CN111880540B

CN111880540B - AGV traffic control method, system, device and storage medium

Info

Publication number: CN111880540B
Application number: CN202010758754.9A
Authority: CN
Inventors: 朱业锋
Original assignee: Hangzhou Hikrobot Co Ltd
Current assignee: Hangzhou Hikrobot Co Ltd
Priority date: 2020-07-31
Filing date: 2020-07-31
Publication date: 2023-11-03
Anticipated expiration: 2040-07-31
Also published as: WO2022022741A1; CN111880540A

Abstract

The invention provides an AGV traffic control method, a system, a device and a storage medium, which are applied to a first AGV dispatching system, wherein the first AGV dispatching system and at least one second AGV dispatching system share a control area, and the method comprises the following steps: when the AGVs of the first AGV dispatching system are determined to pass through the control area, acquiring the occupation information of 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; judging whether the control area is occupied or not according to the occupancy information of each second AGV scheduling system corresponding to the control area, if not, scheduling the AGVs of the first AGV scheduling system to pass through the control area, if so, controlling the AGVs of the first AGV scheduling system to wait at waiting points of the first AGV scheduling system corresponding to the control area, and after waiting for a preset time length, determining that the AGVs of the first AGV scheduling system will pass through the control area again.

Description

AGV traffic control method, system, device and storage medium

Technical Field

The invention relates to the technical field of automatic logistics, in particular to a traffic control method, a system, a device and a storage medium of an AGV (Automated Guided Vehicle, automatic navigation trolley).

Background

The AGVs serve as key equipment in an automatic logistics application scene, and can automatically travel along a preset route under the dispatching of an AGV dispatching system to automatically convey cargoes or materials from a starting point to a destination.

In the existing implementation, a plurality of AGV scheduling systems may exist in the same automation logistics application scene, and if there is no information interaction between the AGV scheduling systems, the risk of collision exists when the AGVs of different AGV scheduling systems are scheduled to pass through the same area.

Disclosure of Invention

In view of the above, the present invention aims to provide an AGV traffic control method, system, device and storage medium, which can avoid collision between an AGV of at least one AGV scheduling system and an AGV of other AGV scheduling systems under the condition that a plurality of AGV scheduling systems have no information interaction.

In order to achieve the above purpose, the present invention provides the following technical solutions:

the first AGV traffic control method is applied to a first AGV scheduling system, and the first AGV scheduling system and at least one second AGV scheduling system share the same control area; the first AGV scheduling system is configured with a waiting point corresponding to the control area; each second AGV dispatching system is provided with a detection device corresponding to the control area; the method comprises the following steps:

When the AGVs of the first AGV dispatching system are determined to pass through the control area, acquiring the occupation information of 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;

judging whether the control area is occupied or not according to the occupancy information of each second AGV scheduling system corresponding to the control area;

if the control area is unoccupied, an AGV of a first AGV scheduling system is scheduled to pass through the control area;

and if the control area is occupied, controlling 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 determining that the AGVs of the first AGV dispatching system are about to pass through the control area again after waiting for a preset time period.

The second AGV traffic control method is applied to a detection device of any AGV scheduling system in at least one second AGV scheduling system, and the at least one second AGV scheduling system and the first AGV scheduling system share the same control area; the first AGV scheduling system is configured with a waiting point corresponding to the control area; each second AGV dispatching system is provided with a detection device corresponding to the control area; the method comprises the following steps:

The occupation information of any second AGV dispatching system corresponding to the control area is detected in real time, so that the first AGV dispatching system can acquire when determining that the AGVs of the first AGV dispatching system are about to pass through the control area, the first AGV dispatching system can judge whether the control area is occupied or not according to the acquired occupation information of each second AGV dispatching system corresponding to the control area, and can determine that the control area is unoccupied, the AGVs of the first AGV dispatching system can pass through the control area, and can determine that the control area is occupied, and then the AGVs of the first AGV dispatching system can be controlled to wait at waiting points of the first AGV dispatching system corresponding to the control area, and can determine that the AGVs of the first AGV dispatching system are about to pass through the control area after waiting for a preset time.

The system comprises a first AGV traffic control system and a second AGV traffic control system, wherein the first AGV traffic control system and the second AGV traffic control system share the same control area; the first AGV scheduling system is configured with a waiting point corresponding to the control area; the second AGV dispatching system is provided with a detection device corresponding to the control area;

The first AGV scheduling system is used for determining that when the AGVs of the first AGV scheduling system pass through the control area, acquiring the occupation 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; judging whether the control area is occupied or not according to the occupancy information of the second AGV scheduling system corresponding to the control area; if the control area is unoccupied, an AGV of a first AGV scheduling system is scheduled to pass through the control area; if the control area is occupied, controlling the AGVs of the first AGV dispatching system to wait at a waiting point of the first AGV dispatching system corresponding to the control area, and determining that the AGVs of the first AGV dispatching system are about to pass through the control area again after waiting for a preset time period;

and the detection device of the second AGV dispatching system is used for detecting the occupation information of the second AGV dispatching system corresponding to the control area in real time so that the first AGV dispatching system can acquire when determining that the AGVs of the first AGV dispatching system are about to pass through the control area.

The second AGV traffic control system comprises a first AGV scheduling system, a second AGV scheduling system and a third AGV scheduling system which share the same control area, wherein the first AGV scheduling system, the second AGV scheduling system and the third AGV scheduling system are all configured with waiting points and detection devices corresponding to the control area;

The system comprises a first AGV scheduling system, a second AGV scheduling system and a third AGV scheduling system, wherein the first AGV scheduling system, the second AGV scheduling system and the third AGV scheduling system are used for acquiring the occupation information of other AGV scheduling systems corresponding to the control area from the detection device of the other AGV scheduling systems corresponding to the control area when the AGVs of the first AGV scheduling system are about to pass through the control area; judging whether the control area is occupied or not according to the occupancy information of other AGV scheduling systems corresponding to the control area; if the control area is unoccupied, scheduling the AGVs of the AGVs to pass through the control area; if the control area is occupied, controlling the AGVs to wait at the waiting points corresponding to the control area, and determining that the AGVs pass through the control area again after waiting for a preset time;

the system comprises a first AGV scheduling system, a second AGV scheduling system and a third AGV scheduling system, wherein the detection device is used for detecting the occupation information of the AGV scheduling system corresponding to the control area in real time so that each other AGV scheduling system can acquire when determining that the AGVs of the other AGV scheduling systems are about to pass through the control area.

The first AGV traffic control device is applied to a first AGV scheduling system, and the first AGV scheduling system and at least one second AGV scheduling system share the same control area; the first AGV scheduling system is configured with a waiting point corresponding to the control area; each second AGV dispatching system is provided with a detection device corresponding to the control area; the device comprises: a processor, and a non-transitory computer readable storage medium coupled to the processor via a bus;

The non-transitory computer readable storage medium storing one or more computer programs executable by the processor; the processor, when executing the one or more computer programs, performs the steps of:

The second AGV traffic control device is applied to a detection device of any AGV scheduling system in at least one second AGV scheduling system, and the at least one second AGV scheduling system and the first AGV scheduling system share the same control area; the first AGV scheduling system is configured with a waiting point corresponding to the control area; each second AGV dispatching system is provided with a detection device corresponding to the control area; the device comprises: a processor, and a non-transitory computer readable storage medium coupled to the processor via a bus;

A non-transitory computer readable storage medium storing instructions that, when executed by a processor, cause the processor to perform steps as in the first type of AGV traffic control method described above or to perform steps as in the second type of AGV traffic control method described above.

According to the technical scheme, in the invention, for a plurality of AGV dispatching systems sharing the same control area, one system is used as a first AGV dispatching system to be configured with a waiting point corresponding to the control area, the other systems are used as second AGV dispatching systems to be configured with detection devices corresponding to the control area, when the AGVs of the first AGV dispatching systems pass through the control area, the occupation information of the second AGV dispatching systems corresponding to the control area can be acquired from the detection devices corresponding to the control area of each second AGV dispatching system, whether the control area is occupied or not is judged according to the occupation information, and whether the control area is occupied or not is judged again after the AGVs of the first AGV dispatching systems pass through the control area or wait for a preset time period at the waiting point is determined according to the judgment result. It can be seen that, for the first AGV scheduling system, since it will determine whether the controlled area is occupied before passing through the controlled area, collision with the AGVs of each second AGV scheduling system can be avoided, and the first AGV scheduling system does not need to interact with each second AGV scheduling system in the process.

Drawings

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

Fig. 1 is a schematic diagram of an application scenario of an automated logistics according to an embodiment of the present application;

FIG. 2 is a flow chart of an AGV traffic control method according to one embodiment of the present application;

FIG. 3 is a flow chart of an AGV traffic control method according to a second embodiment of the present application;

FIG. 4 is a flow chart of an AGV traffic control method according to a third embodiment of the present application;

FIG. 5 is a flow chart of an AGV traffic control method according to a fourth embodiment of the present application;

FIG. 6 is a schematic diagram of an embodiment of the present application for calculating the closest stopping distance of the AGV dispatching system Si relative to the AGV dispatching system Sj from the control area center;

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. 8 is a flowchart of an AGV traffic control method according to a fifth embodiment of the present application;

FIG. 9 is a flowchart of an AGV traffic control method according to a sixth embodiment of the present application;

FIG. 10 is a flow chart of a method for AGV traffic control provided by a seventh embodiment of the present application;

FIG. 11 is a flowchart of an AGV traffic control method provided in accordance with an eighth embodiment of the present application;

FIG. 12 is a schematic diagram of an AGV traffic control system according to a first embodiment of the present application;

FIG. 13 is a schematic diagram of an AGV traffic control system according to a second embodiment of the present application;

FIG. 14 is a schematic view of an AGV traffic control apparatus according to a first embodiment of the present application;

fig. 15 is a schematic structural diagram of an AGV traffic control device according to a second embodiment of the present application.

