WO2022022741A1 - Agv traffic control method, system, device, and storage medium - Google Patents

Agv traffic control method, system, device, and storage medium Download PDF

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Publication number
WO2022022741A1
WO2022022741A1 PCT/CN2021/110073 CN2021110073W WO2022022741A1 WO 2022022741 A1 WO2022022741 A1 WO 2022022741A1 CN 2021110073 W CN2021110073 W CN 2021110073W WO 2022022741 A1 WO2022022741 A1 WO 2022022741A1
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Prior art keywords
agv
control area
dispatching system
waiting
occupancy information
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PCT/CN2021/110073
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French (fr)
Chinese (zh)
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朱业锋
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杭州海康机器人技术有限公司
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle

Definitions

  • the present application relates to the technical field of automated logistics, and in particular, to an AGV (Automated Guided Vehicle) traffic control method, system, device and storage medium.
  • AGV Automated Guided Vehicle
  • AGV can automatically travel along a predetermined route under the scheduling of the AGV scheduling system, and automatically transport goods or materials from the starting point to the destination.
  • the purpose of this application is to provide an AGV traffic control method, system, device and storage medium, which can avoid at least one AGV dispatching system AGV and other AGV dispatching systems without information interaction.
  • the AGV of the AGV dispatching system collided.
  • the first AGV traffic control method is applied to a first AGV dispatching system.
  • the first AGV dispatching system and at least one second AGV dispatching system share the same control area; the first AGV dispatching system is configured with a waiting point corresponding to the control area
  • Each second AGV dispatching system is configured with a detection device corresponding to the control area; the method includes: when it is determined that the AGV of the first AGV dispatching system will pass through the control area, from the corresponding control area of each second AGV dispatching system
  • the detection device of the control area obtains the occupancy information of the second AGV scheduling system corresponding to the control area; judges whether the control area is occupied according to the occupancy information of each second AGV scheduling system corresponding to the control area; if If the control area is not occupied, the AGV of the first AGV scheduling system is scheduled to pass through the control area; if the control area is occupied, the AGV that controls the first AGV scheduling system is in the corresponding position of the first AGV scheduling system.
  • the waiting point of the control area waits, and after waiting for a preset period of time, it is determined again that the AGV of the first AGV dispatching system will pass through the control area, and the execution of the control area corresponding to the second AGV dispatching system is returned.
  • the second AGV traffic control method is applied to the detection device of any AGV dispatching system in at least one second AGV dispatching system, and the at least one second AGV dispatching system and the first AGV dispatching system share the same control area;
  • the first The AGV dispatching system is configured with a waiting point corresponding to the control area;
  • each second AGV dispatching system is configured with a detection device corresponding to the control area;
  • the method includes: real-time detection of any second AGV dispatching system
  • the occupancy information corresponding to the control area is for the first AGV scheduling system to obtain when determining that the AGV of the first AGV scheduling system will pass through the control area, so that the first AGV scheduling system obtains each second AGV scheduling system according to the obtained Corresponding to the occupancy information of the control area, determine whether the control area is occupied, and determine that the control area is not occupied, then schedule the AGV of the first AGV scheduling system to pass through the control area to determine that the control area is occupied , then the AGV controlling the first AGV dispatch
  • the first AGV traffic control system includes a first AGV dispatching system and a second AGV dispatching system, the first AGV dispatching system and the second AGV dispatching system share the same control area;
  • the first AGV dispatching system is configured with The waiting point corresponding to the control area;
  • the second AGV dispatching system is configured with a detection device corresponding to the control area;
  • the first AGV dispatching system is used to determine when the AGV of the first AGV dispatching system will pass through the control area , obtain the occupancy information of the second AGV scheduling system corresponding to the control area from the detection device of the second AGV scheduling system corresponding to the control area; judge according to the occupancy information of the second AGV scheduling system corresponding to the control area Whether the control area is occupied; if the control area is not occupied, schedule the AGV of the first AGV scheduling system to pass through the control area; if the control area is occupied, control the AGV of the first AGV scheduling system Wait at the waiting point of the first AGV dispatching system corresponding to the control
  • the occupancy information corresponding to the control area is for the first AGV scheduling system to obtain when determining that the AGV of the first AGV scheduling system will pass through the control area.
  • the second type of AGV traffic control system includes a first AGV dispatching system, a second AGV dispatching system, and a third AGV dispatching system that share the same control area, the first AGV dispatching system, and the second AGV dispatching system , and the third AGV dispatching system are all configured with waiting points and detection devices corresponding to the control area; the first AGV dispatching system, the second AGV dispatching system, and the third AGV dispatching system are used to determine that their own AGVs will pass through In the control area, the occupancy information of the other AGV scheduling system corresponding to the control area is obtained from the detection devices of other AGV scheduling systems corresponding to the control area; according to the other AGV scheduling systems corresponding to the control area Determine whether the control area is occupied; if the control area is not occupied, schedule your own AGV to pass through the control area; if the control area is occupied, control your own AGV in its own corresponding AGV Wait at the waiting point of the control area, and after waiting for a preset time
  • the other AGV dispatching system corresponds to the step of the occupancy information of the control area; the detection devices of the first AGV dispatching system, the second AGV dispatching system, and the third AGV dispatching system are used for real-time detection of their own corresponding to the control area.
  • the occupancy information of the area is for other AGV scheduling systems to obtain when determining that the AGVs of the other AGV scheduling systems will pass through the control area.
  • the first AGV traffic control device is applied to the first AGV dispatching system.
  • the first AGV dispatching system and at least one second AGV dispatching system share the same control area; the first AGV dispatching system is configured with a waiting point corresponding to the control area
  • Each second AGV dispatching system is configured with a detection device corresponding to the control area;
  • the device includes: a processor and a non-transitory computer-readable storage medium connected to the processor through a bus; the non-transitory computer A readable storage medium storing one or more computer programs executable by the processor; when the processor executes the one or more computer programs, the following steps are implemented: determining that the AGV of the first AGV dispatching system will pass through In the control area, the occupancy information of the second AGV scheduling system corresponding to the control area is obtained from the detection device of each second AGV scheduling system corresponding to the control area; according to each second AGV scheduling system corresponding to the control area The occupancy information of the control area determines whether the control area is occupied; if the control area
  • the second AGV traffic control device is applied to the detection device of any AGV dispatching system in at least one second AGV dispatching system, and the at least one second AGV dispatching system and the first AGV dispatching system share the same control area;
  • the first The AGV dispatching system is configured with a waiting point corresponding to the control area;
  • each second AGV dispatching system is configured with a detection device corresponding to the control area;
  • the device includes: a processor and a bus connected to the processor A non-transitory computer-readable storage medium; the non-transitory computer-readable storage medium stores one or more computer programs executable by the processor; when the processor executes the one or more computer programs
  • the following steps are implemented: real-time detection of occupancy information corresponding to the control area of any second AGV dispatching system for the first AGV dispatching system to obtain when determining that the AGV of the first AGV dispatching system will pass through the control area , so that the first AGV scheduling system determines whether the control area is occupied according to the obtained occupancy information of each second
  • a non-transitory computer-readable storage medium storing instructions that, when executed by a processor, cause the processor to perform the steps in the above-mentioned first AGV traffic control method, Or perform the steps in the second AGV traffic control method described above.
  • the third AGV traffic control device is applied to the first AGV dispatching system.
  • the first AGV dispatching system shares the same control area with at least one second AGV dispatching system; the first AGV dispatching system is configured with a waiting point corresponding to the control area
  • Each second AGV dispatching system is configured with a detection device corresponding to the control area; the device includes: an occupancy information acquisition module for determining that the AGV of the first AGV dispatching system will pass through the control area, from each The detection device corresponding to the control area of the second AGV scheduling system obtains the occupancy information of the second AGV scheduling system corresponding to the control area; the occupancy judgment module is used to determine the occupancy situation according to the control area corresponding to each second AGV scheduling system.
  • the occupancy information of the area determines whether the control area is occupied; the first control module is used to schedule the AGV of the first AGV dispatching system to pass through the control area if the control area is not occupied; the second control module is used to use If the control area is already occupied, the AGV controlling the first AGV scheduling system waits at the waiting point of the first AGV scheduling system corresponding to the control area, and determines the first AGV scheduling again after waiting for a preset time period The AGV of the system will pass through the control area, and drive the occupancy information acquisition module to execute the acquisition from the detection device of each second AGV dispatch system corresponding to the control area.
  • the second AGV dispatch system corresponds to the control area. Steps for area occupancy information.
  • the fourth AGV traffic control device is applied to the detection device of any AGV dispatching system in at least one second AGV dispatching system, and the at least one second AGV dispatching system and the first AGV dispatching system share the same control area;
  • the first The AGV dispatching system is configured with a waiting point corresponding to the control area;
  • each second AGV dispatching system is configured with a detection device corresponding to the control area;
  • the device includes: an occupancy information detection module for real-time detection of the arbitrary control area.
  • Occupancy information of a second AGV dispatching system corresponding to the control area for the first AGV dispatching system to obtain when determining that the AGV of the first AGV dispatching system will pass through the control area, so that the first AGV dispatching system obtains the
  • Each of the second AGV scheduling systems of the system determines whether the control area is occupied according to the occupancy information of the control area.
  • the AGV of the first AGV scheduling system is scheduled to pass In the control area, if the first AGV scheduling system determines that the control area is occupied, the AGV that controls the first AGV scheduling system waits at the waiting point of the first AGV scheduling system corresponding to the control area, and waits After the preset time period, it is determined again that the AGV of the first AGV dispatching system will pass through the control area, and again the second AGV dispatching system corresponding to the control area is obtained from the detection device of each second AGV dispatching system corresponding to the control area. Occupancy information of the said control area.
  • one of the systems as the first AGV dispatching system is configured with a waiting point corresponding to the control area, and the other systems are used as the second AGV.
  • the dispatching system is configured with a detection device corresponding to the control area.
  • the detection device corresponding to the control area of each second AGV dispatching system can obtain the detection device corresponding to the control area.
  • the second AGV scheduling system corresponds to the occupancy information of the control area, and judges whether the control area is occupied according to the occupancy information, and determines according to the judgment result to directly schedule the AGV of the first AGV scheduling system to pass the control area or wait. After waiting for a preset time period, judge again whether the control area is occupied. It can be seen that for the first AGV scheduling system, because it will first determine whether the control area is occupied before passing through the control area, it can avoid collision with the AGVs of the second AGV scheduling systems, and this During the process, the first AGV dispatching system only needs to exchange information with the detection device corresponding to the second AGV dispatching system to determine whether the control area is occupied, and does not need to exchange information with each second AGV dispatching system.
  • FIG. 1 is a schematic diagram of an automated logistics application scenario provided by an embodiment of the present application.
  • FIG. 2 is a flowchart of an AGV traffic control method provided in Embodiment 1 of the present application;
  • FIG. 3 is a flowchart of the AGV traffic control method provided in Embodiment 2 of the present application.
  • FIG. 5 is a flowchart of the AGV traffic control method provided in Embodiment 4 of the present application.
  • FIG. 6 is a schematic diagram of the principle of calculating the closest stopping distance of the AGV dispatching system Si to the AGV dispatching system Sj and the center of the control area according to an embodiment of the present application;
  • FIG. 7 is a schematic diagram of a waiting point and a detection range corresponding to an AGV scheduling system according to an embodiment of the present application.
  • FIG. 10 is a flowchart of the AGV traffic control method provided in Embodiment 7 of the present application.
  • FIG. 11 is a flowchart of the AGV traffic control method provided in Embodiment 8 of the present application.
  • FIG. 12 is a schematic diagram of the architecture of the AGV traffic control system provided in Embodiment 1 of the present application.
  • FIG. 13 is a schematic diagram of the architecture of the AGV traffic control system provided in Embodiment 2 of the present application.
  • FIG. 14 is a schematic structural diagram of an AGV traffic control device provided in Embodiment 1 of the present application.
  • FIG. 15 is a schematic structural diagram of the AGV traffic control device provided in the second embodiment of the present application.
  • FIG. 16 is a schematic structural diagram of the AGV traffic control device provided by the present application.
  • FIG. 1 is a schematic diagram of an automated logistics application scenario provided by an embodiment of the present application.
  • FIG. 1 there is a control area in this scene, and the passage paths of the AGVs of the three AGV dispatching systems all pass through the control area. If there is no information exchange between the three AGV dispatching systems, the AGVs of the three AGV dispatching systems may collide in the control area.
  • FIG. 2 is a flowchart of an AGV traffic control method provided in Embodiment 1 of the present application.
  • the method is applied to a first AGV dispatching system, and the first AGV dispatching system and at least one second AGV dispatching system share the same control area;
  • An AGV dispatching system is configured with a waiting point corresponding to the control area;
  • each second AGV dispatching system is configured with a detection device corresponding to the control area; as shown in Figure 2, the method specifically includes the following steps:
  • Step 201 When the first AGV dispatching system determines that the AGV of the first AGV dispatching system will pass through the control area, obtain the occupation of the second AGV dispatching system corresponding to the control area from the detection device corresponding to the control area of each second AGV dispatching system information;
  • Step 202 The first AGV scheduling system determines whether the control area is occupied according to the occupancy information of each second AGV scheduling system corresponding to the control area. If the control area is not occupied, then step 203 is performed; otherwise, step 204 is performed;
  • Step 203 the first AGV dispatching system dispatches the AGV of the first AGV dispatching system to pass the control area;
  • Step 204 The first AGV dispatching system controls the AGVs of the first AGV dispatching system to wait at the waiting point of the first AGV dispatching system corresponding to the control area, and after waiting for a preset time period, it is determined again that the AGVs of the first AGV dispatching system will pass through.
  • For the control area return to the step of obtaining the occupancy information of the second AGV scheduling system corresponding to the control area from the detection device of each second AGV scheduling system corresponding to the control area in step 201 .
  • the AGV of the first AGV dispatching system before the AGV of the first AGV dispatching system passes through the control area, it first obtains the occupancy information of each second AGV dispatching system corresponding to the control area, and judges the control area accordingly. Whether it is occupied or not, the AGV of the first AGV scheduling system will be scheduled to pass through the control area if it is not occupied. If it is occupied, it needs to wait for a preset time at the waiting point and execute it again to obtain the occupancy information and occupancy information of each second AGV scheduling system corresponding to the control area. The operation of judging whether the control area is occupied, so as to avoid collision with the AGV of each second AGV dispatching system.
  • the first AGV dispatching system only needs to exchange information with the detection device corresponding to the second AGV dispatching system to determine the control Whether the area is occupied does not require information exchange between the first AGV scheduling system and the second AGV scheduling system.
  • the AGV of the second AGV dispatching system can directly pass through the control area without interacting with the first AGV dispatching system, nor does it require the first AGV dispatching system to configure and detect device.
  • the detection device may be any electronic device capable of detecting whether the AGV of the second AGV dispatching system occupies the control area.
  • the monitoring device may be a laser detection device, which may detect the control area by emitting laser light Whether there is an AGV in the control area, when it is detected that the AGV of the second AGV dispatching system corresponding to the detection device exists in the control area, it is determined that the AGV of the second AGV dispatching system is detected to occupy the control area, and when it is detected that there is no AGV in the control area , it is determined that the AGV detected in the second AGV scheduling system does not occupy the control area.
  • the detection device can be a microwave radar, which can detect whether there is an AGV in the control area through microwave. When it is detected that there is an AGV of the second AGV dispatching system corresponding to the detection device in the control area, it is determined that the AGV occupancy of the second AGV dispatching system is detected. Control area, when it is detected that there is no AGV in the control area, it is determined that the AGV detected in the second AGV scheduling system does not occupy the control area.
  • the detection device can also be a camera. By taking an image of the control area and identifying whether there is an AGV of the second AGV dispatching system in the image, when the AGV of the second AGV dispatching system is identified from the captured image, it is determined that the second AGV dispatching system is detected. The AGV of the AGV dispatching system occupies the control area, and when the AGV of the second AGV dispatching system is not identified from the captured image, it is determined that the AGV of the second AGV dispatching system is detected not to occupy the control area.
  • the waiting point corresponding to the control area of the first AGV scheduling system may be located outside the control area or within the control area.
  • the AGV of the first AGV dispatching system when the AGV of the first AGV dispatching system is at the waiting point, it will not affect the passage of the AGV of the second AGV dispatching system through the control area. That is, when the AGV of the first AGV scheduling system is at the waiting point, the AGV of the second AGV scheduling system will not collide with the AGV at the waiting point of the first AGV scheduling system during the process of passing through the control area. How to determine the position of the waiting point will be described in detail below, and will not be repeated here.
  • FIG. 3 is a flow chart of the AGV traffic control method provided in the second embodiment of the present application.
  • the method is applied to the first AGV dispatching system, and the first AGV dispatching system and at least one second AGV dispatching system share the same control area;
  • An AGV dispatching system is configured with a waiting point corresponding to the control area;
  • each second AGV dispatching system is configured with a detection device corresponding to the control area; as shown in Figure 3, the method specifically includes the following steps:
  • Step 3011a When the AGV of the first AGV dispatching system travels along the passage path of the first AGV dispatching system corresponding to the control area, and travels to a preset position on the passage path before reaching the control area, determine the first AGV dispatching system The AGV is going to pass through the control area, go to step 3012.
  • the preset position may be different according to different application scenarios, and on the path of the AGV of the first AGV scheduling system, the preset position should be located before the waiting point, that is, the AGV of the first AGV scheduling system Pass this preset position before passing the waiting point.
  • t may refer to the acquisition of the occupancy information corresponding to the control area of each second AGV scheduling system from the first AGV scheduling system until the first AGV scheduling system successfully obtains the occupancy corresponding to the control area of each second AGV scheduling system Time consumed by information.
  • the preset position may be set as the position before the AGV of the first AGV dispatching system reaches the waiting point and the distance from the waiting point is v ⁇ t.
  • the preset position may also be set as the position before the AGV of the first AGV scheduling system reaches the waiting point and the distance from the waiting point is v ⁇ t+s.
  • s is the braking distance of the AGV of the first AGV dispatching system, that is, the distance that the AGV of the first AGV dispatching system travels from the start of deceleration to the complete stop.
  • Step 3011b When the waiting time of the AGV of the first AGV scheduling system at the waiting point is N times the preset time length, it is determined that the AGV of the first AGV scheduling system will pass through the control area, and go to step 3012.
  • step 3012 to step 304 may be performed periodically until it is determined that the control area is not occupied and the AGV of the first AGV dispatching system is scheduled to pass through the control area.
  • steps 3011a and 3011b are specific refinements of "determining that the AGV of the first AGV scheduling system will pass through the control area" in step 201 shown in FIG. 2 .
  • N is any positive integer.
  • Step 3012 Acquire occupancy information of the second AGV scheduling system corresponding to the control area from the detection device corresponding to the control area of each second AGV scheduling system.
  • the above steps 3011a to 3012 are specific refinements of the step 201 shown in FIG. 2 .
  • Step 302 Determine whether the control area is occupied according to the occupancy information of each second AGV scheduling system corresponding to the control area, if the control area is not occupied, go to step 303, otherwise, go to step 304;
  • Step 303 Schedule the AGV of the first AGV scheduling system to pass through the control area.
  • Step 304 Control the AGV of the first AGV dispatching system to wait at the waiting point of the first AGV dispatching system corresponding to the control area, and after waiting for a preset time period, determine again that the AGV of the first AGV dispatching system will pass through the control area, and go to Step 3012.
  • the AGV of the first AGV scheduling system when the AGV of the first AGV scheduling system is about to arrive at the waiting point, or when the waiting point waits for a preset duration, determine The AGV of the first AGV dispatching system needs to pass through the control area, thereby triggering the acquisition of the occupancy information of each second AGV dispatching system corresponding to the control area, and then judging whether the control area is occupied and other subsequent operations, so that the first AGV dispatching system is in the control area. When it is determined that the control area is not occupied, the AGV of the first AGV dispatching system is scheduled to pass through the control area in time.
  • FIG. 4 is a flow chart of the AGV traffic control method provided in the third embodiment of the present application.
  • the method is applied to the first AGV dispatching system, and the first AGV dispatching system and at least one second AGV dispatching system share the same control area;
  • An AGV dispatching system is configured with a waiting point corresponding to the control area;
  • each second AGV dispatching system is configured with a detection device corresponding to the control area; as shown in FIG. 4 , the method specifically includes the following steps:
  • Step 4011a When the AGV of the first AGV dispatching system travels along the passage path of the first AGV dispatching system corresponding to the control area and travels to a preset position on the passage path before reaching the control area, determine the first AGV dispatching system The AGV will pass through the control area, go to step 4012, that is, execute steps 4012a and 4012b.
  • the AGVs of each AGV dispatching system pass through the control area along the passage of the AGV dispatching system corresponding to the control area.
  • all AGVs of the same AGV dispatching system pass through the control area from the same side A of the control area When reaching the other side B of the control area, you can travel along the same passage (eg passage 1).
  • Step 4011b when the waiting time of the AGV of the first AGV scheduling system at the waiting point is N times the preset time length, determine that the AGV of the first AGV scheduling system will pass through the control area, go to step 4012, that is, execute steps 4012a and 4012b .
  • steps 4011a and 4011b are specific refinements of "determining that the AGV of the first AGV scheduling system needs to pass through the control area" in step 201 shown in FIG. 2 .
  • N is any positive integer.
  • Step 4012a Send an occupancy information query request to the detection device corresponding to the control area of each second AGV scheduling system.
  • the first AGV scheduling system may pre-store information such as IP addresses of detection devices corresponding to the control areas of each second AGV scheduling system, so as to exchange information with each detection device.
  • Step 4012b Receive the occupancy information of the second AGV scheduling system corresponding to the control area returned by the detection device of each second AGV scheduling system corresponding to the control area.
  • the detection device corresponding to the control area of each second AGV scheduling system will detect the occupancy information of the second AGV scheduling system corresponding to the control area in real time, and after receiving the occupancy information of the first AGV scheduling system When the query request is made, the occupancy information of the second AGV dispatching system corresponding to the control area is returned to the first AGV dispatching system.
  • steps 4012a to 4012b are a specific detail of "obtaining the occupancy information of the second AGV scheduling system corresponding to the control area from the detection device of each second AGV scheduling system corresponding to the control area" in step 201 shown in FIG. 2 . change.
  • steps 4011a to 4012b are specific refinements of the step 201 shown in FIG. 2 .
  • Step 402 Determine whether the control area is occupied according to the occupancy information of each second AGV dispatching system corresponding to the control area, if the control area is not occupied, execute step 403, otherwise, execute step 404;
  • Step 403 Schedule the AGV of the first AGV scheduling system to pass through the control area.
  • Step 404 Control the AGV of the first AGV dispatching system to wait at the waiting point of the first AGV dispatching system corresponding to the control area, and after waiting for a preset time period, determine again that the AGV of the first AGV dispatching system will pass the control area, and go to Step 4012a.
  • the second AGV is scheduled to pass through the control area.
  • the detection device corresponding to the control area of the system sends an occupancy information query request to obtain the occupancy information of the second AGV scheduling system corresponding to the control area, which is relatively simple to implement.
  • FIG. 5 is a flowchart of the AGV traffic control method provided in Embodiment 4 of the present application.
  • the method is applied to the first AGV dispatching system, and the first AGV dispatching system and at least one second AGV dispatching system share the same control area;
  • An AGV dispatching system is configured with a waiting point corresponding to the control area;
  • each second AGV dispatching system is configured with a detection device and a detection range corresponding to the control area; as shown in Figure 5, the method specifically includes the following steps:
  • Step 501 When it is determined that the AGV of the first AGV scheduling system will pass through the control area, obtain the occupancy information of the second AGV scheduling system corresponding to the control area from the detection device corresponding to the control area of each second AGV scheduling system.
  • the occupancy information includes: an occupancy flag; the occupancy flag includes two values, one is a value indicating that the AGV occupies a control area, and the other is a value indicating that the AGV does not occupy a control area.
  • the detection device corresponding to the control area of each second AGV dispatching system can drive the AGV of the second AGV dispatching system into and out of the detection range of the second AGV dispatching system corresponding to the control area The situation is detected, and based on the detection result, the occupancy information of the second AGV scheduling system corresponding to the control area is set.
  • the detection device corresponding to the control area of each second AGV scheduling system may set the occupancy flag in the following manner:
  • the detection device corresponding to the control area of each second AGV dispatching system can detect and determine that the AGV of the second AGV dispatching system has entered the detection range corresponding to the control area of the second AGV dispatching system.
  • the occupancy flag in the occupancy information corresponding to the control area of the dispatching system is set to a value used to indicate that the AGV occupies the control area;
  • the detection device corresponding to the control area of each second AGV dispatching system can detect and determine that the AGV of the second AGV dispatching system leaves the detection range corresponding to the control area of the second AGV dispatching system.
  • the occupancy flag in the occupancy information corresponding to the control area of the dispatch system is set to a value for indicating that the AGV does not occupy the control area.
  • Each second AGV scheduling system indicates whether the second AGV scheduling system currently occupies the control area by setting the occupancy flag in the occupancy information corresponding to the control area of the second AGV scheduling system, so that the first AGV scheduling system Whether the control area is occupied can be determined according to the occupancy information of the second AGV scheduling system corresponding to the control area.
  • Step 502 Determine whether the occupancy flags in the occupancy information of each second AGV scheduling system corresponding to the control area are all values indicating that the AGV does not occupy the control area. If so, it is determined that the control area is not occupied, and step 503 is executed, otherwise , it is determined that the control area has been occupied, and step 504 is executed.
  • the above step 502 is a specific refinement of the step 202 shown in FIG. 2 .
  • Step 503 Schedule the AGV of the first AGV scheduling system to pass through the control area
  • Step 504 Control the AGV of the first AGV dispatching system to wait at the waiting point of the first AGV dispatching system corresponding to the control area, and after waiting for a preset time period, determine again that the AGV of the first AGV dispatching system will pass through the control area, and return to execution
  • step 501 the step of acquiring the occupancy information of the second AGV scheduling system corresponding to the control area from the detection device corresponding to the control area of each second AGV scheduling system.
  • the number of second AGV scheduling systems is n.
  • the first AGV scheduling system and the n second AGV scheduling systems will be sequentially recorded as S0 (ie the first AGV scheduling system), S1 (ie the first second AGV scheduling system), S2 (ie the second AGV scheduling system) the second AGV scheduling system), ..., Sn (that is, the nth second AGV scheduling system).
  • the nearest waiting point and the minimum detection range corresponding to the control area of each AGV scheduling system in the AGV scheduling systems S0, S1, S2, ..., Sn may be predetermined.
  • any AGV scheduling system Sx (for example, the first AGV scheduling system S0 in this embodiment) that needs to configure a waiting point corresponding to the control area, configure the nearest waiting point corresponding to the control area of the AGV scheduling system Sx as the The waiting point of the AGV scheduling system Sx corresponding to the control area.
  • the nearest waiting point corresponding to the control area of each AGV dispatching system refers to the position where the AGV of the AGV dispatching system can park without affecting the AGVs of other AGV dispatching systems passing through the control area and the closest position to the center of the control area.
  • the method for determining the minimum detection range will be described in detail below, and will not be repeated here.
  • the method for determining the nearest waiting point corresponding to the control area of each AGV scheduling system in the AGV scheduling system S0, S1, S2, ..., Sn is as follows:
  • the maximum distance between two points in the vertical direction, the vertical direction is perpendicular to the travel direction of the AGV and parallel to the bearing surface of the AGV, and the maximum length can refer to the distance between any two points on the AGV parallel to the travel direction of the AGV. maximum value;
  • P 0 is the center of the control area
  • P 3 is the parking position closest to P 0 among all the parking positions of the AGV dispatching system Si relative to the AGV dispatching system Sj
  • the parking position relative to the AGV dispatching system Sj means that when the AGV of the AGV dispatching system Si is located at this position, it may collide with the AGV of the AGV dispatching system Sj.
  • the rectangular box surrounding P 3 represents the AGV of the AGV scheduling system Si
  • the other rectangular box located obliquely above P 0 represents the AGV of the AGV scheduling system Sj.
  • the straight line where P 0 and P 3 are located is the passage of the AGV dispatching system Si corresponding to the control area
  • the straight line where P 0 is located and passing through the AGV used to represent the AGV dispatching system Sj is the AGV dispatching system Sj corresponding to the control area.
  • P 2 is the intersection point of the rectangular frame representing the AGV of the AGV dispatching system Si and the passage path of the AGV dispatching system Si corresponding to the control area
  • P 1 is the vertical foot of the line segment P0P3 when the intersection point is extended
  • the extended intersection point is the vertical line of the line segment P0P3.
  • the position leading to the control area means that when the AGV moves past the position along the passage path, the AGV is leading to the control area, that is, the AGV is approaching the center of the control area.
  • the AGV of the AGV dispatching system Si moves in the direction of P 3 ⁇ P 0 , then on the passage path of the AGV dispatching system Si corresponding to the control area, any one located at P 0 is biased towards P.
  • the position on the 3 side is the position leading to the control area.
  • the closest waiting point of S0 corresponding to the control area may be set to the waiting point of S0 corresponding to the control area.
  • the closest waiting point of the first AGV scheduling system corresponding to the control area is configured as the waiting point of the first AGV scheduling system.
  • the waiting point corresponding to the control area of the AGV dispatching system Sb is shown, which is located on the passage path of the AGV dispatching system Sb corresponding to the control area, at a distance Db from the center of the control area.
  • the minimum detection range corresponding to the control area of each AGV scheduling system in the AGV scheduling systems S0, S1, S2, ..., Sn may be predetermined.
  • the AGV scheduling system Sy for example, the second AGV scheduling system in this embodiment: S1, S2, ..., Sn
  • the minimum detection range of the area is configured as the detection range of the AGV scheduling system Sy corresponding to the control area, where y is any integer between 1 and n.
  • the minimum detection range corresponding to the control area of each AGV dispatching system refers to the minimum driving range in which the AGV of the AGV dispatching system will have an impact on the AGV of other AGV dispatching systems passing through the control area, and the AGV of the AGV dispatching system will drive into this area. After the minimum detection range, before leaving the minimum detection range, it will collide with the AGV of at least one other AGV dispatching system that has entered the control area in the process.
  • the method for determining the minimum detection range of each AGV scheduling system in the AGV scheduling system S1, S2, ..., Sn corresponding to the control area is as follows, wherein any electronic device with computing capability can use the following method
  • the minimum detection range corresponding to the control area of each AGV dispatching system is determined, for example, the minimum detection range corresponding to the control area by the AGV dispatching system S1 may be determined by the AGV dispatching system S1, or it may be determined by the AGV dispatching system S1
  • This application does not make any restrictions on any other electronic devices with computing capabilities other than those determined by:
  • the minimum detection range of Sj corresponding to the control area may be set to the detection range of Sj corresponding to the control area.
  • the method for configuring the minimum detection range of the second AGV scheduling system Sj corresponding to the control area is: first according to the above steps 21 to Step 22 determines the minimum detection range of Sj corresponding to the control area, and then sets the minimum detection range as the detection range of Sj corresponding to the control area.
  • the detection range of the AGV scheduling system Sb corresponding to the control area is shown.
  • the length of the detection range of Sb corresponding to the control area is Vb ⁇ Tb+2Db
  • the distance between the left side and the center of the control area is Vb ⁇ Tb+Db
  • the distance between the right side and the center of the control area is Db.
  • the first AGV scheduling system determines whether the control area is occupied according to the occupancy flag in the occupancy information of each second AGV scheduling system corresponding to the control area, and the occupancy flag is It is set by the detection device corresponding to the control area of the second AGV dispatching system based on the detection result of whether the AGV of the second AGV dispatching system is traveling in the detection range corresponding to the control area of the second AGV dispatching system.
  • this embodiment is the same as the embodiment shown in FIG. 2 , in the case where there is no information exchange between the first AGV scheduling system and the second AGV scheduling system, the AGV of the first AGV scheduling system and the second AGV scheduling system can be avoided. The AGV collided.
  • FIG. 8 is a flowchart of the AGV traffic control method provided in Embodiment 5 of the present application.
  • the method is applied to the first AGV dispatching system.
  • the first AGV dispatching system and at least one second AGV dispatching system share the same Control area; the first AGV dispatching system and each second AGV dispatching system are equipped with waiting points, detection devices and detection ranges corresponding to the control area; as shown in FIG. 8 , the method specifically includes the following steps:
  • Step 801 When it is determined that the AGV of the first AGV scheduling system will pass through the control area, obtain the occupancy information of the second AGV scheduling system corresponding to the control area from the detection device corresponding to the control area of each second AGV scheduling system.
  • the occupation information includes: an occupation flag and a waiting flag; the occupation flag includes two values, one is a value indicating that the AGV occupies the control area, and the other is a value indicating that the AGV does not occupy the control area; the waiting flag It includes two values, one is a value that indicates that the AGV is waiting at the waiting point, and the other is a value that indicates that the AGV is not waiting at the waiting point.
  • the detection device corresponding to the control area of each second AGV dispatching system can drive the AGV of the second AGV dispatching system into and out of the detection range of the second AGV dispatching system corresponding to the control area situation and the waiting situation at the waiting point of the second AGV dispatching system corresponding to the control area, and set the occupancy information of the second AGV dispatching system corresponding to the control area based on the detection result.
  • the detection device of the second AGV scheduling system corresponding to the control area may set the occupancy information of the second AGV scheduling system corresponding to the control area in the following manner:
  • the detection device corresponding to the control area of each second AGV dispatching system when detecting and determining that the AGV of the second AGV dispatching system has entered the detection range corresponding to the control area of the second AGV dispatching system, dispatches the second AGV
  • the occupancy flag in the occupancy information corresponding to the control area of the system is set to a value indicating that the AGV occupies the control area
  • the detection device corresponding to the control area of each second AGV dispatching system when detecting and determining that the AGV of the second AGV dispatching system leaves the detection range corresponding to the control area of the second AGV dispatching system, dispatches the second AGV
  • the occupancy flag in the occupancy information corresponding to the control area of the system is set to a value indicating that the AGV does not occupy the control area;
  • the detection device corresponding to the control area of each second AGV scheduling system when detecting and determining that the AGV of the second AGV scheduling system is waiting at the waiting point corresponding to the control area of the second AGV scheduling system, schedules the second AGV
  • the waiting flag in the occupancy information corresponding to the control area of the system is set to a value indicating that the AGV is waiting at the waiting point;
  • the detection device corresponding to the control area of each second AGV dispatching system when detecting and determining that the AGV of the second AGV dispatching system leaves the waiting point corresponding to the control area of the second AGV dispatching system, dispatches the second AGV
  • the waiting flag in the occupancy information corresponding to the regulated area of the system is set to a value indicating that the AGV is not waiting at the waiting point.
