟分派结果中的AGV与该拟分派结果中的待搬运任务指示的可移动载具的距离和该可移动载具与该暂存区的距离之和，将该距离之和与AGV的行驶速度的商确定为该拟分派结果对应于该暂存区的预计到达时间。
图5所示装置中，所述配对单元504，为每一工作台分配当前工作状态为空闲状态的暂存区，包括：确定可分配给每一工作台的当前工作状态为空闲状态的暂存区数量N，将与该工作台距离最近的N个尚未被分配的工作状态为空闲状态的暂存区分配给该工作台；所述配对单元为每个暂存区选择一个尚未配对的预计到达时间最短的拟分派结果进行配对，包括：按照分配给该工作台的暂存区与该工作台的距离从近到远的顺序，依次为每个暂存区选择一个尚未配对的预计到达时间最短的拟分派结果进行配对。
图5所示装置中，所述配对单元504，确定可分配给每一工作台的当前工作状态为空闲状态的暂存区数量N时，用于：统计搬运总代价最小的拟匹配结果中的拟分派结果总量，并根据各拟分派结果中的待搬运任务的目标工作台确定属于每一工作台的拟分派结果个数；如果所述拟分派结果总量不大于当前工作状态为空闲状态的暂存区数量，则确定可分配给每一工作台的工作状态为空闲状态的暂存区数量N为属于该工作台的拟分派结果个数；如果所述拟分派结果总量大于当前工作状态为空闲状态的暂存区数量，则按照属于各工作台的拟分派结果个数之间的比例关系，确定可分配给每一工作台的工作状态为空闲状态的暂存区数量N。
图5所示装置中，所述任务处理单元505，调度该配对结果中的当前空闲AGV执行所述子任务之后，还用于：如果该配对结果中的目标位置是暂存区，则将所述子任务转换为从该目标位置到该配对结果中的待搬运任务的目标工作台的待搬运任务，再次参与和当前空闲AGV的拟匹配。
图5所示装置中，所述任务处理单元505，调度该配对结果中的当前空闲AGV执行所述子任务之后，还用于：如果该配对结果中的目标位置是工作台，则若该配对结果中的待搬运任务是从距离该工作台最近的分配给该工作台的暂存区 到该工作台的待搬运任务，则将已分配给该工作台的暂存区按照与该工作台的从近到远的顺序排序，并从排序第二的暂存区开始，依次对排序中的每一暂存区执行以下操作：
将该暂存区的前一暂存区作为目标位置，按照该目标位置将从该暂存区到该工作台的待搬运任务转换为一从该暂存区到目标位置的子任务，调度一当前空闲AGV执行该子任务，并在调度完成后，将该子任务转换为从该目标位置到该工作台的待搬运任务，再次参与和当前空闲AGV的拟匹配。
图5所示装置中，所述可移动载具搬运系统还包括储位区；该装置还包括：回库单元506，用于所述可移动载具搬运系统中的任一工作台的剩余拣货时间小于预设时间阈值时，如果存在空闲AGV，则调度距离该工作台最近的空闲AGV到达该工作台等待，并在该工作台的拣货任务完成时，调度已到达该工作台的空闲AGV将该工作台上的可移动载具搬运回储位区，以使该工作台的工作状态从工作状态转变为空闲状态。
图5所示装置中，所述计算单元502，根据该拟匹配结果中各当前空闲AGV执行拟分派的待搬运任务的搬运路程、和/或拟分派的待搬运任务的下发时长，计算各当前空闲AGV执行拟分派的待搬运任务的搬运代价，包括：按照该拟匹配结果中各当前空闲AGV执行拟分派的待搬运任务的搬运路程与搬运代价成正比的原则、和/或各当前空闲AGV拟分派的待搬运任务的下发时长与搬运代价成反比的原则，计算各当前空闲AGV执行拟分派的待搬运任务的搬运代价；其中，各当前空闲AGV执行拟分派的待搬运任务的搬运路程为该当前空闲AGV与拟分派的待搬运任务指示的可移动载具之间的距离和该可移动载具与拟分派的待搬运任务的目标工作台之间的距离之和。
