70results about How to "Avoid deadlock" patented technology

The invention relates to a multi-objective optimization scheduling method and system for a multi-AGV flexible job shop. The method comprises the steps of collecting job shop layout data, AGV operation parameters and production task data, and constructing a scheduling system basic model; performing recurrent neural network training and physical constraint model integration to obtain a hybrid scheduling prediction model; subtask decomposition and path search processing are carried out, and a dual-objective optimization model is obtained through constraint linearization conversion; performing particle swarm optimization solution on the dual-objective optimization model, and obtaining a non-dominated solution set through two-stage iterative calculation of an adaptive weight strategy and constraint conversion; performing multi-dimensional evaluation calculation on the non-dominated solution set to obtain an optimal scheduling execution scheme; and performing model feedback updating on the hybrid scheduling prediction model to obtain a target scheduling prediction model. According to the invention, multi-target balance of task completion time and energy consumption is realized, and the real-time response capability and operation stability of the system are improved.

The invention discloses a hierarchical multi-agent game confrontation and collaborative decision-making algorithm based on federated learning, and the algorithm comprises the following steps: setting a federated learning framework containing a plurality of agents, enabling the agents to be located in different regions, and carrying out the training of a local model through the data of the regions; in the federated learning framework, deploying a layered reinforcement learning model in each intelligent body; performing confrontation training on a plurality of agents in a game environment by using a hierarchical reinforcement learning model; on the basis of game confrontation, a collaborative decision algorithm is introduced to coordinate behaviors of multiple agents; and when a preset training round is reached or a specific condition is satisfied, uploading local model parameters to a central server, and sharing the model parameters through a federal learning framework to carry out global optimization. According to the method, efficient collaboration and strategy optimization among multiple agents can be realized on the premise that privacy is protected, and high adaptability and robustness are kept in a complex and changeable environment.

The invention provides a chip resource management method, electronic equipment and a medium. Determining the type of the resource of the chip; configuring the chips according to the types of the resources to obtain a configuration strategy, wherein the configuration strategy comprises permission of different chips to check the resources, a thread synchronization protocol, a resource access protocol, a communication protocol between a real-time core and a non-real-time core, a resource allocation protocol and a task scheduling protocol; testing the resource running state of the chip configured with the configuration strategy; adjusting a configuration strategy according to the test result to obtain a target configuration strategy; the overall performance of the system and the utilization rate of system resources are improved. Through effective thread scheduling, competition of the threads for shared resources can be reduced, and therefore the probability of deadlock occurrence is reduced.

The embodiment of the invention provides a network-on-chip data processing method and device, computer equipment and a storage medium. The method comprises the following steps: when at least one message to be transmitted is detected, adding the message to a message queue to be transmitted; when to-be-transmitted messages in multiple propagation directions exist in the to-be-transmitted message queue, determining the state of an output port pointed by each to-be-transmitted message; when the candidate to-be-transmitted messages of which the pointing output port state is an idle state exist, selecting a target to-be-transmitted message from a plurality of candidate to-be-transmitted messages according to a preset arbitration priority for transmission; repeatedly executing the step of selecting a target to-be-transmitted message from the plurality of candidate to-be-transmitted messages according to the preset arbitration priority and transmitting the target to-be-transmitted message until the candidate to-be-transmitted message of which the pointing output port state is an idle state does not exist in the to-be-transmitted message queue; and when the to-be-transmitted message queue does not contain the to-be-transmitted message, stopping processing the to-be-transmitted message queue. Therefore, the transmission efficiency can be improved, and deadlock can be prevented.

The invention discloses an application layer flow control method based on image network transmission, and relates to the technical field of data transmission and management.The method comprises the steps that a camera SDK is used for creating an acquisition queue containing a buffer in a host application layer, and the host application layer can receive image data sent by a camera through the acquisition queue; the method comprises the following steps of: receiving a buffer, putting the corresponding buffer into a processing queue to inform a user to process, feeding back the condition of the buffer to a camera in real time by a host application layer through a communication link in the process, determining whether to continuously send an image or not by the camera according to a feedback result, and stopping image transmission in time when the buffer capability of a host is insufficient to avoid data loss; in the technical scheme of the invention, a host application layer can feed back the real-time information of the buffer in the acquisition queue to the camera through a link, and when the host does not have a buffer area, the transmission is suspended and the image is stored in the buffer of the camera, so that the flow control from a data source to the application layer is realized; the problem of transmission stability in network industrial camera application is effectively solved, and the network transmission reliability is improved.

