# US 12,216,461 B2 · AGV scheduling method based on narrow alley, electronic equipment and storage medium > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,216,461 B2 - Document ID: US12216461B2 - Status: Granted - Kind: B2 - Application number: 18/434,851 - Filed: 2024-02-07 - Published: 2024-08-29 - Granted: 2025-02-04 - Earliest claimed: 2023-02-23 - Assignees: Machinery Technology Development Co., Ltd - Applicants: Machinery Technology Development Co., Ltd - Inventors: Sheng Zhang; Haoyuan Qu; Peng Zhao; Bin Xu; Yang Liu; Changchen Li - Web page: https://patentgrep.com/patent/US12216461B2 ## CPC - G05B 19/41895: {using automatic guided vehicles [AGV] (control of position or course of AGV's G05D1/00)} - G05B 19/41865: {characterised by job scheduling, process planning, material flow} - Y02P 90/60: Electric or hybrid propulsion means for production processes - G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G) - Y02P: CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS ## Abstract An Automated Guided Vehicle (AGV) scheduling method based on a narrow alley, electronic equipment and a storage medium are provided, and the method includes: through an AGV scheduling system, receiving a message that a to-be-driven-in AGV arrives at a driving-in platform, obtaining job information of each AGV in the narrow alley at the current moment, and determining whether the to-be-driven-in AGV can enter the narrow alley for performing the job fully according to the number of the AGVs in the narrow alley at the current moment, the job information and a loading/unloading position where the to-be-driven-in AGV will perform the job, so as to achieve concurrent collaborative job of the AGVs as many as possible in a confined workspace by making use of fragmented time and every bit of time, to form an efficient and flexible distribution solution, and to further achieve intelligent scheduling of the AGVs. ## Claims ### Claim 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. ### Claim 2 (depends on 1) The AGV scheduling method based on the alley of claim 1, wherein when the AGV scheduling system determines that the running direction of each AGV in the alley at the current moment is towards the direction of its loading/unloading position, the method further comprises: determining 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 when the AGV scheduling system determines that 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 any 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. ### Claim 3 (depends on 2) The AGV scheduling method based on the alley of claim 2, further comprising: in the AGV scheduling system, pre-configuring an upper limit threshold for the number of the AGVs allowed to stay in the alley at the same time; and when the AGV scheduling system determines that the number of the AGVs in the alley at the current moment reaches the upper limit threshold, sending no driving-in permission message to the to-be-driven-in AGV through the AGV scheduling system. ### Claim 4 (depends on 2) The AGV scheduling method based on the alley of claim 2, further comprising: after the AGV scheduling system sends a driving-in permission message to the to-be-driven-in AGV, recording the number of the to-be-driven-in AGV and the number of the driving-in alley through the AGV scheduling system, to dynamically schedule the quantity of the AGVs in the alley in combination with the AGV scheduling system. ### Claim 5 (depends on 2) The AGV scheduling method based on the alley of claim 2, further comprising: after the AGV scheduling system receives a message that one AGV in one alley arrives at the driving-out platform, clearing the recorded number of the AGV arriving at the driving-out platform and the number of the driving-out alley through the AGV scheduling system, to dynamically schedule the quantity of the AGVs in the alley in combination with the AGV scheduling system. ### Claim 6 (depends on 1) The AGV scheduling method based on the alley of claim 1, wherein when the AGV scheduling system determines that the running direction of each AGV in the alley at the current moment is towards the direction of driving away from its loading/unloading position or each AGV therein is performing the job at its loading/unloading position, the method further comprises: determining 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; 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 any 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, 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. ### Claim 7 (depends on 6) The AGV scheduling method based on the alley of claim 6, further comprising: in the AGV scheduling system, pre-configuring an upper limit threshold for the number of the AGVs allowed to stay in the alley at the same time; and when the AGV scheduling system determines that the number of the AGVs in the alley at the current moment reaches the upper limit threshold, sending no driving-in permission message to the to-be-driven-in AGV through the AGV scheduling system. ### Claim 8 (depends on 6) The AGV scheduling method based on the alley of claim 6, further comprising: after the AGV scheduling system sends a driving-in permission message to the to-be-driven-in AGV, recording the number of the to-be-driven-in AGV and the number of the driving-in alley through the AGV scheduling system, to dynamically schedule the quantity of the AGVs in the alley in combination with the AGV scheduling system. ### Claim 9 (depends on 6) The AGV scheduling method based on the alley of claim 6, further comprising: after the AGV scheduling system receives a message that one AGV in one alley arrives at the driving-out platform, clearing the recorded number of the AGV arriving