本申请实施例还提供了一种电子设备，如图6所示，该电子设备600包括处理器601、以及与所述处理器601通过总线相连的非瞬时计算机可读存储介质602；所述非瞬时计算机可读存储介质602存储有可被所述处理器601执行的指令；所述处理器601执行所述指令时实现如图2所示的AGV调度方法。
本申请实施例还提供了一种非瞬时计算机可读存储介质，所述非瞬时计算机可读存储介质存储指令，所述指令在由处理器执行时使得所述处理器执行如图2所示的AGV调度方法中的步骤。
在本申请提供的又一实施例中，还提供了一种包含指令的计算机程序产品，当其在计算机上运行时，使得计算机执行上述实施例中任一AGV调度方法。
以上所述仅为本申请的较佳实施例，并不用以限制本申请，凡在本申请的精神和原则之内，所做的任何修改、等同替换、改进等，均应包含在本申请保护的范围之内。

Claims (24)

  1. 一种无人搬运车AGV调度方法，其特征在于，应用于可移动载具搬运系统中的搬运服务器，所述可移动载具搬运系统还包括：AGV；该方法包括：
    对所述可移动载具搬运系统中I个当前空闲AGV和J个待搬运任务进行拟匹配，得到多个拟匹配结果，每一拟匹配结果中包括k个当前空闲AGV i与对应的待搬运任务j的拟分派结果；其中，I、J分别为大于或等于1的自然数，k为I和J中的最小值；
    对每一拟匹配结果，根据该拟匹配结果中各当前空闲AGV执行拟分派的待搬运任务的搬运路程、和/或拟分派的待搬运任务的下发时长，计算各当前空闲AGV执行拟分派的待搬运任务的搬运代价，累加所述各当前空闲AGV执行拟分派的待搬运任务的搬运代价，得到该拟匹配结果的搬运总代价；
    确定搬运总代价最小的拟匹配结果；
    将搬运总代价最小的拟匹配结果中的各拟分派结果，与当前工作状态为空闲状态的目标位置进行配对；
    对每一配对结果，将该配对结果中的待搬运任务按照该配对结果中的目标位置转换为一子任务，并调度该配对结果中的当前空闲AGV执行所述子任务。
  2. 根据权利要求1所述的方法，其特征在于，
    所述可移动载具搬运系统还中包括工作台、暂存区；
    所述目标位置包括工作台和/或暂存区；
    所述将搬运总代价最小的拟匹配结果中的各拟分派结果，与当前工作状态为空闲状态的目标位置进行配对，包括：
    按照所述各拟分派结果中的待搬运任务的目标工作台对所述各拟分派结果进行划分；
    如果所述可移动载具搬运系统中存在当前工作状态为空闲状态的工作台，则对每一当前工作状态为空闲状态的工作台，计算划分到该工作台的每一拟分派结果对应于该工作台的预计到达时间，将预计到达时间最短的拟分派结果与该当前工作状态为空闲状态的工作台配对；
    如果所述可移动载具搬运系统中不存在当前工作状态为空闲状态的工作台，或者存在当前工作状态为空闲状态的工作台但不存在划分到该工作台的拟分派结果，则若存在当前工作状态为空闲状态的暂存区，则为每一工作台分配当前工作状态为空闲状态的暂存区，计算划分到该工作台的每一拟分派结果对应于每一当前工作状态为空闲状态的暂存区的预计到达时间，为每个暂存区选择一个尚未配对的预计到达时间最短的拟分派结果进行配对。
  3. 根据权利要求2所述的方法，其特征在于，
    所述计算划分到该工作台的每一拟分派结果对应于该工作台的预计到达时间的方法为：
    计算该拟分派结果中的AGV与该拟分派结果中的待搬运任务指示的可移动载具的距离和该可移动载具与该工作台的距离之和，将该距离之和与AGV的行驶速度的商确定为该拟分派结果对应于该工作台的预计到达时间；
    计算划分到该工作台的每一拟分派结果对应于每一暂存区的预计到达时间的方法为：