Detailed Description

The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.

Referring to fig. 1, fig. 1 is a schematic view of an application scenario of an automated logistics, as shown in fig. 1, in which a control area is provided, and the passing paths of AGVs of three AGV dispatching systems all pass through the control area, if no information interaction is performed between the three AGV dispatching systems, the AGVs of the three AGV dispatching systems may collide in the control area.

In order to solve the problem of collision between AGVs of different AGV scheduling systems in an automated logistics application scenario similar to that of fig. 1, in the embodiment of the present invention, a solution for solving this problem by using a waiting point and a detection device is proposed, which is described in detail below:

referring to fig. 2, fig. 2 is a flowchart of an AGV traffic control method according to a first embodiment of the present invention, where the method is applied to a first AGV scheduling system, and the first AGV scheduling system and at least one second AGV scheduling system share the same control area; the first AGV scheduling system is configured with a waiting point corresponding to the control area; each second AGV dispatching system is provided with a detection device corresponding to the control area; as shown in fig. 2, the method specifically includes the following steps:

step 201, when it is determined that an AGV of a first AGV scheduling system is about to pass through the controlled area, acquiring occupancy information of each second AGV scheduling system corresponding to the controlled area from a detection device of the second AGV scheduling system corresponding to the controlled area;

step 202, judging whether the control area is occupied according to the occupancy information of each second AGV scheduling system corresponding to the control area, if not, executing step 203, otherwise, executing step 204;

Step 203, scheduling AGVs of a first AGV scheduling system to pass through the control area;

and 204, controlling the AGVs of the first AGV dispatching system to wait at the waiting points of the first AGV dispatching system corresponding to the control area, and determining that the AGVs of the first AGV dispatching system are about to pass through the control area again after waiting for a preset time.

According to the method shown in fig. 2, in this embodiment, before the AGVs of the first AGV dispatching system pass through the controlled area, the AGVs of the second AGV dispatching systems acquire the occupancy information of the controlled area corresponding to the second AGV dispatching systems, and determine whether the controlled area is occupied according to the occupancy information, and if the AGVs of the first AGV dispatching systems pass through the controlled area without being occupied, the operation of acquiring the occupancy information of the second AGV dispatching systems corresponding to the controlled area and determining whether the controlled area is occupied needs to be executed again after waiting for a preset time at a waiting point, so that collision with the AGVs of the second AGV dispatching systems is avoided, and the process does not need information interaction between the first AGV dispatching systems and the second AGV dispatching systems. It is particularly noted that when there is only one second AGV scheduling system, the AGVs of the second AGV scheduling system may pass directly through the regulated area without interacting with the first AGV scheduling system and without requiring the first AGV scheduling system to configure the detection device.

Referring to fig. 3, fig. 3 is a flowchart of an AGV traffic control method according to a second embodiment of the present invention, where the method is applied to a first AGV scheduling system, and the first AGV scheduling system and at least one second AGV scheduling system share the same control area; the first AGV scheduling system is configured with a waiting point corresponding to the control area; each second AGV dispatching system is provided with a detection device corresponding to the control area; as shown in fig. 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 controlled area and travels to the preset position on the passage path before reaching the controlled area, it is determined that the AGV of the first AGV dispatching system will pass through the controlled area, and the process goes to step 3012.

In the embodiment of the present invention, the preset position may be determined according to the running speed v of the AGV of the first AGV scheduling system, the time t required for obtaining the occupancy information of each second AGV scheduling system corresponding to the controlled area, and the waiting point of the first AGV scheduling system corresponding to the controlled area, for example, the preset position is set to a position where the distance between the AGV of the first AGV scheduling system and the waiting point is v×t before the AGV of the first AGV scheduling system reaches the waiting point.

Step 3011b, when the waiting time of the AGV of the first AGV dispatching system at the waiting point is N times of the preset duration, determining that the AGV of the first AGV dispatching system is about to pass through the control area, and turning to step 3012.

When the waiting time of the AGVs of the first AGV dispatching system at the waiting point is N times of the preset duration, determining that the AGVs of the first AGV dispatching system are about to pass through the control area, enabling the AGVs of the first AGV dispatching system to wait at the waiting point, and periodically executing the operations of the steps 3012 to 304 until the control area is determined to be unoccupied and the AGVs of the first AGV dispatching system are scheduled to pass through the control area.

The above steps 3011a and 3011b are specific refinements of "determine that the AGVs of the first AGV dispatch system will pass the controlled area" in step 201 of FIG. 2.

In the embodiment of the invention, N is a natural number.

Step 3012, obtaining the occupation information of 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.

Steps 3011a to 3012 above are specific refinements of step 201 shown in fig. 2.

Step 302, judging whether the control area is occupied according to the occupancy information of each second AGV scheduling system corresponding to the control area, if not, executing step 303, otherwise, executing step 304;

And 303, scheduling AGVs of the first AGV scheduling system to pass through the control area.

And 304, controlling the AGVs of the first AGV dispatching system to wait at the waiting points of the first AGV dispatching system corresponding to the control areas, determining that the AGVs of the first AGV dispatching system are about to pass through the control areas again after waiting for a preset time period, and turning to step 3012.

According to the method shown in fig. 3, in addition to the advantages of the embodiment shown in fig. 2, when the AGV of the first AGV dispatching system is about to reach the waiting point or when the waiting point waits for a preset time period, it is determined that the AGV of the first AGV dispatching system needs to pass through the control area, so as to trigger and acquire the occupation information of each second AGV dispatching system corresponding to the control area, and accordingly judge whether the control area is occupied or not, and other follow-up operations, so that the first AGV dispatching system is ensured to schedule the AGV of the first AGV dispatching system to pass through the control area in time when the control area is determined to be unoccupied.

Referring to fig. 4, fig. 4 is a flowchart of an AGV traffic control method according to a third embodiment of the present invention, where the method is applied to a first AGV scheduling system, and the first AGV scheduling system and at least one second AGV scheduling system share the same control area; the first AGV scheduling system is configured with a waiting point corresponding to the control area; each second AGV dispatching system is provided 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 traffic path of the first AGV dispatching system corresponding to the controlled area and travels to the preset position on the traffic path before reaching the controlled area, it is determined that the AGV of the first AGV dispatching system is about to pass through the controlled area, and the step 4012 is performed.

In this embodiment, the traffic path of an AGV dispatching system corresponding to the controlled area refers to a path that the AGV of the AGV dispatching system passes through the controlled area, for example, the path passes through the controlled area from one side a of the controlled area to the other side B of the controlled area, and then travels along the same traffic path (e.g., the traffic path 1). In addition, when the AGVs of the AGV scheduling system pass through the control area from the side B to the side A of the control area, the AGVs travel along another passing path (such as the passing path 2), wherein the passing path 1 and the passing path 2 are 2 paths which are different.

Step 4011b, when the waiting time of the AGV of the first AGV dispatching system at the waiting point is N times of the preset duration, determining that the AGV of the first AGV dispatching system is about to pass through the control area, and turning to step 4012.

The above steps 4011a and 4011b are specific refinements of "determine that the AGVs of the first AGV dispatch system need to pass through the controlled area" in step 201 of FIG. 2.

In the embodiment of the invention, N is a natural number.

Step 4012a, sending an occupancy information query request to the detection devices of each second AGV dispatching system corresponding to the controlled areas.

In the embodiment of the invention, the first AGV scheduling system can prestore information such as the IP address of the detection device of each second AGV scheduling system corresponding to the control area so as to carry out information interaction with each detection device.

Step 4012b, receiving occupancy information of each second AGV dispatching system corresponding to the controlled area returned by the detection device corresponding to the controlled area.

In the embodiment of the invention, the detection device of each second AGV dispatching system corresponding to the control area can detect the occupation information of the second AGV dispatching system corresponding to the control area in real time, and when receiving the occupation information inquiry request of the first AGV dispatching system, the occupation information of the second AGV dispatching system corresponding to the control area is returned to the first AGV dispatching system.

The above steps 4012a to 4012b are a specific refinement of "obtaining the occupancy information of each second AGV scheduling system corresponding to the controlled area from the detection device of the second AGV scheduling system corresponding to the controlled area" in step 201 shown in fig. 2.

The above steps 4011a through 4012b are detailed of step 201 of fig. 2.

Step 402, judging whether the control area is occupied according to the occupancy information of each second AGV scheduling system corresponding to the control area, if not, executing step 303, otherwise, executing step 304;

and step 403, scheduling the AGVs of the first AGV scheduling system to pass through the control area.

And step 404, controlling the AGVs of the first AGV dispatching system to wait at the waiting points of the first AGV dispatching system corresponding to the control area, and determining that the AGVs of the first AGV dispatching system are about to pass through the control area again after waiting for a preset time period, and turning to step 4012a.