at the driving-out platform and the number of the driving-out alley through the AGV scheduling system, to dynamically schedule the quantity of the AGVs in the alley in combination with the AGV scheduling system. ### Claim 10 (depends on 1) The AGV scheduling method based on the alley of claim 1, further comprising: in the AGV scheduling system, pre-configuring an upper limit threshold for the number of the AGVs allowed to stay in the alley at the same time; and when the AGV scheduling system determines that the number of the AGVs in the alley at the current moment reaches the upper limit threshold, sending no driving-in permission message to the to-be-driven-in AGV through the AGV scheduling system. ### Claim 11 (depends on 1) The AGV scheduling method based on the alley of claim 1, further comprising: after the AGV scheduling system sends a driving-in permission message to the to-be-driven-in AGV, recording the number of the to-be-driven-in AGV and the number of the driving-in alley through the AGV scheduling system, to dynamically schedule the quantity of the AGVs in the alley in combination with the AGV scheduling system. ### Claim 12 (depends on 1) The AGV scheduling method based on the alley of claim 1, further comprising: after the AGV scheduling system receives a message that one AGV in one alley arrives at the driving-out platform, clearing the recorded number of the AGV arriving at the driving-out platform and the number of the driving-out alley through the AGV scheduling system, to dynamically schedule the quantity of the AGVs in the alley in combination with the AGV scheduling system. ### Claim 13 (depends on 1) Electronic equipment, comprising a processor and a memory, wherein computer-readable instructions are stored on the memory, and when the computer-readable instructions are executed by the processor, the AGV scheduling method based on the alley according to claim 1 is implemented. ### Claim 14 (depends on 13) The electronic equipment of claim 13, wherein in the AGV scheduling method based on the alley, 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: when the AGV scheduling system determines that the running direction of each AGV in the alley at the current moment is towards the direction of its loading/unloading position, further determining 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 when the AGV scheduling system determines that 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 any 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. ### Claim 15 (depends on 13) The electronic equipment of claim 13, wherein in the AGV scheduling method based on the alley, 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: when the AGV scheduling system determines that the running direction of each AGV in the alley at the current moment is towards the direction of driving away from its loading/unloading position or each AGV therein is performing the job at its loading/unloading position, further determining 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; 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 any 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, 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. ### Claim 16 (depends on 1) A non-transitory computer readable storage medium on which a computer program is stored, wherein when the computer program is executed by a processor, the AGV scheduling method based on the alley according to claim 1 is implemented. ### Claim 17 Electronic equipment, comprising a processor and a memory, wherein a computer program stored on the memory that, when executed by the processor, causes an operating system to perform acts; 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 computer program causes the operating system to perform acts 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: when the AGV scheduling system determines that the number of the AGVs in the alley at the current moment is zero, 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; or when the AGV scheduling system determines that the number of the AGVs in the alley at the current moment is not zero, 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. ### Claim 18 (depends on 17) The electronic equipment of claim 17, wherein when the AGV scheduling system determines that the running direction of each AGV in the alley at the current moment is towards the direction of its loading/unloading position, the computer program causes the operating system to perform acts further comprises: determining 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 when the AGV scheduling system determines that 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 any 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. ### Claim 19 (depends on 17) The electronic equipment of claim 17, wherein when the AGV scheduling system determines that the running direction of each AGV in the alley at the current moment is towards the direction of driving away from its loading/unloading position or each AGV therein is performing the job at its loading/unloading position, the computer program causes the operating system to perform acts further comprises: determining 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; 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 any 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, 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. ### Claim 20 (depends on 17) The electronic equipment of claim 17, wherein when the AGV scheduling system determines that the running directions of AGVs in the narrow-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 computer program causes the operating system to perform acts 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.