  • the detection device of the first AGV dispatching system corresponding to the control area is also required to drive the AGV of the first AGV dispatching system into the detection range of the first AGV dispatching system corresponding to the control area.
  • the departure situation, and the waiting situation at the waiting point of the first AGV dispatching system corresponding to the control area and based on the detection results, the occupancy information of the first AGV dispatching system corresponding to the control area is set.
  • each second AGV dispatching system also has the same function as the first AGV dispatching system, that is, when each second AGV dispatching system determines that its own AGV is about to pass through the control area, it can also use the detection device of the first AGV dispatching system.
  • the occupancy information of the first AGV scheduling system corresponding to the control area and obtain the occupancy information of the other second AGV scheduling systems corresponding to the control area from the detection devices of the other second AGV scheduling systems, and then determine the control area according to the occupancy information. Whether it is occupied, if it is occupied, wait at the waiting point of the second AGV dispatching system corresponding to the control area, and re-determine that its own AGV will pass through the control area after a preset period of time, otherwise, schedule its own AGV to pass directly through the control area .
  • Step 8021 Determine whether there is a second AGV scheduling system whose occupancy flag in the occupancy information corresponding to the control area is a value indicating occupancy, if so, determine that the control area is occupied, and go to step 804 to execute, otherwise, execute step 8022 ;
  • Step 8022 determining that the waiting flag in the occupancy information corresponding to the control area is the second AGV scheduling system that indicates the waiting value
  • Step 8023 determine whether the determined number of the second AGV scheduling system is 0, if so, determine that the control area is not occupied, go to step 803 to execute, otherwise, execute step 8024;
  • Step 8024 Determine whether the priority of the first AGV scheduling system is greater than the determined priority of each second AGV scheduling system. If so, determine that the control area is not occupied, and go to step 803 to execute. If not, determine that the control area is occupied. occupied, go to step 804.
  • the above steps 8021 to 8024 are specific refinements of the step 202 shown in FIG. 2 .
  • Step 803 Schedule the AGV of the first AGV scheduling system to pass through the control area
  • Step 804 Control the AGV of the first AGV dispatching system to wait at the waiting point of the first AGV dispatching system corresponding to the control area, and after waiting for a preset time period, determine again that the AGV of the first AGV dispatching system will pass through the control area, and return to execution
  • the occupancy information of the second AGV scheduling system corresponding to the control area is acquired from the detection device corresponding to the control area of each second AGV scheduling system.
  • the number of second AGV scheduling systems is n.
  • the first AGV scheduling system and the n second AGV scheduling systems will be sequentially recorded as S0 (ie the first AGV scheduling system), S1 (ie the first second AGV scheduling system), S2 (ie the second AGV scheduling system) the second AGV scheduling system), ..., Sn (that is, the nth second AGV scheduling system).
  • the nearest waiting point corresponding to the control area of each AGV scheduling system in the AGV scheduling systems S0, S1, S2, ..., Sn may be predetermined.
  • any AGV scheduling system Sx (for example, the first AGV scheduling system S0 in this embodiment) that needs to configure a waiting point corresponding to the control area, configure the nearest waiting point corresponding to the control area of the AGV scheduling system Sx as the The waiting point of the AGV scheduling system Sx corresponding to the control area.
  • the nearest waiting point corresponding to the control area of each AGV dispatching system refers to the position where the AGV of the AGV dispatching system can park without affecting the AGVs of other AGV dispatching systems passing through the control area and the closest position to the center of the control area.
  • the method of determining the nearest waiting point corresponding to the control area of each AGV scheduling system in the AGV scheduling system S0, S1, S2, ..., Sn is the same as the method for determining the AGV scheduling system S0, S1,
  • the method of the nearest waiting point corresponding to the control area of each AGV scheduling system in S2, ..., Sn is the same, and will not be repeated.
  • the specific method for determining the nearest waiting point of Si corresponding to the control area given in the embodiment shown in FIG. 5 may be combined first (ie, steps S11 to S12) Determine the closest waiting point of S0 corresponding to the control area, and then set the closest waiting point as the waiting point of S0 corresponding to the control area.
  • the minimum detection range corresponding to the control area of each AGV scheduling system in the AGV scheduling systems S0, S1, S2, ..., Sn may be predetermined.
  • the AGV scheduling system Sy corresponds to the control area
  • the minimum detection range of is configured as the detection range of the AGV dispatching system Sy corresponding to the control area.
  • the minimum detection range of each AGV dispatching system corresponding to the control area refers to the minimum driving range in which the AGV of the AGV dispatching system will have an impact on the AGV of other AGV dispatching systems passing through the control area, and the AGV of the AGV dispatching system will drive into this area. After the minimum detection range, before leaving this minimum detection range, it will collide with the AGV of at least one other AGV dispatching system that has entered the control area in the process.
  • the method for determining the minimum detection range of each AGV scheduling system in the AGV scheduling system S0, S1, S2, ..., Sn corresponding to the control area is the same as the method for determining the AGV provided in the embodiment shown in FIG. 5 .
  • the method of the minimum detection range corresponding to the control area of each AGV scheduling system in the scheduling systems S0, S1, S2, ..., Sn is the same, and will not be repeated here.
  • the specific method for determining the minimum detection range of Sj corresponding to the control area given in the embodiment shown in FIG. S12) Determine the minimum detection range of Sj corresponding to the control area, and then set the minimum detection range as the detection range of Sj corresponding to the control area.
  • the first AGV scheduling system determines whether the control area is occupied according to the occupancy flag and the waiting flag in the occupancy information of each second AGV scheduling system corresponding to the control area, and this The occupancy flag and the waiting flag are detected and determined by the detection device of the second AGV dispatching system corresponding to the control area. Specifically, the detection device determines whether to drive in the detection range corresponding to the control area of the second AGV dispatching system. It is set with the detection result of the AGV of the second AGV dispatching system and the detection result of whether the AGV of the second AGV dispatching system is staying in the waiting point of the second AGV dispatching system corresponding to the control area.
  • the first AGV scheduling system and the second AGV scheduling system are both equipped with detection devices, detection ranges and waiting points, and have the same judgment control area as the first AGV scheduling system It is occupied and determines the function of directly passing through the control area or waiting at the waiting point according to the judgment result. Therefore, all AGV dispatching systems will not AGV collision when passing through the control area.
  • FIG. 9 is a flow chart of the AGV traffic control method provided in Embodiment 6 of the present application.
  • the method is applied to the detection device of any AGV dispatching system in at least one second AGV dispatching system, at least one second AGV dispatching system.
  • the first AGV dispatching system shares the same control area; the first AGV dispatching system is configured with a waiting point corresponding to the control area; each second AGV dispatching system is configured with a detection device corresponding to the control area; the method specifically includes:
  • Step 901 detecting in real time the occupancy information corresponding to the control area of any second AGV dispatching system
  • Step 902 Provide the occupancy information for the first AGV scheduling system to obtain when determining that the AGV of the first AGV scheduling system will pass through the control area, so that the first AGV scheduling system corresponds to the occupation of the control area according to the acquired second AGV scheduling systems The information determines whether the control area is occupied. If the first AGV scheduling system determines that the control area is not occupied, the AGV of the first AGV scheduling system is scheduled to pass through the control area. If the first AGV scheduling system determines that the control area is occupied, the control area is controlled.
  • the AGV of an AGV dispatching system waits at the waiting point of the first AGV dispatching system corresponding to the control area, and after waiting for a preset time period, it is determined again that the AGV of the first AGV dispatching system will pass through the control area, and is dispatched from each second AGV again.
  • the detection device corresponding to the control area of the system acquires the occupancy information of the second AGV scheduling system corresponding to the control area.
  • the detection device corresponding to the control area of each second AGV dispatching system detects and determines the occupation information of the second AGV dispatching system corresponding to the control area in real time, so that the first AGV dispatching system corresponds to the control area.
  • the detection device Before the AGV of an AGV dispatching system passes through the control area, it can obtain the occupancy information of each second AGV dispatching system corresponding to the control area, and judge whether the control area is occupied accordingly, and dispatch the AGV of the first AGV dispatching system when it is not occupied. Through the control area, the collision with the AGV of each second AGV dispatching system can be avoided.
  • the AGV If the AGV is occupied, it needs to wait for a preset time at the waiting point to execute the acquisition of the occupancy information of each second AGV dispatching system corresponding to the control area and judge the control area again.
  • the operation of whether the area is occupied, this process does not require information exchange between the first AGV scheduling system and the second AGV scheduling system.
  • the AGV of the second AGV dispatching system can directly pass through the control area without interacting with the first AGV dispatching system, nor does it require the first AGV dispatching system to configure and detect device.
  • FIG. 10 is a flowchart of the AGV traffic control method provided in Embodiment 7 of the present application.
  • the method is applied to the detection device of any AGV dispatching system in at least one second AGV dispatching system, at least one second AGV dispatching system. Sharing the same control area with the first AGV dispatching system; the first AGV dispatching system is configured with a waiting point corresponding to the control area; each second AGV dispatching system is configured with a detection device and a detection range corresponding to the control area; the method specifically includes :
  • Step 10011 When it is detected and determined that the AGV of any second AGV dispatching system enters the detection range corresponding to the control area of any second AGV dispatching system, the occupancy information corresponding to the control area of any second AGV dispatching system is included in the occupancy information of any second AGV dispatching system.
  • the occupancy flag of is set to a value indicating that the AGV occupies the control area, and go to step 1002 to execute.
  • Step 10012 When it is determined that the AGV of any second AGV dispatching system leaves the detection range corresponding to the control area of any second AGV dispatching system, the occupancy information corresponding to the control area of any second AGV dispatching system is included in the occupancy information of any second AGV dispatching system.
  • the occupancy flag is set to a value indicating that the AGV does not occupy the control area, and go to step 1002 to execute.
  • the occupancy information includes an occupancy flag; the occupancy flag includes two values, one is a value indicating that the AGV occupies a control area, and the other is a value indicating that the AGV does not occupy a control area.
  • steps 10011 and 10022 are specific refinements of step 901 shown in FIG. 9 .
  • Step 1002 Provide the occupancy information for the first AGV scheduling system to obtain when determining that the AGV of the first AGV scheduling system will pass through the control area, so that the first AGV scheduling system corresponds to the occupation of the control area according to the acquired second AGV scheduling systems
  • the information determines whether the control area is occupied, and determines that the control area is not occupied, then dispatches the AGV of the first AGV dispatching system to pass through the control area, and determines that the control area is occupied, then controls the AGV of the first AGV dispatching system in the first AGV dispatching system.
  • the second AGV dispatching system corresponds to the occupancy information of the control area.
  • the first AGV scheduling system can determine whether the occupancy flags in the occupancy information corresponding to the control area of each second AGV scheduling system are all indications The value of the control area not occupied by the AGV, if yes, it can be determined that the control area is not occupied, otherwise, it can be determined that the control area is not occupied.
  • the occupancy information is obtained by the first AGV scheduling system when it is determined that the AGV of the first AGV scheduling system will pass through the control area, which specifically includes:
  • the occupancy information corresponding to the control area of any second AGV scheduling system determined by the latest detection is returned to the first AGV scheduling system.
  • the detection device corresponding to the control area of each second AGV dispatching system sets the occupancy flag in the occupancy information of the second AGV dispatching system corresponding to the control area. Indicates whether the control area is occupied, so that the first AGV scheduling system determines whether the control area is occupied according to the occupation flag in the occupancy information of each second AGV scheduling system corresponding to the control area.
  • this embodiment is the same as the embodiment shown in FIG. 9 , in the case where there is no information exchange between the first AGV scheduling system and the second AGV scheduling system, the AGV of the first AGV scheduling system and the second AGV scheduling system can be avoided. The AGV collided.
  • FIG. 11 is a flowchart of the AGV traffic control method provided in the eighth embodiment of the present application.
  • the method is applied to the detection device of any AGV dispatching system in at least one second AGV dispatching system, at least one second AGV dispatching system. Share the same control area with the first AGV dispatching system; the first AGV dispatching system and each second AGV dispatching system are equipped with waiting points, detection devices and detection ranges corresponding to the control area; the method is specifically applied to any second AGV
  • the detection device of the dispatching system including:
  • Step 11011 When it is determined that the AGV of any second AGV dispatching system enters the detection range corresponding to the control area of any second AGV dispatching system, the occupancy information corresponding to the control area of any second AGV dispatching system is included in the occupancy information of any second AGV dispatching system.
  • the occupancy flag of is set to a value indicating that the AGV occupies the control area, and go to step 1102 to execute.
  • Step 11012 When it is determined that the AGV of any second AGV dispatching system leaves the detection range corresponding to the control area of any second AGV dispatching system, the occupancy information corresponding to the control area of any second AGV dispatching system is included in the occupancy information of any second AGV dispatching system.
  • the occupancy flag of is set to a value indicating that the AGV does not occupy the control area, and go to step 1102 to execute.
  • Step 11013 When it is detected and determined that the AGV of any second AGV dispatching system is waiting at the waiting point corresponding to the control area of any second AGV dispatching system, the AGV in the occupancy information corresponding to the control area of any second AGV dispatching system is If the waiting flag is set to a value indicating that the AGV is waiting at the waiting point, go to step 1102 to execute.
  • Step 11014 When it is detected and determined that the AGV of any second AGV dispatching system leaves the waiting point corresponding to the control area of any second AGV dispatching system, the occupancy information corresponding to the control area of any second AGV dispatching system is included in the occupancy information of any second AGV dispatching system.
  • the waiting flag is set to a value indicating that the AGV is not waiting at the waiting point, and go to step 1102 to execute.
  • the occupation information includes an occupation flag and a waiting flag.
  • the occupation flag includes two values, one is the value indicating that the AGV occupies the control area, and the other is the value indicating that the AGV does not occupy the control area.
  • the waiting flag includes two values, one is a value indicating that the AGV is waiting at the waiting point, and the other is a value indicating that the AGV is not waiting at the waiting point.
  • the above steps 11011 to 11014 are specific refinements of the step 901 shown in FIG. 9 .
  • Step 1102 Provide the occupancy information for the first AGV scheduling system to obtain when it is determined that the AGV of the first AGV scheduling system will pass through the control area, so that the first AGV scheduling system corresponds to the occupation of the control area according to the acquired second AGV scheduling systems
  • the information determines whether the control area is occupied, and determines that the control area is not occupied, then dispatches the AGV of the first AGV dispatching system to pass through the control area, and determines that the control area is occupied, then controls the AGV of the first AGV dispatching system in the first AGV dispatching system.
  • the second AGV dispatching system corresponds to the occupancy information of the control area.
  • the first AGV scheduling system after the first AGV scheduling system obtains the occupancy information corresponding to the control area of each second AGV scheduling system, it can determine whether the occupancy flag in the occupancy information corresponding to the control area exists as a value indicating that the AGV occupies the control area
  • the second AGV scheduling system if it exists, it is determined that the control area is occupied; if it does not exist, it is determined that the waiting flag in the occupancy information corresponding to the control area is the second AGV scheduling system of the value indicating that the AGV is waiting at the waiting point,
  • the determined number of the second AGV scheduling system is 0, it is determined that the control area is not occupied; when the determined number of the second AGV scheduling system is not 0, it is further judged whether the priority of the first AGV scheduling system is greater than If the priority of each second AGV scheduling system is determined, if yes, it is determined that the control area is not occupied; if not, it is determined that the control area is occupied.
  • the occupancy information is obtained by the first AGV scheduling system when it is determined that the AGV of the first AGV scheduling system needs to pass through the control area, which specifically includes:
  • the occupancy information corresponding to the control area of any second AGV scheduling system determined by the latest detection is returned to the first AGV scheduling system.
  • the detection device corresponding to the control area of each second AGV scheduling system checks the occupancy flag and the waiting flag in the occupancy information of the second AGV scheduling system corresponding to the control area Setting is made to indicate whether the control area is occupied, so that the first AGV scheduling system determines whether the control area is occupied according to the occupancy flag and the waiting flag in the occupancy information of each second AGV scheduling system corresponding to the control area.
  • the second AGV dispatching system may also have the same function as the first AGV dispatching system, that is, when each second AGV dispatching system determines that its own AGV will pass through the control area, it can also dispatch from the first AGV
  • the detection device of the system obtains the occupancy information of the first AGV scheduling system corresponding to the control area, and obtains the occupancy information of the other second AGV scheduling system corresponding to the control area from the detection devices of other second AGV scheduling systems, and then according to the occupancy information The information determines whether the control area is occupied.
  • the embodiments of the present application also provide an AGV traffic control system, which will be described in detail below.
  • FIG. 12 is a schematic diagram of the architecture of the traffic control system provided by Embodiment 1 of the present application.
  • the traffic control system includes a first AGV dispatching system and a second AGV dispatching system, the first AGV dispatching system and The second AGV dispatching system shares the same control area;
  • the first AGV dispatching system is configured with a waiting point corresponding to the control area;
  • the second AGV dispatching system is configured with a detection device corresponding to the control area;
  • the first AGV scheduling system is used to obtain the occupancy information of the second AGV scheduling system corresponding to the control area from the detection device corresponding to the control area of the second AGV scheduling system when it is determined that the AGV of the first AGV scheduling system will pass through the control area ; Determine whether the control area is occupied according to the occupancy information of the second AGV scheduling system corresponding to the control area; if the control area is not occupied, schedule the AGV of the first AGV scheduling system to pass the control area; if the control area is occupied, control the The AGV of the first AGV dispatching system waits at the waiting point of the first AGV dispatching system corresponding to the control area, and after waiting for a preset time period, it is determined again that the AGV of the first AGV dispatching system will pass through the control area, and returns to the execution from each second.
  • the step of acquiring the occupancy information of the second AGV dispatching system corresponding to the control area by the detection device corresponding to the control area of the AGV dispatching system;
  • the detection device of the second AGV scheduling system is used to detect the occupancy information of the second AGV scheduling system corresponding to the control area in real time, for the first AGV scheduling system to obtain when determining that the AGV of the first AGV scheduling system will pass the control area.
  • the first AGV dispatching system when determining that the AGV of the first AGV dispatching system will pass through the control area, is used to:
  • N is any positive Integer.
  • the first AGV scheduling system when acquiring the occupancy information of the second AGV scheduling system corresponding to the control area from the detection device of the second AGV scheduling system corresponding to the control area, is used to:
  • the occupancy information of the second AGV scheduling system corresponding to the control area returned by the detection device corresponding to the control area of the second AGV scheduling system is received.
  • the occupancy information includes the occupancy flag; the occupancy flag includes two values, one is the value indicating that the AGV occupies the control area, and the other is the value indicating that the AGV does not occupy the control area;
  • the first AGV scheduling system when judging whether the control area is occupied according to the occupancy information of the second AGV scheduling system corresponding to the control area, is used to:
  • the second AGV dispatching system is configured with a detection range corresponding to the control area; the detection device corresponding to the control area of the second AGV dispatching system detects the occupancy information of the second AGV dispatching system corresponding to the control area in real time, including:
  • the occupancy flag in the occupancy information corresponding to the control area of the AGV dispatching system is set to indicate the AGV The value of the occupied control area; when it is detected and determined that the AGV of the second AGV scheduling system leaves the detection range corresponding to the control area of the second AGV scheduling system, the occupancy information of the second AGV scheduling system corresponding to the control area The occupancy flag in is set to a value indicating that the AGV is not occupying the regulated area.
  • the occupancy information includes the occupancy flag and the waiting flag;
  • the occupancy flag includes two values, one is the value indicating that the AGV occupies the control area, and the other is the value indicating that the AGV does not occupy the control area;
  • the waiting flag includes two values, one One is the value that indicates that the AGV is waiting at the waiting point, and the other is the value that indicates that the AGV is not waiting at the waiting point;
  • the first AGV scheduling system when judging whether the control area is occupied according to the occupancy information of the second AGV scheduling system corresponding to the control area, is used to:
  • the second AGV dispatching system is also configured with a detection range and a waiting point corresponding to the control area; the detection device corresponding to the control area of the second AGV dispatching system detects the occupancy information of the second AGV dispatching system corresponding to the control area in real time, including :
  • the occupancy flag in the occupancy information corresponding to the control area of the second AGV scheduling system is set to indicate that the AGV is occupied The value of the control area; when it is detected and determined that the AGV of the second AGV dispatching system leaves the detection range corresponding to the control area of the second AGV dispatching system, the occupancy flag in the occupancy information corresponding to the control area of the second AGV dispatching system is Set to a value indicating that the AGV does not occupy the control area;
  • the waiting flag in the occupancy information corresponding to the control area of the second AGV scheduling system is set to indicate that the AGV is in the control area.
  • the value of waiting at the waiting point; when it is detected and determined that the AGV of the second AGV scheduling system leaves the waiting point corresponding to the control area of the second AGV scheduling system, the waiting point in the occupancy information corresponding to the control area of the second AGV scheduling system is The flag is set to a value indicating that the AGV is not waiting at the waiting point.
  • the AGV of the first AGV dispatching system only exchanges information with the detection device of the second AGV dispatching system corresponding to the control area during the process of passing through the control area
  • the AGV of the second AGV dispatching system can directly pass the control area at any time without the need to stay and wait outside the control area. Since the first AGV dispatching system only exchanges information with the detection device of the second AGV dispatching system corresponding to the control area, and will not interact with the second AGV dispatching system, it will not cause any interference and disturbance to the second AGV dispatching system. control.
  • the system only needs to install the detection device, the implementation is simple, the cost is low, and the technical feasibility is high.
  • FIG. 13 is a schematic diagram of the architecture of the traffic control system provided by the second embodiment of the present application.
  • the traffic control system includes a first AGV dispatching system, a second AGV dispatching system, and a third AGV dispatching system , the first AGV dispatching system, the second AGV dispatching system, and the third AGV dispatching system share the same control area, and are all equipped with waiting points and detection devices corresponding to the control area; wherein,
  • Each AGV dispatching system in the first AGV dispatching system, the second AGV dispatching system, and the third AGV dispatching system is used to determine that when the AGV of the AGV dispatching system is going to pass through the control area, the corresponding AGV dispatching system from other AGV dispatching systems
  • the detection device of the control area obtains the occupancy information of the other AGV scheduling system corresponding to the control area; judges whether the control area is occupied according to the occupancy information of the other AGV scheduling systems corresponding to the control area; if the control area is not occupied, schedule the AGV
  • the AGV of the dispatching system passes through the control area; if the control area is occupied, the AGV that controls the AGV dispatching system waits at its own waiting point corresponding to the control area, and re-determines the AGV of the AGV dispatching system after waiting for a preset time period is about to pass through a restricted area;
  • each AGV dispatching system in the first AGV dispatching system, the second AGV dispatching system, and the third AGV dispatching system is used to detect the occupancy information of the AGV dispatching system corresponding to the control area in real time for other
  • the AGV dispatch system obtains when it is determined that the AGV of the other AGV dispatch system will pass through the control area.
  • Each AGV dispatching system in the first AGV dispatching system, the second AGV dispatching system, and the third AGV dispatching system, when determining that the AGV of the AGV dispatching system will pass through the control area, is used to:
  • the waiting time of the AGV of the AGV scheduling system at the waiting point of the AGV scheduling system corresponding to the control area is N times the preset duration, it is determined that the AGV will pass through the control area; where N is any positive integer.
  • Each AGV dispatching system in the first AGV dispatching system, the second AGV dispatching system, and the third AGV dispatching system obtains the corresponding control area of the other AGV dispatching system from the detection devices corresponding to the control area of the other AGV dispatching systems. occupancy information for:
  • the occupancy information includes the occupancy flag; the occupancy flag includes two values, one is the value indicating that the AGV occupies the control area, and the other is the value indicating that the AGV does not occupy the control area;
  • Each AGV scheduling system in the first AGV scheduling system, the second AGV scheduling system, and the third AGV scheduling system, when judging whether the control area is occupied according to the occupancy information of the other AGV scheduling systems corresponding to the control area, is used to:
  • the first AGV dispatching system, the second AGV dispatching system, and the third AGV dispatching system are all configured with detection ranges corresponding to control areas;
  • the detection device corresponding to the control area of each AGV scheduling system in the first AGV scheduling system, the second AGV scheduling system, and the third AGV scheduling system detects the occupancy information corresponding to the control area of the AGV scheduling system in real time, including :
  • the occupancy flag in the occupancy information corresponding to the control area of the AGV dispatching system is set to indicate that the AGV occupies the control area. value; when it is detected and determined that the AGV of the AGV dispatching system leaves the detection range corresponding to the control area of the AGV dispatching system, the occupancy flag in the occupancy information of the AGV dispatching system corresponding to the control area is set to indicate that the AGV is not occupied The value of the regulatory area.
  • the occupancy information includes the occupancy flag and the waiting flag;
  • the occupancy flag includes two values, one is the value indicating that the AGV occupies the control area, and the other is the value indicating that the AGV does not occupy the control area;
  • the waiting flag includes two values, one One is the value that indicates that the AGV is waiting at the waiting point, and the other is the value that indicates that the AGV is not waiting at the waiting point;
  • Each AGV scheduling system in the first AGV scheduling system, the second AGV scheduling system, and the third AGV scheduling system is used to determine whether the control area is occupied according to the occupancy information of the other second AGV scheduling systems corresponding to the control area.
  • the first AGV dispatching system, the second AGV dispatching system, and the third AGV dispatching system are all configured with detection ranges corresponding to control areas;
  • the detection device corresponding to the control area of each AGV scheduling system in the first AGV scheduling system, the second AGV scheduling system, and the third AGV scheduling system detects the occupancy information corresponding to the control area of the AGV scheduling system in real time, including :
  • the occupancy flag in the occupancy information corresponding to the control area of the AGV dispatching system is set to indicate that the AGV occupies the control area. value; when it is detected and determined that the AGV of the AGV dispatching system leaves the detection range corresponding to the control area of the AGV dispatching system, the occupancy flag in the occupancy information of the AGV dispatching system corresponding to the control area is set to indicate that the AGV is not occupied the value of the regulated area;
  • the waiting flag in the occupancy information of the AGV scheduling system corresponding to the control area is set to indicate that the AGV is waiting at the waiting point.
  • the waiting flag in the occupancy information corresponding to the control area of the AGV dispatching system is set to indicate that the AGV is not The value to wait at the wait point.
  • each AGV dispatching system in the first AGV dispatching system, the second AGV dispatching system, and the third AGV dispatching system is determining the AGV of the AGV dispatching system will be
  • the occupancy information of the other AGV scheduling system corresponding to the control area is obtained from the detection devices corresponding to the control area of other AGV scheduling systems, so as to determine whether to directly pass the control area or wait at the waiting point, so as to Avoid collision with AGVs of other AGV scheduling systems.
  • the embodiment of the present application also provides an AGV traffic control device, which is described in detail below:
  • FIG. 14 is a schematic structural diagram of an AGV traffic control device provided in Embodiment 1 of the present application.
  • the device is applied to a first AGV dispatching system, and the first AGV dispatching system and at least one second AGV dispatching system share the same control area;
  • the first AGV dispatching system is configured with a waiting point corresponding to the control area;
  • each second AGV dispatching system is configured with a detection device corresponding to the control area;
  • the device specifically includes: a processor 1401, and a processor 1401 connected to the processor 1401 through a bus. non-transitory computer readable storage medium 1402;
  • the non-transitory computer-readable storage medium 1402 stores one or more computer programs executable by the processor 1401; when the processor 1401 executes the one or more computer programs, the following steps are implemented:
  • the occupancy information of the second AGV dispatching system corresponding to the control area is obtained from the detection device corresponding to the control area of each second AGV dispatching system;
  • control area If the control area is not occupied, dispatch the AGV of the first AGV dispatching system to pass through the control area;
  • the AGV controlling the first AGV dispatching system waits at the waiting point of the first AGV dispatching system corresponding to the control area, and after waiting for a preset time period, it is determined again that the AGV of the first AGV dispatching system will pass through Controlled area.
  • the processor 1401 determines that the AGV of the first AGV dispatching system is about to pass through the control area, it is used for:
  • N is any positive Integer.
  • the processor 1401 when acquiring the occupancy information of the second AGV scheduling system corresponding to the control area from the detection device corresponding to the control area of each second AGV scheduling system, is used for:
  • the occupancy information includes an occupancy flag;
  • the occupancy flag includes two values, one is a value indicating that the AGV occupies the control area, and the other is a value indicating that the AGV does not occupy the control area;
  • the processor 1401 when judging whether the control area is occupied according to the occupancy information of each second AGV scheduling system corresponding to the control area, is used to:
  • each second AGV dispatching system is configured with a detection range corresponding to the control area; the detection device corresponding to the control area of each second AGV dispatching system detects and determines that the AGV of the second AGV dispatching system enters the second AGV When the detection range of the dispatching system corresponds to the control area, the occupancy flag in the occupancy information corresponding to the control area of the AGV dispatching system is set to a value indicating that the AGV occupies the control area; after detecting and determining the AGV of the second AGV dispatching system When leaving the detection range of the second AGV dispatch system corresponding to the control area, the occupancy flag in the occupancy information corresponding to the control area of the second AGV dispatch system is set to a value indicating that the AGV does not occupy the control area.
  • the occupancy information includes the occupancy flag and the waiting flag;
  • the occupancy flag includes two values, one is the value indicating that the AGV occupies the control area, and the other is the value indicating that the AGV does not occupy the control area;
  • the waiting flag includes two values, one One is the value that indicates that the AGV is waiting at the waiting point, and the other is the value that indicates that the AGV is not waiting at the waiting point;
  • the processor 1401 when judging whether the control area is occupied according to the occupancy information of each second AGV scheduling system corresponding to the control area, is used to:
  • the waiting flag in the occupancy information corresponding to the control area is a second AGV scheduling system with a value indicating that the AGV is waiting at the waiting point, and when the determined number of second AGV scheduling systems is 0, it is determined that the control area is not occupied;
  • the determined number of second AGV scheduling systems is not 0, it is further judged whether the priority of the first AGV scheduling system is greater than the determined priority of each second AGV scheduling system, if so, it is determined that the control area is not occupied, If not, determine that the control area is occupied;
  • each second AGV scheduling system is also configured with a detection range and a waiting point corresponding to the control area;
  • the detection device corresponding to the control area of each second AGV dispatching system when detecting and determining that the AGV of the second AGV dispatching system has entered the detection range corresponding to the control area of the second AGV dispatching system, dispatches the second AGV
  • the occupancy flag in the occupancy information corresponding to the control area of the system is set to a value indicating that the AGV occupies the control area; after detecting and determining that the AGV of the second AGV dispatching system leaves the detection range corresponding to the control area of the second AGV dispatching system
  • the occupancy flag in the occupancy information corresponding to the control area of the second AGV scheduling system is set to a value indicating that the AGV does not occupy the control area;
  • the detection device corresponding to the control area of each second AGV scheduling system when detecting and determining that the AGV of the second AGV scheduling system is waiting at the waiting point corresponding to the control area of the second AGV scheduling system, schedules the second AGV
  • the waiting flag in the occupancy information corresponding to the control area of the system is set to a value indicating that the AGV is waiting at the waiting point; after detection, it is determined that the AGV of the second AGV dispatching system is from the waiting point corresponding to the control area of the second AGV dispatching system
  • the waiting flag in the occupancy information corresponding to the control area of the second AGV scheduling system is set to a value indicating that the AGV is not waiting at the waiting point.
  • FIG. 15 is a schematic structural diagram of the AGV traffic control device provided in the second embodiment of the present application, the device is a detection device of any second AGV dispatching system in at least one second AGV dispatching system, at least one second AGV The dispatching system and the first AGV dispatching system share the same control area; the first AGV dispatching system is configured with a waiting point corresponding to the control area; each second AGV dispatching system is configured with a detection device corresponding to the control area; the device specifically includes: a processor 1501, and a non-transitory computer-readable storage medium 1502 connected to the processor 1501 through a bus;
  • the non-transitory computer-readable storage medium 1502 stores one or more computer programs that can be executed by the processor 1501; when the processor 1501 executes the one or more computer programs, the following steps are implemented:
  • the occupancy information corresponding to the control area of any second AGV dispatching system is detected in real time for the first AGV dispatching system to obtain when determining that the AGV of the first AGV dispatching system will pass through the control area, so that the first AGV dispatching system can obtain the information according to the obtained control area.
  • Each second AGV scheduling system determines whether the control area is occupied according to the occupancy information of the control area, and determines that the control area is not occupied, then schedules the AGV of the first AGV scheduling system to pass the control area, and determines that the control area is occupied, then controls the first AGV dispatching system to pass the control area.
  • the AGV of an AGV dispatching system waits at the waiting point of the first AGV dispatching system corresponding to the control area, and after waiting for a preset time period, it is determined again that the AGV of the first AGV dispatching system will pass through the control area.
  • the occupancy information includes an occupancy flag;
  • the occupancy flag includes two values, one is a value indicating that the AGV occupies the control area, and the other is a value indicating that the AGV does not occupy the control area;
  • Any second AGV dispatching system is configured with a detection range corresponding to the control area
  • the processor 1501 detects, in real time, the occupancy information corresponding to the control area of any second AGV scheduling system, including:
  • the occupancy flag in the occupancy information corresponding to the control area of any second AGV dispatching system is Set to a value indicating that the AGV occupies the control area;
  • the occupancy flag in the occupancy information corresponding to the control area of any second AGV dispatching system is changed. Set to a value that indicates that the AGV does not occupy a restricted area.
  • the occupancy information includes an occupancy flag and a waiting flag;
  • the occupancy flag includes two values, one is a value indicating that the AGV occupies the control area, and the other is a value indicating that the AGV does not occupy the control area;
  • waiting The flag includes two values, one is a value indicating that the AGV is waiting at the waiting point, and the other is a value indicating that the AGV is not waiting at the waiting point;
  • Any second AGV scheduling system is configured with a detection range and a waiting point corresponding to the control area;
  • the processor 1501 detects, in real time, the occupancy information corresponding to the control area of any second AGV scheduling system, including:
  • the occupancy flag in the occupancy information corresponding to the control area of any second AGV dispatching system is Set to a value indicating that the AGV occupies the control area;
  • the occupancy flag in the occupancy information corresponding to the control area of any second AGV dispatching system is changed. Set to a value indicating that the AGV does not occupy the control area;
  • the waiting flag in the occupancy information corresponding to the control area of any second AGV dispatching system is changed. Set to a value indicating that the AGV is not waiting at the waiting point.
