CN114115281B - Regional automatic traffic control method - Google Patents
Regional automatic traffic control method Download PDFInfo
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- CN114115281B CN114115281B CN202111440752.6A CN202111440752A CN114115281B CN 114115281 B CN114115281 B CN 114115281B CN 202111440752 A CN202111440752 A CN 202111440752A CN 114115281 B CN114115281 B CN 114115281B
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- 238000000034 method Methods 0.000 title claims abstract description 26
- 238000010586 diagram Methods 0.000 description 21
- 230000002457 bidirectional effect Effects 0.000 description 8
- 238000004904 shortening Methods 0.000 description 4
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
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- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention provides a regional automatic traffic control method, which comprises the following steps: robot A n A branch into the junction; robot A n An end point type region moving to the intersection region; scheduling system judgment robot A n+1 Whether the robot needs to enter the middle part of the ending point type area or not, if not, the robot A stands by n Passing through the intersection point of the intersection region, the release robot A n+1 Move to the target branch, otherwise, stand by the robot A n Leaving the junction area and releasing robot A n+1 Moving toward the target leg. According to the regional automatic traffic control method, the end point type region is added, so that the mobile robots in the intersection region are prevented from occupying branches which cannot enter, and the waiting time of other mobile robots which do not share the path point with the mobile robots is shortened.
Description
Technical Field
The invention relates to the field of mobile robot traffic control methods, in particular to an area automatic traffic control method.
Background
In order to avoid collision when the mobile robots move on the tracks, a traffic control scheme is required to be arranged in a specific area (the running route is interfered and the intersection area) of the system so as to determine the sequence of all the mobile robots entering and exiting the area, especially for the intersection area, two crossed tracks are paved on the intersection area, and a single track is arranged as a channel of a bidirectional path (one track allows vehicles to enter from any one end), so that the traffic control scheme is required to be executed on the other three branches in the intersection area to ensure that the mobile robots in the intersection area normally pass, and the specific method is to control all other mobile robots near the intersection area to stop and wait until the mobile robots in the intersection area leave the intersection area (occupied type intersection method) so as to release the next mobile robot.
Disclosure of Invention
The invention aims to solve the problem that when robots exist in an intersection area in the conventional mobile robot traffic control method, traffic control needs to be carried out on the other three intersections in the intersection area at the same time to influence normal traffic of other mobile robots, and provides an area automatic intersection control method.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
a regional automation traffic control method comprises the following steps:
robot A n A branch into the junction;
robot A n An end point type region moving to the intersection region;
scheduling system judgment robot A n+1 Whether the robot needs to enter the middle part of the ending point type area or not, if not, the robot A stands by n Passing through the intersection point of the intersection region, the release robot A n+1 Move to the target branch, otherwise, stand by the robot A n Leaving the junction area and releasing robot A n+1 Moving toward the target leg.
Compared with the prior art, the regional automatic traffic control method provided by the invention is used for the robot A n In the case of moving from one branch of the intersection zone to the end point type zone of the intersection zone, the end point type zone is increased, wherein the end point type zone is set as robot a n Enter the area and robot A n+1 In this region, if robot a adds occupancy of the intersection region n+1 Is not in the region, does not need to perform intersection region execution occupationThe control is carried out without considering whether robots exist in the intersection area or not, and only considering whether the robots influence the operation of other robots because the robots are located in the end point type area, when the inorganic robots are located in the end point type area, the other robots can be directly released, the traffic management on a single track set into a bidirectional path is reduced, the waiting time of the robots passing through the intersection area is shortened, the control is carried out when the control is needed, the robot is directly released when the control is not needed, the traffic jam can be avoided, the waiting time of the robots can be shortened, the operation efficiency of the whole transportation system is improved, in addition, the setting of the end point type area can be adjusted and divided according to actual needs, the flexibility is high, and different traffic conditions can be effectively subdivided and controlled.
Preferably, robot A n When entering one branch of the intersection area, the dispatching system judges the robot A n+1 Whether or not it is necessary to move to robot A n The branch or robot A n Target branch, if not, robot A n+1 Entering one branch of the junction area and waiting, otherwise, robot A n+1 Does not enter the intersection region.
The arrangement mode can avoid moving to the robot A n Branch of the position, robot A n Robot A of target branch n+1 Advanced entry will not interfere with robot A n Shortening A n+1 Is a function of the latency of the system.
Preferably, robot A n When entering one branch of the intersection area, the dispatching system judges the robot A n+1 With robot A n If the vehicle runs in the same direction, if so, waiting for A n Move to the end point type area of the intersection area, A n+1 Entering a junction area, otherwise, judging the robot A by a dispatching system n+1 Whether or not it is necessary to move to robot A n The branch or robot A n Target branch, if not, robot A n+1 Entering one branch of the junction area and waiting, otherwise, robot A n+1 Does not enter the intersection region.