According to the method shown in fig. 4, in addition to the advantages of the embodiments shown in fig. 2 and 3, after determining that the AGVs of the first AGV dispatching system need to pass through the controlled area, the embodiment is simpler to implement by sending an occupancy information query request to the detection device of each second AGV dispatching system corresponding to the controlled area to obtain occupancy information of the second AGV dispatching system corresponding to the controlled area.

Referring to fig. 5, fig. 5 is a flowchart of an AGV traffic control method according to a fourth embodiment of the present invention, where the method is applied to a first AGV scheduling system, and the first AGV scheduling system and at least one second AGV scheduling system share the same control area; the first AGV scheduling 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 fig. 5, the method specifically includes the following steps:

and step 501, when the AGVs of the first AGV dispatching system are determined to pass through the control area, acquiring the occupation information of 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.

In an embodiment of the present invention, the occupancy information includes: an occupied flag; the occupancy flag includes two values, one that indicates that the AGV occupies a controlled area and the other that indicates that the AGV does not occupy the controlled area.

In the embodiment of the invention, the detection device of each second AGV dispatching system corresponding to the control area can detect the entering and exiting conditions of the AGVs of the second AGV dispatching system in the detection range of the second AGV dispatching system corresponding to the control area, and set the occupation information of the second AGV dispatching system corresponding to the control area based on the detection result.

In particular, the method comprises the steps of,

the detection device of each second AGV dispatching system corresponding to the control area sets an occupation mark in occupation information of the second AGV dispatching system corresponding to the control area as a value for indicating the AGVs to occupy the control area when detecting and determining that the AGVs of the second AGV dispatching system drive into the detection range of the second AGV dispatching system corresponding to the control area;

and when the detection device corresponding to the control area of each second AGV dispatching system detects and determines that the AGVs of the second AGV dispatching system drive away from the detection range corresponding to the control area of the second AGV dispatching system, setting an occupation mark in occupation information corresponding to the control area of the second AGV dispatching system to be a value for indicating that the AGVs do not occupy the control area.

Each second AGV dispatching system indicates whether the second AGV dispatching system currently occupies the controlled area or not through setting an occupation mark in occupation information of the second AGV dispatching system corresponding to the controlled area, so that the first AGV dispatching system can judge whether the controlled area is occupied or not according to the occupation information of the second AGV dispatching systems corresponding to the controlled area.

Step 502, determining whether the occupation marks in the occupation information of each second AGV dispatching system corresponding to the controlled area are all values indicating that the AGV does not occupy the controlled area, if yes, determining that the controlled area is not occupied, executing step 503, otherwise, determining that the controlled area is occupied, and executing step 504.

The above step 502 is a detailed refinement of step 202 shown in fig. 2.

Step 503, scheduling AGVs of a first AGV scheduling system to pass through the control area;

and 504, controlling the AGVs of the first AGV dispatching system to wait at the waiting points of the first AGV dispatching system corresponding to the control area, and determining that the AGVs of the first AGV dispatching system are about to pass through the control area again after waiting for a preset time.

In the embodiment of the present invention, the number of the second AGV scheduling systems is assumed to be n. For ease of description, the first AGV scheduling system and the n second AGV scheduling systems are hereinafter referred to as S0 (i.e., the first AGV scheduling system), S1 (i.e., the 1 st second AGV scheduling system), S2 (i.e., the 2 nd second AGV scheduling system), … …, sn (i.e., the n second AGV scheduling system) in this order.

In the embodiment of the present invention, the latest waiting point and the minimum detection range of each of the AGV scheduling systems S0, S1, S2, … …, sn corresponding to the controlled area may be predetermined. For any AGV scheduling system Sx (e.g., the first AGV scheduling system S0 in this embodiment) that needs to configure a waiting point corresponding to the controlled area, the closest waiting point of the AGV scheduling system Sx corresponding to the controlled area is configured as the waiting point of the AGV scheduling system Sx corresponding to the controlled area. Here, the most recent waiting point of each AGV scheduling system corresponding to the regulated area refers to: the AGVs of the AGV scheduling system may dock without affecting the position of the AGVs of other AGV scheduling systems closest to the controlled area center through the controlled area.

In the embodiment of the present invention, the method for determining the nearest waiting point of each of the AGV scheduling systems S0, S1, S2, … …, sn, which corresponds to the controlled area, is as follows:

s11, calculating the nearest stopping distance d between Si and the control area center relative to each other AGV dispatching system Sj for any AGV dispatching system to be Si _ij ＝[abs(W _i /tanθ _ij )+abs(W _j /sinθ _ij )+L _i ]2, wherein abs represents absolute value; w (W) _i And L _i Maximum width and maximum length of AGV of Si, W _j Maximum width of AGV of Sj, θ _ij Is the included angle between the passing path of Si corresponding to the control area and the passing path of Sj corresponding to the control area;

s12, leading Si to the controlled area on the passing path corresponding to the controlled area and having a distance D from the center of the controlled area _i Is determined as the nearest waiting point of Si corresponding to the regulated area, wherein D _i Is d _i0 、d _i1 、……、d _ij 、……、d _in Wherein i is not equal to j.

In the above step S11, the nearest stopping distance d of Si relative to each other AGV scheduling system Sj from the center of the controlled area is calculated _ij ＝[abs(W _i /tanθ _ij )+abs(W _j /sinθ _ij )+L _i ]The principle of/2 is shown in FIG. 6, where P can be calculated ₀ P ₁ 、P ₁ P ₂ 、P ₂ P ₃ The sum of the lengths of the three line segments is obtained, and P ₀ P ₁ 、P ₁ P ₂ 、P ₂ P ₃ The line segment lengths of (2) are respectively as follows: abs (W) _i /2tanθ _ij )、abs(W _j /2sinθ _ij )、L _i 2, thus d _ij ＝[abs(W _i /tanθ _ij )+abs(W _j /sinθ _ij )+L _i ]/2。

In the embodiment of the present invention, for the first AGV scheduling system S0, the latest waiting point of S0 corresponding to the regulated area may be set as the waiting point of S0 corresponding to the regulated area. In combination with the above specific method for determining the latest waiting point of Si corresponding to the controlled area (steps S11 to S12), the method for configuring the waiting point of the first AGV dispatching system S0 corresponding to the controlled area is specifically as follows:

calculating the nearest stopping distance d between the first AGV dispatching system S0 and the control area center relative to each second AGV dispatching system Sj _0j ＝[abs(W ₀ /tanθ _0j )+abs(W _j /sinθ _0j )+L ₀ ]2, wherein W ₀ And L ₀ The maximum width and maximum length of the AGVs of the first AGV scheduling system, W _j Is the maximum width, θ, of the AGVs of the second AGV scheduling system Sj _0j Is an included angle between a passing path of the first AGV scheduling system corresponding to the control area and a passing path of the second AGV scheduling system Sj corresponding to the control area;

the first AGV dispatching system is led to the control area on a passing path corresponding to the control area, and the distance between the first AGV dispatching system and the center of the control area is D ₀ Is determined as the most recent wait point of the first AGV dispatch system corresponding to the controlled area, where D ₀ Is d ₀₁ 、d ₀₂ 、……、d _0n The largest of (a) is the one;

and configuring the latest waiting point of the first AGV dispatching system corresponding to the control area as the waiting point of the first AGV dispatching system.

As shown in FIG. 7, a waiting point of the AGV scheduling system Sb corresponding to the controlled area is shown on a passing path of the AGV scheduling system Sb corresponding to the controlled area at a distance D from the center of the controlled area _b Is a position of (c).

In the embodiment of the present invention, the minimum detection range of each of the AGV scheduling systems S0, S1, S2, … …, sn corresponding to the controlled area may be predetermined. For any AGV dispatch system Sy (e.g., the second AGV dispatch system S1, S2, … …, sn in this embodiment) that needs to be configured with the detection range corresponding to the regulated area, the minimum detection range of the AGV dispatch system Sy corresponding to the regulated area is configured as the detection range of the AGV dispatch system Sy corresponding to the regulated area. The minimum detection range of each AGV scheduling system corresponding to the regulated area refers to: the AGVs of the AGV scheduling system may have a minimum travel range that affects the AGVs of other AGV scheduling systems by the controlled area, and may collide with the AGVs of at least one other AGV scheduling system that is traveling into the controlled area during the process before leaving the minimum detection range after the AGVs of the AGV scheduling system travel into the minimum detection range.

In the embodiment of the present invention, the method for determining the minimum detection range of each of the AGV scheduling systems S0, S1, S2, … …, sn, which corresponds to the controlled area, is as follows:

s21, determining a nearest waiting point of Si corresponding to the regulated area for each AGV scheduling system Si in the AGV scheduling systems S0, S1, S2, … … and Sn (determining the nearest waiting point by adopting the steps S11 to S12), determining a symmetry point of Si corresponding to the regulated area about the center of the regulated area as a nearest driving-away point of Si corresponding to the regulated area, and calculating a driving time t required by the AGV of Si from the nearest waiting point of Si corresponding to the regulated area to the nearest driving-away point _i ；

S22, for each AGV scheduling system Sj of AGV scheduling systems S0, S1, S2, … …, sn,determining a rectangular area of Sj corresponding to the control area as a minimum detection range of Sj corresponding to the control area by taking a passing path of Sj corresponding to the control area as a central axis, taking a position which leads to the control area and is separated from the center of the control area by vj×Tj+Dj as a starting point, taking a nearest driving-off point of Sj corresponding to the control area as an end point and penetrating through the control area as a minimum detection range of Sj corresponding to the control area; wherein the width of the rectangular region is not less than the maximum width W of the AGV of Sj _j The length of the rectangular region l=vj×tj+2dj, where Vj is the AGV travel speed of Sj and Tj is t ₀ 、t ₁ 、……、t _i-1 、t _i+1 、……、t _n The largest of (a) is the one; dj is the distance from the policing center of the nearest waiting point for Sj to the policing area.