    计算该拟分派结果中的AGV与该拟分派结果中的待搬运任务指示的可移动载具的距离和该可移动载具与该暂存区的距离之和，将该距离之和与AGV的行驶速度的商确定为该拟分派结果对应于该暂存区的预计到达时间。
  4. 根据权利要求2所述的方法，其特征在于，
    所述为每一工作台分配当前工作状态为空闲状态的暂存区，包括：
    确定可分配给每一工作台的当前工作状态为空闲状态的暂存区数量N，将与该工作台距离最近的N个尚未被分配的工作状态为空闲状态的暂存区分配给该工作台；
    所述为每个暂存区选择一个尚未配对的预计到达时间最短的拟分派结果进行配对，包括：
    按照分配给该工作台的暂存区与该工作台的距离从近到远的顺序，依次为每个暂存区选择一个尚未配对的预计到达时间最短的拟分派结果进行配对。
  5. 根据权利要求4所述的方法，其特征在于，
    所述确定可分配给每一工作台的当前工作状态为空闲状态的暂存区数量N的方法为：
    统计搬运总代价最小的拟匹配结果中的拟分派结果总量，并根据各拟分派结果中的待搬运任务的目标工作台确定属于每一工作台的拟分派结果个数；
    如果所述拟分派结果总量不大于当前工作状态为空闲状态的暂存区数量，则确定可分配给每一工作台的工作状态为空闲状态的暂存区数量N为属于该工作台的拟分派结果个数；
    如果所述拟分派结果总量大于当前工作状态为空闲状态的暂存区数量，则按照属于各工作台的拟分派结果个数之间的比例关系，确定可分配给每一工作台的工作状态为空闲状态的暂存区数量N。
  6. 根据权利要求2所述的方法，其特征在于，
    调度该配对结果中的当前空闲AGV执行所述子任务之后，还包括：
    如果该配对结果中的目标位置是暂存区，则将所述子任务转换为从该目标位置到该配对结果中的待搬运任务的目标工作台的待搬运任务，再次参与和当前空闲AGV的拟匹配。
  7. 根据权利要求2所述的方法，其特征在于，
    调度该配对结果中的当前空闲AGV执行所述子任务之后，还包括：
    如果该配对结果中的目标位置是工作台，则若该配对结果中的待搬运任务是从距离该工作台最近的分配给该工作台的暂存区到该工作台的待搬运任务，则将已分配给该工作台的暂存区按照与该工作台的从近到远的顺序排序，并从排序第二的暂存区开始，依次对排序中的每一暂存区执行以下操作：
    将该暂存区的前一暂存区作为目标位置，按照该目标位置将从该暂存区到该工作台的待搬运任务转换为一从该暂存区到目标位置的子任务，调度一当前空闲AGV执行该子任务，并在调度完成后，将该子任务转换为从该目标位置到该工作台的待搬运任务，再次参与和当前空闲AGV的拟匹配。
  8. 根据权利要求2所述的方法，其特征在于，
    所述可移动载具搬运系统还包括储位区；
    该方法还包括：所述可移动载具搬运系统中的任一工作台的剩余拣货时间小于预设时间阈值时，如果存在空闲AGV，则调度距离该工作台最近的空闲AGV到达该工作台等待，并在该工作台的拣货任务完成时，调度已到达该工作台的空闲AGV将该工作台上的可移动载具搬运回储位区，以使该工作台的工作状态从工作状态转变为空闲状态。
  9. 根据权利要求1所述的方法，其特征在于，
    所述根据该拟匹配结果中各当前空闲AGV执行拟分派的待搬运任务的搬运路程、和/或拟分派的待搬运任务的下发时长，计算各当前空闲AGV执行拟分派的待搬运任务的搬运代价，包括：