The arrangement mode can avoid moving to the robot A n The branch where is locatedRobot A n Target branch, and robot a n Robot A travelling in the same direction n+1 Advanced entry will not interfere with robot A n Moving area, shorten A n+1 Is a function of the latency of the system.
Another object of the present invention is to provide another method for controlling regional automation traffic management, comprising the steps of:
robot A n An end point region entering the intersection region;
scheduling system judgment robot A n+1 Whether the robot needs to enter the middle part of the ending point type area or not, if not, the robot A stands by n Passing through the intersection point of the intersection region, the release robot A n+1 Move to the target branch, otherwise, stand by the robot A n Leaving the junction area and releasing robot A n+1 Moving to a target branch;
robot A n Moving to the target leg.
Compared with the prior art, the regional automatic traffic control method provided by the invention is used for the robot A n The condition of directly entering the end point type area of the intersection area can avoid that robots in the middle part of the end point type area occupy branches which cannot enter, thereby facilitating other robots to directly pass through the branches which cannot enter by the robots, shortening the waiting time of other mobile robots which do not share the path point with the mobile robot, and reducing the intersection pipe on a single track which is arranged into a bidirectional path.
Preferably, robot A n When entering the end point type area of the intersection area, the scheduling system judges the robot A n+1 Whether or not it is necessary to move to robot A n The branch or robot A n Target branch, if not, robot A n+1 Entering one branch of the junction area and waiting, otherwise, robot A n+1 Does not enter the intersection region.
The arrangement mode can avoid moving to the robot A n Branch of the position, robot A n Robot A of target branch n+1 Advanced entry will not interfere with robot A n On the branch of (2) to shorten A n+1 Is a function of the latency of the system.
Preferably, the end point type region is arranged at the junction point from one branch to the junction region, and the area occupied by the end point type region is smaller, so that resources are saved, and the setting flexibility of the end point type region is improved.
Preferably, the branch of the intersection region is a bidirectional driving channel.
Preferably, at least three branches are provided in the junction region.
Drawings
FIG. 1 is a flow chart of a first embodiment;
FIG. 2 is a schematic illustration of an intersection of a transport system employing the zone automated traffic control method of the present invention;
FIG. 3 is a first state diagram of the first case of the first embodiment;
FIG. 4 is a second state diagram of the first case of the first embodiment;
fig. 5 is a third state diagram of the first case of the first embodiment;
FIG. 6 is a first state diagram of the second case of the first embodiment;
fig. 7 is a second state diagram of the second case of the first embodiment;
fig. 8 is a third state diagram of the second case of the first embodiment;
fig. 9 is a first state diagram of a third case of the first embodiment;
fig. 10 is a second state diagram of the third case of the first embodiment;
fig. 11 is a third state diagram of a third case of the first embodiment;
FIG. 12 is a flow chart of a second embodiment;
fig. 13 is a first state diagram of one case of the second embodiment;
fig. 14 is a second state diagram of one case of the second embodiment;
fig. 15 is a third state diagram of one case of the second embodiment;
FIG. 16 is a flow chart of a third embodiment;
fig. 17 is a first state diagram of the first case of the third embodiment;
fig. 18 is a second state diagram of the first case of the third embodiment;
fig. 19 is a third state diagram of the first case of the third embodiment;
fig. 20 is a first state diagram of the second case of the third embodiment;
fig. 21 is a second state diagram of the second case of the third embodiment;
fig. 22 is a third state diagram of the second case of the third embodiment;
fig. 23 is a first state diagram of a third case of the third embodiment;
fig. 24 is a second state diagram of the third case of the third embodiment;
fig. 25 is a third state diagram of a third case of the third embodiment.
Detailed Description
Embodiments of the present invention are described below with reference to the accompanying drawings:
example 1
Referring to fig. 1, an area automation traffic control method of the present embodiment is applicable to a robot a n A case of moving from one leg of the junction to the end point type region of the junction, comprising the steps of:
robot A n A branch into the junction;
robot A n An end point type region moving to the intersection region;
scheduling system judgment robot A n+1 Whether the robot needs to enter the middle part of the ending point type area or not, if not, the robot A stands by n Passing through the intersection point of the intersection region, the release robot A n+1 Move to the target branch, otherwise, stand by the robot A n Leaving the junction area and releasing robot A n+1 Moving toward the target leg.
Preferably, robot A n When entering one branch of the intersection area, the dispatching system judges the robot A n+1 Whether or not it is necessary to move to robot A n The branch or robot A n Target branch, if not, robot A n+1 Entering one branch of the junction area and waiting, otherwise, robot A n+1 Does not enter the intersection region.
