| CPC G05B 19/41895 (2013.01) [G05B 19/41865 (2013.01)] | 20 Claims |
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1. An automated guided vehicle (AGV) scheduling method based on an alley, wherein a scheduling site comprises a plurality of alleys and an AGV system, wherein each of the alleys is provided with a plurality of loading/unloading positions, and the AGV system comprises an AGV scheduling system and a plurality of AGVs; the AGVs are allowed to drive in and out from one end of the alley, while the other end thereof is closed or the AGVs are not allowed to drive in and out from the other end thereof, and only one AGV is allowed to drive in and out in a width direction of the alley at a time; an electronic map of each AGV is pre-configured with information of a driving-in platform and a driving-out platform, wherein the driving-in platform is located in an entrance direction of the alley, and the driving-out platform is located in an exit direction of the alley;
wherein the scheduling method comprises:
receiving, through the AGV scheduling system, a message that a to-be-driven-in AGV arrives at a driving-in platform;
obtaining, through the AGV scheduling system, job information of each AGV in the alley at the current moment, and statistically obtaining the number of the AGVs in the alley at the current moment, wherein the job information of each AGV includes one or more of a running direction, a job status, a loading/unloading position of the job, and current running positions; and
determining, through the AGV scheduling system, whether the to-be-driven-in AGV can enter the alley for performing the job according to the number of the AGVs in the alley at the current moment, the job information and a loading/unloading position where the to-be-driven-in AGV will perform the job;
wherein, the determining, through the AGV scheduling system, whether the to-be-driven-in AGV can enter the alley for performing the job according to the number of the AGVs in the alley at the current moment, the job information and a loading/unloading position where the to-be-driven-in AGV will perform the job comprises:
determining that the number of the AGVs in the alley at the current moment is not zero, and further comprehensively determining whether the to-be-driven-in AGV can enter the alley for performing the job according to a relative position between the loading/unloading position where each AGV in the alley will perform the job and the loading/unloading position where the to-be-driven-in AGV will perform the job and/or a relative position between the current running position of each AGV in the alley and the loading/unloading position where the to-be-driven-in AGV will perform the job;
wherein when the AGV scheduling system determines that the running directions of AGVs in the alley at the current moment comprise both the direction of driving away from the loading/unloading position and the direction of driving toward the loading/unloading position, the method further comprises:
determining the relative positions among the current running position of each AGV in the alley, the loading/unloading position where each AGV in the alley will perform the job, and the loading/unloading position where the to-be-driven-in AGV will perform the job; and when the AGV scheduling system determines that a distance between the loading/unloading position where the to-be-driven-in AGV will perform the job and the current running position of each AGV in the alley is greater than a distance between the to-be-driven-in AGV and the loading/unloading position where the to-be-driven-in AGV will perform the job, and the loading/unloading position where the to-be-driven-in AGV will perform the job is outside the alley relative to the loading/unloading position where the AGV in the alley will perform the job, sending a driving-in permission message to the to-be-driven-in AGV through the AGV scheduling system, to schedule the to-be-driven-in AGV to perform the job in the alley.
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