The invention discloses a distributed multi-unmanned aerial vehicle motion planning method and system for electric power inspection. The method comprises the following steps: adding a collision avoidance strategy of flying to the right on the basis of a JPS algorithm; an improved JPS algorithm is combined with an SCA algorithm, and collision prevention of dynamic obstacles and static obstacles in the power inspection process of the unmanned aerial vehicle is achieved. According to the invention, on the global path planning level, on the basis of a traditional JPS method, a flight strategy which is close to the right relative to the current flight direction is selected, and an improved JPS algorithm and an SCA algorithm are combined and applied to a power inspection scene in which multiple unmanned aerial vehicles cooperate, so that collision prevention of dynamic obstacles and static obstacles in the power inspection process of the unmanned aerial vehicles can be realized; the problem of motion planning of the multiple unmanned aerial vehicles in an electric power inspection scene is successfully solved, the deadlock problem between the unmanned aerial vehicles and between the unmanned aerial vehicles and obstacles is reduced, and the challenge that the multiple unmanned aerial vehicles land in the aircraft nest at the same time is considered and overcome under the condition that the position of the aircraft nest is known.

The embodiment of the invention discloses a disposable booster, a doctor does not need to pay time to maintain the booster, and fast, efficient and safe use of the booster is achieved. The booster comprises a push rod, a connecting structure and a medicine bin. The connecting structure is tubular, the first end face of the connecting structure is provided with a first through hole connected with the push rod in a matched mode, and the second end of the connecting structure is provided with a first buckle structure; the medicine bin is tubular, the first end of the medicine bin is provided with a second buckle structure matched with the first buckle structure, the second end of the medicine bin is provided with a needle head connecting structure, and a non-detachable connecting structure is formed when the first buckle structure and the second buckle structure are connected in a matched mode; the push rod is matched with the first through hole and is connected with the connecting structure in a sliding and penetrating mode.

The invention relates to the technical field of ship mooring, and particularly discloses a flywheel energy storage type wharf ship auxiliary mooring system and a control method.The flywheel energy storage type wharf ship auxiliary mooring system comprises an energy storage module, a transmission module, a winch module and an electric control module, the winch module comprises a winch and a mooring cable, one end of the mooring cable is connected with the winch, and the other end of the mooring cable can be connected with a ship so that the ship can be moored; the energy storage module comprises a flywheel, the flywheel has an energy storage state and an energy release state, the energy storage state and the energy release state of the flywheel are switched by the electric control module according to the tension of the mooring line, and under the condition that the tension of the mooring line is too large, namely the ship has the offshore motion trend, the flywheel can absorb the ability of the ship to drive the mooring line to be released by offshore motion. Under the condition that the tension of the mooring line is too small, the flywheel releases energy to drive the winch to wind the mooring line, tensioning of the mooring line is achieved, real-time adjustment of the tension of the mooring line can be achieved, the mooring requirement of a ship is better met, meanwhile, the flywheel is used for storing and releasing energy, and energy consumption can be greatly reduced.

The invention discloses a parallel scheduling method of a large aircraft cable test system based on operation line simulation and an implementation mode thereof, and the parallel scheduling method comprises the steps: building a mathematical model based on the conditions of test task time sequence constraint, resource constraint and the like, and carrying out the search in a model solution space through a genetic algorithm; according to the method, chromosome coding is carried out on the basis of the test task execution starting moment, the natural organism survival process is simulated to seek an optimal solution, the instrument waiting defect in a static model is optimized, and the parallel sequence scheduling problem of a complex topology cable network test system on a large aircraft is effectively solved.

The invention relates to an anti-pinch hand detector, which comprises a shell and a detection assembly in the shell, the detection assembly comprises a circular turntable, a door capable of moving relative to the turntable, a first motor and a second motor, the turntable is provided with a plurality of test channels, and a detection card can be inserted into each test channel. The rotating disc is driven by the first motor to rotate so as to drive the plurality of test channels to rotate, the detection cards can be inserted into the test channels when the door is opened, and the detection cards are prevented from being inserted into the test channels when the door is closed, the elastic element is used for driving the door to be closed, and the second motor is used for driving the door to be opened when rotating forwards. During reverse rotation, part of resilience force of the elastic element in the closing process of the door is counteracted. The detector is provided with an anti-pinch mechanism, fingers of an operator are prevented from being pinched by the detector in the operation process, and medical accidents in the field of detection and diagnosis are avoided. The device is simple in structure, low in cost and low in fault.