The arrangement mode can avoid moving to the robot A n Branch of the position, robot A n Robot A of target branch n+1 Advanced entry will not interfere with robot A n Shortening A n+1 Is a function of the latency of the system.
Preferably, the end point type region is arranged at the junction point from one branch to the junction region, and the area occupied by the end point type region is smaller, so that resources are saved, and the setting flexibility of the end point type region is improved.
Preferably, the branch of the intersection region is a bidirectional driving channel.
Preferably, at least three branches are provided in the junction region.
In the following, an embodiment of the present invention will be described with reference to the accompanying drawings, and for ease of understanding, four branches are provided in the intersection region of the following embodiment.
Referring to fig. 2, intersection zone range: a1, A2, A3 and A4 enclose a formed region; end point type area range: b1, B2, B3 and B4 enclose a formed region; marking points C1, C2, C3 and C4 are respectively arranged on the four branches, and a junction point D of the junction region is arranged; the end point type area coverage covers D to C3.
See fig. 3-5, a n From C1 to C3, A n+1 From C4 to C3 due to A n+1 Target path and a of (2) n Target path (A) n+1 Need to move to robot a n Target leg) overlap, thus, A n+1 Need to wait for A n Is released into the intersection zone after exiting the intersection zone.
Referring to fig. 6 to 8, a n From C1 to C3, A n+1 From C4 to C1, due to A n+1 Target path and a of (2) n Is coincident with the path of (a), thus, a n+1 Need to wait for A n Is released into the intersection zone after exiting the intersection zone.
See fig. 9-11, a n From C1 to C3, A n+1 From C4 to C2 due to A n+1 Target path of (a)A n Is not coincident with the target path, thus A n+1 Wait A n The intersection point leaving the intersection region can be released into the intersection region, and the waiting time is shortened.
Compared with the prior art, the area automatic traffic control method of the invention increases the end point type area, wherein the end point type area is set as the robot A n Enter the area and robot A n+1 In this region, if robot a adds occupancy of the intersection region n+1 The target branch of the system is not in the area, and the intersection area is not required to be occupied and controlled, so that whether robots exist in the intersection area is not required to be considered, and whether robots exist in the intersection area or not is only required to be considered to influence the operation of other robots due to the fact that the robots are located in the end point type area, when the inorganic robots are located in the end point type area, the other robots can be directly released, traffic pipes on a single track which is set to be a bidirectional path are reduced, waiting time of the robots passing through the intersection area is reduced, the condition that the robots are controlled when the robots need to be controlled is met, the robots are directly released when the robots need not to be controlled is avoided, traffic jam can be avoided, the waiting time of the robots can be shortened, and therefore the operation efficiency of the whole transportation system is improved.
Example two
Referring to fig. 12, this embodiment is a modification of the first embodiment: the appearance and the robot A are added on the basis of the first embodiment n Robot A travelling in the same direction n+1 Is determined according to the condition:
robot A n When entering one branch of the intersection area, the dispatching system judges the robot A n+1 With robot A n If the vehicle runs in the same direction, if so, waiting for A n Move to the end point type area of the intersection area, A n+1 Entering a junction area, otherwise, judging the robot A by a dispatching system n+1 Whether or not it is necessary to move to robot A n The branch or robot A n Target branch, if not, robot A n+1 Entering one branch of the junction area and waiting, otherwise, robot A n+1 Does not enter the intersection region.
The following description applies to one embodiment of the present invention with reference to the accompanying drawings, except for the embodiment shown in fig. 2 to 11:
see fig. 13-15, a n From C1 to C3, A n+1 From C1 to C2 or C3 or C4, due to A n+1 And A is a n Is driven in the same direction (as long as control A n+1 A moving speed of A n+1 And A n No collision occurs), and thus, A n+1 Wait A n The intersection point leaving the intersection region can be released into the intersection region, and the waiting time is shortened.
The arrangement mode can avoid moving to the robot A n Branch of the position, robot A n Target branch, and robot a n Robot A travelling in the same direction n+1 Advanced entry will not interfere with robot A n Moving area, shorten A n+1 Is a function of the latency of the system.
Example III
Referring to fig. 16, an area automation traffic control method of the present embodiment is for a robot a n The case of directly entering the end point type region of the intersection region, comprising the steps of:
robot A n An end point region entering the intersection region;
scheduling system judgment robot A n+1 Whether the robot needs to enter the middle part of the ending point type area or not, if not, the robot A stands by n Passing through the intersection point of the intersection region, the release robot A n+1 Move to the target branch, otherwise, stand by the robot A n Leaving the junction area and releasing robot A n+1 Moving to a target branch;
robot A n Moving to the target leg.