    按照该拟匹配结果中各当前空闲AGV执行拟分派的待搬运任务的搬运路程与搬运代价成正比的原则、和/或各当前空闲AGV拟分派的待搬运任务的下发时长与搬运代价成反比的原则，计算各当前空闲AGV执行拟分派的待搬运任务的搬运代价；其中，各当前空闲AGV执行拟分派的待搬运任务的搬运路程为该当前空闲AGV与拟分派的待搬运任务指示的可移动载具之间的距离和该可移动载具与拟分派的待搬运任务的目标工作台之间的距离之和。
  10. 一种无人搬运车AGV调度装置，其特征在于，应用于可移动载具搬运系统中的搬运服务器，所述可移动载具搬运系统还包括：AGV；该装置包括：
    拟匹配单元，用于对所述可移动载具搬运系统中I个当前空闲AGV和J个待搬运任务进行拟匹配，得到多个拟匹配 结果，每一拟匹配结果中包括k个当前空闲AGV i与对应的待搬运任务j的拟分派结果；其中，I、J分别为大于或等于1的自然数，k为I和J中的最小值；
    计算单元，用于对每一拟匹配结果，根据该拟匹配结果中各当前空闲AGV执行拟分派的待搬运任务的搬运路程、和/或拟分派的待搬运任务的下发时长，计算各当前空闲AGV执行拟分派的待搬运任务的搬运代价，累加所述各当前空闲AGV执行拟分派的待搬运任务的搬运代价，得到该拟匹配结果的搬运总代价；
    确定单元，用于确定搬运总代价最小的拟匹配结果；
    配对单元，用于将搬运总代价最小的拟匹配结果中的各拟分派结果，与当前工作状态为空闲状态的目标位置进行配对；
    任务处理单元，用于对每一配对结果，将该配对结果中的待搬运任务按照该配对结果中的目标位置转换为一子任务，并调度该配对结果中的当前空闲AGV执行所述子任务。
  11. 根据权利要求10所述的装置，其特征在于，
    所述可移动载具搬运系统中包括工作台、暂存区；
    所述目标位置包括工作台和/或暂存区；
    所述配对单元，将搬运总代价最小的拟匹配结果中的各拟分派结果，与当前工作状态为空闲状态的目标位置进行配对，包括：
    按照所述各拟分派结果中的待搬运任务的目标工作台对所述各拟分派结果进行划分；
    如果所述可移动载具搬运系统中存在当前工作状态为空闲状态的工作台，则对每一当前工作状态为空闲状态的工作台，计算划分到该工作台的每一拟分派结果对应于该工作台的预计到达时间，将预计到达时间最短的拟分派结果与该当前工作状态为空闲状态的工作台配对；
    如果所述可移动载具搬运系统中不存在当前工作状态为空闲状态的工作台，或者存在当前工作状态为空闲状态的工作台但不存在划分到该工作台的拟分派结果，则若存在当前工作状态为空闲状态的暂存区，则为每一工作台分配当前工作状态为空闲状态的暂存区，计算划分到该工作台的每一拟分派结果对应于每一当前工作状态为空闲状态的暂存区的预计到达时间，为每个暂存区选择一个尚未配对的预计到达时间最短的拟分派结果进行配对。
  12. 根据权利要求11所述的装置，其特征在于，
    所述配对单元，计算划分到该工作台的每一拟分派结果对应于该工作台的预计到达时间时，用于：
    计算该拟分派结果中的AGV与该拟分派结果中的待搬运任务指示的可移动载具的距离和该可移动载具与该工作台的距离之和，将该距离之和与AGV的行驶速度的商确定为该拟分派结果对应于该工作台的预计到达时间；
    所述配对单元，计算划分到该工作台的每一拟分派结果对应于每一暂存区的预计到达时间时，用于：
    计算该拟分派结果中的AGV与该拟分派结果中的待搬运任务指示的可移动载具的距离和该可移动载具与该暂存区的距离之和，将该距离之和与AGV的行驶速度的商确定为该拟分派结果对应于该暂存区的预计到达时间。
  13. 根据权利要求11所述的装置，其特征在于，
    所述配对单元，为每一工作台分配当前工作状态为空闲状态的暂存区，包括：