  • the processor 1501 provides the occupancy information for the first AGV scheduling system to obtain when determining that the AGV of the first AGV scheduling system will pass through the control area, including:
  • the occupancy information corresponding to the control area of any second AGV scheduling system determined by the latest detection is returned to the first AGV scheduling system.
  • Embodiments of the present application also provide a non-transitory computer-readable storage medium, where the non-transitory computer-readable storage medium stores instructions, and when the instructions are executed by the processor, the instructions cause the processor to execute the operations shown in Figures 2, 3, 4, 5, and 8.
  • FIG. 16 shows a schematic structural diagram of the AGV traffic control device provided by the present application.
  • the AGV traffic control device is applied to the first AGV dispatching system, and the first AGV dispatching system is shared with at least one second AGV dispatching system The same control area; the first AGV dispatch system is configured with a waiting point corresponding to the control area; each second AGV dispatch system is configured with a detection device corresponding to the control area; the AGV traffic control device may include:
  • the occupancy information acquisition module 1601 is used to determine that when the AGV of the first AGV dispatching system is going to pass through the control area, obtain the second AGV dispatching system corresponding to the control area from the detection device of each second AGV dispatching system corresponding to the control area. occupancy information of said regulated area;
  • Occupancy judgment module 1602 configured to judge whether the control area is occupied according to the occupancy information of each second AGV dispatching system corresponding to the control area;
  • a first control module 1603, configured to schedule the AGV of the first AGV dispatching system to pass through the control area if the control area is not occupied;
  • the second control module 1604 is configured to control the AGV of the first AGV dispatching system to wait at a waiting point of the first AGV dispatching system corresponding to the controlled area if the control area is occupied, and wait for a preset time period After that, it is determined again that the AGV of the first AGV dispatching system will pass through the control area, and the occupancy information acquisition module 1601 is driven to execute the acquisition of the second AGV dispatching system from the detection device corresponding to the control area in each second AGV dispatching system.
  • the AGV scheduling system corresponds to the step of the occupancy information of the control area.
  • the application also provides an AGV traffic control device, the AGV traffic control device is applied to the detection device of any AGV dispatching system in at least one second AGV dispatching system, the at least one second AGV dispatching system and the first AGV dispatching system
  • the dispatching systems share the same control area;
  • the first AGV dispatching system is configured with a waiting point corresponding to the control area;
  • each second AGV dispatching system is configured with a detection device corresponding to the control area;
  • the device includes:
  • An occupancy information detection module configured to detect in real time the occupancy information of any second AGV dispatching system corresponding to the control area, for the first AGV dispatching system to determine that the AGV of the first AGV dispatching system will pass the control
  • the first AGV scheduling system determines whether the control area is occupied according to the obtained occupancy information of each second AGV scheduling system corresponding to the control area. If the first AGV scheduling system determines that the control area is not If the AGV of the first AGV scheduling system is occupied, the AGV of the first AGV scheduling system is scheduled to pass through the control area.
  • the waiting point of the control area waits, and after waiting for a preset time period, it is determined again that the AGV of the first AGV dispatching system will pass through the control area, and the detection device corresponding to the control area of each second AGV dispatching system is again determined from the second AGV dispatching system. Acquire occupancy information of the second AGV scheduling system corresponding to the control area.
  • a computer program product including instructions is also provided, which, when run on a computer, enables the computer to execute the AGV traffic shown in Figures 2, 3, 4, 5, and 8 The steps in the control method or the steps in the AGV traffic control method shown in Figures 9, 10, 11.

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Abstract

Provided in the present application are an AGV traffic control method, a system, a device, and a storage medium, which are applied to a first AGV scheduling system, and the first AGV scheduling system shares a control region with at least one second AGV scheduling system. The method comprises: when it is determined that an AGV of the first AGV scheduling system needs to pass through the control region, acquiring occupancy information of each second AGV scheduling system corresponding to the control region from a detection device of each second AGV scheduling system corresponding to the control region; according to the occupancy information of each second AGV scheduling system corresponding to the control region, determining whether the control region is occupied; if not occupied, then scheduling the AGV of the first AGV scheduling system to pass through the control region; if occupied, then controlling the AGV of the first AGV scheduling system to wait at a waiting point of the first AGV scheduling system that corresponds to the control region, and after waiting for a preset duration, determining again that the AGV of the first AGV scheduling system needs to pass through the control region.

Description

一种AGV交通管制方法、***、装置及存储介质An AGV traffic control method, system, device and storage medium
本申请要求于2020年07月31日提交中国专利局、申请号为202010758754.9发明名称为“一种AGV交通管制方法、***、装置及存储介质”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。This application claims the priority of the Chinese patent application filed on July 31, 2020 with the application number of 202010758754.9 titled "An AGV Traffic Control Method, System, Device and Storage Medium", the entire contents of which are by reference Incorporated in this application.
技术领域technical field
本申请涉及自动化物流技术领域，特别涉及一种AGV(Automated Guided Vehicle，自动导航小车)交通管制方法、***、装置及存储介质。The present application relates to the technical field of automated logistics, and in particular, to an AGV (Automated Guided Vehicle) traffic control method, system, device and storage medium.
背景技术Background technique
AGV作为自动化物流应用场景中的关键设备，可以在AGV调度***的调度下沿预定的路线自动行驶，将货物或物料自动从起始点运送到目的地。As a key device in automated logistics application scenarios, AGV can automatically travel along a predetermined route under the scheduling of the AGV scheduling system, and automatically transport goods or materials from the starting point to the destination.
现有实现中，同一自动化物流应用场景中可能存在多个AGV调度***，如果这些AGV调度***之间没有信息交互，则不同AGV调度***的AGV在被调度通过同一区域时，存在碰撞的风险。In the existing implementation, there may be multiple AGV dispatching systems in the same automated logistics application scenario. If there is no information exchange between these AGV dispatching systems, there is a risk of collision when AGVs of different AGV dispatching systems are dispatched through the same area.
发明内容SUMMARY OF THE INVENTION
有鉴于此，本申请的目的在于提供了一种AGV交通管制方法、***、装置及存储介质，能够在多个AGV调度***无信息交互的情况下，可避免至少一个AGV调度***的AGV与其它AGV调度***的AGV发生碰撞。In view of this, the purpose of this application is to provide an AGV traffic control method, system, device and storage medium, which can avoid at least one AGV dispatching system AGV and other AGV dispatching systems without information interaction. The AGV of the AGV dispatching system collided.
为了达到上述目的，本申请提供了如下技术方案：In order to achieve the above purpose, the application provides the following technical solutions:
第一种AGV交通管制方法，应用于第一AGV调度***，第一AGV调度***和至少一个第二AGV调度***共用同一管制区域；第一AGV调度***配置有对应于所述管制区域的等待点；每一第二AGV调度***配置有对应于所述管制区域的检测装置；该方法包括：确定第一AGV调度***的AGV将要通过所述管制区域时，从各第二AGV调度***的对应于所述管制区域的检测装置获取该第二AGV调度***对应于所述管制区域的占用信息；根据各第二AGV调度***对应于所述管制区域的占用信息判断所述管制区域是否被占用；如果所述管制区域未被占用，则调度第一AGV调度***的AGV通过所述管制区域；如果所述管制区域已被占用，则控制第一AGV调度***的AGV在第一AGV调度***的对应于所述管制区域的等待点等待，并在等待预设时长后再次确定第一AGV调度***的AGV将要通过所述管制区域，返回执行所述从各第二AGV调度***的对应于所述管制区域的检测装置获取该第二AGV调度***对应于所述管制区域的占用信息的步骤。The first AGV traffic control method is applied to a first AGV dispatching system. The first AGV dispatching system and at least one second AGV dispatching system share the same control area; the first AGV dispatching system is configured with a waiting point corresponding to the control area Each second AGV dispatching system is configured with a detection device corresponding to the control area; the method includes: when it is determined that the AGV of the first AGV dispatching system will pass through the control area, from the corresponding control area of each second AGV dispatching system The detection device of the control area obtains the occupancy information of the second AGV scheduling system corresponding to the control area; judges whether the control area is occupied according to the occupancy information of each second AGV scheduling system corresponding to the control area; if If the control area is not occupied, the AGV of the first AGV scheduling system is scheduled to pass through the control area; if the control area is occupied, the AGV that controls the first AGV scheduling system is in the corresponding position of the first AGV scheduling system. The waiting point of the control area waits, and after waiting for a preset period of time, it is determined again that the AGV of the first AGV dispatching system will pass through the control area, and the execution of the control area corresponding to the second AGV dispatching system is returned. The step of acquiring the occupancy information of the second AGV scheduling system corresponding to the control area by the detection device.
第二种AGV交通管制方法，应用于至少一个第二AGV调度***中的任一AGV调度***的检测装置，所述至少一个第二AGV调度***和第一AGV调度***共用同一管制区域；第一AGV调度***配置有对应于所述管制区域的等待点；每一第二AGV调度***配置有对应于所述管制区域的检测装置；该方法包括：实时检测所述任一第二AGV调度***的对应于所述管制区域的占用信息，以供第一AGV调度***在确定第一AGV调度***的AGV将要通过所述管制区域时获取，使得第一AGV调度***根据获取的各第二AGV调度***对应于所述管制区域的占用信息判断所述管制区域是否被占用，确定所述管制区域未被占用，则调度第一AGV调度***的AGV通过所述管制区域，确定所述管制区域已被占用，则控制第一AGV调度***的AGV在第一AGV调度***的对应于所述管制区域的等待点等待，并在等待预设时长后再次确定第一AGV调度***的AGV将要通过所述管制区域，再次所述从各第二AGV调度***的对应于所述管制区域的检测装置获取该第二AGV调度***对应于所述管制区域的占用信息。The second AGV traffic control method is applied to the detection device of any AGV dispatching system in at least one second AGV dispatching system, and the at least one second AGV dispatching system and the first AGV dispatching system share the same control area; the first The AGV dispatching system is configured with a waiting point corresponding to the control area; each second AGV dispatching system is configured with a detection device corresponding to the control area; the method includes: real-time detection of any second AGV dispatching system The occupancy information corresponding to the control area is for the first AGV scheduling system to obtain when determining that the AGV of the first AGV scheduling system will pass through the control area, so that the first AGV scheduling system obtains each second AGV scheduling system according to the obtained Corresponding to the occupancy information of the control area, determine whether the control area is occupied, and determine that the control area is not occupied, then schedule the AGV of the first AGV scheduling system to pass through the control area to determine that the control area is occupied , then the AGV controlling the first AGV dispatching system waits at the waiting point of the first AGV dispatching system corresponding to the control area, and after waiting for a preset time period, it is determined again that the AGV of the first AGV dispatching system will pass through the control area , again obtaining the occupancy information of the second AGV scheduling system corresponding to the control area from the detection device of each second AGV scheduling system corresponding to the control area.
第一种AGV交通管制***，所述AGV交通管制***包括第一AGV调度***和第二AGV调度***，第一AGV调度***和第二AGV调度***共用同一管制区域；第一AGV调度***配置有对应于所述管制区域的等待点；第二AGV 调度***配置有对应于所述管制区域的检测装置；第一AGV调度***，用于确定第一AGV调度***的AGV将要通过所述管制区域时，从第二AGV调度***的对应于所述管制区域的检测装置获取该第二AGV调度***对应于所述管制区域的占用信息；根据第二AGV调度***对应于所述管制区域的占用信息判断所述管制区域是否被占用；如果所述管制区域未被占用，则调度第一AGV调度***的AGV通过所述管制区域；如果所述管制区域已被占用，则控制第一AGV调度***的AGV在第一AGV调度***的对应于所述管制区域的等待点等待，并在等待预设时长后再次确定第一AGV调度***的AGV将要通过所述管制区域，返回执行所述从各第二AGV调度***的对应于所述管制区域的检测装置获取该第二AGV调度***对应于所述管制区域的占用信息的步骤；第二AGV调度***的检测装置，用于实时检测第二AGV调度***的对应于所述管制区域的占用信息，以供第一AGV调度***在确定第一AGV调度***的AGV将要通过所述管制区域时获取。The first AGV traffic control system, the AGV traffic control system includes a first AGV dispatching system and a second AGV dispatching system, the first AGV dispatching system and the second AGV dispatching system share the same control area; the first AGV dispatching system is configured with The waiting point corresponding to the control area; the second AGV dispatching system is configured with a detection device corresponding to the control area; the first AGV dispatching system is used to determine when the AGV of the first AGV dispatching system will pass through the control area , obtain the occupancy information of the second AGV scheduling system corresponding to the control area from the detection device of the second AGV scheduling system corresponding to the control area; judge according to the occupancy information of the second AGV scheduling system corresponding to the control area Whether the control area is occupied; if the control area is not occupied, schedule the AGV of the first AGV scheduling system to pass through the control area; if the control area is occupied, control the AGV of the first AGV scheduling system Wait at the waiting point of the first AGV dispatching system corresponding to the control area, and after waiting for a preset period of time, it is determined again that the AGV of the first AGV dispatching system will pass through the control area, and return to executing the second AGV from each second AGV. The step of obtaining the occupancy information of the second AGV dispatching system corresponding to the control area by the detection device of the dispatching system corresponding to the control area; the detection device of the second AGV dispatching system is used for real-time detection of the second AGV dispatching system. The occupancy information corresponding to the control area is for the first AGV scheduling system to obtain when determining that the AGV of the first AGV scheduling system will pass through the control area.
第二种AGV交通管制***，所述AGV交通管制***包括共用同一管制区域的第一AGV调度***、第二AGV调度***、和第三AGV调度***，第一AGV调度***、第二AGV调度***、和第三AGV调度***均配置有对应于所述管制区域的等待点和检测装置；第一AGV调度***、第二AGV调度***、以及第三AGV调度***，用于确定自身的AGV将要通过所述管制区域时，从其它各AGV调度***的对应于所述管制区域的检测装置获取该其它AGV调度***对应于所述管制区域的占用信息；根据其它各AGV调度***对应于所述管制区域的占用信息判断所述管制区域是否被占用；如果所述管制区域未被占用，则调度自身的AGV通过所述管制区域；如果所述管制区域已被占用，则控制自身的AGV在自身的对应于所述管制区域的等待点等待，并在等待预设时长后再次确定自身的AGV将要通过所述管制区域，返回执行所述从其它各AGV调度***的对应于所述管制区域的检测装置获取该其它AGV调度***对应于所述管制区域的占用信息的步骤；第一AGV调度***、第二AGV调度***、以及第三AGV调度***的检测装置，用于实时检测自身的对应于所述管制区域的占用信息，以供其它各AGV调度***在确定该其它AGV调度***的AGV将要通过所述管制区域时获取。The second type of AGV traffic control system, the AGV traffic control system includes a first AGV dispatching system, a second AGV dispatching system, and a third AGV dispatching system that share the same control area, the first AGV dispatching system, and the second AGV dispatching system , and the third AGV dispatching system are all configured with waiting points and detection devices corresponding to the control area; the first AGV dispatching system, the second AGV dispatching system, and the third AGV dispatching system are used to determine that their own AGVs will pass through In the control area, the occupancy information of the other AGV scheduling system corresponding to the control area is obtained from the detection devices of other AGV scheduling systems corresponding to the control area; according to the other AGV scheduling systems corresponding to the control area Determine whether the control area is occupied; if the control area is not occupied, schedule your own AGV to pass through the control area; if the control area is occupied, control your own AGV in its own corresponding AGV Wait at the waiting point of the control area, and after waiting for a preset time period, determine that your AGV will pass through the control area again, and return to execute the acquisition from the detection devices corresponding to the control area of other AGV scheduling systems. The other AGV dispatching system corresponds to the step of the occupancy information of the control area; the detection devices of the first AGV dispatching system, the second AGV dispatching system, and the third AGV dispatching system are used for real-time detection of their own corresponding to the control area. The occupancy information of the area is for other AGV scheduling systems to obtain when determining that the AGVs of the other AGV scheduling systems will pass through the control area.
第一种AGV交通管制装置，应用于第一AGV调度***，第一AGV调度***和至少一个第二AGV调度***共用同一管制区域；第一AGV调度***配置有对应于所述管制区域的等待点；每一第二AGV调度***配置有对应于所述管制区域的检测装置；该装置包括：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一个或多个计算机程序；所述处理器执行所述一个或多个计算机程序时实现以下步骤：确定第一AGV调度***的AGV将要通过所述管制区域时，从各第二AGV调度***的对应于所述管制区域的检测装置获取该第二AGV调度***对应于所述管制区域的占用信息；根据各第二AGV调度***对应于所述管制区域的占用信息判断所述管制区域是否被占用；如果所述管制区域未被占用，则调度第一AGV调度***的AGV通过所述管制区域；如果所述管制区域已被占用，则控制第一AGV调度***的AGV在第一AGV调度***的对应于所述管制区域的等待点等待，并在等待预设时长后再次确定第一AGV调度***的AGV将要通过所述管制区域，返回执行所述从各第二AGV调度***的对应于所述管制区域的检测装置获取该第二AGV调度***对应于所述管制区域的占用信息的步骤。The first AGV traffic control device is applied to the first AGV dispatching system. The first AGV dispatching system and at least one second AGV dispatching system share the same control area; the first AGV dispatching system is configured with a waiting point corresponding to the control area Each second AGV dispatching system is configured with a detection device corresponding to the control area; the device includes: a processor and a non-transitory computer-readable storage medium connected to the processor through a bus; the non-transitory computer A readable storage medium storing one or more computer programs executable by the processor; when the processor executes the one or more computer programs, the following steps are implemented: determining that the AGV of the first AGV dispatching system will pass through In the control area, the occupancy information of the second AGV scheduling system corresponding to the control area is obtained from the detection device of each second AGV scheduling system corresponding to the control area; according to each second AGV scheduling system corresponding to the control area The occupancy information of the control area determines whether the control area is occupied; if the control area is not occupied, schedule the AGV of the first AGV scheduling system to pass through the control area; if the control area is occupied, control the The AGV of the first AGV dispatching system waits at the waiting point of the first AGV dispatching system corresponding to the control area, and after waiting for a preset time period, it is determined again that the AGV of the first AGV dispatching system will pass through the control area, and the execution is returned to The step of acquiring the occupancy information of the second AGV scheduling system corresponding to the control area from the detection device of each second AGV scheduling system corresponding to the control area.
第二种AGV交通管制装置，应用于至少一个第二AGV调度***中的任一AGV调度***的检测装置，所述至少一个第二AGV调度***和第一AGV调度***共用同一管制区域；第一AGV调度***配置有对应于所述管制区域的等待点；每一第二AGV调度***配置有对应于所述管制区域的检测装置；该装置包括：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一个或多个计算机程序；所述处理器执行所述一个或多个计算机程序时实现以下步骤：实时检测所述任一第二AGV调度***的对应于所述管制区域的占用信息，以供第一AGV调度***在确定第一AGV调度***的AGV将要通过所述管制区域时获取， 使得第一AGV调度***根据获取的各第二AGV调度***对应于所述管制区域的占用信息判断所述管制区域是否被占用，确定所述管制区域未被占用，则调度第一AGV调度***的AGV通过所述管制区域，确定所述管制区域已被占用，则控制第一AGV调度***的AGV在第一AGV调度***的对应于所述管制区域的等待点等待，并在等待预设时长后再次确定第一AGV调度***的AGV将要通过所述管制区域，再次从各第二AGV调度***的对应于所述管制区域的检测装置获取该第二AGV调度***对应于所述管制区域的占用信息。The second AGV traffic control device is applied to the detection device of any AGV dispatching system in at least one second AGV dispatching system, and the at least one second AGV dispatching system and the first AGV dispatching system share the same control area; the first The AGV dispatching system is configured with a waiting point corresponding to the control area; each second AGV dispatching system is configured with a detection device corresponding to the control area; the device includes: a processor and a bus connected to the processor A non-transitory computer-readable storage medium; the non-transitory computer-readable storage medium stores one or more computer programs executable by the processor; when the processor executes the one or more computer programs The following steps are implemented: real-time detection of occupancy information corresponding to the control area of any second AGV dispatching system for the first AGV dispatching system to obtain when determining that the AGV of the first AGV dispatching system will pass through the control area , so that the first AGV scheduling system determines whether the control area is occupied according to the obtained occupancy information of each second AGV scheduling system corresponding to the control area, determines that the control area is not occupied, and schedules the first AGV scheduling system The AGV passing through the control area determines that the control area is occupied, then the AGV controlling the first AGV scheduling system waits at the waiting point of the first AGV scheduling system corresponding to the control area, and waits for a preset time period After that, it is determined again that the AGV of the first AGV dispatching system will pass through the control area, and the occupancy of the second AGV dispatching system corresponding to the control area is obtained again from the detection device of each second AGV dispatching system corresponding to the control area. information.
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第一种AGV交通管制方法中的步骤，或执行如上述第二种AGV交通管制方法中的步骤。A non-transitory computer-readable storage medium storing instructions that, when executed by a processor, cause the processor to perform the steps in the above-mentioned first AGV traffic control method, Or perform the steps in the second AGV traffic control method described above.
第三种AGV交通管制装置，应用于第一AGV调度***，第一AGV调度***与至少一个第二AGV调度***共用同一管制区域；第一AGV调度***配置有对应于所述管制区域的等待点；每一第二AGV调度***配置有对应于所述管制区域的检测装置；该装置包括：占用信息获取模块，用于确定第一AGV调度***的AGV将要通过所述管制区域时，从各第二AGV调度***的对应于所述管制区域的检测装置获取该第二AGV调度***对应于所述管制区域的占用信息；占用情况判断模块，用于根据各第二AGV调度***对应于所述管制区域的占用信息判断所述管制区域是否被占用；第一控制模块，用于如果所述管制区域未被占用，则调度第一AGV调度***的AGV通过所述管制区域；第二控制模块，用于如果所述管制区域已被占用，则控制第一AGV调度***的AGV在第一AGV调度***的对应于所述管制区域的等待点等待，并在等待预设时长后再次确定第一AGV调度***的AGV将要通过所述管制区域，并驱动所述占用信息获取模块执行所述从各第二AGV调度***的对应于所述管制区域的检测装置获取该第二AGV调度***对应于所述管制区域的占用信息的步骤。The third AGV traffic control device is applied to the first AGV dispatching system. The first AGV dispatching system shares the same control area with at least one second AGV dispatching system; the first AGV dispatching system is configured with a waiting point corresponding to the control area Each second AGV dispatching system is configured with a detection device corresponding to the control area; the device includes: an occupancy information acquisition module for determining that the AGV of the first AGV dispatching system will pass through the control area, from each The detection device corresponding to the control area of the second AGV scheduling system obtains the occupancy information of the second AGV scheduling system corresponding to the control area; the occupancy judgment module is used to determine the occupancy situation according to the control area corresponding to each second AGV scheduling system. The occupancy information of the area determines whether the control area is occupied; the first control module is used to schedule the AGV of the first AGV dispatching system to pass through the control area if the control area is not occupied; the second control module is used to use If the control area is already occupied, the AGV controlling the first AGV scheduling system waits at the waiting point of the first AGV scheduling system corresponding to the control area, and determines the first AGV scheduling again after waiting for a preset time period The AGV of the system will pass through the control area, and drive the occupancy information acquisition module to execute the acquisition from the detection device of each second AGV dispatch system corresponding to the control area. The second AGV dispatch system corresponds to the control area. Steps for area occupancy information.
第四种AGV交通管制装置，应用于至少一个第二AGV调度***中的任一AGV调度***的检测装置，所述至少一个第二AGV调度***与第一AGV调度***共用同一管制区域；第一AGV调度***配置有对应于所述管制区域的等待点；每一第二AGV调度***配置有对应于所述管制区域的检测装置；该装置包括：占用信息检测模块，用于实时检测所述任一第二AGV调度***的对应于所述管制区域的占用信息，以供第一AGV调度***在确定第一AGV调度***的AGV将要通过所述管制区域时获取，使得第一AGV调度***根据获取的各第二AGV调度***对应于所述管制区域的占用信息判断所述管制区域是否被占用，若第一AGV调度***确定所述管制区域未被占用，则调度第一AGV调度***的AGV通过所述管制区域，若第一AGV调度***确定所述管制区域已被占用，则控制第一AGV调度***的AGV在第一AGV调度***的对应于所述管制区域的等待点等待，并在等待预设时长后再次确定第一AGV调度***的AGV将要通过所述管制区域，再次所述从各第二AGV调度***的对应于所述管制区域的检测装置获取该第二AGV调度***对应于所述管制区域的占用信息。The fourth AGV traffic control device is applied to the detection device of any AGV dispatching system in at least one second AGV dispatching system, and the at least one second AGV dispatching system and the first AGV dispatching system share the same control area; the first The AGV dispatching system is configured with a waiting point corresponding to the control area; each second AGV dispatching system is configured with a detection device corresponding to the control area; the device includes: an occupancy information detection module for real-time detection of the arbitrary control area. Occupancy information of a second AGV dispatching system corresponding to the control area, for the first AGV dispatching system to obtain when determining that the AGV of the first AGV dispatching system will pass through the control area, so that the first AGV dispatching system obtains the Each of the second AGV scheduling systems of the system determines whether the control area is occupied according to the occupancy information of the control area. If the first AGV scheduling system determines that the control area is not occupied, the AGV of the first AGV scheduling system is scheduled to pass In the control area, if the first AGV scheduling system determines that the control area is occupied, the AGV that controls the first AGV scheduling system waits at the waiting point of the first AGV scheduling system corresponding to the control area, and waits After the preset time period, it is determined again that the AGV of the first AGV dispatching system will pass through the control area, and again the second AGV dispatching system corresponding to the control area is obtained from the detection device of each second AGV dispatching system corresponding to the control area. Occupancy information of the said control area.
由上面的技术方案可知，本申请中，对于共用同一管制区域的多个AGV调度***，其中一个***作为第一AGV调度***配置有对应于所述管制区域的等待点，其它***作为第二AGV调度***配置有对应于所述管制区域的检测装置，当第一AGV调度***的AGV将要通过所述管制区域时，可以从各第二AGV调度***的对应于所述管制区域的检测装置获取该第二AGV调度***对应于所述管制区域的占用信息，并根据这些占用信息判断所述管制区域是否被占用，根据判断结果确定直接调度第一AGV调度***的AGV通过所述管制区域或在等待点等待预设时长后再次判断所述管制区域是否被占用。可以看出，对于第一AGV调度***来说，因为其在通过所述管制区域之前会先判断所述管制区域是否被占用，因此可以避免与各第二AGV调度***的AGV发生碰撞，而且此过程中第一AGV调度***仅需要与第二AGV调度***对应的检测装置进行信息交互即可判断出管制区域是否被占用，不需要与各第二AGV调度***进行信息交互。As can be seen from the above technical solutions, in this application, for multiple AGV dispatching systems sharing the same control area, one of the systems as the first AGV dispatching system is configured with a waiting point corresponding to the control area, and the other systems are used as the second AGV. The dispatching system is configured with a detection device corresponding to the control area. When the AGV of the first AGV dispatching system is about to pass through the control area, the detection device corresponding to the control area of each second AGV dispatching system can obtain the detection device corresponding to the control area. The second AGV scheduling system corresponds to the occupancy information of the control area, and judges whether the control area is occupied according to the occupancy information, and determines according to the judgment result to directly schedule the AGV of the first AGV scheduling system to pass the control area or wait. After waiting for a preset time period, judge again whether the control area is occupied. It can be seen that for the first AGV scheduling system, because it will first determine whether the control area is occupied before passing through the control area, it can avoid collision with the AGVs of the second AGV scheduling systems, and this During the process, the first AGV dispatching system only needs to exchange information with the detection device corresponding to the second AGV dispatching system to determine whether the control area is occupied, and does not need to exchange information with each second AGV dispatching system.
附图说明Description of drawings
为了更清楚地说明本申请实施例中的技术方案，下面将对实施例描述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，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。In order to illustrate the technical solutions in the embodiments of the present application more clearly, the following briefly introduces the drawings that are used in the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can also be obtained from these drawings without creative labor.
图1是本申请实施例提供的自动化物流应用场景示意图；1 is a schematic diagram of an automated logistics application scenario provided by an embodiment of the present application;
图2是本申请实施例一提供的AGV交通管制方法流程图；2 is a flowchart of an AGV traffic control method provided in Embodiment 1 of the present application;
图3是本申请实施例二提供的AGV交通管制方法流程图；3 is a flowchart of the AGV traffic control method provided in Embodiment 2 of the present application;
图4是本申请实施例三提供的AGV交通管制方法流程图；4 is a flowchart of the AGV traffic control method provided in Embodiment 3 of the present application;
图5是本申请实施例四提供的AGV交通管制方法流程图；5 is a flowchart of the AGV traffic control method provided in Embodiment 4 of the present application;
图6是本申请实施例计算AGV调度***Si相对于AGV调度***Sj的与管制区域中心的最近停靠距离的原理示意图；6 is a schematic diagram of the principle of calculating the closest stopping distance of the AGV dispatching system Si to the AGV dispatching system Sj and the center of the control area according to an embodiment of the present application;
图7是本申请实施例AGV调度***对应的等待点和检测范围示意图；7 is a schematic diagram of a waiting point and a detection range corresponding to an AGV scheduling system according to an embodiment of the present application;
图8是本申请实施例五提供的AGV交通管制方法流程图；8 is a flowchart of the AGV traffic control method provided in Embodiment 5 of the present application;
图9是本申请实施例六提供的AGV交通管制方法流程图；9 is a flowchart of the AGV traffic control method provided in Embodiment 6 of the present application;
图10是本申请实施例七提供的AGV交通管制方法流程图；10 is a flowchart of the AGV traffic control method provided in Embodiment 7 of the present application;
图11是本申请实施例八提供的AGV交通管制方法流程图；11 is a flowchart of the AGV traffic control method provided in Embodiment 8 of the present application;
图12是本申请实施例一提供的AGV交通管制***的架构示意图；12 is a schematic diagram of the architecture of the AGV traffic control system provided in Embodiment 1 of the present application;
图13是本申请实施例二提供的AGV交通管制***的架构示意图；13 is a schematic diagram of the architecture of the AGV traffic control system provided in Embodiment 2 of the present application;
图14是本申请实施例一提供的AGV交通管制装置的结构示意图；14 is a schematic structural diagram of an AGV traffic control device provided in Embodiment 1 of the present application;
图15是本申请实施例二提供的AGV交通管制装置的结构示意图。FIG. 15 is a schematic structural diagram of the AGV traffic control device provided in the second embodiment of the present application.
图16是本申请提供的AGV交通管制装置的结构示意图。FIG. 16 is a schematic structural diagram of the AGV traffic control device provided by the present application.
具体实施方式detailed description
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。In order to make the objectives, technical solutions, and advantages of the present application more clearly understood, the present application will be described in further detail below with reference to the accompanying drawings and examples. Obviously, the described embodiments are only a part of the embodiments of the present application, but not all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present application fall within the protection scope of the present application.
参见图1，图1是本申请实施例提供的自动化物流应用场景示意图，如图1所示，在该场景中有一管制区域，三个AGV调度***的AGV的通行路径都经过该管制区域，如果三个AGV调度***之间不做任何信息交互，则这三个AGV调度***的AGV有可能在该管制区域发生碰撞。Referring to FIG. 1, FIG. 1 is a schematic diagram of an automated logistics application scenario provided by an embodiment of the present application. As shown in FIG. 1, there is a control area in this scene, and the passage paths of the AGVs of the three AGV dispatching systems all pass through the control area. If there is no information exchange between the three AGV dispatching systems, the AGVs of the three AGV dispatching systems may collide in the control area.
为了解决与图1类似的自动化物流应用场景中不同AGV调度***的AGV之间发生碰撞，本申请实施例中，提出了通过使用等待点和检测装置来解决这一问题的解决方案，以下进行详细介绍：In order to solve the collision between AGVs of different AGV dispatching systems in an automated logistics application scenario similar to that of FIG. 1 , in the embodiment of the present application, a solution to this problem is proposed by using a waiting point and a detection device, which will be described in detail below. introduce:
参见图2，图2是本申请实施例一提供的AGV交通管制方法流程图，该方法应用于第一AGV调度***，第一AGV调度***和至少一个第二AGV调度***共用同一管制区域；第一AGV调度***配置有对应于管制区域的等待点；每一第二AGV调度***配置有对应于管制区域的检测装置；如图2所示，该方法具体包括以下步骤：Referring to FIG. 2, FIG. 2 is a flowchart of an AGV traffic control method provided in Embodiment 1 of the present application. The method is applied to a first AGV dispatching system, and the first AGV dispatching system and at least one second AGV dispatching system share the same control area; An AGV dispatching system is configured with a waiting point corresponding to the control area; each second AGV dispatching system is configured with a detection device corresponding to the control area; as shown in Figure 2, the method specifically includes the following steps:
步骤201、第一AGV调度***确定第一AGV调度***的AGV将要通过管制区域时，从各第二AGV调度***的对应于管制区域的检测装置获取该第二AGV调度***对应于管制区域的占用信息；Step 201: When the first AGV dispatching system determines that the AGV of the first AGV dispatching system will pass through the control area, obtain the occupation of the second AGV dispatching system corresponding to the control area from the detection device corresponding to the control area of each second AGV dispatching system information;
步骤202、第一AGV调度***根据各第二AGV调度***对应于管制区域的占用信息判断管制区域是否被占用，如果管制区域未被占用，则执行步骤203，否则，执行步骤204；Step 202: The first AGV scheduling system determines whether the control area is occupied according to the occupancy information of each second AGV scheduling system corresponding to the control area. If the control area is not occupied, then step 203 is performed; otherwise, step 204 is performed;
步骤203、第一AGV调度***调度第一AGV调度***的AGV通过管制区域； Step 203, the first AGV dispatching system dispatches the AGV of the first AGV dispatching system to pass the control area;
步骤204、第一AGV调度***控制第一AGV调度***的AGV在第一AGV调度***的对应于管制区域的等待点等 待，并在等待预设时长后再次确定第一AGV调度***的AGV将要通过所述管制区域，返回执行步骤201的从各第二AGV调度***的对应于管制区域的检测装置获取该第二AGV调度***对应于管制区域的占用信息的步骤。Step 204: The first AGV dispatching system controls the AGVs of the first AGV dispatching system to wait at the waiting point of the first AGV dispatching system corresponding to the control area, and after waiting for a preset time period, it is determined again that the AGVs of the first AGV dispatching system will pass through. For the control area, return to the step of obtaining the occupancy information of the second AGV scheduling system corresponding to the control area from the detection device of each second AGV scheduling system corresponding to the control area in step 201 .