The invention generally belongs to the field of flight simulation, and particularly relates to a HOTAS simulation unit for avionics system simulation. At present, simulation of an aircraft avionics system is mostly that a plurality of independent simulation units are developed for each piece of avionics equipment, but a large number of keys for controlling different equipment under different conditions or executing different functions of the same equipment are involved in control of a modern Hands On Throttle and Stack. Therefore, complex logic interaction and interface design among different avionics simulation units can be involved when the whole avionics system simulation is carried out. According to the software module and the data processing method special for logic processing and function control of the aircraft hand-not-leave-rod system, the current control intention of a pilot is correctly recognized through unified collection and unified judgment of key control information and avionics state information; the method has the advantages of reducing the simulation logic complexity of the avionics system, improving the judgment accuracy, reducing the coupling degree of each avionics simulation unit, shortening the development period and the like.

The present application relates to the technical field of computer, and provides a synchronous task execution method, device, equipment and medium, the method comprises the following steps: receiving a task queue set submitted by multiple user processes; obtaining a first execution task from a first task queue in the task queue set; in the case that the first execution task is a synchronous task, simulating the first execution task based on a software language, realizing a synchronization mechanism corresponding to the first execution task; based on the synchronization mechanism and a scheduling rule, executing the execution tasks in the task queue set. The present application simulates the synchronization mechanism corresponding to the synchronous task by software to schedule the tasks in each task queue, so that each task is executed in turn according to the expected order of the user process, realizing the software to execute the synchronous task, and at the same time, the task queue that does not meet the execution condition is switched in real time according to the scheduling rule in the software simulation, avoiding waiting all the time, and further avoiding the deadlock between processes when multiple processes use the device simultaneously.

The invention discloses a layered planning method for indoor autonomous exploration of a mobile robot based on dynamic prediction, and the method comprises the steps: S1, dividing an exploration environment where the robot is located into a plurality of local subspaces, and marking the state of each subspace as an unexplored state, an explored state, an explored state or a semi-explored state according to the data of a sensor and a semantic detection result; s2, establishing a global topological graph connected with each subspace, and planning a global access path by using a traveling salesman problem model; s3, integrating a pedestrian trajectory prediction model in the selected current subspace, and evaluating and selecting a local viewpoint capable of maximizing information gain and minimizing dynamic collision risk based on a prediction result; the method has the beneficial effects that a semi-exploration state and a self-adaptive revisit mechanism are introduced, and when the door is possibly opened, the check is turned back, so that the dead angle of a map is eliminated, and the exploration completeness is improved; pedestrian trajectory prediction is incorporated into viewpoint scoring, and people deadlock is avoided.

The invention provides a method and a system for monitoring a process state by adopting a watchdog mechanism and a computer program product, the method is applied to the system for monitoring the process state by adopting the watchdog mechanism, and the system comprises at least one business process, at least one monitoring service process and Redis; the method comprises the steps that when a first service process is initialized, a target heartbeat key named by a unique identifier is written into Redis, and TTL is set for the target heartbeat key; the Redis stores a target heartbeat key; when the first service process runs, the TTL is periodically updated; the Redis receives the TTL updated by the first service process; and the first monitoring service process monitors whether the target heartbeat key exists in the Redis. According to the method provided by the invention, the problems of data competition and deadlock in the shared memory are avoided, and the system stability is improved.

This application relates to the field of integrated circuit design technology and discloses an on-chip network deadlock prevention method and system based on path reservation and credit backhaul. The core of the method lies in proactively locking virtual channel resources along the entire path via an independent reservation request packet along an adaptive route before data packet transmission. Combined with a "credit backhaul confirmation" mechanism, data packets are only allowed to be injected into the network after the source node receives an confirmation packet, thus transforming resource dependencies into unidirectional credit flow control. Simultaneously, reservation resource management is achieved by setting a distributed reservation state table in each router, and soft reservation and multi-path exploration mechanisms are introduced to improve resource utilization efficiency and path selection flexibility. This scheme fundamentally breaks the conditions for circular waiting, completely avoids deadlock, and eliminates the performance bottleneck of traditional methods when virtual channel resources are limited, achieving high determinism in data transmission, low blocking risk, and high efficiency in resource utilization.