Preferably, robot A n When entering the end point type area of the intersection area, the scheduling system judges the robot A n+1 Whether or not it is necessary to move to robot A n The branch or robot A n Target branch, if not, robot A n+1 Entering one branch of the junction area and waiting, otherwise, robot A n+1 Does not enter the intersection region.
The arrangement mode can avoid moving to the robot A n Branch of the position, robot A n Robot A of target branch n+1 Advanced entry will not interfere with robot A n On the branch of (2) to shorten A n+1 Is a function of the latency of the system.
Preferably, the end point type region is disposed at the junction of a branch to the junction region.
Preferably, the branch of the intersection region is a bidirectional driving channel.
Preferably, at least three branches are provided in the junction region.
The following description, in conjunction with the accompanying drawings, applies to one embodiment of the invention, based on the transport system of fig. 2;
see fig. 17-19, a n From C3 to C1, A n+1 From C4 to C3 due to A n+1 Target path and a of (2) n Is coincident with the path of (a), thus, a n+1 Need to wait for A n Is released into the intersection zone after exiting the intersection zone.
See fig. 20-22, a n From C3 to C1, A n+1 From C4 to C1, due to A n+1 Target path and a of (2) n Target path (A) n+1 Need to move to robot a n Target leg) overlap, thus, A n+1 Need to wait for A n Is released into the intersection zone after exiting the intersection zone.
See fig. 23-25, a n From C3 to C1, A n+1 From C4 to C2 due to A n+1 Target path and a of (2) n Is not coincident with the target path, thus A n+1 Wait A n The intersection point leaving the intersection region can be released into the intersection region, and the waiting time is shortened.
Compared with the prior art, the regional automatic traffic control method can avoid robots in the middle of the entering end point type region occupying branches which cannot enter, thereby facilitating other robots to directly pass through the branches which cannot enter by the robots, shortening the waiting time of other mobile robots which do not share the path point with the mobile robot, and reducing traffic on a single track which is arranged into a bidirectional path.
Variations and modifications to the above would be obvious to persons skilled in the art to which the invention pertains from the foregoing description and teachings. Therefore, the invention is not limited to the specific embodiments disclosed and described above, but some modifications and changes of the invention should be also included in the scope of the claims of the invention. In addition, although specific terms are used in the present specification, these terms are for convenience of description only and do not limit the present invention in any way.
Claims (7)
1. A regional automation traffic control method comprises the following steps:
robot A n A branch into the junction;
robot A n An end point type region moving to the intersection region;
scheduling system judgment robot A n+1 Whether the robot needs to enter the middle part of the ending point type area or not, if not, the robot A stands by n Passing through the intersection point of the intersection region, the release robot A n+1 Move to the target branch, otherwise, stand by the robot A n Leaving the junction area and releasing robot A n+1 Moving to a target branch;
the end point type region is arranged at the junction point from one branch to the junction region.
2. The area automation traffic control method according to claim 1, wherein robot a n When entering one branch of the intersection area, the dispatching system judges the robot A n+1 Whether or not it is necessary to move to robot A n The branch or robot A n Target branch, if not, robot A n+1 Entering one branch of the junction area and waiting, otherwise, robot A n+1 Does not enter the intersection region.
3. According to claimThe method for controlling regional automation traffic control as recited in claim 1, wherein the robot A n When entering one branch of the intersection area, the dispatching system judges the robot A n+1 With robot A n If the vehicle runs in the same direction, if so, waiting for A n Move to the end point type area of the intersection area, A n+1 Entering a junction area, otherwise, judging the robot A by a dispatching system n+1 Whether or not it is necessary to move to robot A n The branch or robot A n Target branch, if not, robot A n+1 Entering one branch of the junction area and waiting, otherwise, robot A n+1 Does not enter the intersection region.
4. A regional automation traffic control method comprises the following steps:
robot A n An end point region entering the intersection region;
scheduling system judgment robot A n+1 Whether the robot needs to enter the middle part of the ending point type area or not, if not, the robot A stands by n Passing through the intersection point of the intersection region, the release robot A n+1 Move to the target branch, otherwise, stand by the robot A n Leaving the junction area and releasing robot A n+1 Moving to a target branch;
robot A n Moving to a target branch;
the end point type region is arranged at the junction point from one branch to the junction region.
5. The method for controlling regional automation traffic control as defined in claim 4, wherein robot a n When entering the end point type area of the intersection area, the scheduling system judges the robot A n+1 Whether or not it is necessary to move to robot A n The branch or robot A n Target branch, if not, robot A n+1 Entering one branch of the junction area and waiting, otherwise, robot A n+1 Does not enter the intersection region.
6. The method of area automation traffic control according to any one of claims 1 to 5, wherein the branch of the junction is a bi-directional travel path.
7. The area automation traffic control method according to any one of claims 1 to 5, wherein at least three branches are provided in the intersection area.
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