根据图2所示方法可以看出，本实施例中，第一AGV调度***的AGV在通过管制区域之前，先获取各第二AGV调度***对应于管制区域的占用信息，并据此判断管制区域是否被占用，未被占用才调度第一AGV调度***的AGV通过管制区域，已被占用则需要在等待点等待预设时间后再次执行获取各第二AGV调度***对应于管制区域的占用信息和判断管制区域是否被占用的操作，从而避免与各第二AGV调度***的AGV发生碰撞，此过程第一AGV调度***仅需要与第二AGV调度***对应的检测装置进行信息交互即可判断出管制区域是否被占用，不需要第一AGV调度***和第二AGV调度***之间的信息交互。特别需要指出的是，当第二AGV调度***仅有一个时，第二AGV调度***的AGV可以直接通过管制区域，不需要与第一AGV调度***交互，也不要求第一AGV调度***配置检测装置。According to the method shown in FIG. 2, it can be seen that in this embodiment, before the AGV of the first AGV dispatching system passes through the control area, it first obtains the occupancy information of each second AGV dispatching system corresponding to the control area, and judges the control area accordingly. Whether it is occupied or not, the AGV of the first AGV scheduling system will be scheduled to pass through the control area if it is not occupied. If it is occupied, it needs to wait for a preset time at the waiting point and execute it again to obtain the occupancy information and occupancy information of each second AGV scheduling system corresponding to the control area. The operation of judging whether the control area is occupied, so as to avoid collision with the AGV of each second AGV dispatching system. In this process, the first AGV dispatching system only needs to exchange information with the detection device corresponding to the second AGV dispatching system to determine the control Whether the area is occupied does not require information exchange between the first AGV scheduling system and the second AGV scheduling system. In particular, it should be pointed out that when there is only one second AGV dispatching system, the AGV of the second AGV dispatching system can directly pass through the control area without interacting with the first AGV dispatching system, nor does it require the first AGV dispatching system to configure and detect device.
其中，在步骤201中，检测装置可以为任意具备检测第二AGV调度***的AGV是否占用管制区域的能力的电子设备，示例性的，监测装置可以是激光检测装置，可以通过发射激光探测管制区域内是否存在AGV，当探测到管制区域内存在该检测装置对应的第二AGV调度***的AGV时，确定检测到第二AGV调度***的AGV占用管制区域，当探测到管制区域内不存在AGV时，确定检测到第二AGV调度***的AGV未占用管制区域。检测装置可以为微波雷达，可以通过微波探测管制区域内是否存在AGV，当探测到管制区域内存在该检测装置对应的第二AGV调度***的AGV时，确定检测到第二AGV调度***的AGV占用管制区域，当探测到管制区域内不存在AGV时，确定检测到第二AGV调度***的AGV未占用管制区域。检测装置也可以是摄像机，通过拍摄管制区域的图像并识别图像中是否存在第二AGV调度***的AGV，当从拍摄到的图像中识别出第二AGV调度***的AGV时，确定检测到第二AGV调度***的AGV占用管制区域，当未从拍摄到的图像中识别出第二AGV调度***的AGV时，确定检测到第二AGV调度***的AGV未占用管制区域。Wherein, in step 201, the detection device may be any electronic device capable of detecting whether the AGV of the second AGV dispatching system occupies the control area. Exemplarily, the monitoring device may be a laser detection device, which may detect the control area by emitting laser light Whether there is an AGV in the control area, when it is detected that the AGV of the second AGV dispatching system corresponding to the detection device exists in the control area, it is determined that the AGV of the second AGV dispatching system is detected to occupy the control area, and when it is detected that there is no AGV in the control area , it is determined that the AGV detected in the second AGV scheduling system does not occupy the control area. The detection device can be a microwave radar, which can detect whether there is an AGV in the control area through microwave. When it is detected that there is an AGV of the second AGV dispatching system corresponding to the detection device in the control area, it is determined that the AGV occupancy of the second AGV dispatching system is detected. Control area, when it is detected that there is no AGV in the control area, it is determined that the AGV detected in the second AGV scheduling system does not occupy the control area. The detection device can also be a camera. By taking an image of the control area and identifying whether there is an AGV of the second AGV dispatching system in the image, when the AGV of the second AGV dispatching system is identified from the captured image, it is determined that the second AGV dispatching system is detected. The AGV of the AGV dispatching system occupies the control area, and when the AGV of the second AGV dispatching system is not identified from the captured image, it is determined that the AGV of the second AGV dispatching system is detected not to occupy the control area.
在步骤204中，根据管制区域以及AGV的尺寸，第一AGV调度***的对应于管制区域的等待点可以位于管制区域外，也可以位于管制区域内。但是应当满足：第一AGV调度***的AGV处于该等待点时，不会影响到第二AGV调度***的AGV通过管制区域。即当第一AGV调度***的AGV处于等待点的情况下，第二AGV调度***的AGV通过管制区域的过程中不会与第一AGV调度***的处于等待点的AGV发生碰撞。关于如何确定等待点的位置将在下文中进行详细说明，在此不再赘述。In step 204, according to the control area and the size of the AGV, the waiting point corresponding to the control area of the first AGV scheduling system may be located outside the control area or within the control area. However, it should be satisfied that: when the AGV of the first AGV dispatching system is at the waiting point, it will not affect the passage of the AGV of the second AGV dispatching system through the control area. That is, when the AGV of the first AGV scheduling system is at the waiting point, the AGV of the second AGV scheduling system will not collide with the AGV at the waiting point of the first AGV scheduling system during the process of passing through the control area. How to determine the position of the waiting point will be described in detail below, and will not be repeated here.
参见图3，图3是本申请实施例二提供的AGV交通管制方法流程图，该方法应用于第一AGV调度***，第一AGV调度***和至少一个第二AGV调度***共用同一管制区域；第一AGV调度***配置有对应于管制区域的等待点；每一第二AGV调度***配置有对应于管制区域的检测装置；如图3所示，该方法具体包括以下步骤：Referring to FIG. 3, FIG. 3 is a flow chart of the AGV traffic control method provided in the second embodiment of the present application. The method is applied to the first AGV dispatching system, and the first AGV dispatching system and at least one second AGV dispatching system share the same control area; An AGV dispatching system is configured with a waiting point corresponding to the control area; each second AGV dispatching system is configured with a detection device corresponding to the control area; as shown in Figure 3, the method specifically includes the following steps:
步骤3011a、当第一AGV调度***的AGV沿第一AGV调度***的对应于管制区域的通行路径行驶、且行驶至该通行路径上到达管制区域之前的预设位置时，确定第一AGV调度***的AGV将要通过管制区域，转至步骤3012。 Step 3011a: When the AGV of the first AGV dispatching system travels along the passage path of the first AGV dispatching system corresponding to the control area, and travels to a preset position on the passage path before reaching the control area, determine the first AGV dispatching system The AGV is going to pass through the control area, go to step 3012.
本申请实施例中，预设位置根据应用场景的不同可以是不同的位置，并且在第一AGV调度***的AGV的路径上，预设位置应当位于等待点之前，即第一AGV调度***的AGV在经过等待点之前经过该预设位置。In the embodiment of the present application, the preset position may be different according to different application scenarios, and on the path of the AGV of the first AGV scheduling system, the preset position should be located before the waiting point, that is, the AGV of the first AGV scheduling system Pass this preset position before passing the waiting point.
示例性的，可以根据第一AGV调度***的AGV的行驶速度v、获取各第二AGV调度***的对应于管制区域的占用信息所需要的时间t、第一AGV调度***的对应于管制区域的等待点确定。其中，t可以是指从第一AGV调度***开始获取各第二AGV调度***的对应于管制区域的占用信息直至第一AGV调度***成功获取到各第二AGV调度***的对应于管制区域的占用信息所需消耗的时间。Exemplarily, according to the travel speed v of the AGV of the first AGV dispatching system, the time t required to obtain the occupancy information corresponding to the control area of each second AGV dispatching system, the time t corresponding to the control area of the first AGV dispatching system Wait for the point to be OK. Wherein, t may refer to the acquisition of the occupancy information corresponding to the control area of each second AGV scheduling system from the first AGV scheduling system until the first AGV scheduling system successfully obtains the occupancy corresponding to the control area of each second AGV scheduling system Time consumed by information.
例如，可以是将预设位置设置为第一AGV调度***的AGV到达等待点之前且与等待点的距离是v×t的位置。又例如，也可以是将预设位置设置为第一AGV调度***的AGV到达等待点之前且与等待点的距离是v×t+s的位置。其中s 为第一AGV调度***的AGV的制动距离，即第一AGV调度***的AGV从开始减速直至完全停下所经过的距离。For example, the preset position may be set as the position before the AGV of the first AGV dispatching system reaches the waiting point and the distance from the waiting point is v×t. For another example, the preset position may also be set as the position before the AGV of the first AGV scheduling system reaches the waiting point and the distance from the waiting point is v×t+s. Where s is the braking distance of the AGV of the first AGV dispatching system, that is, the distance that the AGV of the first AGV dispatching system travels from the start of deceleration to the complete stop.
步骤3011b、当第一AGV调度***的AGV在等待点的等待时间是预设时长的N倍时，确定第一AGV调度***的AGV将要通过管制区域，转至步骤3012。 Step 3011b: When the waiting time of the AGV of the first AGV scheduling system at the waiting point is N times the preset time length, it is determined that the AGV of the first AGV scheduling system will pass through the control area, and go to step 3012.
当第一AGV调度***的AGV在等待点的等待时间是预设时长的N倍时，确定第一AGV调度***的AGV将要通过管制区域，使第一AGV调度***的AGV在等待点等待时，可以定期执行步骤3012至步骤304的操作，直到确定管制区域未被占用并调度第一AGV调度***的AGV通过管制区域后结束。When the waiting time of the AGV of the first AGV scheduling system at the waiting point is N times the preset time length, it is determined that the AGV of the first AGV scheduling system will pass through the control area, so that when the AGV of the first AGV scheduling system is waiting at the waiting point, The operations from step 3012 to step 304 may be performed periodically until it is determined that the control area is not occupied and the AGV of the first AGV dispatching system is scheduled to pass through the control area.
其中，等待时间可以是指从第一AGV调度***在等待点等待开始所经过的时长，示例性的，假设第一AGV调度***从t＝0min(分钟)时在等待点等待，当前时间为t＝5min，则此时等待时间为5min。The waiting time may refer to the time elapsed since the first AGV scheduling system waits at the waiting point. Exemplarily, it is assumed that the first AGV scheduling system waits at the waiting point from t=0min (minutes), and the current time is t =5min, then the waiting time is 5min.
以上步骤3011a和步骤3011b，是图2所示步骤201中“确定第一AGV调度***的AGV将要通过管制区域”的具体细化。The above steps 3011a and 3011b are specific refinements of "determining that the AGV of the first AGV scheduling system will pass through the control area" in step 201 shown in FIG. 2 .
本申请实施例中，N是任意正整数。In the embodiments of the present application, N is any positive integer.
步骤3012、从各第二AGV调度***的对应于管制区域的检测装置获取该第二AGV调度***对应于管制区域的占用信息。Step 3012: Acquire occupancy information of the second AGV scheduling system corresponding to the control area from the detection device corresponding to the control area of each second AGV scheduling system.
以上步骤3011a至步骤3012是图2所示步骤201的具体细化。The above steps 3011a to 3012 are specific refinements of the step 201 shown in FIG. 2 .
步骤302、根据各第二AGV调度***对应于管制区域的占用信息判断管制区域是否被占用，如果管制区域未被占用，则执行步骤303，否则，执行步骤304；Step 302: Determine whether the control area is occupied according to the occupancy information of each second AGV scheduling system corresponding to the control area, if the control area is not occupied, go to step 303, otherwise, go to step 304;
步骤303、调度第一AGV调度***的AGV通过管制区域。Step 303: Schedule the AGV of the first AGV scheduling system to pass through the control area.
步骤304、控制第一AGV调度***的AGV在第一AGV调度***的对应于管制区域的等待点等待，并在等待预设时长后再次确定第一AGV调度***的AGV将要通过管制区域，转至步骤3012。Step 304: Control the AGV of the first AGV dispatching system to wait at the waiting point of the first AGV dispatching system corresponding to the control area, and after waiting for a preset time period, determine again that the AGV of the first AGV dispatching system will pass through the control area, and go to Step 3012.
根据图3所示方法可以看出，本实施例除了具有图2所示实施例的优点外，在第一AGV调度***的AGV快要到达等待点时或者在等待点每等待预设时长时，确定第一AGV调度***的AGV需要通过管制区域，从而触发获取各第二AGV调度***对应于管制区域的占用信息，并据此判断管制区域是否被占用等后续操作，以使得第一AGV调度***在确定管制区域未被占用时及时调度第一AGV调度***的AGV通过管制区域。According to the method shown in FIG. 3 , it can be seen that, in addition to the advantages of the embodiment shown in FIG. 2 , in this embodiment, when the AGV of the first AGV scheduling system is about to arrive at the waiting point, or when the waiting point waits for a preset duration, determine The AGV of the first AGV dispatching system needs to pass through the control area, thereby triggering the acquisition of the occupancy information of each second AGV dispatching system corresponding to the control area, and then judging whether the control area is occupied and other subsequent operations, so that the first AGV dispatching system is in the control area. When it is determined that the control area is not occupied, the AGV of the first AGV dispatching system is scheduled to pass through the control area in time.
参见图4，图4是本申请实施例三提供的AGV交通管制方法流程图，该方法应用于第一AGV调度***，第一AGV调度***和至少一个第二AGV调度***共用同一管制区域；第一AGV调度***配置有对应于管制区域的等待点；每一第二AGV调度***配置有对应于管制区域的检测装置；如图4所示，该方法具体包括以下步骤：Referring to FIG. 4, FIG. 4 is a flow chart of the AGV traffic control method provided in the third embodiment of the present application. The method is applied to the first AGV dispatching system, and the first AGV dispatching system and at least one second AGV dispatching system share the same control area; An AGV dispatching system is configured with a waiting point corresponding to the control area; each second AGV dispatching system is configured with a detection device corresponding to the control area; as shown in FIG. 4 , the method specifically includes the following steps:
步骤4011a、当第一AGV调度***的AGV沿第一AGV调度***的对应于管制区域的通行路径行驶、且行驶至该通行路径上到达管制区域之前的预设位置时，确定第一AGV调度***的AGV将要通过管制区域，转至步骤4012，即执行步骤4012a和4012b。 Step 4011a: When the AGV of the first AGV dispatching system travels along the passage path of the first AGV dispatching system corresponding to the control area and travels to a preset position on the passage path before reaching the control area, determine the first AGV dispatching system The AGV will pass through the control area, go to step 4012, that is, execute steps 4012a and 4012b.
本申请实施例中，每个AGV调度***的AGV沿该AGV调度***对应于管制区域的通行路径穿过管制区域，例如，同一AGV调度***的所有AGV从管制区域的同一侧A穿过管制区域到管制区域的另一侧B时，可以沿同一通行路径(如通行路径1)行驶。另外需要说明的是，该AGV调度***的所有AGV从管制区域的B侧穿过管制区域到A侧时，会沿另一通行路径(如通行路径2)行驶，其中通行路径1和通行路径2是不同的2条路径。In the embodiment of the present application, the AGVs of each AGV dispatching system pass through the control area along the passage of the AGV dispatching system corresponding to the control area. For example, all AGVs of the same AGV dispatching system pass through the control area from the same side A of the control area When reaching the other side B of the control area, you can travel along the same passage (eg passage 1). In addition, it should be noted that when all AGVs of the AGV dispatching system pass through the control area from the B side of the control area to the A side, they will travel along another passage (such as passage 2), where passage 1 and passage 2 are 2 different paths.
步骤4011b、当第一AGV调度***的AGV在等待点的等待时间是预设时长的N倍时，确定第一AGV调度***的AGV将要通过管制区域，转至步骤4012，即执行步骤4012a和4012b。 Step 4011b, when the waiting time of the AGV of the first AGV scheduling system at the waiting point is N times the preset time length, determine that the AGV of the first AGV scheduling system will pass through the control area, go to step 4012, that is, execute steps 4012a and 4012b .
以上步骤4011a和步骤4011b，是图2所示步骤201中“确定第一AGV调度***的AGV需要通过管制区域”的具体细化。The above steps 4011a and 4011b are specific refinements of "determining that the AGV of the first AGV scheduling system needs to pass through the control area" in step 201 shown in FIG. 2 .
本申请实施例中，N是任意正整数。In the embodiments of the present application, N is any positive integer.
步骤4012a、向各第二AGV调度***的对应于管制区域的检测装置发送占用信息查询请求。 Step 4012a: Send an occupancy information query request to the detection device corresponding to the control area of each second AGV scheduling system.
本申请实施例中，第一AGV调度***可以预先存储各第二AGV调度***对应于管制区域的检测装置的IP地址等信息，以便与各检测装置进行信息交互。In the embodiment of the present application, the first AGV scheduling system may pre-store information such as IP addresses of detection devices corresponding to the control areas of each second AGV scheduling system, so as to exchange information with each detection device.
步骤4012b、接收各第二AGV调度***的对应于管制区域的检测装置返回的该第二AGV调度***对应于管制区域的占用信息。 Step 4012b: Receive the occupancy information of the second AGV scheduling system corresponding to the control area returned by the detection device of each second AGV scheduling system corresponding to the control area.
本申请实施例中，各第二AGV调度***的对应于管制区域的检测装置会实时检测该第二AGV调度***的对应于管制区域的占用信息，并在接收到第一AGV调度***的占用信息查询请求时，将该第二AGV调度***的对应于管制区域的占用信息返回给第一AGV调度***。In the embodiment of the present application, the detection device corresponding to the control area of each second AGV scheduling system will detect the occupancy information of the second AGV scheduling system corresponding to the control area in real time, and after receiving the occupancy information of the first AGV scheduling system When the query request is made, the occupancy information of the second AGV dispatching system corresponding to the control area is returned to the first AGV dispatching system.
以上步骤4012a至4012b，是图2所示步骤201中“从各第二AGV调度***的对应于管制区域的检测装置获取该第二AGV调度***对应于管制区域的占用信息”的一种具体细化。The above steps 4012a to 4012b are a specific detail of "obtaining the occupancy information of the second AGV scheduling system corresponding to the control area from the detection device of each second AGV scheduling system corresponding to the control area" in step 201 shown in FIG. 2 . change.
以上步骤4011a至步骤4012b是图2所示步骤201的具体细化。The above steps 4011a to 4012b are specific refinements of the step 201 shown in FIG. 2 .
步骤402、根据各第二AGV调度***对应于管制区域的占用信息判断管制区域是否被占用，如果管制区域未被占用，则执行步骤403，否则，执行步骤404；Step 402: Determine whether the control area is occupied according to the occupancy information of each second AGV dispatching system corresponding to the control area, if the control area is not occupied, execute step 403, otherwise, execute step 404;
步骤403、调度第一AGV调度***的AGV通过管制区域。Step 403: Schedule the AGV of the first AGV scheduling system to pass through the control area.
步骤404、控制第一AGV调度***的AGV在第一AGV调度***的对应于管制区域的等待点等待，并在等待预设时长后再次确定第一AGV调度***的AGV将要通过管制区域，转至步骤4012a。Step 404: Control the AGV of the first AGV dispatching system to wait at the waiting point of the first AGV dispatching system corresponding to the control area, and after waiting for a preset time period, determine again that the AGV of the first AGV dispatching system will pass the control area, and go to Step 4012a.
根据图4所示方法可以看出，本实施例除了具有图2、图3所示实施例的优点外，在确定第一AGV调度***的AGV将要通过管制区域后，通过向各第二AGV调度***的对应于管制区域的检测装置发送占用信息查询请求来获取该第二AGV调度***对应于管制区域的占用信息，实现较为简单。According to the method shown in FIG. 4, it can be seen that, in addition to the advantages of the embodiments shown in FIG. 2 and FIG. 3, after it is determined that the AGV of the first AGV scheduling system will pass through the control area, the second AGV is scheduled to pass through the control area. The detection device corresponding to the control area of the system sends an occupancy information query request to obtain the occupancy information of the second AGV scheduling system corresponding to the control area, which is relatively simple to implement.
参见图5，图5是本申请实施例四提供的AGV交通管制方法流程图，该方法应用于第一AGV调度***，第一AGV调度***和至少一个第二AGV调度***共用同一管制区域；第一AGV调度***配置有对应于管制区域的等待点；每一第二AGV调度***配置有对应于管制区域的检测装置和检测范围；如图5所示，该方法具体包括以下步骤：Referring to FIG. 5, FIG. 5 is a flowchart of the AGV traffic control method provided in Embodiment 4 of the present application. The method is applied to the first AGV dispatching system, and the first AGV dispatching system and at least one second AGV dispatching system share the same control area; An AGV dispatching system is configured with a waiting point corresponding to the control area; each second AGV dispatching system is configured with a detection device and a detection range corresponding to the control area; as shown in Figure 5, the method specifically includes the following steps:
步骤501、确定第一AGV调度***的AGV将要通过管制区域时，从各第二AGV调度***的对应于管制区域的检测装置获取该第二AGV调度***对应于管制区域的占用信息。Step 501: When it is determined that the AGV of the first AGV scheduling system will pass through the control area, obtain the occupancy information of the second AGV scheduling system corresponding to the control area from the detection device corresponding to the control area of each second AGV scheduling system.
本申请实施例中，占用信息包括：占用标志；占用标志包括两种取值，一种是指示AGV占用管制区域的值，另一种是指示AGV未占用管制区域的值。In the embodiment of the present application, the occupancy information includes: an occupancy flag; the occupancy flag includes two values, one is a value indicating that the AGV occupies a control area, and the other is a value indicating that the AGV does not occupy a control area.
本申请实施例中，各第二AGV调度***的对应于管制区域的检测装置可以对该第二AGV调度***的AGV在该第二AGV调度***对应于管制区域的检测范围的驶入、驶离情况进行检测，并基于检测结果设置该第二AGV调度***对应于管制区域的占用信息。In the embodiment of the present application, the detection device corresponding to the control area of each second AGV dispatching system can drive the AGV of the second AGV dispatching system into and out of the detection range of the second AGV dispatching system corresponding to the control area The situation is detected, and based on the detection result, the occupancy information of the second AGV scheduling system corresponding to the control area is set.
示例性的，各第二AGV调度***的对应于管制区域的检测装置可以按照以下方式设置占用标志：Exemplarily, the detection device corresponding to the control area of each second AGV scheduling system may set the occupancy flag in the following manner:
各第二AGV调度***的对应于管制区域的检测装置，在检测确定该第二AGV调度***的AGV驶入该第二AGV调度***的对应于管制区域的检测范围时，可以将该第二AGV调度***的对应于管制区域的占用信息中的占用标志设置为用于指示AGV占用管制区域的值；The detection device corresponding to the control area of each second AGV dispatching system can detect and determine that the AGV of the second AGV dispatching system has entered the detection range corresponding to the control area of the second AGV dispatching system. The occupancy flag in the occupancy information corresponding to the control area of the dispatching system is set to a value used to indicate that the AGV occupies the control area;
各第二AGV调度***的对应于管制区域的检测装置，在检测确定该第二AGV调度***的AGV驶离该第二AGV调度***的对应于管制区域的检测范围时，可以将该第二AGV调度***的对应于管制区域的占用信息中的占用标志设置为用于指示AGV未占用管制区域的值。The detection device corresponding to the control area of each second AGV dispatching system can detect and determine that the AGV of the second AGV dispatching system leaves the detection range corresponding to the control area of the second AGV dispatching system. The occupancy flag in the occupancy information corresponding to the control area of the dispatch system is set to a value for indicating that the AGV does not occupy the control area.
各第二AGV调度***通过对该第二AGV调度***的对应于管制区域的占用信息中的占用标志的设置，来表明该第二AGV调度***当前是否占用管制区域，从而使得第一AGV调度***可以根据这些第二AGV调度***的对应于管制区域的占用信息判断管制区域是否被占用。Each second AGV scheduling system indicates whether the second AGV scheduling system currently occupies the control area by setting the occupancy flag in the occupancy information corresponding to the control area of the second AGV scheduling system, so that the first AGV scheduling system Whether the control area is occupied can be determined according to the occupancy information of the second AGV scheduling system corresponding to the control area.
步骤502、判断各第二AGV调度***对应于管制区域的占用信息中的占用标志是否均是指示AGV未占用管制区域的值，如果是，则确定管制区域未被占用，则执行步骤503，否则，确定管制区域已被占用，执行步骤504。Step 502: Determine whether the occupancy flags in the occupancy information of each second AGV scheduling system corresponding to the control area are all values indicating that the AGV does not occupy the control area. If so, it is determined that the control area is not occupied, and step 503 is executed, otherwise , it is determined that the control area has been occupied, and step 504 is executed.
以上步骤502是图2所示步骤202的具体细化。The above step 502 is a specific refinement of the step 202 shown in FIG. 2 .
步骤503、调度第一AGV调度***的AGV通过管制区域；Step 503: Schedule the AGV of the first AGV scheduling system to pass through the control area;
步骤504、控制第一AGV调度***的AGV在第一AGV调度***的对应于管制区域的等待点等待，并在等待预设时长后再次确定第一AGV调度***的AGV将要通过管制区域，返回执行步骤501中从各第二AGV调度***的对应于管制区域的检测装置获取该第二AGV调度***对应于管制区域的占用信息的步骤。Step 504: Control the AGV of the first AGV dispatching system to wait at the waiting point of the first AGV dispatching system corresponding to the control area, and after waiting for a preset time period, determine again that the AGV of the first AGV dispatching system will pass through the control area, and return to execution In step 501, the step of acquiring the occupancy information of the second AGV scheduling system corresponding to the control area from the detection device corresponding to the control area of each second AGV scheduling system.
本申请实施例中，假设第二AGV调度***的个数为n。为了便于叙述，以下将第一AGV调度***和n个第二AGV调度***依次记为S0(即第一AGV调度***)、S1(即第1个第二AGV调度***)、S2(即第2个第二AGV调度***)、……、Sn(即第n个第二AGV调度***)。In the embodiment of the present application, it is assumed that the number of second AGV scheduling systems is n. For ease of description, the first AGV scheduling system and the n second AGV scheduling systems will be sequentially recorded as S0 (ie the first AGV scheduling system), S1 (ie the first second AGV scheduling system), S2 (ie the second AGV scheduling system) the second AGV scheduling system), ..., Sn (that is, the nth second AGV scheduling system).
本申请实施例中，可以预先确定AGV调度***S0、S1、S2、……、Sn中每一AGV调度***的对应于管制区域的最近等待点和最小检测范围。对于需要配置对应于管制区域的等待点的任一AGV调度***Sx(例如本实施例中的第一AGV调度***S0)，将该AGV调度***Sx的对应于管制区域的最近等待点配置为该AGV调度***Sx的对应于管制区域的等待点。这里，每一AGV调度***的对应于管制区域的最近等待点是指：该AGV调度***的AGV可以停靠且不会影响其它AGV调度***的AGV通过管制区域的与管制区域中心距离最近的位置。关于最小检测范围的确定方法将在下文中进行详细说明，在此不再赘述。In the embodiment of the present application, the nearest waiting point and the minimum detection range corresponding to the control area of each AGV scheduling system in the AGV scheduling systems S0, S1, S2, ..., Sn may be predetermined. For any AGV scheduling system Sx (for example, the first AGV scheduling system S0 in this embodiment) that needs to configure a waiting point corresponding to the control area, configure the nearest waiting point corresponding to the control area of the AGV scheduling system Sx as the The waiting point of the AGV scheduling system Sx corresponding to the control area. Here, the nearest waiting point corresponding to the control area of each AGV dispatching system refers to the position where the AGV of the AGV dispatching system can park without affecting the AGVs of other AGV dispatching systems passing through the control area and the closest position to the center of the control area. The method for determining the minimum detection range will be described in detail below, and will not be repeated here.
本申请实施例中，确定AGV调度***S0、S1、S2、……、Sn中每一AGV调度***的对应于管制区域的最近等待点的方法如下：In the embodiment of the present application, the method for determining the nearest waiting point corresponding to the control area of each AGV scheduling system in the AGV scheduling system S0, S1, S2, ..., Sn is as follows:
S11、针对任一AGV调度***是Si，计算Si相对于每一其它AGV调度***Sj的与管制区域中心的最近停靠距离d ij＝[abs(W i/tanθ ij)+abs(W j/sinθ ij)+L i]/2，其中，abs表示求绝对值；W i和L i分别是Si的AGV的最大宽度和最大长度，Wj是Sj的AGV的最大宽度，θ ij是Si的对应于管制区域的通行路径与Sj的对应于管制区域的通行路径之间的夹角，其中，i和j为0到n之间的任意整数，且i不等于j，最大宽度可以是指AGV上任意两点在垂直方向上的距离的最大值，该垂直方向垂直于该AGV行进方向且平行于AGV的承载面，最大长度可以是指AGV上任意两点在平行于该AGV行进方向上的距离的最大值； S11. For any AGV dispatching system Si, calculate the closest stopping distance d ij =[abs(W i /tanθ ij )+abs(W j /sinθ ) of Si relative to each other AGV dispatching system Sj and the center of the control area ij )+L i ]/2, where abs represents the absolute value; Wi and Li are the maximum width and length of the AGV of Si respectively, Wj is the maximum width of the AGV of Sj, and θ ij is the corresponding to The angle between the passage path of the regulated area and the passage path of Sj corresponding to the regulated area, where i and j are any integers between 0 and n, and i is not equal to j, and the maximum width can refer to any arbitrary number on the AGV. The maximum distance between two points in the vertical direction, the vertical direction is perpendicular to the travel direction of the AGV and parallel to the bearing surface of the AGV, and the maximum length can refer to the distance between any two points on the AGV parallel to the travel direction of the AGV. maximum value;
S12、将Si的对应于管制区域的通行路径上、通往管制区域且与管制区域中心距离为Di的位置确定为Si的对应于管制区域的最近等待点，其中Di是d i0、d i1、……、d ij、……、d in中的最大者，其中i与j不相等。 S12. Determine the position of Si on the passage path corresponding to the control area, leading to the control area and having a distance Di from the center of the control area as the closest waiting point of Si corresponding to the control area, where Di is d i0 , d i1 , The largest of ..., d ij , ..., d in , where i and j are not equal.
上述步骤S11中，计算Si相对于每一其它AGV调度***Sj的与管制区域中心的最近停靠距离dij＝[abs(W i/tanθ ij)+abs(W j/sinθ ij)+L i]/2的原理如图6所示，其中，P 0为管制区域的中心，P 3为AGV调度***Si相对于AGV调度***Sj的所有停靠位置中最接近于P 0的停靠位置，AGV调度***Si相对于AGV调度***Sj的停靠位置是指当AGV调度***Si的AGV位于该位置时可能与AGV调度***Sj的AGV发生碰撞。图6中包围P 3的矩形框表示AGV调度***Si的AGV，另一个位于P 0斜上方的矩形框表示AGV调度***Sj的AGV。 In the above step S11, calculate the closest stopping distance dij=[abs(W i /tanθ ij )+abs(W j /sinθ ij )+L i ]/ The principle of 2 is shown in Figure 6, where P 0 is the center of the control area, P 3 is the parking position closest to P 0 among all the parking positions of the AGV dispatching system Si relative to the AGV dispatching system Sj, and the AGV dispatching system Si The parking position relative to the AGV dispatching system Sj means that when the AGV of the AGV dispatching system Si is located at this position, it may collide with the AGV of the AGV dispatching system Sj. In FIG. 6 , the rectangular box surrounding P 3 represents the AGV of the AGV scheduling system Si, and the other rectangular box located obliquely above P 0 represents the AGV of the AGV scheduling system Sj.
P 0、P 3所处的直线为AGV调度***Si对应于管制区域的通行路径，P 0所处且穿过用于表示AGV调度***Sj的AGV的直线为AGV调度***Sj对应于管制区域的通行路径。P 2为表示AGV调度***Si的AGV的矩形框与AGV调度***Si对应于管制区域的通行路径的交点，P 1为过延长交点做线段P0P3垂线时的垂足，其中，延长交点为用于表示AGV调 度***Si的AGV的矩形框的左侧边延长线与AGV调度***Sj对应于管制区域的通行路径的交点。 The straight line where P 0 and P 3 are located is the passage of the AGV dispatching system Si corresponding to the control area, and the straight line where P 0 is located and passing through the AGV used to represent the AGV dispatching system Sj is the AGV dispatching system Sj corresponding to the control area. travel path. P 2 is the intersection point of the rectangular frame representing the AGV of the AGV dispatching system Si and the passage path of the AGV dispatching system Si corresponding to the control area, P 1 is the vertical foot of the line segment P0P3 when the intersection point is extended, and the extended intersection point is the vertical line of the line segment P0P3. At the intersection of the left side extension line of the rectangular frame representing the AGV of the AGV dispatch system Si and the passage of the AGV dispatch system Sj corresponding to the control area.
可以通过计算P 0P 1、P 1P 2、P 2P 3三个线段的长度之和得到，而P 0P 1、P 1P 2、P 2P 3的线段长度分别为：abs(W i/2tanθ ij)、abs(W j/2sinθ ij)、L i/2、因此，dij＝[abs(W i/tanθ ij)+abs(W j/sinθ ij)+L i]/2。 It can be obtained by calculating the sum of the lengths of the three line segments P 0 P 1 , P 1 P 2 and P 2 P 3 , and the lengths of the line segments of P 0 P 1 , P 1 P 2 and P 2 P 3 are respectively: abs(W i /2tanθ ij ), abs(W j /2sinθ ij ), Li /2, so dij=[abs(W i /tanθ ij )+abs(W j /sinθ ij )+L i ] /2.
上述步骤S12中，通往管制区域的位置是指AGV沿该通行路径运动经过该位置时，AGV正在通往管制区域，即AGV正在接近接近管制区域中心。示例性的，以图6为例，假设AGV调度***Si的AGV是沿着P 3→P 0的方向运动的，则在AGV调度***Si对应于管制区域的通行路径上任一位于P 0偏向P 3侧的位置为通往管制区域的位置。 In the above step S12, the position leading to the control area means that when the AGV moves past the position along the passage path, the AGV is leading to the control area, that is, the AGV is approaching the center of the control area. Exemplarily, taking FIG. 6 as an example, it is assumed that the AGV of the AGV dispatching system Si moves in the direction of P 3 →P 0 , then on the passage path of the AGV dispatching system Si corresponding to the control area, any one located at P 0 is biased towards P. The position on the 3 side is the position leading to the control area.