    确定可分配给每一工作台的当前工作状态为空闲状态的暂存区数量N，将与该工作台距离最近的N个尚未被分配的工作状态为空闲状态的暂存区分配给该工作台；
    所述配对单元为每个暂存区选择一个尚未配对的预计到达时间最短的拟分派结果进行配对，包括：
    按照分配给该工作台的暂存区与该工作台的距离从近到远的顺序，依次为每个暂存区选择一个尚未配对的预计到达时间最短的拟分派结果进行配对。
  14. 根据权利要求13所述的装置，其特征在于，
    所述配对单元，确定可分配给每一工作台的当前工作状态为空闲状态的暂存区数量N时，用于：
    统计搬运总代价最小的拟匹配结果中的拟分派结果总量，并根据各拟分派结果中的待搬运任务的目标工作台确定属于每一工作台的拟分派结果个数；
    如果所述拟分派结果总量不大于当前工作状态为空闲状态的暂存区数量，则确定可分配给每一工作台的工作状态为空闲状态的暂存区数量N为属于该工作台的拟分派结果个数；
    如果所述拟分派结果总量大于当前工作状态为空闲状态的暂存区数量，则按照属于各工作台的拟分派结果个数之间的比例关系，确定可分配给每一工作台的工作状态为空闲状态的暂存区数量N。
  15. 根据权利要求11所述的装置，其特征在于，
    所述任务处理单元，调度该配对结果中的当前空闲AGV执行所述子任务之后，还用于：
    如果该配对结果中的目标位置是暂存区，则将所述子任务转换为从该目标位置到该配对结果中的待搬运任务的目标工作台的待搬运任务，再次参与和当前空闲AGV的拟匹配。
  16. 根据权利要求11所述的装置，其特征在于，
    所述任务处理单元，调度该配对结果中的当前空闲AGV执行所述子任务之后，还用于：
    如果该配对结果中的目标位置是工作台，则若该配对结果中的待搬运任务是从距离该工作台最近的分配给该工作台的暂存区到该工作台的待搬运任务，则将已分配给该工作台的暂存区按照与该工作台的从近到远的顺序排序，并从排序第二的暂存区开始，依次对排序中的每一暂存区执行以下操作：
    将该暂存区的前一暂存区作为目标位置，按照该目标位置将从该暂存区到该工作台的待搬运任务转换为一从该暂存区到目标位置的子任务，调度一当前空闲AGV执行该子任务，并在调度完成后，将该子任务转换为从该目标位置到该工作台的待搬运任务，再次参与和当前空闲AGV的拟匹配。
  17. 根据权利要求11所述的装置，其特征在于，
    所述可移动载具搬运系统还包括储位区；
    该装置还包括：回库单元，用于所述可移动载具搬运系统中的任一工作台的剩余拣货时间小于预设时间阈值时，如果存在空闲AGV，则调度距离该工作台最近的空闲AGV到达该工作台等待，并在该工作台的拣货任务完成时，调度已到达该工作台的空闲AGV将该工作台上的可移动载具搬运回储位区，以使该工作台的工作状态从工作状态转变为空闲状态。
  18. 根据权利要求10所述的装置，其特征在于，
    所述计算单元，根据该拟匹配结果中各当前空闲AGV执行拟分派的待搬运任务的搬运路程、和/或拟分派的待搬运任务的下发时长，计算各当前空闲AGV执行拟分派的待搬运任务的搬运代价，包括：
    按照该拟匹配结果中各当前空闲AGV执行拟分派的待搬运任务的搬运路程与搬运代价成正比的原则、和/或各当前空闲AGV拟分派的待搬运任务的下发时长与搬运代价成反比的原则，计算各当前空闲AGV执行拟分派的待搬运任务的搬运代价；其中，各当前空闲AGV执行拟分派的待搬运任务的搬运路程为该当前空闲AGV与拟分派的待搬运任务指示的可移动载具之间的距离和该可移动载具与拟分派的待搬运任务的目标工作台之间的距离之和。