In the embodiment of the present invention, for any second AGV dispatching system Sj, the minimum detection range of Sj corresponding to the regulated area may be set as the detection range of Sj corresponding to the regulated area. In combination with the specific method for determining the minimum detection range of Sj corresponding to the regulated area (steps S21 to S22), the method for configuring the minimum detection range of the second AGV dispatching system Sj corresponding to the regulated area is as follows: a minimum detection range of Sj corresponding to the regulated area is determined according to the above steps 21 to 22, and then the minimum detection range is set as the detection range of Sj corresponding to the regulated area.

As shown in fig. 7, the detection range of the AGV scheduling system Sb corresponding to the regulated area is shown. Wherein the length of the detection range of Sb corresponding to the controlled area is V _b ×T _b +2D _b The distance between the left side and the center of the control area is V _b ×T _b +D _b The distance between the right side and the center of the control area is D _b 。

As can be seen from the method shown in fig. 5, in this embodiment, the first AGV dispatching system determines whether the controlled area is occupied according to the occupancy flag in the occupancy information corresponding to the controlled area of each second AGV dispatching system, where the occupancy flag is set by the detection device corresponding to the controlled area of the second AGV dispatching system through the detection result of whether the AGV of the second AGV dispatching system travels in the detection range corresponding to the controlled area of the second AGV dispatching system. In addition, the embodiment is the same as the embodiment shown in fig. 2, and collision between the AGV of the first AGV dispatching system and the AGV of the second AGV dispatching system can be avoided under the condition that the first AGV dispatching system and the second AGV dispatching system have no information interaction.

Referring to FIG. 8, FIG. 8 is a flowchart of an AGV traffic control method according to a fifth embodiment of the present invention, wherein the method is applied to a first AGV scheduling system, and the first AGV scheduling system and at least one second AGV scheduling system share the same control area; the first AGV scheduling system and each second AGV scheduling system are respectively provided with a waiting point, a detection device and a detection range corresponding to the control area; as shown in fig. 8, the method specifically includes the following steps:

And 801, when the AGVs of the first AGV dispatching system are determined to pass through the control area, acquiring the occupation information of 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.

In an embodiment of the present invention, the occupancy information includes: an occupied flag and a waiting flag; the occupation mark comprises two values, wherein one value is a value for indicating the AGV to occupy the control area, and the other value is a value for indicating the AGV not to occupy the control area; the wait 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.

In the embodiment of the invention, the detection device of each second AGV dispatching system corresponding to the control area can detect the entering and exiting conditions of the AGVs of the second AGV dispatching system in the detection range of the second AGV dispatching system corresponding to the control area and the waiting conditions of the AGVs of the second AGV dispatching system corresponding to the waiting points of the control area, and set the occupation information of the second AGV dispatching system corresponding to the control area based on the detection result.

In particular, the method comprises the steps of,

the detection device of each second AGV dispatching system corresponding to the control area sets an occupation mark in occupation information of the second AGV dispatching system corresponding to the control area as a value for indicating that the AGV does not occupy the control area when detecting and determining that the AGVs of the second AGV dispatching system drive away from the detection range of the second AGV dispatching system corresponding to the control area;

the detection device of each second AGV dispatching system corresponding to the control area sets a waiting mark in the occupation information of the second AGV dispatching system corresponding to the control area to be a value indicating the AGV to wait at the waiting point when detecting and determining that the AGVs of the second AGV dispatching system wait at the waiting point of the second AGV dispatching system corresponding to the control area;

and when detecting and determining that the AGVs of the second AGV dispatching system leave from the waiting points of the second AGV dispatching system corresponding to the controlled areas, the detection device corresponding to the controlled areas sets the waiting mark in the occupation information of the second AGV dispatching system corresponding to the controlled areas to be a value indicating that the AGVs do not wait at the waiting points.

It should be noted that, in this embodiment, the detection device of the first AGV dispatching system corresponding to the controlled area also needs to detect the situation of the first AGV dispatching system entering and exiting the first AGV dispatching system corresponding to the detection range of the controlled area and the waiting situation of the first AGV dispatching system corresponding to the waiting point of the controlled area, and set the occupation information of the first AGV dispatching system corresponding to the controlled area based on the detection result. Similarly, each second AGV dispatching system has 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 controlled area, it may also acquire the occupancy information of the first AGV dispatching system corresponding to the controlled area from the detection device of the first AGV dispatching system, and the occupancy information of the other second AGV dispatching systems corresponding to the controlled area from the detection devices of the other second AGV dispatching systems, then determine whether the controlled area is occupied according to these occupancy information, and if so, wait at the waiting point of the second AGV dispatching system corresponding to the controlled area, and determine again that its own AGV will pass through the controlled area after the preset time, otherwise, schedule its own AGV to pass through the controlled area directly.

Step 8021, judging whether a second AGV scheduling system with an occupied mark in the occupied information corresponding to the controlled area as a value for indicating occupancy exists, if so, determining that the controlled area is occupied, and turning to step 804 for execution, otherwise, executing step 8022;

step 8022, determining a waiting mark in the occupancy information corresponding to the controlled area as a second AGV scheduling system indicating a waiting value;

step 8023, judging whether the number of the determined second AGV scheduling systems is 0, if so, determining that the control area is unoccupied, and turning to step 803 for execution, otherwise, executing step 8024;

step 8024, judging whether the priority of the first AGV dispatching system is greater than the priority of each determined second AGV dispatching system, if yes, determining that the controlled area is unoccupied, proceeding to step 803 for execution, if no, determining that the controlled area is occupied, and executing step 804.

The above steps 8021 to 8024 are specific refinements of step 202 shown in fig. 2.

803, scheduling AGVs of a first AGV scheduling system to pass through the control area;

and 804, controlling the AGVs of the first AGV dispatching system to wait at the waiting points of the first AGV dispatching system corresponding to the control area, and determining that the AGVs of the first AGV dispatching system are about to pass through the control area again after waiting for a preset time.

In the embodiment of the present invention, it is still assumed that the number of the second AGV scheduling systems is n. For ease of description, the first AGV scheduling system and the n second AGV scheduling systems are hereinafter referred to as S0 (i.e., the first AGV scheduling system), S1 (i.e., the 1 st second AGV scheduling system), S2 (i.e., the 2 nd second AGV scheduling system), … …, sn (i.e., the n second AGV scheduling system) in this order.

In the embodiment of the present invention, the latest waiting point of each of the AGV scheduling systems S0, S1, S2, … …, sn corresponding to the controlled area may be predetermined. For any AGV scheduling system Sx (e.g., the first AGV scheduling system S0 in this embodiment) that needs to configure a waiting point corresponding to the controlled area, the closest waiting point of the AGV scheduling system Sx corresponding to the controlled area is configured as the waiting point of the AGV scheduling system Sx corresponding to the controlled area. Here, the most recent waiting point of each AGV scheduling system corresponding to the regulated area refers to: the AGVs of the AGV scheduling system may dock without affecting the position of the AGVs of other AGV scheduling systems closest to the controlled area center through the controlled area.

In the embodiment of the present invention, the method for determining the latest waiting point of each of the AGV scheduling systems S0, S1, S2, … …, sn corresponding to the controlled area is the same as the method for determining the latest waiting point of each of the AGV scheduling systems S0, S1, S2, … …, sn corresponding to the controlled area in fig. 5, and will not be described again.

In the embodiment of the present invention, for the first AGV dispatching system S0, the latest waiting point corresponding to the controlled area of S0 may be determined by combining the specific method for determining the latest waiting point corresponding to the controlled area of Si (i.e., steps S11 to S12) shown in the embodiment of fig. 5, and then the latest waiting point is set as the waiting point corresponding to the controlled area of S0.

In the embodiment of the present invention, the method for determining the minimum detection range of each of the AGV scheduling systems S0, S1, S2, … …, sn corresponding to the controlled area is the same as the method for determining the minimum detection range of each of the AGV scheduling systems S0, S1, S2, … …, sn corresponding to the controlled area provided in the embodiment shown in fig. 5, and will not be repeated.

In this embodiment of the present invention, for each second AGV dispatching system Sj, the minimum detection range of Sj corresponding to the regulated area may be determined by combining the specific method for determining the minimum detection range of Sj corresponding to the regulated area (i.e., steps S11 to S12) shown in the embodiment shown in fig. 5, and then the minimum detection range is set as the detection range of Sj corresponding to the regulated area.