本申请实施例中，对于第一AGV调度***S0来说，可以将S0的对应于管制区域的最近等待点设置为S0的对应于管制区域的等待点。结合上述确定Si的对应于管制区域的最近等待点的具体方法(步骤S11至S12)可知，配置第一AGV调度***S0的对应于管制区域的等待点的方法具体如下：In the embodiment of the present application, for the first AGV scheduling system S0, the closest waiting point of S0 corresponding to the control area may be set to the waiting point of S0 corresponding to the control area. Combined with the above-mentioned specific method for determining the nearest waiting point of Si corresponding to the control area (steps S11 to S12), it can be known that the method for configuring the waiting point corresponding to the control area of the first AGV scheduling system S0 is as follows:
计算第一AGV调度***S0相对于每一第二AGV调度***Sj的与管制区域中心的最近停靠距离d0j＝[abs(W 0/tanθ 0j)+abs(W j/sinθ 0j)+L 0]/2，其中，W 0和L 0分别是第一AGV调度***的AGV的最大宽度和最大长度，W j是第二AGV调度***Sj的AGV的最大宽度，θ 0j是第一AGV调度***的对应于管制区域的通行路径与第二AGV调度***Sj的对应于管制区域的通行路径之间的夹角； Calculate the closest stopping distance d0j of the first AGV dispatching system S0 to the center of the control area relative to each second AGV dispatching system Sj=[abs(W 0 /tanθ 0j )+abs(W j /sinθ 0j )+L 0 ] /2, where W 0 and L 0 are the maximum width and maximum length of the AGV of the first AGV scheduling system, respectively, W j is the maximum width of the AGV of the second AGV scheduling system Sj, and θ 0j is the first AGV scheduling system. the included angle between the passage path corresponding to the control area and the passage path corresponding to the control area of the second AGV scheduling system Sj;
将第一AGV调度***的对应于管制区域的通行路径上、通往管制区域且与管制区域中心距离为D0的位置确定为第一AGV调度***的对应于管制区域的最近等待点，其中D0是d 01、d 02、……、d 0n中的最大者； Determine the position of the first AGV dispatching system on the passage path corresponding to the control area, leading to the control area and having a distance D0 from the center of the control area as the closest waiting point of the first AGV dispatching system corresponding to the control area, where D0 is The largest of d 01 , d 02 , ..., d 0n ;
将第一AGV调度***的对应于管制区域的最近等待点配置为第一AGV调度***的等待点。The closest waiting point of the first AGV scheduling system corresponding to the control area is configured as the waiting point of the first AGV scheduling system.
如图7所示，示出了AGV调度***Sb的对应于管制区域的等待点，位于AGV调度***Sb的对应于管制区域的通行路径上、与管制区域中心距离为Db的位置。As shown in FIG. 7 , the waiting point corresponding to the control area of the AGV dispatching system Sb is shown, which is located on the passage path of the AGV dispatching system Sb corresponding to the control area, at a distance Db from the center of the control area.
本申请实施例中，可以预先确定AGV调度***S0、S1、S2、……、Sn中每一AGV调度***的对应于管制区域的最小检测范围。对于需要配置对应于管制区域的检测范围的任一AGV调度***Sy(例如本实施例中的第二AGV调度***：S1、S2、……、Sn)，将该AGV调度***Sy的对应于管制区域的最小检测范围配置为该AGV调度***Sy的对应于管制区域的检测范围，其中y为1到n之间的任一整数。每一AGV调度***的对应于管制区域的最小检测范围是指：该AGV调度***的AGV会对其它AGV调度***的AGV通过管制区域产生影响的最小行驶范围，该AGV调度***的AGV驶入此最小检测范围之后离开此最小检测范围之前，会与在此过程中驶入管制区域的至少一个其它AGV调度***的AGV发生碰撞。In the embodiment of the present application, the minimum detection range corresponding to the control area of each AGV scheduling system in the AGV scheduling systems S0, S1, S2, ..., Sn may be predetermined. For any AGV scheduling system Sy (for example, the second AGV scheduling system in this embodiment: S1, S2, ..., Sn) that needs to configure the detection range corresponding to the control area, the AGV scheduling system Sy corresponding to the control The minimum detection range of the area is configured as the detection range of the AGV scheduling system Sy corresponding to the control area, where y is any integer between 1 and n. The minimum detection range corresponding to the control area of each AGV dispatching system refers to the minimum driving range in which the AGV of the AGV dispatching system will have an impact on the AGV of other AGV dispatching systems passing through the control area, and the AGV of the AGV dispatching system will drive into this area. After the minimum detection range, before leaving the minimum detection range, it will collide with the AGV of at least one other AGV dispatching system that has entered the control area in the process.
本申请实施例中，确定AGV调度***S1、S2、……、Sn中每一AGV调度***的对应于管制区域的最小检测范围的方法如下，其中，可以任意具备计算能力的电子设备通过以下方法确定各AGV调度***的对应于管制区域的最小检测范围的，例如可以是由AGV调度***S1对应于管制区域的最小检测范围可以是由AGV调度***S1确定得到的，也可是由AGV调度***S1以外的其他任意具备计算能力的电子设备确定得到的，本申请对此不做任何限制：In the embodiment of the present application, the method for determining the minimum detection range of each AGV scheduling system in the AGV scheduling system S1, S2, ..., Sn corresponding to the control area is as follows, wherein any electronic device with computing capability can use the following method The minimum detection range corresponding to the control area of each AGV dispatching system is determined, for example, the minimum detection range corresponding to the control area by the AGV dispatching system S1 may be determined by the AGV dispatching system S1, or it may be determined by the AGV dispatching system S1 This application does not make any restrictions on any other electronic devices with computing capabilities other than those determined by:
S21、针对AGV调度***S1、S2、……、Sn中的每一AGV调度***Si，确定Si对应于管制区域的最近等待点(采用上述步骤S11至步骤S12确定最近等待点)，将Si的对应于管制区域的最近等待点关于管制区域中心的对称点确定为Si的对应于管制区域的最近驶离点，计算Si的AGV从Si的对应于管制区域的最近等待点到最近驶离点所需行驶时间ti；S21. For each AGV scheduling system Si in the AGV scheduling systems S1, S2, . The symmetry point of the closest waiting point corresponding to the control area with respect to the center of the control area is determined as the closest departure point of Si corresponding to the control area, and the AGV of Si is calculated from the closest waiting point corresponding to the control area to the closest departure point of Si. required travel time ti;
S22、针对AGV调度***S1、S2、……、Sn中的每一AGV调度***Sj，将Sj的对应于管制区域的通行路径作为中轴线、以通往管制区域且与管制区域中心距离为Vj×Tj+Dj的位置为起点、以Sj的对应于管制区域的最近驶离点为终点、且贯穿管制区域的矩形区域确定为Sj的对应于管制区域的最小检测范围；其中，该矩形区域的宽度不小于Sj的AGV的最大宽度Wj，该矩形区域的长度L＝Vj×Tj+2Dj其中，Vj是Sj的AGV行驶速度，Tj是t 0、t 1、……、t i-1、t i+1、……、t n中的最大者；Dj是Sj对应于管制区域的最近等待点与管制中心的距离。 S22. For each AGV scheduling system Sj in the AGV scheduling systems S1, S2, . The position of ×Tj+Dj is the starting point, the nearest departure point of Sj corresponding to the control area is the end point, and the rectangular area that runs through the control area is determined as the minimum detection range of Sj corresponding to the control area; The maximum width Wj of the AGV whose width is not less than Sj, the length of the rectangular area L=Vj×Tj+2Dj where Vj is the speed of the AGV of Sj, and Tj is t 0 , t 1 , ..., t i-1 , t The largest of i+1 , . . . , t n ; Dj is the distance between the closest waiting point and the control center corresponding to the control area by Sj.
本申请实施例中，对于任一第二AGV调度***Sj来说，可以将Sj的对应于管制区域的最小检测范围设置为Sj的对应于管制区域的检测范围。结合上述确定Sj的对应于管制区域的最小检测范围的具体方法(步骤S21至S22)可知，配置第二AGV调度***Sj的对应于管制区域的最小检测范围的方法为：先根据上述步骤21至步骤22确定Sj的对应于管制区域的最小检测范围，然后将该最小检测范围设置为Sj的对应于管制区域的检测范围。In the embodiment of the present application, for any second AGV scheduling system Sj, the minimum detection range of Sj corresponding to the control area may be set to the detection range of Sj corresponding to the control area. Combined with the above-mentioned specific method for determining the minimum detection range of Sj corresponding to the control area (steps S21 to S22), it can be known that the method for configuring the minimum detection range of the second AGV scheduling system Sj corresponding to the control area is: first according to the above steps 21 to Step 22 determines the minimum detection range of Sj corresponding to the control area, and then sets the minimum detection range as the detection range of Sj corresponding to the control area.
如图7所示，示出了AGV调度***Sb的对应于管制区域的检测范围。其中，Sb的对应于管制区域的检测范围的长度是Vb×Tb+2Db，左侧与管制区域中心的距离是Vb×Tb+Db，右侧与管制区域中心的距离是Db。As shown in FIG. 7 , the detection range of the AGV scheduling system Sb corresponding to the control area is shown. Among them, the length of the detection range of Sb corresponding to the control area is Vb×Tb+2Db, the distance between the left side and the center of the control area is Vb×Tb+Db, and the distance between the right side and the center of the control area is Db.
根据图5所示方法可以看出，本实施例中，第一AGV调度***根据各第二AGV调度***对应于管制区域的占用信息中的占用标志确定管制区域是否被占用，而此占用标志是由该第二AGV调度***的对应于管制区域的检测装置通过对该第二AGV调度***的对应于管制区域的检测范围中是否行驶有该第二AGV调度***的AGV的检测结果而设置的。另外，本实施例与图2所示实施例一样，均可以在第一AGV调度***和第二AGV调度***无信息交互的情况下，避免第一AGV调度***的AGV与第二AGV调度***的AGV发生碰撞。According to the method shown in FIG. 5, it can be seen that in this embodiment, the first AGV scheduling system determines whether the control area is occupied according to the occupancy flag in the occupancy information of each second AGV scheduling system corresponding to the control area, and the occupancy flag is It is set by the detection device corresponding to the control area of the second AGV dispatching system based on the detection result of whether the AGV of the second AGV dispatching system is traveling in the detection range corresponding to the control area of the second AGV dispatching system. In addition, this embodiment is the same as the embodiment shown in FIG. 2 , in the case where there is no information exchange between the first AGV scheduling system and the second AGV scheduling system, the AGV of the first AGV scheduling system and the second AGV scheduling system can be avoided. The AGV collided.
参见图8，图8是本申请实施例五提供的AGV交通管制方法流程图，该方法应用于该方法应用于第一AGV调度***，第一AGV调度***和至少一个第二AGV调度***共用同一管制区域；第一AGV调度***和各第二AGV调度***均配置有对应于管制区域的等待点、检测装置和检测范围；如图8所示，该方法具体包括以下步骤：Referring to FIG. 8, FIG. 8 is a flowchart of the AGV traffic control method provided in Embodiment 5 of the present application. The method is applied to the first AGV dispatching system. The first AGV dispatching system and at least one second AGV dispatching system share the same Control area; the first AGV dispatching system and each second AGV dispatching system are equipped with waiting points, detection devices and detection ranges corresponding to the control area; as shown in FIG. 8 , the method specifically includes the following steps:
步骤801、确定第一AGV调度***的AGV将要通过管制区域时，从各第二AGV调度***的对应于管制区域的检测装置获取该第二AGV调度***对应于管制区域的占用信息。Step 801: When it is determined that the AGV of the first AGV scheduling system will pass through the control area, obtain the occupancy information of the second AGV scheduling system corresponding to the control area from the detection device corresponding to the control area of each second AGV scheduling system.
本申请实施例中，占用信息包括：占用标志和等待标志；占用标志包括两种取值，一种是指示AGV占用管制区域的值，另一种是指示AGV未占用管制区域的值；等待标志包括两种取值，一种是指示AGV在等待点等待的值，另一种是指示AGV未在等待点等待的值。In the embodiment of the present application, the occupation information includes: an occupation flag and a waiting flag; the occupation flag includes two values, one is a value indicating that the AGV occupies the control area, and the other is a value indicating that the AGV does not occupy the control area; the waiting flag It includes two values, one is a value that indicates that the AGV is waiting at the waiting point, and the other is a value that indicates that the AGV is not waiting at the waiting point.
本申请实施例中，各第二AGV调度***的对应于管制区域的检测装置可以对该第二AGV调度***的AGV在该第二AGV调度***对应于管制区域的检测范围的驶入、驶离情况、以及在该第二AGV调度***对应于管制区域的等待点的等待情况进行检测，并基于检测结果设置该第二AGV调度***对应于管制区域的占用信息。In the embodiment of the present application, the detection device corresponding to the control area of each second AGV dispatching system can drive the AGV of the second AGV dispatching system into and out of the detection range of the second AGV dispatching system corresponding to the control area situation and the waiting situation at the waiting point of the second AGV dispatching system corresponding to the control area, and set the occupancy information of the second AGV dispatching system corresponding to the control area based on the detection result.
具体地，第二AGV调度***对应于管制区域的检测装置可以按照以下方式设置第二AGV调度***对应于管制区域的占用信息：Specifically, the detection device of the second AGV scheduling system corresponding to the control area may set the occupancy information of the second AGV scheduling system corresponding to the control area in the following manner:
各第二AGV调度***的对应于管制区域的检测装置，在检测确定该第二AGV调度***的AGV驶入该第二AGV调度***的对应于管制区域的检测范围时，将该第二AGV调度***的对应于管制区域的占用信息中的占用标志设置为指示AGV占用管制区域的值；The detection device corresponding to the control area of each second AGV dispatching system, when detecting and determining that the AGV of the second AGV dispatching system has entered the detection range corresponding to the control area of the second AGV dispatching system, dispatches the second AGV The occupancy flag in the occupancy information corresponding to the control area of the system is set to a value indicating that the AGV occupies the control area;
各第二AGV调度***的对应于管制区域的检测装置，在检测确定该第二AGV调度***的AGV驶离该第二AGV调度***的对应于管制区域的检测范围时，将该第二AGV调度***的对应于管制区域的占用信息中的占用标志设置为指示AGV未占用管制区域的值；The detection device corresponding to the control area of each second AGV dispatching system, when detecting and determining that the AGV of the second AGV dispatching system leaves the detection range corresponding to the control area of the second AGV dispatching system, dispatches the second AGV The occupancy flag in the occupancy information corresponding to the control area of the system is set to a value indicating that the AGV does not occupy the control area;
各第二AGV调度***的对应于管制区域的检测装置，在检测确定该第二AGV调度***的AGV在该第二AGV调度***的对应于管制区域的等待点等待时，将该第二AGV调度***的对应于管制区域的占用信息中的等待标志设置为指示AGV在等待点等待的值；The detection device corresponding to the control area of each second AGV scheduling system, when detecting and determining that the AGV of the second AGV scheduling system is waiting at the waiting point corresponding to the control area of the second AGV scheduling system, schedules the second AGV The waiting flag in the occupancy information corresponding to the control area of the system is set to a value indicating that the AGV is waiting at the waiting point;
各第二AGV调度***的对应于管制区域的检测装置，在检测确定该第二AGV调度***的AGV从该第二AGV调度***的对应于管制区域的等待点离开时，将该第二AGV调度***的对应于管制区域的占用信息中的等待标志设置为指示AGV未在等待点等待的值。The detection device corresponding to the control area of each second AGV dispatching system, when detecting and determining that the AGV of the second AGV dispatching system leaves the waiting point corresponding to the control area of the second AGV dispatching system, dispatches the second AGV The waiting flag in the occupancy information corresponding to the regulated area of the system is set to a value indicating that the AGV is not waiting at the waiting point.
需要说明的是，本实施例中，第一AGV调度***的对应于管制区域的检测装置，同样要对第一AGV调度***的 AGV在第一AGV调度***对应于管制区域的检测范围的驶入、驶离情况、以及在第一AGV调度***对应于管制区域的等待点的等待情况进行检测，并基于检测结果设置第一AGV调度***对应于管制区域的占用信息。同样，每个第二AGV调度***也和第一AGV调度***具有相同的功能，即每个第二AGV调度***确定自身的AGV将要通过管制区域时，也可以从第一AGV调度***的检测装置获取第一AGV调度***对应于管制区域的占用信息、以及从其它各第二AGV调度***的检测装置获取该其它第二AGV调度***对应于管制区域的占用信息，然后根据这些占用信息确定管制区域是否被占用，被占用则在该第二AGV调度***的对应于管制区域的等待点等待，并在预设时长后再次确定自身的AGV将要通过管制区域，否则，调度自身的AGV直接通过管制区域。It should be noted that, in this embodiment, the detection device of the first AGV dispatching system corresponding to the control area is also required to drive the AGV of the first AGV dispatching system into the detection range of the first AGV dispatching system corresponding to the control area. , the departure situation, and the waiting situation at the waiting point of the first AGV dispatching system corresponding to the control area, and based on the detection results, the occupancy information of the first AGV dispatching system corresponding to the control area is set. Similarly, each second AGV dispatching system also has the same function as the first AGV dispatching system, that is, when each second AGV dispatching system determines that its own AGV is about to pass through the control area, it can also use the detection device of the first AGV dispatching system. Obtain the occupancy information of the first AGV scheduling system corresponding to the control area, and obtain the occupancy information of the other second AGV scheduling systems corresponding to the control area from the detection devices of the other second AGV scheduling systems, and then determine the control area according to the occupancy information. Whether it is occupied, if it is occupied, wait at the waiting point of the second AGV dispatching system corresponding to the control area, and re-determine that its own AGV will pass through the control area after a preset period of time, otherwise, schedule its own AGV to pass directly through the control area .
步骤8021、判断是否存在对应于管制区域的占用信息中的占用标志为指示占用的值的第二AGV调度***，如果存在，则确定管制区域被占用，转至步骤804执行，否则，执行步骤8022；Step 8021: Determine whether there is a second AGV scheduling system whose occupancy flag in the occupancy information corresponding to the control area is a value indicating occupancy, if so, determine that the control area is occupied, and go to step 804 to execute, otherwise, execute step 8022 ;
步骤8022、确定对应于管制区域的占用信息中的等待标志为指示等待的值的第二AGV调度***； Step 8022, determining that the waiting flag in the occupancy information corresponding to the control area is the second AGV scheduling system that indicates the waiting value;
步骤8023、判断确定的第二AGV调度***的个数是否为0，如果是，则确定管制区域未被占用，转至步骤803执行，否则，执行步骤8024； Step 8023, determine whether the determined number of the second AGV scheduling system is 0, if so, determine that the control area is not occupied, go to step 803 to execute, otherwise, execute step 8024;
步骤8024、判断第一AGV调度***的优先级是否大于确定的各第二AGV调度***的优先级，若是，则确定管制区域未被占用，转至步骤803执行，若否，则确定管制区域被占用，执行步骤804。Step 8024: Determine whether the priority of the first AGV scheduling system is greater than the determined priority of each second AGV scheduling system. If so, determine that the control area is not occupied, and go to step 803 to execute. If not, determine that the control area is occupied. occupied, go to step 804.
以上步骤8021至8024是图2所示步骤202的具体细化。The above steps 8021 to 8024 are specific refinements of the step 202 shown in FIG. 2 .
步骤803、调度第一AGV调度***的AGV通过管制区域；Step 803: Schedule the AGV of the first AGV scheduling system to pass through the control area;
步骤804、控制第一AGV调度***的AGV在第一AGV调度***的对应于管制区域的等待点等待，并在等待预设时长后再次确定第一AGV调度***的AGV将要通过管制区域，返回执行步骤801中从各第二AGV调度***的对应于管制区域的检测装置获取该第二AGV调度***对应于管制区域的占用信息。Step 804: Control the AGV of the first AGV dispatching system to wait at the waiting point of the first AGV dispatching system corresponding to the control area, and after waiting for a preset time period, determine again that the AGV of the first AGV dispatching system will pass through the control area, and return to execution In step 801, the occupancy information of the second AGV scheduling system corresponding to the control area is acquired from the detection device corresponding to the control area of each second AGV scheduling system.
本申请实施例中，仍假设第二AGV调度***的个数为n。为了便于叙述，以下将第一AGV调度***和n个第二AGV调度***依次记为S0(即第一AGV调度***)、S1(即第1个第二AGV调度***)、S2(即第2个第二AGV调度***)、……、Sn(即第n个第二AGV调度***)。In the embodiment of the present application, it is still assumed that the number of second AGV scheduling systems is n. For ease of description, the first AGV scheduling system and the n second AGV scheduling systems will be sequentially recorded as S0 (ie the first AGV scheduling system), S1 (ie the first second AGV scheduling system), S2 (ie the second AGV scheduling system) the second AGV scheduling system), ..., Sn (that is, the nth second AGV scheduling system).
本申请实施例中，可以预先确定AGV调度***S0、S1、S2、……、Sn中每一AGV调度***的对应于管制区域的最近等待点。对于需要配置对应于管制区域的等待点的任一AGV调度***Sx(例如本实施例中的第一AGV调度***S0)，将该AGV调度***Sx的对应于管制区域的最近等待点配置为该AGV调度***Sx的对应于管制区域的等待点。这里，每一AGV调度***的对应于管制区域的最近等待点是指：该AGV调度***的AGV可以停靠且不会影响其它AGV调度***的AGV通过管制区域的与管制区域中心距离最近的位置。In the embodiment of the present application, the nearest waiting point corresponding to the control area of each AGV scheduling system in the AGV scheduling systems S0, S1, S2, ..., Sn may be predetermined. For any AGV scheduling system Sx (for example, the first AGV scheduling system S0 in this embodiment) that needs to configure a waiting point corresponding to the control area, configure the nearest waiting point corresponding to the control area of the AGV scheduling system Sx as the The waiting point of the AGV scheduling system Sx corresponding to the control area. Here, the nearest waiting point corresponding to the control area of each AGV dispatching system refers to the position where the AGV of the AGV dispatching system can park without affecting the AGVs of other AGV dispatching systems passing through the control area and the closest position to the center of the control area.
本申请实施例中，确定AGV调度***S0、S1、S2、……、Sn中每一AGV调度***的对应于管制区域的最近等待点的方法，与图5中确定AGV调度***S0、S1、S2、……、Sn中每一AGV调度***的对应于管制区域的最近等待点的方法相同，不再赘述。In the embodiment of this application, the method of determining the nearest waiting point corresponding to the control area of each AGV scheduling system in the AGV scheduling system S0, S1, S2, ..., Sn is the same as the method for determining the AGV scheduling system S0, S1, The method of the nearest waiting point corresponding to the control area of each AGV scheduling system in S2, ..., Sn is the same, and will not be repeated.
本申请实施例中，对于第一AGV调度***S0来说，可以先结合图5所示实施例中给出的确定Si的对应于管制区域的最近等待点的具体方法(即步骤S11至S12)确定S0的对应于管制区域的最近等待点，再将该最近等待点设置为S0的对应于管制区域的等待点。In the embodiment of the present application, for the first AGV scheduling system S0, the specific method for determining the nearest waiting point of Si corresponding to the control area given in the embodiment shown in FIG. 5 may be combined first (ie, steps S11 to S12) Determine the closest waiting point of S0 corresponding to the control area, and then set the closest waiting point as the waiting point of S0 corresponding to the control area.
本申请实施例中，可以预先确定AGV调度***S0、S1、S2、……、Sn中每一AGV调度***的对应于管制区域的最小检测范围。对于需要配置对应于管制区域的检测范围的任一AGV调度***Sy(例如本实施例中第二AGV调度***：S1、S2、……、Sn)，将该AGV调度***Sy的对应于管制区域的最小检测范围配置为该AGV调度***Sy的对应于管制区域的检测范围。每一AGV调度***的对应于管制区域的最小检测范围是指：该AGV调度***的AGV会对其 它AGV调度***的AGV通过管制区域产生影响的最小行驶范围，该AGV调度***的AGV驶入此最小检测范围之后离开此最小检测范围之前，会与在此过程中驶入管制区域的至少一个其它AGV调度***的AGV发生碰撞。In the embodiment of the present application, the minimum detection range corresponding to the control area of each AGV scheduling system in the AGV scheduling systems S0, S1, S2, ..., Sn may be predetermined. For any AGV scheduling system Sy that needs to configure the detection range corresponding to the control area (for example, the second AGV scheduling system in this embodiment: S1, S2, ..., Sn), the AGV scheduling system Sy corresponds to the control area The minimum detection range of is configured as the detection range of the AGV dispatching system Sy corresponding to the control area. The minimum detection range of each AGV dispatching system corresponding to the control area refers to the minimum driving range in which the AGV of the AGV dispatching system will have an impact on the AGV of other AGV dispatching systems passing through the control area, and the AGV of the AGV dispatching system will drive into this area. After the minimum detection range, before leaving this minimum detection range, it will collide with the AGV of at least one other AGV dispatching system that has entered the control area in the process.
本申请实施例中，确定AGV调度***S0、S1、S2、……、Sn中每一AGV调度***的对应于管制区域的最小检测范围的方法，与图5所示实施例中提供的确定AGV调度***S0、S1、S2、……、Sn中每一AGV调度***的对应于管制区域的最小检测范围的方法相同，不再赘述。In the embodiment of the present application, the method for determining the minimum detection range of each AGV scheduling system in the AGV scheduling system S0, S1, S2, ..., Sn corresponding to the control area is the same as the method for determining the AGV provided in the embodiment shown in FIG. 5 . The method of the minimum detection range corresponding to the control area of each AGV scheduling system in the scheduling systems S0, S1, S2, ..., Sn is the same, and will not be repeated here.
本申请实施例中，对于每一第二AGV调度***Sj来说，可以先结合图5所示实施例中给出的确定Sj的对应于管制区域的最小检测范围的具体方法(即步骤S11至S12)确定Sj的对应于管制区域的最小检测范围，再将该最小检测范围设置为Sj的对应于管制区域的检测范围。In the embodiment of the present application, for each second AGV scheduling system Sj, the specific method for determining the minimum detection range of Sj corresponding to the control area given in the embodiment shown in FIG. S12) Determine the minimum detection range of Sj corresponding to the control area, and then set the minimum detection range as the detection range of Sj corresponding to the control area.
根据图8所示方法可以看出，本实施例中，第一AGV调度***根据各第二AGV调度***对应于管制区域的占用信息中的占用标志和等待标志确定管制区域是否被占用，而此占用标志和等待标志，是由该第二AGV调度***的对应于管制区域的检测装置检测确定的，具体是该检测装置通过对该第二AGV调度***的对应于管制区域的检测范围中是否行驶有该第二AGV调度***的AGV的检测结果以及该第二AGV调度***的对应于管制区域的等待点中是否有该第二AGV调度***的AGV停留的检测结果而设置的。特别需要指出的是，本实施例中，由于第一AGV调度***和第二AGV调度***均均配置有检测装置、检测范围和等待点，且具有与第一AGV调度***相同的判断管制区域是否被占用并根据判断结果确定直接通过管制区域或在等待点等待的功能，因此，所有AGV调度***在通过管制区域时均不会发生AGV碰撞。According to the method shown in FIG. 8, it can be seen that in this embodiment, the first AGV scheduling system determines whether the control area is occupied according to the occupancy flag and the waiting flag in the occupancy information of each second AGV scheduling system corresponding to the control area, and this The occupancy flag and the waiting flag are detected and determined by the detection device of the second AGV dispatching system corresponding to the control area. Specifically, the detection device determines whether to drive in the detection range corresponding to the control area of the second AGV dispatching system. It is set with the detection result of the AGV of the second AGV dispatching system and the detection result of whether the AGV of the second AGV dispatching system is staying in the waiting point of the second AGV dispatching system corresponding to the control area. It should be particularly pointed out that in this embodiment, since the first AGV scheduling system and the second AGV scheduling system are both equipped with detection devices, detection ranges and waiting points, and have the same judgment control area as the first AGV scheduling system It is occupied and determines the function of directly passing through the control area or waiting at the waiting point according to the judgment result. Therefore, all AGV dispatching systems will not AGV collision when passing through the control area.
参见图9，图9是本申请实施例六提供的AGV交通管制方法流程图，该方法应用于至少一个第二AGV调度***中的任一AGV调度***的检测装置，至少一个第二AGV调度***与第一AGV调度***共用同一管制区域；第一AGV调度***配置有对应于管制区域的等待点；每一第二AGV调度***配置有对应于管制区域的检测装置；该方法具体包括：Referring to FIG. 9, FIG. 9 is a flow chart of the AGV traffic control method provided in Embodiment 6 of the present application. The method is applied to the detection device of any AGV dispatching system in at least one second AGV dispatching system, at least one second AGV dispatching system. The first AGV dispatching system shares the same control area; the first AGV dispatching system is configured with a waiting point corresponding to the control area; each second AGV dispatching system is configured with a detection device corresponding to the control area; the method specifically includes:
步骤901、实时检测任一第二AGV调度***的对应于管制区域的占用信息； Step 901, detecting in real time the occupancy information corresponding to the control area of any second AGV dispatching system;
步骤902、将该占用信息供第一AGV调度***在确定第一AGV调度***的AGV将要通过管制区域时获取，使得第一AGV调度***根据获取的各第二AGV调度***对应于管制区域的占用信息判断管制区域是否被占用，若第一AGV调度***确定管制区域未被占用，则调度第一AGV调度***的AGV通过管制区域，若第一AGV调度***确定管制区域已被占用，则控制第一AGV调度***的AGV在第一AGV调度***的对应于管制区域的等待点等待，并在等待预设时长后再次确定第一AGV调度***的AGV将要通过管制区域，再次从各第二AGV调度***的对应于管制区域的检测装置获取该第二AGV调度***对应于管制区域的占用信息。Step 902: Provide the occupancy information for the first AGV scheduling system to obtain when determining that the AGV of the first AGV scheduling system will pass through the control area, so that the first AGV scheduling system corresponds to the occupation of the control area according to the acquired second AGV scheduling systems The information determines whether the control area is occupied. If the first AGV scheduling system determines that the control area is not occupied, the AGV of the first AGV scheduling system is scheduled to pass through the control area. If the first AGV scheduling system determines that the control area is occupied, the control area is controlled. The AGV of an AGV dispatching system waits at the waiting point of the first AGV dispatching system corresponding to the control area, and after waiting for a preset time period, it is determined again that the AGV of the first AGV dispatching system will pass through the control area, and is dispatched from each second AGV again. The detection device corresponding to the control area of the system acquires the occupancy information of the second AGV scheduling system corresponding to the control area.
根据图9所示方法可以看出，本实施例中，每个第二AGV调度***的对应于管制区域的检测装置都实时检测确定该第二AGV调度***对应于管制区域的占用信息，使得第一AGV调度***的AGV在通过管制区域之前，可以获取各第二AGV调度***对应于管制区域的占用信息，并据此判断管制区域是否被占用，未被占用才调度第一AGV调度***的AGV通过管制区域，从而避免与各第二AGV调度***的AGV发生碰撞，已被占用则需要在等待点等待预设时间后再次执行获取各第二AGV调度***对应于管制区域的占用信息和判断管制区域是否被占用的操作，此过程不需要第一AGV调度***和第二AGV调度***之间的信息交互。特别需要指出的是，当第二AGV调度***仅有一个时，第二AGV调度***的AGV可以直接通过管制区域，不需要与第一AGV调度***交互，也不要求第一AGV调度***配置检测装置。According to the method shown in FIG. 9, it can be seen that in this embodiment, the detection device corresponding to the control area of each second AGV dispatching system detects and determines the occupation information of the second AGV dispatching system corresponding to the control area in real time, so that the first AGV dispatching system corresponds to the control area. Before the AGV of an AGV dispatching system passes through the control area, it can obtain the occupancy information of each second AGV dispatching system corresponding to the control area, and judge whether the control area is occupied accordingly, and dispatch the AGV of the first AGV dispatching system when it is not occupied. Through the control area, the collision with the AGV of each second AGV dispatching system can be avoided. If the AGV is occupied, it needs to wait for a preset time at the waiting point to execute the acquisition of the occupancy information of each second AGV dispatching system corresponding to the control area and judge the control area again. The operation of whether the area is occupied, this process does not require information exchange between the first AGV scheduling system and the second AGV scheduling system. In particular, it should be pointed out that when there is only one second AGV dispatching system, the AGV of the second AGV dispatching system can directly pass through the control area without interacting with the first AGV dispatching system, nor does it require the first AGV dispatching system to configure and detect device.
参见图10，图10是本申请实施例七提供的AGV交通管制方法流程图，该方法应用于至少一个第二AGV调度***中的任一AGV调度***的检测装置，至少一个第二AGV调度***与第一AGV调度***共用同一管制区域；第一AGV 调度***配置有对应于管制区域的等待点；每一第二AGV调度***配置有对应于管制区域的检测装置和检测范围；该方法具体包括：Referring to FIG. 10, FIG. 10 is a flowchart of the AGV traffic control method provided in Embodiment 7 of the present application. The method is applied to the detection device of any AGV dispatching system in at least one second AGV dispatching system, at least one second AGV dispatching system. Sharing the same control area with the first AGV dispatching system; the first AGV dispatching system is configured with a waiting point corresponding to the control area; each second AGV dispatching system is configured with a detection device and a detection range corresponding to the control area; the method specifically includes :
步骤10011、检测确定任一第二AGV调度***的AGV驶入任一第二AGV调度***的对应于管制区域的检测范围时，将任一第二AGV调度***的对应于管制区域的占用信息中的占用标志设置为指示AGV占用管制区域的值，转至步骤1002执行。 Step 10011. When it is detected and determined that the AGV of any second AGV dispatching system enters the detection range corresponding to the control area of any second AGV dispatching system, the occupancy information corresponding to the control area of any second AGV dispatching system is included in the occupancy information of any second AGV dispatching system. The occupancy flag of is set to a value indicating that the AGV occupies the control area, and go to step 1002 to execute.
步骤10012、检测确定任一第二AGV调度***的AGV驶离任一第二AGV调度***的对应于管制区域的检测范围时，将任一第二AGV调度***的对应于管制区域的占用信息中的占用标志设置为指示AGV未占用管制区域的值，转至步骤1002执行。Step 10012: When it is determined that the AGV of any second AGV dispatching system leaves the detection range corresponding to the control area of any second AGV dispatching system, the occupancy information corresponding to the control area of any second AGV dispatching system is included in the occupancy information of any second AGV dispatching system. The occupancy flag is set to a value indicating that the AGV does not occupy the control area, and go to step 1002 to execute.