  19. 一种电子设备，其特征在于，该电子设备包括处理器、以及与所述处理器通过总线相连的非瞬时计算机可读存储介质；所述非瞬时计算机可读存储介质存储有可被所述处理器执行的指令；所述处理器执行所述指令时实现权利要求1-9任一权项所述的AGV调度方法。
  20. 一种非瞬时计算机可读存储介质，所述非瞬时计算机可读存储介质存储指令，其特征在于，所述指令在由处理 器执行时使得所述处理器执行如权利要求1至9中任一权项所述的AGV调度方法中的步骤。
  21. 一种计算机程序产品，其特征在于，当所述计算机程序产品在计算机上运行时，使得计算机执行如权利要求1至9中任一权项所述的AGV调度方法中的步骤。
  22. 一种可移动载具搬运系统，其特征在于，所述可移动载具搬运系统包括搬运服务器、AGV；
    所述AGV用于在所述搬运服务器的控制下执行待搬运任务；
    所述搬运服务器用于对所述可移动载具搬运系统中I个当前空闲AGV和J个待搬运任务进行拟匹配，得到多个拟匹配结果，每一拟匹配结果中包括k个当前空闲AGV i与对应的待搬运任务j的拟分派结果；其中，I、J分别为大于或等于1的自然数，k为I和J中的最小值；对每一拟匹配结果，根据该拟匹配结果中各当前空闲AGV执行拟分派的待搬运任务的搬运路程、和/或拟分派的待搬运任务的下发时长，计算各当前空闲AGV执行拟分派的待搬运任务的搬运代价，累加所述各当前空闲AGV执行拟分派的待搬运任务的搬运代价，得到该拟匹配结果的搬运总代价；确定搬运总代价最小的拟匹配结果；将搬运总代价最小的拟匹配结果中的各拟分派结果，与当前工作状态为空闲状态的目标位置进行配对；对每一配对结果，将该配对结果中的待搬运任务按照该配对结果中的目标位置转换为一子任务，并调度该配对结果中的当前空闲AGV执行所述子任务。
  23. 根据权利要求22所述的可移动载具搬运系统，其特征在于，所述可移动载具搬运系统还包括：工作台、暂存区；
    所述目标位置包括工作台和/或暂存区；
    所述搬运服务器将搬运总代价最小的拟匹配结果中的各拟分派结果，与当前工作状态为空闲状态的目标位置进行配对，包括：
    按照所述各拟分派结果中的待搬运任务的目标工作台对所述各拟分派结果进行划分；
    如果所述可移动载具搬运系统中存在当前工作状态为空闲状态的工作台，则对每一当前工作状态为空闲状态的工作台，计算划分到该工作台的每一拟分派结果对应于该工作台的预计到达时间，将预计到达时间最短的拟分派结果与该当前工作状态为空闲状态的工作台配对；
    如果所述可移动载具搬运系统中不存在当前工作状态为空闲状态的工作台，或者存在当前工作状态为空闲状态的工作台但不存在划分到该工作台的拟分派结果，则若存在当前工作状态为空闲状态的暂存区，则为每一工作台分配当前工作状态为空闲状态的暂存区，计算划分到该工作台的每一拟分派结果对应于每一当前工作状态为空闲状态的暂存区的预计到达时间，为每个暂存区选择一个尚未配对的预计到达时间最短的拟分派结果进行配对。
  24. 根据权利要求23所述的可移动载具搬运系统，其特征在于，所述可移动载具搬运系统还包括：储位区；
    所述搬运服务器还用于所述可移动载具搬运系统中的任一工作台的剩余拣货时间小于预设时间阈值时，如果存在空闲AGV，则调度距离该工作台最近的空闲AGV到达该工作台等待，并在该工作台的拣货任务完成时，调度已到达该工作台的空闲AGV将该工作台上的可移动载具搬运回储位区，以使该工作台的工作状态从工作状态转变为空闲状态。
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