As can be seen from the method shown in fig. 8, in this embodiment, the first AGV dispatching system determines whether the controlled area is occupied according to the occupancy flag and the waiting flag in the occupancy information corresponding to the controlled area of each second AGV dispatching system, where the occupancy flag and the waiting flag are determined by the detection device corresponding to the controlled area of the second AGV dispatching system, specifically, the detection device is set by detecting whether the detection result of the AGV of the second AGV dispatching system is traveling in the detection range corresponding to the controlled area of the second AGV dispatching system and the detection result of whether the AGV of the second AGV dispatching system stays in the waiting point corresponding to the controlled area of the second AGV dispatching system. It should be noted that, in this embodiment, since the first AGV scheduling system and the second AGV scheduling system are both configured with the detection device, the detection range, and the waiting point, and have the same function as the first AGV scheduling system of judging whether the controlled area is occupied and determining to directly pass through the controlled area or wait at the waiting point according to the judgment result, all the AGV scheduling systems will not collide with the AGV when passing through the controlled area.

Referring to fig. 9, fig. 9 is a flowchart of an AGV traffic control method according to a sixth embodiment of the present invention, where the method is applied to a detection apparatus of any one of at least one second AGV scheduling system, and the at least one second AGV scheduling system shares the same control area with the first AGV scheduling system; the first AGV scheduling system is configured with a waiting point corresponding to the control area; each second AGV dispatching system is provided with a detection device corresponding to the control area; the method specifically comprises the following steps:

step 901, detecting occupation information of any one of the second AGV dispatching systems corresponding to the control area in real time;

step 902, the occupancy information is provided for the first AGV dispatching system to acquire when it is determined that the AGV of the first AGV dispatching system is about to pass through the controlled area, so that the first AGV dispatching system determines whether the controlled area is occupied or not according to the acquired occupancy information of each second AGV dispatching system corresponding to the controlled area, determines that the controlled area is not occupied, then dispatches the AGV of the first AGV dispatching system to pass through the controlled area, determines that the controlled area is occupied, and then controls 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, and determines that the AGV of the first AGV dispatching system is about to pass through the controlled area again after waiting for a preset duration.

According to the method shown in fig. 9, in this embodiment, the detection device of each second AGV dispatching system corresponding to the controlled area detects and determines the occupancy information of the second AGV dispatching system corresponding to the controlled area in real time, so that before passing through the controlled area, the AGV of the first AGV dispatching system can acquire the occupancy information of each second AGV dispatching system corresponding to the controlled area, and accordingly determine whether the controlled area is occupied, the AGV of the first AGV dispatching system is not occupied but dispatched to pass through the controlled area, so as to avoid collision with the AGV of each second AGV dispatching system, and after the second AGV is occupied, the operations of acquiring the occupancy information of each second AGV dispatching system corresponding to the controlled area and determining whether the controlled area is occupied need to be executed again after waiting for a preset time at a waiting point. It is particularly noted that when there is only one second AGV scheduling system, the AGVs of the second AGV scheduling system may pass directly through the controlled area without interacting with the first AGV scheduling system and without requiring the first AGV scheduling system to configure the detection device.

Referring to fig. 10, fig. 10 is a flowchart of an AGV traffic control method according to a seventh embodiment of the present invention, where the method is applied to a detection apparatus of any one of at least one second AGV scheduling system, where the at least one second AGV scheduling system shares the same control area with the first AGV scheduling system; the first AGV scheduling 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 comprises the following steps:

and step 10011, when the detection determines that the AGV of any second AGV dispatching system enters the detection range of any second AGV dispatching system corresponding to the controlled area, setting an occupancy flag in occupancy information of any second AGV dispatching system corresponding to the controlled area to a value indicating that the AGV occupies the controlled area, and turning to step 1002 to execute.

And step 10012, when the detection determines that the AGV of any second AGV dispatching system drives away from the detection range of any second AGV dispatching system corresponding to the controlled area, setting an occupancy flag in occupancy information of any second AGV dispatching system corresponding to the controlled area to a value indicating that the AGV does not occupy the controlled area, and turning to step 1002 for execution.

In the embodiment of the invention, the occupation information comprises an occupation mark; the occupancy flag includes two values, one that indicates that the AGV occupies the controlled area and the other that indicates that the AGV does not occupy the controlled area.

Steps 10011 and 10022 above are specific refinements of step 901 shown in fig. 9.

Step 1002, the occupancy information is provided for the first AGV dispatching system to obtain when it is determined that the AGV of the first AGV dispatching system is about to pass through the controlled area, so that the first AGV dispatching system determines whether the controlled area is occupied or not according to the occupancy information of each obtained second AGV dispatching system corresponding to the controlled area, determines that the controlled area is not occupied, then dispatches the AGV of the first AGV dispatching system to pass through the controlled area, determines that the controlled area is occupied, and then controls 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, and determines that the AGV of the first AGV dispatching system is about to pass through the controlled area again after waiting for a preset duration.

In this embodiment, after the first AGV scheduling system obtains the occupancy information of each second AGV scheduling system corresponding to the controlled area, it may be determined whether the occupancy flags in the occupancy information of each second AGV scheduling system corresponding to the controlled area are all values indicating that the AGV does not occupy the controlled area, if so, it may be determined that the controlled area is unoccupied, or else it may be determined that the controlled area is unoccupied.

In this embodiment, the step of obtaining the occupancy information by the first AGV scheduling system when determining that the AGV of the first AGV scheduling system is about to pass through the controlled area specifically includes:

receiving an occupancy information query request sent by a first AGV scheduling system when the AGVs of the first AGV scheduling system are determined to pass through the control area;

and returning the occupancy information, corresponding to the control area, of any one of the second AGV dispatching systems determined by the latest detection to the first AGV dispatching system.

According to the method shown in fig. 10, in this embodiment, the detection device corresponding to the controlled area of each second AGV dispatching system indicates whether the controlled area is occupied by setting the occupancy flag in the occupancy information corresponding to the controlled area of each second AGV dispatching system, so that the first AGV dispatching system determines whether the controlled area is occupied according to the occupancy flag in the occupancy information corresponding to the controlled area of each second AGV dispatching system. In addition, the embodiment is the same as the embodiment shown in fig. 9, and collision between the AGV of the first AGV dispatching system and the AGV of the second AGV dispatching system can be avoided under the condition that the first AGV dispatching system and the second AGV dispatching system have no information interaction.

Referring to FIG. 11, FIG. 11 is a flowchart of an AGV traffic control method according to an eighth embodiment of the present invention applied to a detection apparatus of any one of at least one second AGV scheduling system sharing the same control area with the first AGV scheduling system; the first AGV scheduling system and each second AGV scheduling system are respectively provided with a waiting point, a detection device and a detection range corresponding to the control area; the method is specifically applied to a detection device of any second AGV scheduling system, and comprises the following steps:

step 11011, when it is detected and determined that the AGV of any second AGV dispatching system enters the detection range of any second AGV dispatching system corresponding to the controlled area, the occupation flag in the occupation information of any second AGV dispatching system corresponding to the controlled area is set to a value indicating that the AGV occupies the controlled area, and the step 1102 is executed.

Step 11012, when it is detected and determined that the AGV of any second AGV dispatching system drives away from the detection range of any second AGV dispatching system corresponding to the controlled area, setting an occupancy flag in occupancy information of any second AGV dispatching system corresponding to the controlled area to a value indicating that the AGV does not occupy the controlled area, and going to step 1102 for execution.

Step 11013, detecting and determining that the AGV of any second AGV dispatching system waits at a waiting point of any second AGV dispatching system corresponding to the controlled area, setting a waiting flag in occupation information of any second AGV dispatching system corresponding to the controlled area to be a value indicating that the AGV waits at the waiting point, and executing step 1102.

Step 11014, detecting and determining that the AGV of any second AGV scheduling system leaves from the waiting point of any second AGV scheduling system corresponding to the controlled area, setting the waiting flag in the occupancy information of any second AGV scheduling system corresponding to the controlled area to a value indicating that the AGV does not wait at the waiting point, and going to step 1102 for execution.

In the embodiment of the invention, the occupation information comprises an occupation mark and a waiting mark. The occupancy flag includes two values, one that indicates that the AGV occupies the controlled area and the other that indicates that the AGV does not occupy the controlled area. The wait 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 step 901 shown in fig. 9.

Step 1102, the occupancy information is provided for the first AGV dispatching system to obtain when it is determined that the AGV of the first AGV dispatching system is about to pass through the controlled area, so that the first AGV dispatching system determines whether the controlled area is occupied according to the occupancy information of each obtained second AGV dispatching system corresponding to the controlled area, determines that the controlled area is not occupied, then dispatches the AGV of the first AGV dispatching system to pass through the controlled area, determines that the controlled area is occupied, and then controls 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, and determines that the AGV of the first AGV dispatching system is about to pass through the controlled area again after waiting for a preset duration.

In this embodiment, after the first AGV scheduling system obtains the occupancy information of the second AGV scheduling system corresponding to the controlled area, it may be determined whether there is a second AGV scheduling system whose occupancy flag in the occupancy information corresponding to the controlled area is a value indicating that the AGV occupies the controlled area, and if there is a second AGV scheduling system, it is determined that the controlled area is occupied; if the AGV is not occupied, determining a waiting mark in the occupancy information corresponding to the control area as a second AGV scheduling system indicating a value of the AGV waiting at a waiting point, and determining that the control area is unoccupied when the number of the determined second AGV scheduling systems is 0; when the number of the determined second AGV dispatching systems is not 0, further judging whether the priority of the first AGV dispatching system is larger than the priority of each determined second AGV dispatching system, if so, determining that the controlled area is unoccupied, and if not, determining that the controlled area is occupied.