本申请实施例中，占用信息中包括占用标志；占用标志包括两种取值，一种是指示AGV占用管制区域的值，另一种是指示AGV未占用管制区域的值。In the embodiment of the present application, the occupancy information includes an occupancy flag; the occupancy flag includes two values, one is a value indicating that the AGV occupies a control area, and the other is a value indicating that the AGV does not occupy a control area.
以上步骤10011和10022是图9所示步骤901的具体细化。The above steps 10011 and 10022 are specific refinements of step 901 shown in FIG. 9 .
步骤1002、将该占用信息供第一AGV调度***在确定第一AGV调度***的AGV将要通过管制区域时获取，使得第一AGV调度***根据获取的各第二AGV调度***对应于管制区域的占用信息判断管制区域是否被占用，确定管制区域未被占用，则调度第一AGV调度***的AGV通过管制区域，确定管制区域已被占用，则控制第一AGV调度***的AGV在第一AGV调度***的对应于管制区域的等待点等待，并在等待预设时长后再次确定第一AGV调度***的AGV将要通过管制区域，再次从各第二AGV调度***的对应于管制区域的检测装置获取该第二AGV调度***对应于管制区域的占用信息。Step 1002: Provide the occupancy information for the first AGV scheduling system to obtain when determining that the AGV of the first AGV scheduling system will pass through the control area, so that the first AGV scheduling system corresponds to the occupation of the control area according to the acquired second AGV scheduling systems The information determines whether the control area is occupied, and determines that the control area is not occupied, then dispatches the AGV of the first AGV dispatching system to pass through the control area, and determines that the control area is occupied, then controls the AGV of the first AGV dispatching system in the first AGV dispatching system. Wait for the waiting point corresponding to the control area, and after waiting for a preset time period, it is determined again that the AGV of the first AGV dispatching system will pass through the control area, and the first AGV dispatching system is obtained again from the detection device corresponding to the control area. The second AGV dispatching system corresponds to the occupancy information of the control area.
本实施例中，第一AGV调度***获取到各第二AGV调度***对应于管制区域的占用信息后，可以判断各第二AGV调度***对应于管制区域的占用信息中的占用标志是否均是指示AGV未占用管制区域的值，如果是，则可以确定管制区域未被占用，否则，可以确定管制区域未被占用。In this embodiment, after acquiring the occupancy information of each second AGV scheduling system corresponding to the control area, the first AGV scheduling system can determine whether the occupancy flags in the occupancy information corresponding to the control area of each second AGV scheduling system are all indications The value of the control area not occupied by the AGV, if yes, it can be determined that the control area is not occupied, otherwise, it can be determined that the control area is not occupied.
本实施例中，将该占用信息供第一AGV调度***在确定第一AGV调度***的AGV将要通过管制区域时获取，具体包括：In this embodiment, the occupancy information is obtained by the first AGV scheduling system when it is determined that the AGV of the first AGV scheduling system will pass through the control area, which specifically includes:
接收第一AGV调度***在确定第一AGV调度***的AGV需要通过管制区域时发送的占用信息查询请求；receiving an occupancy information query request sent by the first AGV scheduling system when it is determined that the AGV of the first AGV scheduling system needs to pass through the control area;
将最新检测确定的任一第二AGV调度***的对应于管制区域的占用信息返回给第一AGV调度***。The occupancy information corresponding to the control area of any second AGV scheduling system determined by the latest detection is returned to the first AGV scheduling system.
根据图10所示方法可以看出，本实施例中，各第二AGV调度***的对应于管制区域的检测装置通过对第二AGV调度***对应于管制区域的占用信息中的占用标志进行设置来表明是否占用管制区域，从而使得第一AGV调度***根据各第二AGV调度***对应于管制区域的占用信息中的占用标志确定管制区域是否被占用。另外，本实施例与图9所示实施例一样，均可以在第一AGV调度***和第二AGV调度***无信息交互的情况下，避免第一AGV调度***的AGV与第二AGV调度***的AGV发生碰撞。According to the method shown in FIG. 10, it can be seen that, in this embodiment, the detection device corresponding to the control area of each second AGV dispatching system sets the occupancy flag in the occupancy information of the second AGV dispatching system corresponding to the control area. Indicates whether the control area is occupied, so that the first AGV scheduling system determines whether the control area is occupied according to the occupation flag in the occupancy information of each second AGV scheduling system corresponding to the control area. In addition, this embodiment is the same as the embodiment shown in FIG. 9 , in the case where there is no information exchange between the first AGV scheduling system and the second AGV scheduling system, the AGV of the first AGV scheduling system and the second AGV scheduling system can be avoided. The AGV collided.
参见图11，图11是本申请实施例八提供的AGV交通管制方法流程图，该方法应用于至少一个第二AGV调度***中的任一AGV调度***的检测装置，至少一个第二AGV调度***与第一AGV调度***共用同一管制区域；第一AGV调度***和各第二AGV调度***均配置有对应于管制区域的等待点、检测装置和检测范围；该方法具体应用于任一第二AGV调度***的检测装置，包括：Referring to FIG. 11, FIG. 11 is a flowchart of the AGV traffic control method provided in the eighth embodiment of the present application. The method is applied to the detection device of any AGV dispatching system in at least one second AGV dispatching system, at least one second AGV dispatching system. Share the same control area with the first AGV dispatching system; the first AGV dispatching system and each second AGV dispatching system are equipped with waiting points, detection devices and detection ranges corresponding to the control area; the method is specifically applied to any second AGV The detection device of the dispatching system, including:
步骤11011、检测确定任一第二AGV调度***的AGV驶入任一第二AGV调度***的对应于管制区域的检测范围时，将任一第二AGV调度***的对应于管制区域的占用信息中的占用标志设置为指示AGV占用管制区域的值，转至步骤1102执行。Step 11011: When it is determined that the AGV of any second AGV dispatching system enters the detection range corresponding to the control area of any second AGV dispatching system, the occupancy information corresponding to the control area of any second AGV dispatching system is included in the occupancy information of any second AGV dispatching system. The occupancy flag of is set to a value indicating that the AGV occupies the control area, and go to step 1102 to execute.
步骤11012、检测确定任一第二AGV调度***的AGV驶离任一第二AGV调度***的对应于管制区域的检测范围 时，将任一第二AGV调度***的对应于管制区域的占用信息中的占用标志设置为指示AGV未占用管制区域的值，转至步骤1102执行。Step 11012: When it is determined that the AGV of any second AGV dispatching system leaves the detection range corresponding to the control area of any second AGV dispatching system, the occupancy information corresponding to the control area of any second AGV dispatching system is included in the occupancy information of any second AGV dispatching system. The occupancy flag of is set to a value indicating that the AGV does not occupy the control area, and go to step 1102 to execute.
步骤11013、检测确定任一第二AGV调度***的AGV在任一第二AGV调度***的对应于管制区域的等待点等待时，将任一第二AGV调度***的对应于管制区域的占用信息中的等待标志设置为指示AGV在等待点等待的值，转至步骤1102执行。Step 11013: When it is detected and determined that the AGV of any second AGV dispatching system is waiting at the waiting point corresponding to the control area of any second AGV dispatching system, the AGV in the occupancy information corresponding to the control area of any second AGV dispatching system is If the waiting flag is set to a value indicating that the AGV is waiting at the waiting point, go to step 1102 to execute.
步骤11014、检测确定任一第二AGV调度***的AGV从任一第二AGV调度***的对应于管制区域的等待点离开时，将任一第二AGV调度***的对应于管制区域的占用信息中的等待标志设置为指示AGV未在等待点等待的值，转至步骤1102执行。Step 11014: When it is detected and determined that the AGV of any second AGV dispatching system leaves the waiting point corresponding to the control area of any second AGV dispatching system, the occupancy information corresponding to the control area of any second AGV dispatching system is included in the occupancy information of any second AGV dispatching system. The waiting flag is set to a value indicating that the AGV is not waiting at the waiting point, and go to step 1102 to execute.
本申请实施例中，占用信息中包括占用标志和等待标志。占用标志包括两种取值，一种是指示AGV占用管制区域的值，另一种是指示AGV未占用管制区域的值。等待标志包括两种取值，一种是指示AGV在等待点等待的值，另一种是指示AGV未在等待点等待的值。In this embodiment of the present application, the occupation information includes an occupation flag and a waiting flag. The occupation flag includes two values, one is the value indicating that the AGV occupies the control area, and the other is the value indicating that the AGV does not occupy the control area. The waiting flag includes two values, one is a value indicating that the AGV is waiting at the waiting point, and the other is a value indicating that the AGV is not waiting at the waiting point.
以上步骤11011至11014是图9所示步骤901的具体细化。The above steps 11011 to 11014 are specific refinements of the step 901 shown in FIG. 9 .
步骤1102、将该占用信息供第一AGV调度***在确定第一AGV调度***的AGV将要通过管制区域时获取，使得第一AGV调度***根据获取的各第二AGV调度***对应于管制区域的占用信息判断管制区域是否被占用，确定管制区域未被占用，则调度第一AGV调度***的AGV通过管制区域，确定管制区域已被占用，则控制第一AGV调度***的AGV在第一AGV调度***的对应于管制区域的等待点等待，并在等待预设时长后再次确定第一AGV调度***的AGV将要通过管制区域，再次从各第二AGV调度***的对应于管制区域的检测装置获取该第二AGV调度***对应于管制区域的占用信息。Step 1102: Provide the occupancy information for the first AGV scheduling system to obtain when it is determined that the AGV of the first AGV scheduling system will pass through the control area, so that the first AGV scheduling system corresponds to the occupation of the control area according to the acquired second AGV scheduling systems The information determines whether the control area is occupied, and determines that the control area is not occupied, then dispatches the AGV of the first AGV dispatching system to pass through the control area, and determines that the control area is occupied, then controls the AGV of the first AGV dispatching system in the first AGV dispatching system. Wait for the waiting point corresponding to the control area, and after waiting for a preset time period, it is determined again that the AGV of the first AGV dispatching system will pass through the control area, and the first AGV dispatching system is obtained again from the detection device corresponding to the control area. The second AGV dispatching system corresponds to the occupancy information of the control area.
本实施例中，第一AGV调度***获取到各第二AGV调度***对应于管制区域的占用信息后，可以判断是否存在对应于管制区域的占用信息中的占用标志为指示AGV占用管制区域的值的第二AGV调度***，如果存在，则确定管制区域被占用；如果不存在，则确定对应于管制区域的占用信息中的等待标志为指示AGV在等待点等待的值的第二AGV调度***，当确定的第二AGV调度***的个数为0时，确定管制区域未被占用；当确定的第二AGV调度***的个数不为0时，进一步判断第一AGV调度***的优先级是否大于确定的各第二AGV调度***的优先级，若是，则确定管制区域未被占用，若否，则确定管制区域被占用。In this embodiment, after the first AGV scheduling system obtains the occupancy information corresponding to the control area of each second AGV scheduling system, it can determine whether the occupancy flag in the occupancy information corresponding to the control area exists as a value indicating that the AGV occupies the control area The second AGV scheduling system, if it exists, it is determined that the control area is occupied; if it does not exist, it is determined that the waiting flag in the occupancy information corresponding to the control area is the second AGV scheduling system of the value indicating that the AGV is waiting at the waiting point, When the determined number of the second AGV scheduling system is 0, it is determined that the control area is not occupied; when the determined number of the second AGV scheduling system is not 0, it is further judged whether the priority of the first AGV scheduling system is greater than If the priority of each second AGV scheduling system is determined, if yes, it is determined that the control area is not occupied; if not, it is determined that the control area is occupied.
本实施例中，将该占用信息供第一AGV调度***在确定第一AGV调度***的AGV需要通过管制区域时获取，具体包括：In this embodiment, the occupancy information is obtained by the first AGV scheduling system when it is determined that the AGV of the first AGV scheduling system needs to pass through the control area, which specifically includes:
接收第一AGV调度***在确定第一AGV调度***的AGV需要通过管制区域时发送的占用信息查询请求；receiving an occupancy information query request sent by the first AGV scheduling system when it is determined that the AGV of the first AGV scheduling system needs to pass through the control area;
将最新检测确定的任一第二AGV调度***的对应于管制区域的占用信息返回给第一AGV调度***。The occupancy information corresponding to the control area of any second AGV scheduling system determined by the latest detection is returned to the first AGV scheduling system.
根据图11所示方法可以看出，本实施例中，各第二AGV调度***的对应于管制区域的检测装置通过对第二AGV调度***对应于管制区域的占用信息中的占用标志和等待标志进行设置来表明是否占用管制区域，从而使得第一AGV调度***根据各第二AGV调度***对应于管制区域的占用信息中的占用标志和等待标志确定管制区域是否被占用。另外，本实施例中，第二AGV调度***也可以与第一AGV调度***具有相同的功能，即每个第二AGV调度***确定自身的AGV将要通过管制区域时，也可以从第一AGV调度***的检测装置获取第一AGV调度***对应于管制区域的占用信息、以及从其它各第二AGV调度***的检测装置获取该其它第二AGV调度***对应于管制区域的占用信息，然后根据这些占用信息确定管制区域是否被占用，被占用则在该第二AGV调度***的对应于管制区域的等待点等待，并在预设时长后再次确定自身的AGV将要通过管制区域，否则，调度自身的AGV直接通过管制区域，这样可以保证所有AGV调度***在通过管制区域时均不会发生AGV碰撞。According to the method shown in FIG. 11 , it can be seen that in this embodiment, the detection device corresponding to the control area of each second AGV scheduling system checks the occupancy flag and the waiting flag in the occupancy information of the second AGV scheduling system corresponding to the control area Setting is made to indicate whether the control area is occupied, so that the first AGV scheduling system determines whether the control area is occupied according to the occupancy flag and the waiting flag in the occupancy information of each second AGV scheduling system corresponding to the control area. In addition, in this embodiment, the second AGV dispatching system may also have the same function as the first AGV dispatching system, that is, when each second AGV dispatching system determines that its own AGV will pass through the control area, it can also dispatch from the first AGV The detection device of the system obtains the occupancy information of the first AGV scheduling system corresponding to the control area, and obtains the occupancy information of the other second AGV scheduling system corresponding to the control area from the detection devices of other second AGV scheduling systems, and then according to the occupancy information The information determines whether the control area is occupied. If it is occupied, wait at the waiting point of the second AGV dispatching system corresponding to the control area, and after a preset time period, it is determined again that its own AGV will pass through the control area, otherwise, dispatch its own AGV Directly pass through the control area, which can ensure that all AGV dispatching systems will not AGV collision when passing through the control area.
本申请实施例还提供了AGV交通管制***，以下进行详细说明。The embodiments of the present application also provide an AGV traffic control system, which will be described in detail below.
参见图12，图12是本申请实施例一提供的交通管制***的架构示意图，如图12所示，该交通管制***包括第一AGV调度***和第二AGV调度***，第一AGV调度***和第二AGV调度***共用同一管制区域；第一AGV调度***配置有对应于管制区域的等待点；第二AGV调度***配置有对应于管制区域的检测装置；其中，Referring to FIG. 12, FIG. 12 is a schematic diagram of the architecture of the traffic control system provided by Embodiment 1 of the present application. As shown in FIG. 12, the traffic control system includes a first AGV dispatching system and a second AGV dispatching system, the first AGV dispatching system and The second AGV dispatching system shares the same control area; the first AGV dispatching system is configured with a waiting point corresponding to the control area; the second AGV dispatching system is configured with a detection device corresponding to the control area; wherein,
第一AGV调度***，用于确定第一AGV调度***的AGV将要通过管制区域时，从第二AGV调度***的对应于管制区域的检测装置获取该第二AGV调度***对应于管制区域的占用信息；根据第二AGV调度***对应于管制区域的占用信息判断管制区域是否被占用；如果管制区域未被占用，则调度第一AGV调度***的AGV通过管制区域；如果管制区域已被占用，则控制第一AGV调度***的AGV在第一AGV调度***的对应于管制区域的等待点等待，并在等待预设时长后再次确定第一AGV调度***的AGV将要通过管制区域，返回执行从各第二AGV调度***的对应于管制区域的检测装置获取该第二AGV调度***对应于管制区域的占用信息的步骤；The first AGV scheduling system is used to obtain the occupancy information of the second AGV scheduling system corresponding to the control area from the detection device corresponding to the control area of the second AGV scheduling system when it is determined that the AGV of the first AGV scheduling system will pass through the control area ; Determine whether the control area is occupied according to the occupancy information of the second AGV scheduling system corresponding to the control area; if the control area is not occupied, schedule the AGV of the first AGV scheduling system to pass the control area; if the control area is occupied, control the The AGV of the first AGV dispatching system waits at the waiting point of the first AGV dispatching system corresponding to the control area, and after waiting for a preset time period, it is determined again that the AGV of the first AGV dispatching system will pass through the control area, and returns to the execution from each second. The step of acquiring the occupancy information of the second AGV dispatching system corresponding to the control area by the detection device corresponding to the control area of the AGV dispatching system;
第二AGV调度***的检测装置，用于实时检测第二AGV调度***的对应于管制区域的占用信息，以供第一AGV调度***在确定第一AGV调度***的AGV将要通过管制区域时获取。The detection device of the second AGV scheduling system is used to detect the occupancy information of the second AGV scheduling system corresponding to the control area in real time, for the first AGV scheduling system to obtain when determining that the AGV of the first AGV scheduling system will pass the control area.
图12所示交通管制***中，In the traffic control system shown in Figure 12,
第一AGV调度***，确定第一AGV调度***的AGV将要通过管制区域时，用于：The first AGV dispatching system, when determining that the AGV of the first AGV dispatching system will pass through the control area, is used to:
当第一AGV调度***的AGV沿第一AGV调度***的对应于管制区域的通行路径行驶、且行驶至该通行路径上到达管制区域之前的预设位置时，确定该AGV将要通过管制区域；When the AGV of the first AGV dispatching system travels along the passage path of the first AGV dispatching system corresponding to the control area, and travels to a preset position on the passage path before reaching the control area, it is determined that the AGV will pass through the control area;
或者，当第一AGV调度***的AGV在第一AGV调度***的对应于管制区域的等待点的等待时间是预设时长的N倍时，确定该AGV将要通过管制区域；其中，N为任意正整数。Or, when the waiting time of the AGV of the first AGV scheduling system at the waiting point corresponding to the control area of the first AGV scheduling system is N times the preset time length, it is determined that the AGV will pass through the control area; wherein, N is any positive Integer.
图12所示交通管制***中，In the traffic control system shown in Figure 12,
第一AGV调度***，从第二AGV调度***的对应于管制区域的检测装置获取第二AGV调度***对应于管制区域的占用信息时，用于：The first AGV scheduling system, when acquiring the occupancy information of the second AGV scheduling system corresponding to the control area from the detection device of the second AGV scheduling system corresponding to the control area, is used to:
向第二AGV调度***的对应于管制区域的检测装置发送占用信息查询请求；Send an occupancy information query request to the detection device of the second AGV scheduling system corresponding to the control area;
接收第二AGV调度***的对应于管制区域的检测装置返回的第二AGV调度***对应于管制区域的占用信息。The occupancy information of the second AGV scheduling system corresponding to the control area returned by the detection device corresponding to the control area of the second AGV scheduling system is received.
图12所示交通管制***中，In the traffic control system shown in Figure 12,
占用信息包括占用标志；占用标志包括两种取值，一种是指示AGV占用管制区域的值，另一种是指示AGV未占用管制区域的值；The occupancy information includes the occupancy flag; the occupancy flag includes two values, one is the value indicating that the AGV occupies the control area, and the other is the value indicating that the AGV does not occupy the control area;
第一AGV调度***，根据第二AGV调度***对应于管制区域的占用信息判断管制区域是否被占用时，用于：The first AGV scheduling system, when judging whether the control area is occupied according to the occupancy information of the second AGV scheduling system corresponding to the control area, is used to:
判断第二AGV调度***对应于管制区域的占用信息中的占用标志是否是指示AGV未占用管制区域的值，如果是，则确定管制区域未被占用，否则，确定管制区域被占用；Determine whether the occupancy flag in the occupancy information of the second AGV scheduling system corresponding to the control area is a value indicating that the AGV does not occupy the control area, if so, determine that the control area is not occupied, otherwise, determine that the control area is occupied;
第二AGV调度***配置有对应于管制区域的检测范围；第二AGV调度***的对应于管制区域的检测装置，实时检测第二AGV调度***的对应于管制区域的占用信息，包括：The second AGV dispatching system is configured with a detection range corresponding to the control area; the detection device corresponding to the control area of the second AGV dispatching system detects the occupancy information of the second AGV dispatching system corresponding to the control area in real time, including:
在检测确定该第二AGV调度***的AGV驶入该第二AGV调度***的对应于管制区域的检测范围时，将该AGV调度***的对应于管制区域的占用信息中的占用标志设置为指示AGV占用管制区域的值；在检测确定该第二AGV调度***的AGV驶离该第二AGV调度***的对应于管制区域的检测范围时，将该第二AGV调度***的对应于管制区域的占用信息中的占用标志设置为指示AGV未占用管制区域的值。When it is detected and determined that the AGV of the second AGV dispatching system has entered the detection range corresponding to the control area of the second AGV dispatching system, the occupancy flag in the occupancy information corresponding to the control area of the AGV dispatching system is set to indicate the AGV The value of the occupied control area; when it is detected and determined that the AGV of the second AGV scheduling system leaves the detection range corresponding to the control area of the second AGV scheduling system, the occupancy information of the second AGV scheduling system corresponding to the control area The occupancy flag in is set to a value indicating that the AGV is not occupying the regulated area.
图12所示交通管制***中，In the traffic control system shown in Figure 12,
占用信息包括占用标志、等待标志；占用标志包括两种取值，一种是指示AGV占用管制区域的值，另一种是指示 AGV未占用管制区域的值；等待标志包括两种取值，一种是指示AGV在等待点等待的值，另一种是指示AGV未在等待点等待的值；The occupancy information includes the occupancy flag and the waiting flag; the occupancy flag includes two values, one is the value indicating that the AGV occupies the control area, and the other is the value indicating that the AGV does not occupy the control area; the waiting flag includes two values, one One is the value that indicates that the AGV is waiting at the waiting point, and the other is the value that indicates that the AGV is not waiting at the waiting point;
第一AGV调度***，根据第二AGV调度***对应于管制区域的占用信息判断管制区域是否被占用时，用于：The first AGV scheduling system, when judging whether the control area is occupied according to the occupancy information of the second AGV scheduling system corresponding to the control area, is used to:
判断第二AGV调度***对应于管制区域的占用信息中的占用标志是否是指示AGV未占用管制区域的值，如果是，则确定管制区域未被占用，否则，确定管制区域被占用；Determine whether the occupancy flag in the occupancy information of the second AGV scheduling system corresponding to the control area is a value indicating that the AGV does not occupy the control area, if so, determine that the control area is not occupied, otherwise, determine that the control area is occupied;
第二AGV调度***还配置有对应于管制区域的检测范围和等待点；第二AGV调度***的对应于管制区域的检测装置，实时检测第二AGV调度***的对应于管制区域的占用信息，包括：The second AGV dispatching system is also configured with a detection range and a waiting point corresponding to the control area; the detection device corresponding to the control area of the second AGV dispatching system detects the occupancy information of the second AGV dispatching system corresponding to the control area in real time, including :
在检测确定第二AGV调度***的AGV驶入第二AGV调度***的对应于管制区域的检测范围时，将第二AGV调度***的对应于管制区域的占用信息中的占用标志设置为指示AGV占用管制区域的值；在检测确定第二AGV调度***的AGV驶离第二AGV调度***的对应于管制区域的检测范围时，将第二AGV调度***的对应于管制区域的占用信息中的占用标志设置为指示AGV未占用管制区域的值；When it is detected and determined that the AGV of the second AGV scheduling system has entered the detection range of the second AGV scheduling system corresponding to the control area, the occupancy flag in the occupancy information corresponding to the control area of the second AGV scheduling system is set to indicate that the AGV is occupied The value of the control area; when it is detected and determined that the AGV of the second AGV dispatching system leaves the detection range corresponding to the control area of the second AGV dispatching system, the occupancy flag in the occupancy information corresponding to the control area of the second AGV dispatching system is Set to a value indicating that the AGV does not occupy the control area;
在检测确定第二AGV调度***的AGV在第二AGV调度***的对应于管制区域的等待点等待时，将第二AGV调度***的对应于管制区域的占用信息中的等待标志设置为指示AGV在等待点等待的值；在检测确定第二AGV调度***的AGV从第二AGV调度***的对应于管制区域的等待点离开时，将第二AGV调度***的对应于管制区域的占用信息中的等待标志设置为指示AGV未在等待点等待的值。When it is detected and determined that the AGV of the second AGV scheduling system is waiting at the waiting point of the second AGV scheduling system corresponding to the control area, the waiting flag in the occupancy information corresponding to the control area of the second AGV scheduling system is set to indicate that the AGV is in the control area. The value of waiting at the waiting point; when it is detected and determined that the AGV of the second AGV scheduling system leaves the waiting point corresponding to the control area of the second AGV scheduling system, the waiting point in the occupancy information corresponding to the control area of the second AGV scheduling system is The flag is set to a value indicating that the AGV is not waiting at the waiting point.
从图12所示交通管制***可以看出，本实施例中，第一AGV调度***的AGV在通过管制区域的过程中，只与第二AGV调度***的对应于管制区域的检测装置进行信息交互以确定是否可以直接通过管制区域，而第二AGV调度***的AGV则在任何时间都可以直接通过管制区域，而不需要在管制区域外停留等待。由于第一AGV调度***只与第二AGV调度***的对应于管制区域的检测装置进行信息交互，不会与第二AGV调度***进行交互，因此不会对第二AGV调度***产生任何的干扰和控制。另外，本***只需要安装检测装置即可，实施简单，成本较低，技术可行性高。It can be seen from the traffic control system shown in FIG. 12 that in this embodiment, the AGV of the first AGV dispatching system only exchanges information with the detection device of the second AGV dispatching system corresponding to the control area during the process of passing through the control area In order to determine whether it can directly pass through the control area, the AGV of the second AGV dispatching system can directly pass the control area at any time without the need to stay and wait outside the control area. Since the first AGV dispatching system only exchanges information with the detection device of the second AGV dispatching system corresponding to the control area, and will not interact with the second AGV dispatching system, it will not cause any interference and disturbance to the second AGV dispatching system. control. In addition, the system only needs to install the detection device, the implementation is simple, the cost is low, and the technical feasibility is high.
参见图13，图13是本申请实施例二提供的交通管制***的架构示意图，如图13所示，该交通管制***包括第一AGV调度***、第二AGV调度***、和第三AGV调度***，第一AGV调度***、第二AGV调度***、和第三AGV调度***共用同一管制区域，且均配置有对应于管制区域的等待点和检测装置；其中，Referring to FIG. 13, FIG. 13 is a schematic diagram of the architecture of the traffic control system provided by the second embodiment of the present application. As shown in FIG. 13, the traffic control system includes a first AGV dispatching system, a second AGV dispatching system, and a third AGV dispatching system , the first AGV dispatching system, the second AGV dispatching system, and the third AGV dispatching system share the same control area, and are all equipped with waiting points and detection devices corresponding to the control area; wherein,
第一AGV调度***、第二AGV调度***、以及第三AGV调度***中的每一AGV调度***，用于确定该AGV调度***的AGV将要通过管制区域时，从其它各AGV调度***的对应于管制区域的检测装置获取该其它AGV调度***对应于管制区域的占用信息；根据其它各AGV调度***对应于管制区域的占用信息判断管制区域是否被占用；如果管制区域未被占用，则调度该AGV调度***的AGV通过管制区域；如果管制区域已被占用，则控制该AGV调度***的AGV在自身的对应于管制区域的等待点等待，并在等待预设时长后再次确定该AGV调度***的AGV将要通过管制区域；Each AGV dispatching system in the first AGV dispatching system, the second AGV dispatching system, and the third AGV dispatching system is used to determine that when the AGV of the AGV dispatching system is going to pass through the control area, the corresponding AGV dispatching system from other AGV dispatching systems The detection device of the control area obtains the occupancy information of the other AGV scheduling system corresponding to the control area; judges whether the control area is occupied according to the occupancy information of the other AGV scheduling systems corresponding to the control area; if the control area is not occupied, schedule the AGV The AGV of the dispatching system passes through the control area; if the control area is occupied, the AGV that controls the AGV dispatching system waits at its own waiting point corresponding to the control area, and re-determines the AGV of the AGV dispatching system after waiting for a preset time period is about to pass through a restricted area;
第一AGV调度***、第二AGV调度***、以及第三AGV调度***中的每一AGV调度***的检测装置，用于实时检测该AGV调度***的对应于管制区域的占用信息，以供其它各AGV调度***在确定该其它AGV调度***的AGV将要通过管制区域时获取。The detection device of each AGV dispatching system in the first AGV dispatching system, the second AGV dispatching system, and the third AGV dispatching system is used to detect the occupancy information of the AGV dispatching system corresponding to the control area in real time for other The AGV dispatch system obtains when it is determined that the AGV of the other AGV dispatch system will pass through the control area.
图13所示交通管制***中，In the traffic control system shown in Figure 13,
第一AGV调度***、第二AGV调度***、以及第三AGV调度***中的每一AGV调度***，确定该AGV调度***的AGV将要通过管制区域时，用于：Each AGV dispatching system in the first AGV dispatching system, the second AGV dispatching system, and the third AGV dispatching system, when determining that the AGV of the AGV dispatching system will pass through the control area, is used to:
当该AGV调度***的AGV沿该AGV调度***的对应于管制区域的通行路径行驶、且行驶至该通行路径上到达管制区域之前的预设位置时，确定该AGV将要通过管制区域；When the AGV of the AGV dispatching system travels along the passage path of the AGV dispatching system corresponding to the control area, and travels to a preset position on the passage path before reaching the control area, it is determined that the AGV will pass through the control area;
或者，当该AGV调度***的AGV在该AGV调度***的对应于管制区域的等待点的等待时间是预设时长的N倍时，确定该AGV将要通过管制区域；其中，N为任意正整数。Alternatively, when the waiting time of the AGV of the AGV scheduling system at the waiting point of the AGV scheduling system corresponding to the control area is N times the preset duration, it is determined that the AGV will pass through the control area; where N is any positive integer.
图13所示交通管制***中，In the traffic control system shown in Figure 13,
第一AGV调度***、第二AGV调度***、以及第三AGV调度***中的每一AGV调度***，从其它各AGV调度***的对应于管制区域的检测装置获取该其它AGV调度***对应于管制区域的占用信息时，用于：Each AGV dispatching system in the first AGV dispatching system, the second AGV dispatching system, and the third AGV dispatching system obtains the corresponding control area of the other AGV dispatching system from the detection devices corresponding to the control area of the other AGV dispatching systems. occupancy information for:
向其它各AGV调度***的对应于管制区域的检测装置发送占用信息查询请求；Send an occupancy information query request to the detection devices of other AGV dispatching systems corresponding to the control area;
接收其它各AGV调度***的对应于管制区域的检测装置返回的该其它AGV调度***对应于管制区域的占用信息。Receive the occupancy information of the other AGV scheduling systems corresponding to the control area returned by the detection devices of the other AGV scheduling systems corresponding to the control area.
图13所示交通管制***中，In the traffic control system shown in Figure 13,
占用信息包括占用标志；占用标志包括两种取值，一种是指示AGV占用管制区域的值，另一种是指示AGV未占用管制区域的值；The occupancy information includes the occupancy flag; the occupancy flag includes two values, one is the value indicating that the AGV occupies the control area, and the other is the value indicating that the AGV does not occupy the control area;
第一AGV调度***、第二AGV调度***、以及第三AGV调度***中的每一AGV调度***，根据其它各AGV调度***对应于管制区域的占用信息判断管制区域是否被占用时，用于：Each AGV scheduling system in the first AGV scheduling system, the second AGV scheduling system, and the third AGV scheduling system, when judging whether the control area is occupied according to the occupancy information of the other AGV scheduling systems corresponding to the control area, is used to:
判断其它各AGV调度***对应于管制区域的占用信息中的占用标志是否均是指示AGV未占用管制区域的值，如果是，则确定管制区域未被占用，否则，确定管制区域被占用；Determine whether the occupancy flags in the occupancy information of the other AGV scheduling systems corresponding to the control area are all values indicating that the AGV does not occupy the control area. If so, it is determined that the control area is not occupied, otherwise, it is determined that the control area is occupied;
第一AGV调度***、第二AGV调度***、以及第三AGV调度***均配置有对应于管制区域的检测范围；The first AGV dispatching system, the second AGV dispatching system, and the third AGV dispatching system are all configured with detection ranges corresponding to control areas;
第一AGV调度***、第二AGV调度***、以及第三AGV调度***中的每一AGV调度***的对应于管制区域的检测装置，实时检测该AGV调度***的对应于管制区域的占用信息，包括：The detection device corresponding to the control area of each AGV scheduling system in the first AGV scheduling system, the second AGV scheduling system, and the third AGV scheduling system detects the occupancy information corresponding to the control area of the AGV scheduling system in real time, including :
在检测确定该AGV调度***的AGV驶入该AGV调度***的对应于管制区域的检测范围时，将该AGV调度***的对应于管制区域的占用信息中的占用标志设置为指示AGV占用管制区域的值；在检测确定该AGV调度***的AGV驶离该AGV调度***的对应于管制区域的检测范围时，将该AGV调度***的对应于管制区域的占用信息中的占用标志设置为指示AGV未占用管制区域的值。When it is detected and determined that the AGV of the AGV dispatching system enters the detection range corresponding to the control area of the AGV dispatching system, the occupancy flag in the occupancy information corresponding to the control area of the AGV dispatching system is set to indicate that the AGV occupies the control area. value; when it is detected and determined that the AGV of the AGV dispatching system leaves the detection range corresponding to the control area of the AGV dispatching system, the occupancy flag in the occupancy information of the AGV dispatching system corresponding to the control area is set to indicate that the AGV is not occupied The value of the regulatory area.