In this embodiment, the step of obtaining the occupancy information by the first AGV scheduling system when determining that the AGV of the first AGV scheduling system needs to pass through the control area specifically includes:

As can be seen from the method shown in fig. 11, in this embodiment, the detection device corresponding to the controlled area of each second AGV dispatching system indicates whether the controlled area is occupied by setting the occupation flag and the waiting flag in the occupation information corresponding to the controlled area of each second AGV dispatching system, so that the first AGV dispatching system determines whether the controlled area is occupied according to the occupation flag and the waiting flag in the occupation information corresponding to the controlled area of each second AGV dispatching system. 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 regulation area, it may also acquire the occupancy information of the first AGV dispatching system corresponding to the regulation area from the detection device of the first AGV dispatching system, and the occupancy information of other second AGV dispatching systems corresponding to the regulation area from the detection devices of other second AGV dispatching systems, then determine, according to these occupancy information, whether the regulation area is occupied, and if occupied, wait at the waiting point of the second AGV dispatching system corresponding to the regulation area, and determine again that its own AGV will pass through the regulation area after a preset period, otherwise, schedule its own AGV to directly pass through the regulation area, so as to ensure that all AGV dispatching systems will not collide with each other AGV when passing through the regulation area.

The embodiment of the invention also provides an AGV traffic control system, and the AGV traffic control system is described in detail below.

Referring to fig. 12, fig. 12 is a schematic architecture diagram of a traffic control system according to a first embodiment of the present invention, where, as shown in fig. 12, the traffic control system includes a first AGV scheduling system and a second AGV scheduling system, and the first AGV scheduling system and the second AGV scheduling system share the same control area; the first AGV scheduling system is configured with a waiting point corresponding to the control area; the second AGV dispatching system is provided with a detection device corresponding to the control area; wherein, the liquid crystal display device comprises a liquid crystal display device,

In the traffic control system shown in figure 12,

the first AGV scheduling system is configured to, when determining that an AGV of the first AGV scheduling system is to pass through the regulated area:

when the AGVs of the first AGV dispatching system travel along the passing path of the first AGV dispatching system corresponding to the control area and travel to a preset position before the passing path reaches the control area, determining that the AGVs are about to pass through the control area;

or when the waiting time of the AGVs of the first AGV dispatching system at the waiting point of the first AGV dispatching system corresponding to the control area is N times of the preset duration, determining that the AGVs are about to pass through the control area; wherein N is a natural number.

In the traffic control system shown in figure 12,

the first AGV scheduling system is used for acquiring the occupation 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:

Sending an occupancy information query request to a detection device of a second AGV dispatching system corresponding to the control area;

and receiving occupancy information, corresponding to the controlled area, of a second AGV scheduling system returned by a detection device, corresponding to the controlled area, of the second AGV scheduling system.

In the traffic control system shown in figure 12,

the occupation information comprises an occupation mark; the occupation mark comprises two values, wherein one value is a value for indicating the AGV to occupy the control area, and the other value is a value for indicating the AGV not to occupy the control area;

the first AGV scheduling system is used for judging whether the control area is occupied or not according to the occupancy information of the second AGV scheduling system corresponding to the control area:

judging whether an occupation mark in occupation information of a second AGV dispatching system corresponding to the control area is a value for indicating that the AGV does not occupy the control area, if so, determining that the control area is not occupied, otherwise, determining that the control area is occupied;

the second AGV dispatching system is configured with a detection range corresponding to the control area; the detection device of the second AGV dispatching system corresponding to the control area detects the occupation information of the second AGV dispatching system corresponding to the control area in real time, and the detection device comprises:

When the AGVs of the second AGV dispatching system are detected and determined to enter the detection range of the second AGV dispatching system, which corresponds to the control area, an occupation mark in occupation information of the AGV dispatching system, which corresponds to the control area, is set to be a value indicating that the AGVs occupy the control area; and when the AGVs of the second AGV dispatching system are detected and determined to drive away from the detection range of the second AGV dispatching system, which corresponds to the controlled area, setting an occupation mark in occupation information of the second AGV dispatching system, which corresponds to the controlled area, as a value for indicating that the AGVs do not occupy the controlled area.

In the traffic control system shown in figure 12,

the occupation information comprises an occupation mark and a waiting mark; the occupation mark comprises two values, wherein one value is a value for indicating the AGV to occupy the control area, and the other value is a value for indicating the AGV not to occupy the control area; the waiting mark comprises two values, wherein one value is a value for indicating the AGV to wait at a waiting point, and the other value is a value for indicating the AGV not to wait at the waiting point;

the second AGV dispatching system is further configured with a detection range and a waiting point corresponding to the control area; the detection device of the second AGV dispatching system corresponding to the control area detects the occupation information of the second AGV dispatching system corresponding to the control area in real time, and the detection device comprises:

when the AGVs of the second AGV dispatching system are detected and determined to enter the detection range of the second AGV dispatching system, which corresponds to the control area, an occupation mark in occupation information of the second AGV dispatching system, which corresponds to the control area, is set to be a value indicating that the AGVs occupy the control area; when the AGVs of the second AGV dispatching system are detected and determined to drive away from the detection range of the second AGV dispatching system, which corresponds to the control area, an occupation mark in occupation information of the second AGV dispatching system, which corresponds to the control area, is set to be a value indicating that the AGVs do not occupy the control area;

when detecting and determining that the AGVs of the second AGV dispatching system wait at the waiting points of the second AGV dispatching system corresponding to the control areas, setting a waiting mark in the occupation information of the second AGV dispatching system corresponding to the control areas to be a value indicating the AGVs to wait at the waiting points; and when the AGVs of the second AGV dispatching system are detected and determined to leave from the waiting points of the second AGV dispatching system corresponding to the control areas, setting the waiting mark in the occupation information of the second AGV dispatching system corresponding to the control areas to be a value for indicating that the AGVs do not wait at the waiting points.

As can be seen from the traffic control system shown in fig. 12, in this embodiment, in the process of passing through the control area, the AGVs of the first AGV dispatching system only interact with the detection devices of the second AGV dispatching system corresponding to the control area to determine whether the AGVs can directly pass through the control area, and the AGVs of the second AGV dispatching system can directly pass through the control area at any time without waiting outside the control area. Because the first AGV dispatching system only carries out information interaction with the detection device of the second AGV dispatching system corresponding to the control area, the first AGV dispatching system does not interact with the second AGV dispatching system, and therefore no interference and control can be generated on the second AGV dispatching system. In addition, the system only needs to install the detection device, and has simple implementation, low cost and high technical feasibility.

Referring to fig. 13, fig. 13 is a schematic diagram of an architecture of a traffic control system according to a second embodiment of the present invention, as shown in fig. 13, where the traffic control system includes a first AGV scheduling system, a second AGV scheduling system, and a third AGV scheduling system, and the first AGV scheduling system, the second AGV scheduling system, and the third AGV scheduling system share a same control area, and are configured with a waiting point and a detection device corresponding to the control area; wherein, the liquid crystal display device comprises a liquid crystal display device,

Each AGV scheduling system in the first AGV scheduling system, the second AGV scheduling system and the third AGV scheduling system is used for determining that the AGV of the AGV scheduling system is about to pass through the control area, and acquiring the occupation information of other AGV scheduling systems corresponding to the control area from the detection device of the other AGV scheduling systems corresponding to the control area; judging whether the control area is occupied or not according to the occupancy information of other AGV scheduling systems corresponding to the control area; if the control area is unoccupied, scheduling the AGVs of the AGV scheduling system to pass through the control area; if the control area is occupied, controlling an AGV of the AGV scheduling system to wait at a waiting point corresponding to the control area, and determining that the AGV of the AGV scheduling system is about to pass through the control area again after waiting for a preset time period;

and the detection device is used for detecting the occupation information of the AGV dispatching system corresponding to the control area in real time, so that each other AGV dispatching system can acquire when determining that the AGVs of the other AGV dispatching systems are about to pass through the control area.

In the traffic control system shown in figure 13,

each AGV dispatch system of first AGV dispatch system, second AGV dispatch system, and third AGV dispatch system, when confirming that the AGV of this AGV dispatch system will pass through control district is used for:

when the AGVs of the AGV dispatching system travel along the passing paths of the AGV dispatching system corresponding to the control areas and travel to the preset positions before the passing paths reach the control areas, determining that the AGVs are about to pass through the control areas;

or when the waiting time of the AGVs of the AGV dispatching system at the waiting point of the AGV dispatching system corresponding to the control area is N times of the preset duration, determining that the AGVs are about to pass through the control area; wherein N is a natural number.

In the traffic control system shown in figure 13,

each AGV dispatching system of the first AGV dispatching system, the second AGV dispatching system and the third AGV dispatching system is used for acquiring the occupation information of other AGV dispatching systems corresponding to the control area from the detection device of the other AGV dispatching systems corresponding to the control area:

sending an occupancy information query request to detection devices corresponding to the control areas of other AGV scheduling systems;

And receiving occupancy information corresponding to the controlled area, returned by the detection device corresponding to the controlled area, of other AGV scheduling systems.

In the traffic control system shown in figure 13,

each AGV dispatching system in the first AGV dispatching system, the second AGV dispatching system and the third AGV dispatching system is used for judging whether the control area is occupied according to the occupation information of other AGV dispatching systems corresponding to the control area or not:

judging whether occupation marks in occupation information of other AGV dispatching systems corresponding to the control area are all values for indicating that the AGV does not occupy the control area, if so, determining that the control area is not occupied, otherwise, determining that the control area is occupied;

the first AGV scheduling system, the second AGV scheduling system and the third AGV scheduling system are all configured with detection ranges corresponding to the control areas;

the detection device of each AGV dispatch system in the first AGV dispatch system, the second AGV dispatch system and the third AGV dispatch system corresponding to the regulation area detects the occupation information of the AGV dispatch system corresponding to the regulation area in real time, and the detection device comprises:

When the AGVs of the AGV dispatching system are detected and determined to enter the detection range of the AGV dispatching system corresponding to the control area, setting an occupation mark in occupation information of the AGV dispatching system corresponding to the control area to be a value indicating that the AGVs occupy the control area; and when the AGVs of the AGV dispatching system are detected and determined to drive away from the detection range of the AGV dispatching system, which corresponds to the control area, setting an occupation mark in occupation information of the AGV dispatching system, which corresponds to the control area, as a value for indicating that the AGVs do not occupy the control area.

In the traffic control system shown in figure 13,

and when judging whether the control area is occupied according to the occupation information of other second AGV dispatching systems corresponding to the control area, each AGV dispatching system in the first AGV dispatching system, the second AGV dispatching system and the third AGV dispatching system is used for:

Judging whether other AGV dispatching systems which indicate the AGVs to occupy the controlled area exist or not, if so, determining that the controlled area is occupied, otherwise,

determining that the waiting mark in the occupancy information corresponding to the control area is other AGV scheduling systems indicating the value of the AGV waiting at the waiting point, and determining that the control area is unoccupied when the number of the determined other AGV scheduling systems is 0; when the number of the other AGV scheduling systems is not 0, further judging whether the priority of the AGV scheduling system is larger than the priority of each other AGV scheduling system, if so, determining that the control area is unoccupied, and if not, determining that the control area is occupied;

When the AGVs of the AGV dispatching system are detected and determined to enter the detection range of the AGV dispatching system corresponding to the control area, setting an occupation mark in occupation information of the AGV dispatching system corresponding to the control area to be a value indicating that the AGVs occupy the control area; when the AGVs of the AGV dispatching system are detected and determined to drive away from the detection range of the AGV dispatching system, which corresponds to the control area, an occupation mark in occupation information of the AGV dispatching system, which corresponds to the control area, is set to be a value indicating that the AGVs do not occupy the control area;

when the AGVs of the AGV dispatching system are detected and confirmed to wait at the waiting points of the AGVs corresponding to the control areas of the AGV dispatching system, setting a waiting mark in the occupation information of the AGVs corresponding to the control areas of the AGVs dispatching system to be a value indicating the AGVs to wait at the waiting points; and when the AGVs of the AGV scheduling system are detected and determined to leave from the waiting points of the AGV scheduling system corresponding to the control areas, setting a waiting mark in the occupation information of the AGV scheduling system corresponding to the control areas to be a value for indicating that the AGVs do not wait at the waiting points.

As can be seen from the traffic control system shown in fig. 13, in this embodiment, when each of the first, second and third AGV scheduling systems determines that the AGV of the AGV scheduling system is about to pass through the controlled area, the occupancy information of the other AGV scheduling system corresponding to the controlled area is obtained from the detection device of the other AGV scheduling system corresponding to the controlled area, so as to determine whether to pass through the controlled area directly or in a waiting spot for a rim strip, thereby avoiding collision with the AGV of the other AGV scheduling system.

The embodiment of the invention also provides an AGV traffic control device, which is described in detail below:

referring to FIG. 14, FIG. 14 is a schematic structural diagram of an AGV traffic control apparatus according to a first embodiment of the present invention, wherein the apparatus is applied to a first AGV scheduling system, and the first AGV scheduling system and at least one second AGV scheduling system share the same control area; the first AGV scheduling system is configured with a waiting point corresponding to the control area; each second AGV dispatching system is provided with a detection device corresponding to the control area; the device specifically comprises: a processor 1401, and a non-transitory computer readable storage medium 1402 connected to the processor 1401 via a bus;

the non-transitory computer readable storage medium 1402 storing one or more computer programs executable by the processor 1401; the processor 1401, when executing the one or more computer programs, performs the following steps:

In the case of the apparatus shown in figure 14,

the processor 1401, when determining that an AGV of a first AGV dispatch system is to pass the controlled area, is configured to:

In the case of the apparatus shown in figure 14,

the processor 1401 is configured to, when acquiring occupancy information of each second AGV scheduling system corresponding to the controlled area from a detection device of the second AGV scheduling system corresponding to the controlled area:

Sending an occupancy information query request to detection devices of each second AGV dispatching system, which correspond to the control areas;

and receiving occupancy information, corresponding to the controlled area, of each second AGV scheduling system returned by the detection device corresponding to the controlled area.

In the case of the apparatus shown in figure 14,

the processor 1401 is configured to, when determining whether the controlled area is occupied according to the occupancy information of each second AGV dispatching system corresponding to the controlled area:

judging whether occupation marks in occupation information of each second AGV dispatching system corresponding to the controlled area are values for indicating that the AGVs do not occupy the controlled area, if so, determining that the controlled area is not occupied, otherwise, determining that the controlled area is occupied;

wherein each second AGV dispatch system is configured with a detection range corresponding to the regulated area; the detection device of each second AGV dispatching system corresponding to the control area sets an occupation mark in occupation information of the AGV dispatching system corresponding to the control area as a value for indicating the AGVs to occupy the control area when detecting and determining that the AGVs of the second AGV dispatching system drive into a detection range of the second AGV dispatching system corresponding to the control area; and when the AGVs of the second AGV dispatching system are detected and determined to drive away from the detection range of the second AGV dispatching system, which corresponds to the controlled area, setting an occupation mark in occupation information of the second AGV dispatching system, which corresponds to the controlled area, as a value for indicating that the AGVs do not occupy the controlled area.

In the case of the apparatus shown in figure 14,

judging whether a second AGV dispatching system corresponding to the occupation information of the control area exists, wherein the occupation mark in the occupation information of the control area is a value indicating that the AGV occupies the control area, if so, determining that the control area is occupied, otherwise,

determining a waiting mark in the occupation information corresponding to the control area as a second AGV dispatching system for indicating the value of the AGV waiting at a waiting point, and determining that the control area is unoccupied when the number of the determined second AGV dispatching systems is 0; when the number of the determined second AGV dispatching systems is not 0, further judging whether the priority of the first AGV dispatching system is greater than the priority of each determined second AGV dispatching system, if so, determining that the control area is unoccupied, and if not, determining that the control area is occupied;

Wherein, the liquid crystal display device comprises a liquid crystal display device,

each second AGV dispatching system is further configured with a detection range and a waiting point corresponding to the control area;

the detection device of each second AGV dispatching system corresponding to the control area sets an occupation mark in occupation information of the second AGV dispatching system corresponding to the control area as a value for indicating the AGVs to occupy the control area when detecting and determining that the AGVs of the second AGV dispatching system drive into the detection range of the second AGV dispatching system corresponding to the control area; when the AGVs of the second AGV dispatching system are detected and determined to drive away from the detection range of the second AGV dispatching system, which corresponds to the control area, an occupation mark in occupation information of the second AGV dispatching system, which corresponds to the control area, is set to be a value indicating that the AGVs do not occupy the control area;

the detection device of each second AGV dispatching system corresponding to the control area sets a waiting mark in the occupation information of the second AGV dispatching system corresponding to the control area to be a value indicating the AGV to wait at the waiting point when detecting and determining that the AGVs of the second AGV dispatching system wait at the waiting point of the second AGV dispatching system corresponding to the control area; and when the AGVs of the second AGV dispatching system are detected and determined to leave from the waiting points of the second AGV dispatching system corresponding to the control areas, setting the waiting mark in the occupation information of the second AGV dispatching system corresponding to the control areas to be a value for indicating that the AGVs do not wait at the waiting points.

Referring to fig. 15, fig. 15 is a schematic structural diagram of an AGV traffic control device according to a second embodiment of the present invention, where the device is a detection device of any one of at least one second AGV scheduling system, and the at least one second AGV scheduling system and the first AGV scheduling system share the same control area; the first AGV scheduling system is configured with a waiting point corresponding to the control area; each second AGV dispatching system is provided with a detection device corresponding to the control area; the device specifically comprises: a processor 1501, and a non-transitory computer readable storage medium 1502 connected to the processor 1501 via a bus;

the non-transitory computer readable storage medium 1502, storing one or more computer programs executable by the processor 1501; the processor 1501, when executing the one or more computer programs, performs the steps of:

In the device shown in figure 15 of the drawings,

the detection range corresponding to the control area is configured by any one of the second AGV dispatching systems;

the processor 1501 detects, in real time, occupancy information of the any second AGV scheduling system corresponding to the regulated area, including:

when the AGVs of any second AGV dispatching system are detected and determined to enter the detection range of any second AGV dispatching system corresponding to the control area, setting an occupation mark in occupation information of any second AGV dispatching system corresponding to the control area as a value for indicating the AGVs to occupy the control area;

and when the detection determines that the AGVs of any second AGV dispatching system drive away from the detection range of any second AGV dispatching system, which corresponds to the control area, setting an occupation mark in occupation information of any second AGV dispatching system, which corresponds to the control area, as a value indicating that the AGVs do not occupy the control area.