图13所示交通管制***中，In the traffic control system shown in Figure 13,
占用信息包括占用标志、等待标志；占用标志包括两种取值，一种是指示AGV占用管制区域的值，另一种是指示AGV未占用管制区域的值；等待标志包括两种取值，一种是指示AGV在等待点等待的值，另一种是指示AGV未在等待点等待的值；The occupancy information includes the occupancy flag and the waiting flag; the occupancy flag includes two values, one is the value indicating that the AGV occupies the control area, and the other is the value indicating that the AGV does not occupy the control area; the waiting flag includes two values, one One is the value that indicates that the AGV is waiting at the waiting point, and the other is the value that indicates that the AGV is not waiting at the waiting point;
第一AGV调度***、第二AGV调度***、以及第三AGV调度***中的每一AGV调度***，根据其它各第二AGV调度***对应于管制区域的占用信息判断管制区域是否被占用时，用于：Each AGV scheduling system in the first AGV scheduling system, the second AGV scheduling system, and the third AGV scheduling system is used to determine whether the control area is occupied according to the occupancy information of the other second AGV scheduling systems corresponding to the control area. At:
判断是否存在对应于管制区域的占用信息中的占用标志为指示AGV占用管制区域的值的其它AGV调度***，如果存在，则确定管制区域被占用，否则，Determine whether there are other AGV scheduling systems in the occupancy information corresponding to the control area whose occupancy flag is a value indicating that the AGV occupies the control area. If there is, it is determined that the control area is occupied, otherwise,
确定对应于管制区域的占用信息中的等待标志为指示AGV在等待点等待的值的其它AGV调度***，当确定的其它AGV调度***的个数为0时，确定管制区域未被占用；当确定的其它AGV调度***的个数不为0时，进一步判断该AGV调度***的优先级是否大于确定的其它各AGV调度***的优先级，若是，则确定管制区域未被占用，若否，则确定管制区域被占用；Determine other AGV scheduling systems whose waiting flag in the occupancy information corresponding to the control area is a value indicating that the AGV is waiting at the waiting point. When the determined number of other AGV scheduling systems is 0, it is determined that the control area is not occupied; when it is determined that the number of other AGV scheduling systems is 0 When the number of other AGV scheduling systems is not 0, further judge whether the priority of the AGV scheduling system is greater than the determined priority of other AGV scheduling systems, if so, determine that the control area is not occupied, if not, determine the controlled area is occupied;
第一AGV调度***、第二AGV调度***、以及第三AGV调度***均配置有对应于管制区域的检测范围；The first AGV dispatching system, the second AGV dispatching system, and the third AGV dispatching system are all configured with detection ranges corresponding to control areas;
第一AGV调度***、第二AGV调度***、以及第三AGV调度***中的每一AGV调度***的对应于管制区域的检测装置，实时检测该AGV调度***的对应于管制区域的占用信息，包括：The detection device corresponding to the control area of each AGV scheduling system in the first AGV scheduling system, the second AGV scheduling system, and the third AGV scheduling system detects the occupancy information corresponding to the control area of the AGV scheduling system in real time, including :
在检测确定该AGV调度***的AGV驶入该AGV调度***的对应于管制区域的检测范围时，将该AGV调度*** 的对应于管制区域的占用信息中的占用标志设置为指示AGV占用管制区域的值；在检测确定该AGV调度***的AGV驶离该AGV调度***的对应于管制区域的检测范围时，将该AGV调度***的对应于管制区域的占用信息中的占用标志设置为指示AGV未占用管制区域的值；When it is detected and determined that the AGV of the AGV dispatching system enters the detection range corresponding to the control area of the AGV dispatching system, the occupancy flag in the occupancy information corresponding to the control area of the AGV dispatching system is set to indicate that the AGV occupies the control area. value; when it is detected and determined that the AGV of the AGV dispatching system leaves the detection range corresponding to the control area of the AGV dispatching system, the occupancy flag in the occupancy information of the AGV dispatching system corresponding to the control area is set to indicate that the AGV is not occupied the value of the regulated area;
在检测确定该AGV调度***的AGV在该AGV调度***的对应于管制区域的等待点等待时，将该AGV调度***的对应于管制区域的占用信息中的等待标志设置为指示AGV在等待点等待的值；在检测确定该AGV调度***的AGV从该AGV调度***的对应于管制区域的等待点离开时，将该AGV调度***的对应于管制区域的占用信息中的等待标志设置为指示AGV未在等待点等待的值。When it is detected and determined that the AGV of the AGV scheduling system is waiting at the waiting point of the AGV scheduling system corresponding to the control area, the waiting flag in the occupancy information of the AGV scheduling system corresponding to the control area is set to indicate that the AGV is waiting at the waiting point When it is detected and determined that the AGV of the AGV dispatching system leaves the waiting point corresponding to the control area of the AGV dispatching system, the waiting flag in the occupancy information corresponding to the control area of the AGV dispatching system is set to indicate that the AGV is not The value to wait at the wait point.
从图13所示交通管制***可以看出，本实施例中，第一AGV调度***、第二AGV调度***、第三AGV调度***中的每一AGV调度***在确定该AGV调度***的AGV将要通过管制区域时，都从其它各AGV调度***的对应于管制区域的检测装置获取该其它AGV调度***对应于管制区域的占用信息，从而据此确定是直接通过管制区域还是在等待点等待，从而避免与其它各AGV调度***的AGV发生碰撞。It can be seen from the traffic control system shown in FIG. 13 that in this embodiment, each AGV dispatching system in the first AGV dispatching system, the second AGV dispatching system, and the third AGV dispatching system is determining the AGV of the AGV dispatching system will be When passing through the control area, the occupancy information of the other AGV scheduling system corresponding to the control area is obtained from the detection devices corresponding to the control area of other AGV scheduling systems, so as to determine whether to directly pass the control area or wait at the waiting point, so as to Avoid collision with AGVs of other AGV scheduling systems.
本申请实施例还提供了AGV交通管制装置，以下进行详细说明：The embodiment of the present application also provides an AGV traffic control device, which is described in detail below:
参见图14，图14是本申请实施例一提供的AGV交通管制装置的结构示意图，该装置应用于第一AGV调度***，第一AGV调度***和至少一个第二AGV调度***共用同一管制区域；第一AGV调度***配置有对应于管制区域的等待点；每一第二AGV调度***配置有对应于管制区域的检测装置；该装置具体包括：处理器1401、以及与处理器1401通过总线相连的非瞬时计算机可读存储介质1402；Referring to FIG. 14, FIG. 14 is a schematic structural diagram of an AGV traffic control device provided in Embodiment 1 of the present application. The device is applied to a first AGV dispatching system, and the first AGV dispatching system and at least one second AGV dispatching system share the same control area; The first AGV dispatching system is configured with a waiting point corresponding to the control area; each second AGV dispatching system is configured with a detection device corresponding to the control area; the device specifically includes: a processor 1401, and a processor 1401 connected to the processor 1401 through a bus. non-transitory computer readable storage medium 1402;
非瞬时计算机可读存储介质1402，存储有可被处理器1401执行的一个或多个计算机程序；处理器1401执行一个或多个计算机程序时实现以下步骤：The non-transitory computer-readable storage medium 1402 stores one or more computer programs executable by the processor 1401; when the processor 1401 executes the one or more computer programs, the following steps are implemented:
确定第一AGV调度***的AGV将要通过管制区域时，从各第二AGV调度***的对应于管制区域的检测装置获取该第二AGV调度***对应于管制区域的占用信息；When it is determined that the AGV of the first AGV dispatching system will pass through the control area, the occupancy information of the second AGV dispatching system corresponding to the control area is obtained from the detection device corresponding to the control area of each second AGV dispatching system;
根据各第二AGV调度***对应于管制区域的占用信息判断管制区域是否被占用；Determine whether the control area is occupied according to the occupancy information of each second AGV scheduling system corresponding to the control area;
如果管制区域未被占用，则调度第一AGV调度***的AGV通过管制区域；If the control area is not occupied, dispatch the AGV of the first AGV dispatching system to pass through the control area;
如果管制区域已被占用，则控制第一AGV调度***的AGV在第一AGV调度***的对应于管制区域的等待点等待，并在等待预设时长后再次确定第一AGV调度***的AGV将要通过管制区域。If the control area is occupied, the AGV controlling the first AGV dispatching system waits at the waiting point of the first AGV dispatching system corresponding to the control area, and after waiting for a preset time period, it is determined again that the AGV of the first AGV dispatching system will pass through Controlled area.
图14所示装置中，处理器1401，确定第一AGV调度***的AGV将要通过管制区域时，用于：In the device shown in FIG. 14 , when the processor 1401 determines that the AGV of the first AGV dispatching system is about to pass through the control area, it is used for:
当第一AGV调度***的AGV沿第一AGV调度***的对应于管制区域的通行路径行驶、且行驶至该通行路径上到达管制区域之前的预设位置时，确定该AGV将要通过管制区域；When the AGV of the first AGV dispatching system travels along the passage path of the first AGV dispatching system corresponding to the control area, and travels to a preset position on the passage path before reaching the control area, it is determined that the AGV will pass through the control area;
或者，当第一AGV调度***的AGV在第一AGV调度***的对应于管制区域的等待点的等待时间是预设时长的N倍时，确定该AGV将要通过管制区域；其中，N为任意正整数。Or, when the waiting time of the AGV of the first AGV scheduling system at the waiting point corresponding to the control area of the first AGV scheduling system is N times the preset time length, it is determined that the AGV will pass through the control area; wherein, N is any positive Integer.
图14所示装置中，In the device shown in Figure 14,
处理器1401，从各第二AGV调度***的对应于管制区域的检测装置获取该第二AGV调度***对应于管制区域的占用信息时，用于：The processor 1401, when acquiring the occupancy information of the second AGV scheduling system corresponding to the control area from the detection device corresponding to the control area of each second AGV scheduling system, is used for:
向各第二AGV调度***的对应于管制区域的检测装置发送占用信息查询请求；Send an occupancy information query request to the detection device corresponding to the control area of each second AGV scheduling system;
接收各第二AGV调度***的对应于管制区域的检测装置返回的该第二AGV调度***对应于管制区域的占用信息。Receive the occupancy information of the second AGV scheduling system corresponding to the control area returned by the detection device corresponding to the control area of each second AGV scheduling system.
图14所示装置中，占用信息包括占用标志；占用标志包括两种取值，一种是指示AGV占用管制区域的值，另一种是指示AGV未占用管制区域的值；In the device shown in Figure 14, the occupancy information includes an occupancy flag; the occupancy flag includes two values, one is a value indicating that the AGV occupies the control area, and the other is a value indicating that the AGV does not occupy the control area;
处理器1401，根据各第二AGV调度***对应于管制区域的占用信息判断管制区域是否被占用时，用于：The processor 1401, when judging whether the control area is occupied according to the occupancy information of each second AGV scheduling system corresponding to the control area, is used to:
判断各第二AGV调度***对应于管制区域的占用信息中的占用标志是否均是指示AGV未占用管制区域的值，如果是，则确定管制区域未被占用，否则，确定管制区域被占用；Determine whether the occupancy flags in the occupancy information corresponding to the control area of each second AGV scheduling system are all values indicating that the AGV does not occupy the control area, if so, determine that the control area is not occupied, otherwise, determine that the control area is occupied;
其中，各第二AGV调度***配置有对应于管制区域的检测范围；各第二AGV调度***的对应于管制区域的检测装置，在检测确定该第二AGV调度***的AGV驶入该第二AGV调度***的对应于管制区域的检测范围时，将该AGV调度***的对应于管制区域的占用信息中的占用标志设置为指示AGV占用管制区域的值；在检测确定该第二AGV调度***的AGV驶离该第二AGV调度***的对应于管制区域的检测范围时，将该第二AGV调度***的对应于管制区域的占用信息中的占用标志设置为指示AGV未占用管制区域的值。Among them, each second AGV dispatching system is configured with a detection range corresponding to the control area; the detection device corresponding to the control area of each second AGV dispatching system detects and determines that the AGV of the second AGV dispatching system enters the second AGV When the detection range of the dispatching system corresponds to the control area, the occupancy flag in the occupancy information corresponding to the control area of the AGV dispatching system is set to a value indicating that the AGV occupies the control area; after detecting and determining the AGV of the second AGV dispatching system When leaving the detection range of the second AGV dispatch system corresponding to the control area, the occupancy flag in the occupancy information corresponding to the control area of the second AGV dispatch system is set to a value indicating that the AGV does not occupy the control area.
图14所示装置中，In the device shown in Figure 14,
占用信息包括占用标志、等待标志；占用标志包括两种取值，一种是指示AGV占用管制区域的值，另一种是指示AGV未占用管制区域的值；等待标志包括两种取值，一种是指示AGV在等待点等待的值，另一种是指示AGV未在等待点等待的值；The occupancy information includes the occupancy flag and the waiting flag; the occupancy flag includes two values, one is the value indicating that the AGV occupies the control area, and the other is the value indicating that the AGV does not occupy the control area; the waiting flag includes two values, one One is the value that indicates that the AGV is waiting at the waiting point, and the other is the value that indicates that the AGV is not waiting at the waiting point;
处理器1401，根据各第二AGV调度***对应于管制区域的占用信息判断管制区域是否被占用时，用于：The processor 1401, when judging whether the control area is occupied according to the occupancy information of each second AGV scheduling system corresponding to the control area, is used to:
判断是否存在对应于管制区域的占用信息中的占用标志为指示AGV占用管制区域的值的第二AGV调度***，如果存在，则确定管制区域被占用，否则，Determine whether there is a second AGV scheduling system in which the occupancy flag in the occupancy information corresponding to the control area is a value indicating that the AGV occupies the control area, if there is, it is determined that the control area is occupied, otherwise,
确定对应于管制区域的占用信息中的等待标志为指示AGV在等待点等待的值的第二AGV调度***，当确定的第二AGV调度***的个数为0时，确定管制区域未被占用；当确定的第二AGV调度***的个数不为0时，进一步判断第一AGV调度***的优先级是否大于确定的各第二AGV调度***的优先级，若是，则确定管制区域未被占用，若否，则确定管制区域被占用；It is determined that the waiting flag in the occupancy information corresponding to the control area is a second AGV scheduling system with a value indicating that the AGV is waiting at the waiting point, and when the determined number of second AGV scheduling systems is 0, it is determined that the control area is not occupied; When the determined number of second AGV scheduling systems is not 0, it is further judged whether the priority of the first AGV scheduling system is greater than the determined priority of each second AGV scheduling system, if so, it is determined that the control area is not occupied, If not, determine that the control area is occupied;
其中，各第二AGV调度***还配置有对应于管制区域的检测范围和等待点；Wherein, each second AGV scheduling system is also configured with a detection range and a waiting point corresponding to the control area;
各第二AGV调度***的对应于管制区域的检测装置，在检测确定该第二AGV调度***的AGV驶入该第二AGV调度***的对应于管制区域的检测范围时，将该第二AGV调度***的对应于管制区域的占用信息中的占用标志设置为指示AGV占用管制区域的值；在检测确定该第二AGV调度***的AGV驶离该第二AGV调度***的对应于管制区域的检测范围时，将该第二AGV调度***的对应于管制区域的占用信息中的占用标志设置为指示AGV未占用管制区域的值；The detection device corresponding to the control area of each second AGV dispatching system, when detecting and determining that the AGV of the second AGV dispatching system has entered the detection range corresponding to the control area of the second AGV dispatching system, dispatches the second AGV The occupancy flag in the occupancy information corresponding to the control area of the system is set to a value indicating that the AGV occupies the control area; after detecting and determining that the AGV of the second AGV dispatching system leaves the detection range corresponding to the control area of the second AGV dispatching system When the occupancy flag in the occupancy information corresponding to the control area of the second AGV scheduling system is set to a value indicating that the AGV does not occupy the control area;
各第二AGV调度***的对应于管制区域的检测装置，在检测确定该第二AGV调度***的AGV在该第二AGV调度***的对应于管制区域的等待点等待时，将该第二AGV调度***的对应于管制区域的占用信息中的等待标志设置为指示AGV在等待点等待的值；在检测确定该第二AGV调度***的AGV从该第二AGV调度***的对应于管制区域的等待点离开时，将该第二AGV调度***的对应于管制区域的占用信息中的等待标志设置为指示AGV未在等待点等待的值。The detection device corresponding to the control area of each second AGV scheduling system, when detecting and determining that the AGV of the second AGV scheduling system is waiting at the waiting point corresponding to the control area of the second AGV scheduling system, schedules the second AGV The waiting flag in the occupancy information corresponding to the control area of the system is set to a value indicating that the AGV is waiting at the waiting point; after detection, it is determined that the AGV of the second AGV dispatching system is from the waiting point corresponding to the control area of the second AGV dispatching system When leaving, the waiting flag in the occupancy information corresponding to the control area of the second AGV scheduling system is set to a value indicating that the AGV is not waiting at the waiting point.
参见图15，图15是本申请实施例二提供的AGV交通管制装置的结构示意图，该装置为至少一个第二AGV调度***中的任一第二AGV调度***的检测装置，至少一个第二AGV调度***与第一AGV调度***共用同一管制区域；第一AGV调度***配置有对应于管制区域的等待点；每一第二AGV调度***配置有对应于管制区域的检测装置；该装置具体包括：处理器1501、以及与处理器1501通过总线相连的非瞬时计算机可读存储介质1502；Referring to FIG. 15, FIG. 15 is a schematic structural diagram of the AGV traffic control device provided in the second embodiment of the present application, the device is a detection device of any second AGV dispatching system in at least one second AGV dispatching system, at least one second AGV The dispatching system and the first AGV dispatching system share the same control area; the first AGV dispatching system is configured with a waiting point corresponding to the control area; each second AGV dispatching system is configured with a detection device corresponding to the control area; the device specifically includes: a processor 1501, and a non-transitory computer-readable storage medium 1502 connected to the processor 1501 through a bus;
非瞬时计算机可读存储介质1502，存储有可被处理器1501执行的一个或多个计算机程序；处理器1501执行一个或多个计算机程序时实现以下步骤：The non-transitory computer-readable storage medium 1502 stores one or more computer programs that can be executed by the processor 1501; when the processor 1501 executes the one or more computer programs, the following steps are implemented:
实时检测任一第二AGV调度***的对应于管制区域的占用信息，以供第一AGV调度***在确定第一AGV调度***的AGV将要通过管制区域时获取，使得第一AGV调度***根据获取的各第二AGV调度***对应于管制区域的占用 信息判断管制区域是否被占用，确定管制区域未被占用，则调度第一AGV调度***的AGV通过管制区域，确定管制区域已被占用，则控制第一AGV调度***的AGV在第一AGV调度***的对应于管制区域的等待点等待，并在等待预设时长后再次确定第一AGV调度***的AGV将要通过管制区域。The occupancy information corresponding to the control area of any second AGV dispatching system is detected in real time for the first AGV dispatching system to obtain when determining that the AGV of the first AGV dispatching system will pass through the control area, so that the first AGV dispatching system can obtain the information according to the obtained control area. Each second AGV scheduling system determines whether the control area is occupied according to the occupancy information of the control area, and determines that the control area is not occupied, then schedules the AGV of the first AGV scheduling system to pass the control area, and determines that the control area is occupied, then controls the first AGV dispatching system to pass the control area. The AGV of an AGV dispatching system waits at the waiting point of the first AGV dispatching system corresponding to the control area, and after waiting for a preset time period, it is determined again that the AGV of the first AGV dispatching system will pass through the control area.
图15所示装置中，占用信息中包括占用标志；占用标志包括两种取值，一种是指示AGV占用管制区域的值，另一种是指示AGV未占用管制区域的值；In the device shown in Figure 15, the occupancy information includes an occupancy flag; the occupancy flag includes two values, one is a value indicating that the AGV occupies the control area, and the other is a value indicating that the AGV does not occupy the control area;
任一第二AGV调度***配置有对应于管制区域的检测范围；Any second AGV dispatching system is configured with a detection range corresponding to the control area;
处理器1501，实时检测任一第二AGV调度***的对应于管制区域的占用信息，包括：The processor 1501 detects, in real time, the occupancy information corresponding to the control area of any second AGV scheduling system, including:
检测确定任一第二AGV调度***的AGV驶入任一第二AGV调度***的对应于管制区域的检测范围时，将任一第二AGV调度***的对应于管制区域的占用信息中的占用标志设置为指示AGV占用管制区域的值；When it is detected and determined that the AGV of any second AGV dispatching system enters the detection range corresponding to the control area of any second AGV dispatching system, the occupancy flag in the occupancy information corresponding to the control area of any second AGV dispatching system is Set to a value indicating that the AGV occupies the control area;
检测确定任一第二AGV调度***的AGV驶离任一第二AGV调度***的对应于管制区域的检测范围时，将任一第二AGV调度***的对应于管制区域的占用信息中的占用标志设置为指示AGV未占用管制区域的值。When it is detected and determined that the AGV of any second AGV dispatching system leaves the detection range corresponding to the control area of any second AGV dispatching system, the occupancy flag in the occupancy information corresponding to the control area of any second AGV dispatching system is changed. Set to a value that indicates that the AGV does not occupy a restricted area.
图15所示装置中，占用信息中包括占用标志和等待标志；占用标志包括两种取值，一种是指示AGV占用管制区域的值，另一种是指示AGV未占用管制区域的值；等待标志包括两种取值，一种是指示AGV在等待点等待的值，另一种是指示AGV未在等待点等待的值；In the device shown in Figure 15, the occupancy information includes an occupancy flag and a waiting flag; the occupancy flag includes two values, one is a value indicating that the AGV occupies the control area, and the other is a value indicating that the AGV does not occupy the control area; waiting The flag includes two values, one is a value indicating that the AGV is waiting at the waiting point, and the other is a value indicating that the AGV is not waiting at the waiting point;
任一第二AGV调度***配置有对应于管制区域的检测范围和等待点；Any second AGV scheduling system is configured with a detection range and a waiting point corresponding to the control area;
处理器1501，实时检测任一第二AGV调度***的对应于管制区域的占用信息，包括：The processor 1501 detects, in real time, the occupancy information corresponding to the control area of any second AGV scheduling system, including:
检测确定任一第二AGV调度***的AGV驶入任一第二AGV调度***的对应于管制区域的检测范围时，将任一第二AGV调度***的对应于管制区域的占用信息中的占用标志设置为指示AGV占用管制区域的值；When it is detected and determined that the AGV of any second AGV dispatching system enters the detection range corresponding to the control area of any second AGV dispatching system, the occupancy flag in the occupancy information corresponding to the control area of any second AGV dispatching system is Set to a value indicating that the AGV occupies the control area;
检测确定任一第二AGV调度***的AGV驶离任一第二AGV调度***的对应于管制区域的检测范围时，将任一第二AGV调度***的对应于管制区域的占用信息中的占用标志设置为指示AGV未占用管制区域的值；When it is detected and determined that the AGV of any second AGV dispatching system leaves the detection range corresponding to the control area of any second AGV dispatching system, the occupancy flag in the occupancy information corresponding to the control area of any second AGV dispatching system is changed. Set to a value indicating that the AGV does not occupy the control area;
检测确定任一第二AGV调度***的AGV在任一第二AGV调度***的对应于管制区域的等待点等待时，将任一第二AGV调度***的对应于管制区域的占用信息中的等待标志设置为指示AGV在等待点等待的值；Detect and determine that when the AGV of any second AGV scheduling system is waiting at the waiting point corresponding to the control area of any second AGV scheduling system, set the waiting flag in the occupancy information corresponding to the control area of any second AGV scheduling system is the value that indicates that the AGV is waiting at the waiting point;
检测确定任一第二AGV调度***的AGV从任一第二AGV调度***的对应于管制区域的等待点离开时，将任一第二AGV调度***的对应于管制区域的占用信息中的等待标志设置为指示AGV未在等待点等待的值。When it is detected and determined that the AGV of any second AGV dispatching system leaves from the waiting point corresponding to the control area of any second AGV dispatching system, the waiting flag in the occupancy information corresponding to the control area of any second AGV dispatching system is changed. Set to a value indicating that the AGV is not waiting at the waiting point.
图15所示装置中，处理器1501，将该占用信息供第一AGV调度***在确定第一AGV调度***的AGV将要通过管制区域时获取，包括：In the device shown in FIG. 15 , the processor 1501 provides the occupancy information for the first AGV scheduling system to obtain when determining that the AGV of the first AGV scheduling system will pass through the control area, including:
接收第一AGV调度***在确定第一AGV调度***的AGV将要通过管制区域时发送的占用信息查询请求；receiving an occupancy information query request sent by the first AGV scheduling system when it is determined that the AGV of the first AGV scheduling system will pass through the control area;
将最新检测确定的任一第二AGV调度***的对应于管制区域的占用信息返回给第一AGV调度***。The occupancy information corresponding to the control area of any second AGV scheduling system determined by the latest detection is returned to the first AGV scheduling system.
本申请实施例还提供了一种非瞬时计算机可读存储介质，非瞬时计算机可读存储介质存储指令，指令在由处理器执行时使得处理器执行如图2、3、4、5、8所示的AGV交通管制方法中的步骤或图9、10、11所示的AGV交通管制方法中的步骤。Embodiments of the present application also provide a non-transitory computer-readable storage medium, where the non-transitory computer-readable storage medium stores instructions, and when the instructions are executed by the processor, the instructions cause the processor to execute the operations shown in Figures 2, 3, 4, 5, and 8. The steps in the AGV traffic control method shown or the steps in the AGV traffic control method shown in FIGS. 9 , 10 and 11 .
参见图16，图16所示为本申请提供的AGV交通管制装置的一种结构示意图，该AGV交通管制装置应用于第一AGV调度***，第一AGV调度***与至少一个第二AGV调度***共用同一管制区域；第一AGV调度***配置有对应于所述管制区域的等待点；每一第二AGV调度***配置有对应于所述管制区域的检测装置；该AGV交通管制装置可以包括：Referring to FIG. 16, FIG. 16 shows a schematic structural diagram of the AGV traffic control device provided by the present application. The AGV traffic control device is applied to the first AGV dispatching system, and the first AGV dispatching system is shared with at least one second AGV dispatching system The same control area; the first AGV dispatch system is configured with a waiting point corresponding to the control area; each second AGV dispatch system is configured with a detection device corresponding to the control area; the AGV traffic control device may include:
占用信息获取模块1601，用于确定第一AGV调度***的AGV将要通过所述管制区域时，从各第二AGV调度***的对应于所述管制区域的检测装置获取该第二AGV调度***对应于所述管制区域的占用信息；The occupancy information acquisition module 1601 is used to determine that when the AGV of the first AGV dispatching system is going to pass through the control area, obtain the second AGV dispatching system corresponding to the control area from the detection device of each second AGV dispatching system corresponding to the control area. occupancy information of said regulated area;
占用情况判断模块1602，用于根据各第二AGV调度***对应于所述管制区域的占用信息判断所述管制区域是否被占用； Occupancy judgment module 1602, configured to judge whether the control area is occupied according to the occupancy information of each second AGV dispatching system corresponding to the control area;
第一控制模块1603，用于如果所述管制区域未被占用，则调度第一AGV调度***的AGV通过所述管制区域；A first control module 1603, configured to schedule the AGV of the first AGV dispatching system to pass through the control area if the control area is not occupied;
第二控制模块1604，用于如果所述管制区域已被占用，则控制第一AGV调度***的AGV在第一AGV调度***的对应于所述管制区域的等待点等待，并在等待预设时长后再次确定第一AGV调度***的AGV将要通过所述管制区域，并驱动所述占用信息获取模块1601执行所述从各第二AGV调度***的对应于所述管制区域的检测装置获取该第二AGV调度***对应于所述管制区域的占用信息的步骤。The second control module 1604 is configured to control the AGV of the first AGV dispatching system to wait at a waiting point of the first AGV dispatching system corresponding to the controlled area if the control area is occupied, and wait for a preset time period After that, it is determined again that the AGV of the first AGV dispatching system will pass through the control area, and the occupancy information acquisition module 1601 is driven to execute the acquisition of the second AGV dispatching system from the detection device corresponding to the control area in each second AGV dispatching system. The AGV scheduling system corresponds to the step of the occupancy information of the control area.
本申请还提供了一种AGV交通管制装置，该AGV交通管制装置应用于至少一个第二AGV调度***中的任一AGV调度***的检测装置，所述至少一个第二AGV调度***与第一AGV调度***共用同一管制区域；第一AGV调度***配置有对应于所述管制区域的等待点；每一第二AGV调度***配置有对应于所述管制区域的检测装置；该装置包括：The application also provides an AGV traffic control device, the AGV traffic control device is applied to the detection device of any AGV dispatching system in at least one second AGV dispatching system, the at least one second AGV dispatching system and the first AGV dispatching system The dispatching systems share the same control area; the first AGV dispatching system is configured with a waiting point corresponding to the control area; each second AGV dispatching system is configured with a detection device corresponding to the control area; the device includes:
占用信息检测模块，用于实时检测所述任一第二AGV调度***的对应于所述管制区域的占用信息，以供第一AGV调度***在确定第一AGV调度***的AGV将要通过所述管制区域时获取，使得第一AGV调度***根据获取的各第二AGV调度***对应于所述管制区域的占用信息判断所述管制区域是否被占用，若第一AGV调度***确定所述管制区域未被占用，则调度第一AGV调度***的AGV通过所述管制区域，若第一AGV调度***确定所述管制区域已被占用，则控制第一AGV调度***的AGV在第一AGV调度***的对应于所述管制区域的等待点等待，并在等待预设时长后再次确定第一AGV调度***的AGV将要通过所述管制区域，再次从各第二AGV调度***的对应于所述管制区域的检测装置获取该第二AGV调度***对应于所述管制区域的占用信息。An occupancy information detection module, configured to detect in real time the occupancy information of any second AGV dispatching system corresponding to the control area, for the first AGV dispatching system to determine that the AGV of the first AGV dispatching system will pass the control The first AGV scheduling system determines whether the control area is occupied according to the obtained occupancy information of each second AGV scheduling system corresponding to the control area. If the first AGV scheduling system determines that the control area is not If the AGV of the first AGV scheduling system is occupied, the AGV of the first AGV scheduling system is scheduled to pass through the control area. The waiting point of the control area waits, and after waiting for a preset time period, it is determined again that the AGV of the first AGV dispatching system will pass through the control area, and the detection device corresponding to the control area of each second AGV dispatching system is again determined from the second AGV dispatching system. Acquire occupancy information of the second AGV scheduling system corresponding to the control area.
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，使得计算机执行如图2、3、4、5、8所示的AGV交通管制方法中的步骤或图9、10、11所示的AGV交通管制方法中的步骤。In yet another embodiment provided by the present application, a computer program product including instructions is also provided, which, when run on a computer, enables the computer to execute the AGV traffic shown in Figures 2, 3, 4, 5, and 8 The steps in the control method or the steps in the AGV traffic control method shown in Figures 9, 10, 11.
以上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。The above are only preferred embodiments of the present application, and are not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application. within.

Claims (18)

  1. 一种AGV交通管制方法，应用于第一AGV调度***，第一AGV调度***与至少一个第二AGV调度***共用同一管制区域；第一AGV调度***配置有对应于所述管制区域的等待点；每一第二AGV调度***配置有对应于所述管制区域的检测装置；该方法包括：An AGV traffic control method, applied to a first AGV dispatching system, the first AGV dispatching system and at least one second AGV dispatching system share the same control area; the first AGV dispatching system is configured with a waiting point corresponding to the control area; Each second AGV dispatching system is configured with a detection device corresponding to the control area; the method includes:
    确定第一AGV调度***的AGV将要通过所述管制区域时，从各第二AGV调度***的对应于所述管制区域的检测装置获取该第二AGV调度***对应于所述管制区域的占用信息；When it is determined that the AGV of the first AGV dispatching system will pass through the control area, the occupancy information of the second AGV dispatching system corresponding to the control area is obtained from the detection device of each second AGV dispatching system corresponding to the control area;
    根据各第二AGV调度***对应于所述管制区域的占用信息判断所述管制区域是否被占用；Determine whether the control area is occupied according to the occupancy information of each second AGV scheduling system corresponding to the control area;
    如果所述管制区域未被占用，则调度第一AGV调度***的AGV通过所述管制区域；If the control area is not occupied, dispatch the AGV of the first AGV scheduling system to pass through the control area;
    如果所述管制区域已被占用，则控制第一AGV调度***的AGV在第一AGV调度***的对应于所述管制区域的等待点等待，并在等待预设时长后确定第一AGV调度***的AGV将要通过所述管制区域，返回执行所述从各第二AGV调度***的对应于所述管制区域的检测装置获取该第二AGV调度***对应于所述管制区域的占用信息的步骤。If the control area is occupied, the AGV controlling the first AGV dispatching system waits at the waiting point of the first AGV dispatching system corresponding to the control area, and determines the first AGV dispatching system after waiting for a preset time. The AGV is about to pass through the control area, and returns to the step of obtaining the occupancy information of the second AGV scheduling system corresponding to the control area from the detection devices of each second AGV scheduling system corresponding to the control area.
  2. 根据权利要求1所述的方法，其中，确定第一AGV调度***的AGV将要通过所述管制区域的方法包括：The method of claim 1, wherein the method of determining that an AGV of the first AGV dispatch system is to pass through the control area comprises:
    当第一AGV调度***的AGV沿第一AGV调度***的对应于所述管制区域的通行路径行驶、且行驶至该通行路径上到达所述管制区域之前的预设位置时，确定该AGV将要通过所述管制区域；When the AGV of the first AGV dispatching system travels along the passage path of the first AGV dispatching system corresponding to the control area, and travels to a preset position on the passage path before reaching the control area, it is determined that the AGV will pass through said control area;
    或者，当第一AGV调度***的AGV在第一AGV调度***的对应于所述管制区域的等待点的等待时间是预设时长的N倍时，确定该AGV将要通过所述管制区域；其中，N为任意正整数。Or, when the waiting time of the AGV of the first AGV scheduling system at the waiting point of the first AGV scheduling system corresponding to the control area is N times the preset time length, it is determined that the AGV will pass through the control area; wherein, N is any positive integer.
  3. 根据权利要求1所述的方法，其中，从各第二AGV调度***的对应于所述管制区域的检测装置获取该第二AGV调度***对应于所述管制区域的占用信息的方法包括：The method according to claim 1, wherein the method for acquiring the occupancy information of the second AGV scheduling system corresponding to the control area from the detection device of each second AGV scheduling system corresponding to the control area comprises:
    向各第二AGV调度***的对应于所述管制区域的检测装置发送占用信息查询请求；sending an occupancy information query request to the detection device of each second AGV scheduling system corresponding to the control area;
    接收各第二AGV调度***的对应于所述管制区域的检测装置返回的该第二AGV调度***对应于所述管制区域的占用信息。Receive the occupancy information of the second AGV scheduling system corresponding to the control area returned by the detection device of each second AGV scheduling system corresponding to the control area.