In the device shown in figure 15 of the drawings,

the detection range and the waiting point corresponding to the control area are configured by any one of the second AGV dispatching systems;

when the AGVs of any second AGV dispatching system are detected and determined to drive away from the detection range of any second AGV dispatching system corresponding to the control area, setting an occupation mark in occupation information of any second AGV dispatching system corresponding to the control area to be a value indicating that the AGVs do not occupy the control area;

Detecting and determining that the AGVs of any second AGV dispatching system wait at the waiting point of any second AGV dispatching system corresponding to the control area, and setting a waiting mark in the occupation information of any second AGV dispatching system corresponding to the control area to be a value indicating the AGVs to wait at the waiting point;

and when the AGVs of any one of the second AGV dispatching systems are detected and determined to leave from the waiting point of any one of the second AGV dispatching systems, which corresponds to the control area, a waiting mark in the occupation information of any one of the second AGV dispatching systems, which corresponds to the control area, is set to be a value indicating that the AGVs do not wait at the waiting point.

In the device shown in figure 15 of the drawings,

the processor 1501, for the first AGV scheduling system to obtain the occupancy information when determining that the AGVs of the first AGV scheduling system are to pass the controlled area, includes:

Embodiments of the present invention also provide a non-transitory computer readable storage medium storing instructions that, when executed by a processor, cause the processor to perform steps in an AGV traffic control method as shown in fig. 2, 3, 4, 5, 8 or steps in an AGV traffic control method as shown in fig. 9, 10, 11.

The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather to enable any modification, equivalent replacement, improvement or the like to be made within the spirit and principles of the invention.

Claims

1. An AGV traffic control method is applied to a first AGV scheduling system and is characterized in that the first AGV scheduling system and at least one second AGV scheduling system share the same control area; the first AGV scheduling system is configured with a waiting point corresponding to the control area, wherein the waiting point is an AGV stopping position which is on a passing path of the first AGV scheduling system corresponding to the control area, leads to the control area and does not influence the AGVs of other AGV scheduling systems to pass through the control area and is closest to the center of the control area; each second AGV dispatching system is provided with a detection device corresponding to the control area; the method comprises the following steps:

2. The method according to claim 1, characterized in that

The method for determining the AGVs of the first AGV dispatching system to pass through the control area comprises the following steps:

3. The method of claim 1, wherein the step of determining the position of the substrate comprises,

the method for acquiring the occupation 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 the following steps:

4. The method of claim 1, wherein the step of determining the position of the substrate comprises,

the method for judging whether the control area is occupied or not according to the occupancy information of each second AGV scheduling system corresponding to the control area comprises the following steps:

5. The method of claim 1, wherein the step of determining the position of the substrate comprises,

6. The method of claim 1, wherein the step of determining the position of the substrate comprises,

assuming that the number of the second AGV scheduling systems is n, and sequentially marking the first AGV scheduling system and the n second AGV scheduling systems as S0, S1, S2, … … and Sn;

the method for configuring the waiting point of the first AGV scheduling system corresponding to the control area comprises the following steps:

calculating the nearest stopping distance d between the first AGV dispatching system and the control area center relative to each second AGV dispatching system Sj _0j ＝[abs(W ₀ /tanθ _0j )+abs(W _j /sinθ _0j )+L ₀ ]2, wherein W ₀ And L ₀ The maximum width and maximum length of the AGVs of the first AGV scheduling system, W _j Is the maximum width, θ, of the AGVs of the second AGV scheduling system Sj _0j Is an included angle between a passing path of the first AGV scheduling system corresponding to the control area and a passing path of the second AGV scheduling system Sj corresponding to the control area;

7. The method of claim 1, wherein the step of determining the position of the substrate comprises,

the method for configuring the detection range of the second AGV scheduling system corresponding to the control area comprises the following steps:

for each AGV scheduling system Si of AGV scheduling systems S0, S1, S2, … …, sn, determining a nearest waiting point of Si corresponding to the regulated area, determining a symmetry point of Si corresponding to the regulated area about the center of the regulated area as a nearest driving-out point of Si corresponding to the regulated area, calculating a driving time t required by the AGV of Si from the nearest waiting point of Si corresponding to the regulated area to the nearest driving-out point _i ；

For each AGV scheduling system Sj of AGV scheduling systems S1, S2, … …, sn, determining a minimum detection range of Sj corresponding to the controlled area by taking a passing path of Sj corresponding to the controlled area as a central axis, taking a position leading to the controlled area and having a distance of Vj×Tj+Dj from the center of the controlled area as a starting point, taking a nearest driving-off point of Sj corresponding to the controlled area as an ending point, and determining a rectangular area penetrating through the controlled area as a detection range of Sj corresponding to the controlled area; wherein the width of the rectangular region is not less than the maximum width W of the AGV of Sj _j The length of the rectangular region l=vj×tj+2dj, where Vj is the AGV travel speed of Sj and Tj is t ₀ 、t ₁ 、……、t _i-1 、t _i+1 、……、t _n The largest of (a) is the one; dj is the distance Sj corresponds to the closest waiting point of the regulated area from the center of the regulated area.

8. The AGV traffic control method is applied to a detection device of any AGV scheduling system in at least one second AGV scheduling system, and is characterized in that the at least one second AGV scheduling system and the first AGV scheduling system share the same control area; the first AGV scheduling system is configured with a waiting point corresponding to the control area, wherein the waiting point is an AGV stopping position which is on a passing path of the first AGV scheduling system corresponding to the control area, leads to the control area and does not influence the AGVs of other AGV scheduling systems to pass through the control area and is closest to the center of the control area; each second AGV dispatching system is provided with a detection device corresponding to the control area; the method comprises the following steps:

9. The method of claim 8, wherein the step of determining the position of the first electrode is performed,

detecting, in real time, occupancy information of the any second AGV scheduling system corresponding to the controlled area, including:

10. The method of claim 8, wherein the step of determining the position of the first electrode is performed,

11. The method of claim 8, wherein the step of determining the position of the first electrode is performed,

providing the occupancy information to the first AGV scheduling system upon determining that the AGVs of the first AGV scheduling system are to pass the controlled area, comprising:

12. The AGV traffic control system is characterized by comprising a first AGV scheduling system and a second AGV scheduling system, wherein the first AGV scheduling system and the second AGV scheduling system share the same control area; the first AGV scheduling system is configured with a waiting point corresponding to the control area, wherein the waiting point is an AGV stopping position which is on a passing path of the first AGV scheduling system corresponding to the control area, leads to the control area and does not influence the AGVs of other AGV scheduling systems to pass through the control area and is closest to the center of the control area; the second AGV dispatching system is provided with a detection device corresponding to the control area;

13. The utility model provides an AGV traffic control system, its characterized in that, AGV traffic control system includes the first AGV dispatch system, second AGV dispatch system and the third AGV dispatch system of sharing same regulation district, and first AGV dispatch system, second AGV dispatch system and third AGV dispatch system all dispose and correspond to the waiting point and the detection device in regulation district, and the first AGV dispatch system, second AGV dispatch system and each AGV dispatch system among the third AGV dispatch system correspond to the waiting point in regulation district do: the AGVs of the AGV scheduling system pass through the control area and are closest to the center of the control area in stopping positions of the AGVs of the other AGV scheduling systems, wherein the AGVs pass through the control area, and the stopping positions are on a passing path corresponding to the control area and lead to the control area;

And the detection device of each AGV scheduling system in the first AGV scheduling system, the second AGV scheduling system and the third AGV scheduling system is used for detecting the occupation information of the AGV scheduling system corresponding to the control area in real time so that each other AGV scheduling system can acquire when determining that the AGVs of the other AGV scheduling systems are about to pass through the control area.

14. The AGV traffic control device is applied to a first AGV scheduling system and is characterized in that the first AGV scheduling system and at least one second AGV scheduling system share the same control area; the first AGV scheduling system is configured with a waiting point corresponding to the control area, wherein the waiting point is an AGV stopping position which is on a passing path of the first AGV scheduling system corresponding to the control area, leads to the control area and does not influence the AGVs of other AGV scheduling systems to pass through the control area and is closest to the center of the control area; each second AGV dispatching system is provided with a detection device corresponding to the control area; the device comprises: a processor, and a non-transitory computer readable storage medium coupled to the processor via a bus;

15. An AGV traffic control device is applied to a detection device of any AGV scheduling system in at least one second AGV scheduling system, and is characterized in that the at least one second AGV scheduling system and a first AGV scheduling system share the same control area; the first AGV scheduling system is configured with a waiting point corresponding to the control area, wherein the waiting point is an AGV stopping position which is on a passing path of the first AGV scheduling system corresponding to the control area, leads to the control area and does not influence the AGVs of other AGV scheduling systems to pass through the control area and is closest to the center of the control area; each second AGV dispatching system is provided with a detection device corresponding to the control area; the device comprises: a processor, and a non-transitory computer readable storage medium coupled to the processor via a bus;

16. A non-transitory computer readable storage medium storing instructions that, when executed by a processor, cause the processor to perform steps in the AGV traffic control method according to any one of claims 1 to 7 or to perform steps in the AGV traffic control method according to any one of claims 8 to 11.