  4. 根据权利要求1所述的方法，其中，所述占用信息包括占用标志；所述占用标志包括两种取值，一种是指示AGV占用所述管制区域的值，另一种是指示AGV未占用所述管制区域的值；The method according to claim 1, wherein the occupancy information includes an occupancy flag; the occupancy flag includes two values, one is a value indicating that the AGV occupies the control area, and the other is a value indicating that the AGV is not occupied the value of said regulated area;
    根据各第二AGV调度***对应于所述管制区域的占用信息判断所述管制区域是否被占用的方法包括：The method for determining whether the control area is occupied according to the occupancy information of each second AGV scheduling system corresponding to the control area includes:
    判断各第二AGV调度***对应于所述管制区域的占用信息中的占用标志是否均是指示AGV未占用所述管制区域的值，如果是，则确定所述管制区域未被占用，否则，确定所述管制区域被占用；Determine whether the occupancy flags in the occupancy information of each second AGV scheduling system corresponding to the control area are all values indicating that the AGV does not occupy the control area, if so, determine that the control area is not occupied, otherwise, determine the regulated area is occupied;
    其中，各第二AGV调度***配置有对应于所述管制区域的检测范围；各第二AGV调度***的对应于所述管制区域的检测装置，在检测确定该第二AGV调度***的AGV驶入该第二AGV调度***的对应于所述管制区域的检测范围时，将该AGV调度***的对应于所述管制区域的占用信息中的占用标志设置为指示AGV占用所述管制区域的值；在检测确定该第二AGV调度***的AGV驶离该第二AGV调度***的对应于所述管制区域的检测范围时，将该第二AGV调度***的对应于所述管制区域的占用信息中的占用标志设置为指示AGV未占用所述管制区域的值。Wherein, each second AGV dispatching system is configured with a detection range corresponding to the control area; the detection device corresponding to the control area of each second AGV dispatching system detects and determines that the AGV of the second AGV dispatching system enters When the detection range of the second AGV scheduling system corresponds to the control area, the occupancy flag in the occupancy information of the AGV scheduling system corresponding to the control area is set to a value indicating that the AGV occupies the control area; When it is determined that the AGV of the second AGV dispatching system leaves the detection range of the second AGV dispatching system corresponding to the control area, the occupancy in the occupancy information of the second AGV dispatching system corresponding to the control area The flag is set to a value indicating that the AGV is not occupying the regulated area.
  5. 根据权利要求1所述的方法，其中，所述占用信息包括占用标志、等待标志；所述占用标志包括两种取值，一种是指示AGV占用所述管制区域的值，另一种是指示AGV未占用所述管制区域的值；所述等待标志包括两种取值，一种是指示AGV在等待点等待的值，另一种是指示AGV未在等待点等待的值；The method according to claim 1, wherein the occupancy information includes an occupancy flag and a waiting flag; the occupancy flag includes two values, one is a value indicating that the AGV occupies the control area, and the other is a value indicating that the AGV occupies the control area. The value that the AGV does not occupy the control area; the waiting flag includes two values, one is a value indicating that the AGV is waiting at the waiting point, and the other is a value indicating that the AGV is not waiting at the waiting point;
    根据各第二AGV调度***对应于所述管制区域的占用信息判断所述管制区域是否被占用的方法为：The method for judging whether the control area is occupied according to the occupancy information of each second AGV scheduling system corresponding to the control area is as follows:
    判断是否存在对应于所述管制区域的占用信息中的占用标志为指示AGV占用所述管制区域的值的第二AGV调度***，如果存在，则确定所述管制区域被占用，否则，Judging whether there is a second AGV scheduling system corresponding to the occupancy information of the control area, the occupancy flag is a value indicating that the AGV occupies the control area. If there is, it is determined that the control area is occupied, otherwise,
    确定对应于所述管制区域的占用信息中的等待标志为指示AGV在等待点等待的值的第二AGV调度***，当确定的第二AGV调度***的个数为0时，确定所述管制区域未被占用；当确定的第二AGV调度***的个数不为0时，进一步判断第一AGV调度***的优先级是否大于确定的各第二AGV调度***的优先级，若是，则确定所述管制区域未被占用，若否，则确定所述管制区域被占用；Determine the second AGV scheduling system in which the waiting flag in the occupancy information corresponding to the control area is a value indicating that the AGV is waiting at the waiting point, and when the determined number of second AGV scheduling systems is 0, determine the control area Not occupied; when the determined number of second AGV scheduling systems is not 0, further determine whether the priority of the first AGV scheduling system is greater than the determined priority of each second AGV scheduling system, and if so, determine the priority of the first AGV scheduling system The control area is not occupied, if not, it is determined that the control area is occupied;
    其中，各第二AGV调度***还配置有对应于所述管制区域的检测范围和等待点；Wherein, each second AGV scheduling system is also configured with a detection range and a waiting point corresponding to the control area;
    各第二AGV调度***的对应于所述管制区域的检测装置，在检测确定该第二AGV调度***的AGV驶入该第二AGV调度***的对应于所述管制区域的检测范围时，将该第二AGV调度***的对应于所述管制区域的占用信息中的占用标志设置为指示AGV占用所述管制区域的值；在检测确定该第二AGV调度***的AGV驶离该第二AGV调度***的对应于所述管制区域的检测范围时，将该第二AGV调度***的对应于所述管制区域的占用信息中的占用标志设置为指示AGV未占用所述管制区域的值；The detection device of each second AGV dispatching system corresponding to the control area, when detecting and determining that the AGV of the second AGV dispatching system has entered the detection range of the second AGV dispatching system corresponding to the control area, the The occupancy flag in the occupancy information corresponding to the control area of the second AGV dispatching system is set to a value indicating that the AGV occupies the control area; after detecting and determining that the AGV of the second AGV dispatching system leaves the second AGV dispatching system When corresponding to the detection range of the control area, the occupancy flag in the occupancy information of the second AGV scheduling system corresponding to the control area is set to a value indicating that the AGV does not occupy the control area;
    各第二AGV调度***的对应于所述管制区域的检测装置，在检测确定该第二AGV调度***的AGV在该第二AGV调度***的对应于所述管制区域的等待点等待时，将该第二AGV调度***的对应于所述管制区域的占用信息中的等待标志设置为指示AGV在等待点等待的值；在检测确定该第二AGV调度***的AGV从该第二AGV调度***的对应于所述管制区域的等待点离开时，将该第二AGV调度***的对应于所述管制区域的占用信息中的等待标志设置为指示AGV未在等待点等待的值。The detection device corresponding to the control area of each second AGV dispatching system detects and determines that the AGV of the second AGV dispatching system is waiting at the waiting point of the second AGV dispatching system corresponding to the control area. The waiting flag in the occupancy information of the second AGV scheduling system corresponding to the control area is set to a value indicating that the AGV is waiting at the waiting point; after the detection and determination of the AGV of the second AGV scheduling system from the corresponding AGV of the second AGV scheduling system When the waiting point of the control area leaves, the waiting flag in the occupancy information of the second AGV scheduling system corresponding to the control area is set to a value indicating that the AGV is not waiting at the waiting point.
  6. 根据权利要求1所述的方法，其中，假设第二AGV调度***的个数为n，并将第一AGV调度***和n个第二AGV调度***依次记为S0、S1、S2、……、Sn；The method according to claim 1, wherein it is assumed that the number of the second AGV scheduling system is n, and the first AGV scheduling system and the n second AGV scheduling systems are sequentially recorded as S0, S1, S2, ..., Sn;
    其中，第一AGV调度***对应于所述管制区域的等待点为第一AGV调度***的对应于所述管制区域的最近等待点；第一AGV调度***的对应于所述管制区域的最近等待点为第一AGV调度***的对应于所述管制区域的通行路径上、通往所述管制区域且与所述管制区域中心距离为D 0的位置，其中D 0是d 0j的最大者，d 0j为第一AGV调度***相对于第二AGV调度***Sj的与所述管制区域中心的最近停靠距离，j为1到n之间的任意整数，并且d 0j＝[abs(W 0/tanθ 0j)+abs(W j/sinθ 0j)+L 0]/2，其中，W 0和L 0分别是第一AGV调度***的AGV的最大宽度和最大长度，W j是第二AGV调度***Sj的AGV的最大宽度，θ 0j是第一AGV调度***的对应于所述管制区域的通行路径与第二AGV调度***Sj的对应于所述管制区域的通行路径之间的夹角。 Wherein, the waiting point of the first AGV scheduling system corresponding to the control area is the closest waiting point of the first AGV scheduling system corresponding to the control area; the closest waiting point of the first AGV scheduling system corresponding to the control area is the position of the first AGV dispatching system on the passage path corresponding to the control area, leading to the control area and having a distance D 0 from the center of the control area, where D 0 is the largest of d 0j , d 0j is the closest stopping distance of the first AGV dispatching system relative to the second AGV dispatching system Sj to the center of the control area, j is any integer between 1 and n, and d 0j =[abs(W 0 /tanθ 0j ) +abs(W j /sinθ 0j )+L 0 ]/2, where W 0 and L 0 are the maximum width and length of the AGV of the first AGV scheduling system, respectively, and W j is the AGV of the second AGV scheduling system Sj The maximum width of , θ 0j is the angle between the passage of the first AGV dispatching system corresponding to the control area and the passage of the second AGV dispatching system Sj corresponding to the control area.
  7. 根据权利要求1所述的方法，其中，假设第二AGV调度***的个数为n，并将第一AGV调度***和n个第二AGV调度***依次记为S0、S1、S2、……、Sn；The method according to claim 1, wherein it is assumed that the number of the second AGV scheduling system is n, and the first AGV scheduling system and the n second AGV scheduling systems are sequentially recorded as S0, S1, S2, ..., Sn;
    其中，对于AGV调度***S1、S2、……、Sn中的每一AGV调度***Sj，Sj对应于所述管制区域的检测范围为Sj的对应于所述管制区域的最小检测范围，其中，Sj的对应于所述管制区域的最小检测范围为Sj的对应于所述管制区域的通行路径作为中轴线、以通往所述管制区域且与所述管制区域中心距离为Vj×Tj+Dj的位置为起点、以Sj的对应于所述管制区域的最近驶离点为终点、且贯穿所述管制区域的矩形区域，其中，该矩形区域的宽度不小于Sj的AGV的最大宽度Wj，该矩形区域的长度L＝Vj×Tj+2Dj其中，Vj是Sj的AGV行驶速度，Tj是t k的最大者；Dj是Sj对应于所述管制区域的最近等待点与所述管制中心的距离，t k为Sk的AGV从Sk的对应于所述管制区域的最近等待点到最近驶离点所需行驶时间，k为取值为0到n且不为i的任一正整数，j为1到n之间的任意整数； Among them, for each AGV scheduling system Sj in the AGV scheduling systems S1, S2, ..., Sn, the detection range of Sj corresponding to the control area is the minimum detection range of Sj corresponding to the control area, where Sj The minimum detection range corresponding to the control area is Sj, and the passage path corresponding to the control area is taken as the central axis, to the position leading to the control area and the distance from the center of the control area is Vj×Tj+Dj is a rectangular area starting point, ending at the closest departure point of Sj corresponding to the control area, and passing through the control area, wherein the width of the rectangular area is not less than the maximum width Wj of the AGV of Sj, the rectangular area The length of L=Vj×Tj+ 2Dj where Vj is the speed of the AGV of Sj, Tj is the maximum of tk; Dj is the distance between the nearest waiting point corresponding to the control area and the control center, tk is the travel time required for the AGV of Sk to travel from the closest waiting point in Sk corresponding to the control area to the closest departure point, k is any positive integer ranging from 0 to n and not i, and j is 1 to n any integer between;
    其中，对于AGV调度***S0、S1、S2、……、Sn中的每一AGV调度***Si，Si的对应于所述管制区域的最近驶离点，为Si的对应于所述管制区域的最近等待点关于所述管制区域中心的对称点。Among them, for each AGV scheduling system Si in the AGV scheduling system S0, S1, S2, ..., Sn, the closest departure point of Si corresponding to the control area is the closest departure point of Si corresponding to the control area The waiting point is a symmetrical point with respect to the center of the control area.
  8. 一种AGV交通管制方法，应用于至少一个第二AGV调度***中的任一AGV调度***的检测装置，所述至少一个第二AGV调度***与第一AGV调度***共用同一管制区域；第一AGV调度***配置有对应于所述管制区域的等 待点；每一第二AGV调度***配置有对应于所述管制区域的检测装置；该方法包括：An AGV traffic control method, applied to a detection device of any AGV dispatching system in at least one second AGV dispatching system, the at least one second AGV dispatching system and the first AGV dispatching system share the same control area; the first AGV dispatching system The dispatching system is configured with a waiting point corresponding to the control area; each second AGV dispatching system is configured with a detection device corresponding to the control area; the method includes:
    实时检测所述任一第二AGV调度***的对应于所述管制区域的占用信息，以供第一AGV调度***在确定第一AGV调度***的AGV将要通过所述管制区域时获取，使得第一AGV调度***根据获取的各第二AGV调度***对应于所述管制区域的占用信息判断所述管制区域是否被占用，若第一AGV调度***确定所述管制区域未被占用，则调度第一AGV调度***的AGV通过所述管制区域，若第一AGV调度***确定所述管制区域已被占用，则控制第一AGV调度***的AGV在第一AGV调度***的对应于所述管制区域的等待点等待，并在等待预设时长后再次确定第一AGV调度***的AGV将要通过所述管制区域，再次从各第二AGV调度***的对应于所述管制区域的检测装置获取该第二AGV调度***对应于所述管制区域的占用信息。The occupancy information corresponding to the control area of any second AGV dispatching system is detected in real time for the first AGV dispatching system to obtain when it is determined that the AGV of the first AGV dispatching system will pass through the control area, so that the first AGV dispatching system will pass through the control area. The AGV scheduling system determines whether the control area is occupied according to the obtained occupancy information of each second AGV scheduling system corresponding to the control area, and if the first AGV scheduling system determines that the control area is not occupied, schedules the first AGV The AGV of the dispatching system passes through the control area. If the first AGV dispatching system determines that the control area is occupied, it controls the AGV of the first AGV dispatching system at the waiting point of the first AGV dispatching system corresponding to the control area. Wait, and after waiting for a preset time period, determine again that the AGV of the first AGV dispatching system will pass through the control area, and obtain the second AGV dispatching system from the detection device corresponding to the control area of each second AGV dispatching system again. Occupancy information corresponding to the regulated area.
  9. 根据权利要求8所述的方法，其中，所述占用信息中包括占用标志；所述占用标志包括两种取值，一种是指示AGV占用所述管制区域的值，另一种是指示AGV未占用所述管制区域的值；The method according to claim 8, wherein the occupancy information includes an occupancy flag; the occupancy flag includes two values, one is a value indicating that the AGV occupies the control area, and the other is a value indicating that the AGV is not the value that occupies said regulated area;
    所述任一第二AGV调度***配置有对应于所述管制区域的检测范围；The any second AGV dispatching system is configured with a detection range corresponding to the control area;
    实时检测所述任一第二AGV调度***的对应于所述管制区域的占用信息，包括：Real-time detection of the occupancy information of the any second AGV dispatching system corresponding to the control area, including:
    检测确定所述任一第二AGV调度***的AGV驶入所述任一第二AGV调度***的对应于所述管制区域的检测范围时，将所述任一第二AGV调度***的对应于所述管制区域的占用信息中的占用标志设置为指示AGV占用所述管制区域的值；When it is detected and determined that the AGV of the any second AGV dispatching system enters the detection range of the any second AGV dispatching system corresponding to the control area, the any second AGV dispatching system corresponding to the The occupancy flag in the occupancy information of the control area is set to a value indicating that the AGV occupies the control area;
    检测确定所述任一第二AGV调度***的AGV驶离所述任一第二AGV调度***的对应于所述管制区域的检测范围时，将所述任一第二AGV调度***的对应于所述管制区域的占用信息中的占用标志设置为指示AGV未占用所述管制区域的值。When it is detected and determined that the AGV of the any second AGV dispatching system leaves the detection range of the any second AGV dispatching system corresponding to the control area, the any second AGV dispatching system corresponding to the The occupancy flag in the occupancy information of the control area is set to a value indicating that the AGV does not occupy the control area.
  10. 根据权利要求8所述的方法，其中，所述占用信息中包括占用标志和等待标志；所述占用标志包括两种取值，一种是指示AGV占用所述管制区域的值，另一种是指示AGV未占用所述管制区域的值；所述等待标志包括两种取值，一种是指示AGV在等待点等待的值，另一种是指示AGV未在等待点等待的值；The method according to claim 8, wherein the occupancy information includes an occupancy flag and a waiting flag; the occupancy flag includes two values, one is a value indicating that the AGV occupies the control area, and the other is The value indicating that the AGV does not occupy the control area; the waiting flag includes two values, one is the value indicating that the AGV is waiting at the waiting point, and the other is the value indicating that the AGV is not waiting at the waiting point;
    所述任一第二AGV调度***配置有对应于所述管制区域的检测范围和等待点；The any second AGV scheduling system is configured with a detection range and a waiting point corresponding to the control area;
    实时检测所述任一第二AGV调度***的对应于所述管制区域的占用信息，包括：Real-time detection of the occupancy information of the any second AGV dispatching system corresponding to the control area, including:
    检测确定所述任一第二AGV调度***的AGV驶入所述任一第二AGV调度***的对应于所述管制区域的检测范围时，将所述任一第二AGV调度***的对应于所述管制区域的占用信息中的占用标志设置为指示AGV占用所述管制区域的值；When it is detected and determined that the AGV of the any second AGV dispatching system enters the detection range of the any second AGV dispatching system corresponding to the control area, the any second AGV dispatching system corresponding to the The occupancy flag in the occupancy information of the control area is set to a value indicating that the AGV occupies the control area;
    检测确定所述任一第二AGV调度***的AGV驶离所述任一第二AGV调度***的对应于所述管制区域的检测范围时，将所述任一第二AGV调度***的对应于所述管制区域的占用信息中的占用标志设置为指示AGV未占用所述管制区域的值；When it is detected and determined that the AGV of the any second AGV dispatching system leaves the detection range of the any second AGV dispatching system corresponding to the control area, the any second AGV dispatching system corresponding to the The occupancy flag in the occupancy information of the control area is set to a value indicating that the AGV does not occupy the control area;
    检测确定所述任一第二AGV调度***的AGV在所述任一第二AGV调度***的对应于所述管制区域的等待点等待时，将所述任一第二AGV调度***的对应于所述管制区域的占用信息中的等待标志设置为指示AGV在等待点等待的值；When it is detected and determined that the AGV of the any second AGV dispatching system is waiting at the waiting point of the any second AGV dispatching system corresponding to the control area, the any second AGV dispatching system corresponding to the The waiting flag in the occupancy information of the control area is set to a value indicating that the AGV is waiting at the waiting point;
    检测确定所述任一第二AGV调度***的AGV从所述任一第二AGV调度***的对应于所述管制区域的等待点离开时，将所述任一第二AGV调度***的对应于所述管制区域的占用信息中的等待标志设置为指示AGV未在等待点等待的值。When it is detected and determined that the AGV of the any second AGV dispatching system leaves the waiting point corresponding to the control area of the any second AGV dispatching system, the any second AGV dispatching system corresponding to the The waiting flag in the occupancy information of the control area is set to a value indicating that the AGV is not waiting at the waiting point.
  11. 根据权利要求8所述的方法，其中，将该占用信息供第一AGV调度***在确定第一AGV调度***的AGV将要通过所述管制区域时获取，包括：The method according to claim 8, wherein the occupancy information is obtained by the first AGV scheduling system when it is determined that the AGV of the first AGV scheduling system will pass through the control area, comprising:
    接收第一AGV调度***在确定第一AGV调度***的AGV将要通过所述管制区域时发送的占用信息查询请求；receiving an occupancy information query request sent by the first AGV scheduling system when it is determined that the AGV of the first AGV scheduling system will pass through the control area;
    将最新检测确定的所述任一第二AGV调度***的对应于所述管制区域的占用信息返回给第一AGV调度***。The occupancy information corresponding to the control area of any of the second AGV scheduling systems determined by the latest detection is returned to the first AGV scheduling system.
  12. 一种AGV交通管制***，所述AGV交通管制***包括第一AGV调度***和第二AGV调度***，第一AGV调度***和第二AGV调度***共用同一管制区域；第一AGV调度***配置有对应于所述管制区域的等待点；第二AGV调度***配置有对应于所述管制区域的检测装置；An AGV traffic control system, the AGV traffic control system includes a first AGV dispatching system and a second AGV dispatching system, the first AGV dispatching system and the second AGV dispatching system share the same control area; the first AGV dispatching system is configured with corresponding at the waiting point of the control area; the second AGV scheduling system is configured with a detection device corresponding to the control area;
    第一AGV调度***，用于确定第一AGV调度***的AGV将要通过所述管制区域时，从第二AGV调度***的对应于所述管制区域的检测装置获取该第二AGV调度***对应于所述管制区域的占用信息；根据第二AGV调度***对应于所述管制区域的占用信息判断所述管制区域是否被占用；如果所述管制区域未被占用，则调度第一AGV调度***的AGV通过所述管制区域；如果所述管制区域已被占用，则控制第一AGV调度***的AGV在第一AGV调度***的对应于所述管制区域的等待点等待，并在等待预设时长后再次确定第一AGV调度***的AGV将要通过所述管制区域，再次执行所述从各第二AGV调度***的对应于所述管制区域的检测装置获取该第二AGV调度***对应于所述管制区域的占用信息的步骤；The first AGV dispatching system is used to determine that when the AGV of the first AGV dispatching system is going to pass through the control area, obtain the second AGV dispatching system corresponding to the control area from the detection device of the second AGV dispatching system corresponding to the control area. The occupancy information of the control area; according to the occupancy information of the second AGV scheduling system corresponding to the control area, determine whether the control area is occupied; if the control area is not occupied, schedule the AGV of the first AGV scheduling system to pass The control area; if the control area is occupied, the AGV controlling the first AGV dispatching system waits at the waiting point of the first AGV dispatching system corresponding to the control area, and determines again after waiting for a preset time period The AGV of the first AGV dispatching system is about to pass through the control area, and the acquisition of the occupancy of the second AGV dispatching system corresponding to the control area is performed again from the detection device of each second AGV dispatching system corresponding to the control area. information steps;
    第二AGV调度***的检测装置，用于实时检测第二AGV调度***的对应于所述管制区域的占用信息，以供第一AGV调度***在确定第一AGV调度***的AGV将要通过所述管制区域时获取。The detection device of the second AGV scheduling system is used to detect the occupancy information of the second AGV scheduling system corresponding to the control area in real time, so that the first AGV scheduling system determines that the AGV of the first AGV scheduling system will pass the control region is obtained.
  13. 一种AGV交通管制***，所述AGV交通管制***包括共用同一管制区域的第一AGV调度***、第二AGV调度***和第三AGV调度***，第一AGV调度***、第二AGV调度***和第三AGV调度***均配置有对应于所述管制区域的等待点和检测装置；An AGV traffic control system, the AGV traffic control system includes a first AGV dispatching system, a second AGV dispatching system and a third AGV dispatching system that share the same control area, the first AGV dispatching system, the second AGV dispatching system and the third AGV dispatching system. The three AGV dispatching systems are all equipped with waiting points and detection devices corresponding to the control areas;
    第一AGV调度***、第二AGV调度***、以及第三AGV调度***中的每一AGV调度***，用于确定该AGV调度***的AGV将要通过所述管制区域时，从其它各AGV调度***的对应于所述管制区域的检测装置获取该其它AGV调度***对应于所述管制区域的占用信息；根据其它各AGV调度***对应于所述管制区域的占用信息判断所述管制区域是否被占用；如果所述管制区域未被占用，则调度该AGV调度***的AGV通过所述管制区域；如果所述管制区域已被占用，则控制该AGV调度***的AGV在自身的对应于所述管制区域的等待点等待，并在等待预设时长后再次确定该AGV调度***的AGV将要通过所述管制区域，再次执行所述从其它各AGV调度***的对应于所述管制区域的检测装置获取该其它AGV调度***对应于所述管制区域的占用信息的步骤；Each AGV dispatching system in the first AGV dispatching system, the second AGV dispatching system, and the third AGV dispatching system is used to determine that when the AGV of the AGV dispatching system is going to pass through the control area, it is The detection device corresponding to the control area obtains the occupancy information of the other AGV scheduling system corresponding to the control area; judges whether the control area is occupied according to the occupancy information of the other AGV scheduling systems corresponding to the control area; if If the control area is not occupied, the AGV of the AGV scheduling system is scheduled to pass through the control area; if the control area is occupied, the AGV of the AGV scheduling system is controlled to wait in its own corresponding to the control area Click to wait, and after waiting for a preset period of time, determine again that the AGV of the AGV scheduling system will pass through the control area, and execute the acquisition of the other AGV schedule from the detection devices of other AGV scheduling systems corresponding to the control area again. a step of the system corresponding to the occupancy information of the regulated area;
    第一AGV调度***、第二AGV调度***、以及第三AGV调度***中每一AGV调度***的检测装置，用于实时检测该AGV调度***的对应于所述管制区域的占用信息，以供其它各AGV调度***在确定该其它AGV调度***的AGV将要通过所述管制区域时获取。The detection device of each AGV dispatching system in the first AGV dispatching system, the second AGV dispatching system, and the third AGV dispatching system is used to detect the occupancy information of the AGV dispatching system corresponding to the control area in real time for other Each AGV dispatching system obtains when it is determined that the AGV of the other AGV dispatching system will pass through the control area.
  14. 一种AGV交通管制装置，应用于第一AGV调度***，所述第一AGV调度***和至少一个第二AGV调度***共用同一管制区域；第一AGV调度***配置有对应于所述管制区域的等待点；每一第二AGV调度***配置有对应于所述管制区域的检测装置；该装置包括：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；An AGV traffic control device is applied to a first AGV dispatching system, the first AGV dispatching system and at least one second AGV dispatching system share the same control area; the first AGV dispatching system is configured with a waiting area corresponding to the control area point; each second AGV dispatching system is configured with a detection device corresponding to the control area; the device includes: a processor, and a non-transitory computer-readable storage medium connected to the processor through a bus;
    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一个或多个计算机程序；所述处理器执行所述一个或多个计算机程序时实现以下步骤：The non-transitory computer-readable storage medium stores one or more computer programs executable by the processor; when the processor executes the one or more computer programs, the following steps are implemented:
    确定第一AGV调度***的AGV将要通过所述管制区域时，从各第二AGV调度***的对应于所述管制区域的检测装置获取该第二AGV调度***对应于所述管制区域的占用信息；When it is determined that the AGV of the first AGV dispatching system will pass through the control area, the occupancy information of the second AGV dispatching system corresponding to the control area is obtained from the detection device of each second AGV dispatching system corresponding to the control area;
    根据各第二AGV调度***对应于所述管制区域的占用信息判断所述管制区域是否被占用；Determine whether the control area is occupied according to the occupancy information of each second AGV scheduling system corresponding to the control area;
    如果所述管制区域未被占用，则调度第一AGV调度***的AGV通过所述管制区域；If the control area is not occupied, dispatch the AGV of the first AGV scheduling system to pass through the control area;
    如果所述管制区域已被占用，则控制第一AGV调度***的AGV在第一AGV调度***的对应于所述管制区域的等待点等待，并在等待预设时长后再次确定第一AGV调度***的AGV将要通过所述管制区域。If the control area is occupied, the AGV controlling the first AGV scheduling system waits at the waiting point of the first AGV scheduling system corresponding to the control area, and determines the first AGV scheduling system again after waiting for a preset time period The AGV is going to pass through the control area.
  15. 一种AGV交通管制装置，应用于至少一个第二AGV调度***中的任一AGV调度***的检测装置，所述至少一个第二AGV调度***与第一AGV调度***共用同一管制区域；第一AGV调度***配置有对应于所述管制区域的等待点；每一第二AGV调度***配置有对应于所述管制区域的检测装置；该装置包括：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；An AGV traffic control device, applied to the detection device of any AGV dispatching system in at least one second AGV dispatching system, the at least one second AGV dispatching system and the first AGV dispatching system share the same control area; the first AGV dispatching system The dispatching system is configured with a waiting point corresponding to the control area; each second AGV dispatching system is configured with a detection device corresponding to the control area; the device includes: a processor, and a processor connected to the processor through a bus non-transitory computer-readable storage media;
    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一个或多个计算机程序；所述处理器执行所述一个或多个计算机程序时实现以下步骤：The non-transitory computer-readable storage medium stores one or more computer programs executable by the processor; when the processor executes the one or more computer programs, the following steps are implemented:
    实时检测所述任一第二AGV调度***的对应于所述管制区域的占用信息，以供第一AGV调度***在确定第一AGV调度***的AGV将要通过所述管制区域时获取，使得第一AGV调度***根据获取的各第二AGV调度***对应于所述管制区域的占用信息判断所述管制区域是否被占用，确定所述管制区域未被占用，则调度第一AGV调度***的AGV通过所述管制区域，确定所述管制区域已被占用，则控制第一AGV调度***的AGV在第一AGV调度***的对应于所述管制区域的等待点等待，并在等待预设时长后再次确定第一AGV调度***的AGV将要通过所述管制区域。The occupancy information corresponding to the control area of any second AGV dispatching system is detected in real time for the first AGV dispatching system to obtain when it is determined that the AGV of the first AGV dispatching system will pass through the control area, so that the first AGV dispatching system will pass through the control area. The AGV scheduling system determines whether the control area is occupied according to the obtained occupancy information of each second AGV scheduling system corresponding to the control area, and determines that the control area is not occupied, and then schedules the AGV of the first AGV scheduling system to pass through the control area. If the control area is determined to be occupied, the AGV controlling the first AGV dispatching system waits at the waiting point of the first AGV dispatching system corresponding to the control area, and determines the first AGV after waiting for a preset time. The AGVs of an AGV dispatch system are to pass through the control area.
  16. 一种AGV交通管制装置，应用于第一AGV调度***，第一AGV调度***与至少一个第二AGV调度***共用同一管制区域；第一AGV调度***配置有对应于所述管制区域的等待点；每一第二AGV调度***配置有对应于所述管制区域的检测装置；该装置包括：An AGV traffic control device is applied to a first AGV dispatching system, the first AGV dispatching system and at least one second AGV dispatching system share the same control area; the first AGV dispatching system is configured with a waiting point corresponding to the control area; Each second AGV dispatching system is configured with a detection device corresponding to the control area; the device includes:
    占用信息获取模块，用于确定第一AGV调度***的AGV将要通过所述管制区域时，从各第二AGV调度***的对应于所述管制区域的检测装置获取该第二AGV调度***对应于所述管制区域的占用信息；The occupancy information acquisition module is used to determine that when the AGV of the first AGV dispatching system is about to pass through the control area, obtain the second AGV dispatching system corresponding to the control area from the detection device of each second AGV dispatching system corresponding to the control area. the occupancy information of the said control area;
    占用情况判断模块，用于根据各第二AGV调度***对应于所述管制区域的占用信息判断所述管制区域是否被占用；an occupancy judgment module, configured to judge whether the control area is occupied according to the occupancy information of each second AGV dispatching system corresponding to the control area;
    第一控制模块，用于如果所述管制区域未被占用，则调度第一AGV调度***的AGV通过所述管制区域；a first control module, configured to schedule the AGV of the first AGV dispatching system to pass through the control area if the control area is not occupied;
    第二控制模块，用于如果所述管制区域已被占用，则控制第一AGV调度***的AGV在第一AGV调度***的对应于所述管制区域的等待点等待，并在等待预设时长后确定第一AGV调度***的AGV将要通过所述管制区域，并驱动所述占用信息获取模块执行所述从各第二AGV调度***的对应于所述管制区域的检测装置获取该第二AGV调度***对应于所述管制区域的占用信息的步骤。The second control module is configured to control the AGV of the first AGV dispatching system to wait at a waiting point of the first AGV dispatching system corresponding to the controlled area if the control area is occupied, and after waiting for a preset period of time Determine that the AGV of the first AGV dispatching system will pass through the control area, and drive the occupancy information acquisition module to execute the acquisition of the second AGV dispatching system from the detection device of each second AGV dispatching system corresponding to the control area A step corresponding to the occupancy information of the regulated area.
  17. 一种AGV交通管制装置，应用于至少一个第二AGV调度***中的任一AGV调度***的检测装置，所述至少一个第二AGV调度***与第一AGV调度***共用同一管制区域；第一AGV调度***配置有对应于所述管制区域的等待点；每一第二AGV调度***配置有对应于所述管制区域的检测装置；该装置包括：An AGV traffic control device, applied to the detection device of any AGV dispatching system in at least one second AGV dispatching system, the at least one second AGV dispatching system and the first AGV dispatching system share the same control area; the first AGV dispatching system The dispatching system is configured with a waiting point corresponding to the control area; each second AGV dispatching system is configured with a detection device corresponding to the control area; the device includes:
    占用信息检测模块，用于实时检测所述任一第二AGV调度***的对应于所述管制区域的占用信息，以供第一AGV调度***在确定第一AGV调度***的AGV将要通过所述管制区域时获取，使得第一AGV调度***根据获取的各第二AGV调度***对应于所述管制区域的占用信息判断所述管制区域是否被占用，若第一AGV调度***确定所述管制区域未被占用，则调度第一AGV调度***的AGV通过所述管制区域，若第一AGV调度***确定所述管制区域已被占用，则控制第一AGV调度***的AGV在第一AGV调度***的对应于所述管制区域的等待点等待，并在等待预设时长后再次确定第一AGV调度***的AGV将要通过所述管制区域，再次从各第二AGV调度***的对应于所述管制区域的检测装置获取该第二AGV调度***对应于所述管制区域的占用信息。An occupancy information detection module, configured to detect in real time the occupancy information of any second AGV dispatching system corresponding to the control area, for the first AGV dispatching system to determine that the AGV of the first AGV dispatching system will pass the control The first AGV scheduling system determines whether the control area is occupied according to the obtained occupancy information of each second AGV scheduling system corresponding to the control area. If the first AGV scheduling system determines that the control area is not If the AGV of the first AGV scheduling system is occupied, the AGV of the first AGV scheduling system is scheduled to pass through the control area. The waiting point of the control area waits, and after waiting for a preset time period, it is determined again that the AGV of the first AGV dispatching system will pass through the control area, and the detection device corresponding to the control area of each second AGV dispatching system is again determined from the second AGV dispatching system. Acquire occupancy information of the second AGV scheduling system corresponding to the control area.
  18. 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权利要求1至7中任一权项所述的AGV交通管制方法中的步骤，或执行如权利要求8至11中任一权项所述的AGV交通管制方法中的步骤。A non-transitory computer-readable storage medium storing instructions that, when executed by a processor, cause the processor to perform the performance of any one of claims 1 to 7 The steps in the AGV traffic control method, or perform the steps in the AGV traffic control method according to any one of claims 8 to 11.
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