The utility model relates to the technical field of automobile parts, in particular to an electric vehicle door handle quick opening mechanism which comprises an electric vehicle door body, a base is arranged on the outer side of the electric vehicle door body, a door handle body and a lock key assembly are arranged on the inner side of the base, and the lock key assembly is used for unlocking or locking the door handle body. According to the door handle body, the first handle and the second handle are detachably connected through the fastening bolt through the separable handle design, so that an operable mechanical emergency channel is provided for rescue workers when electric control completely fails, and the problem that the door handle is locked due to complete power failure caused by an accident or power shortage of a vehicle is solved; when the lock key assembly is in a normal power-on locking state, the electromagnet is powered on, generates magnetic force and attracts the iron core on the lock key, so that the lock key overcomes the tension of the spring to rotate around the hinge point, and the bent part of the lock key is inserted into the lock groove of the second handle, so that the whole door handle body is mechanically locked at the folding position.

The application discloses a bamboo bending device which is mainly composed of a speed-regulating motor, a belt transmission, a bending arm, a gas-liquid mixing cylinder, a force-adding pressure head, a bending die, a fixed die, a bending roller, a temperature control device and a heating device. The bending arm is fixed on a main shaft through a key groove, and the overall shape of the bending arm is similar to an L type. The bending die is fixed on the bending arm through a shaft, and the fixed die is fixed on a box body through a stand column. The gas-liquid mixing cylinder is fixed on a single-ear or double-ear cylinder base through a screw, and a stand plate is fixed on the cylinder base through a screw, so that the gas-liquid mixing cylinder can rotate by a certain angle on the bending arm. The force-adding pressure head is fixed on a cylinder head through a screw, and a linear slide rail is fixed on the force-adding pressure head through a screw, so that the movement track of the force-adding pressure head is positioned. The bending roller is fixed on the force-adding pressure head through a fixed shaft, so that the bending die, the fixed die and the bending roller can be just put into a bamboo and fixed in the initial position.

The present invention relates to a method, a computing device, a medium and a program product for generating random thread emission in a thread warp. The method comprises: configuring a thread local register in the thread warp to maintain a program counter of a subsequent expected execution of each thread in the thread warp, wherein the thread warp shares a program counter; in response to determining that the execution of a basic block of a program is completed, selecting an active thread as a representative thread; and using the program counter of the subsequent expected execution of the representative thread as the program counter of the subsequent expected execution of the thread warp. The present invention can not only avoid thread deadlock through a program solution, but also complete automatic transformation in a compiler.

The application provides a wafer-level reconfigurable data stream chip, a task execution fault-tolerant method and a board, the chip comprising: a plurality of processing units, a plurality of memories corresponding to the processing units one by one and an on-chip network, in a target task data stream, if a downstream processing unit has a fault, a current processing unit determines a backup processing unit in the neighborhood of the processing unit having the fault; the memory stores a local routing table and a shadow context, the shadow context being a target task execution context sent by a processing unit in the neighborhood; the on-chip network routes the target task data stream to the backup processing unit, the backup processing unit executes the target task according to the target shadow context and to-be-processed data, through distributed storage of the shadow context and dynamic routing update, target task seamless continuation to the backup processing unit after a fault occurs is realized, the continuity of data stream execution is ensured, and the autonomous fault-tolerant capability and operation stability of the system in a high-density integrated environment are improved.

This invention presents a vehicle decision-making method for connected mixed-traffic intersections based on game theory, belonging to the field of vehicle intelligent interaction and traffic safety technology. It utilizes vehicle-to-vehicle (V2V) communication and roadside units (RSUs) to acquire real-time information on the status of surrounding vehicles and driver characteristics, identifying potential conflict points. Based on a first-come, first-served principle, a global priority identification algorithm is executed to construct an acyclic priority sequence for all vehicles. Differentiated game models are adopted according to the interaction type: when the two players are CAV (Carrier Ability) and CMV (Carrier Traffic Vehicle), a non-cooperative game strategy maximizing the minimum value is used; when both players are CAV, a cooperative game strategy is used to maximize their total benefit. Finally, the optimal action is used to control the vehicles. This invention significantly improves intersection traffic efficiency while ensuring safety.

This invention proposes a distributed multi-UAV deadlock prevention method and system based on sub-target mode switching, belonging to the field of UAV trajectory planning technology. It includes: dynamically allocating flight priorities of multiple UAVs based on the principle of prioritizing near-target points; when a UAV faces deadlock risk, executing a deadlock prevention process based on sub-target mode switching; for UAVs without deadlock risk, trajectory planning is performed according to preset priorities; for UAVs with deadlock risk, a sub-target mode determination process is used to determine the mode used for deadlock prevention, thereby achieving collaborative deadlock avoidance among multiple UAVs. This invention can efficiently solve the multi-UAV deadlock problem for various highly complex flight scenarios, thus meeting the quality requirements of multi-UAV collaborative operations.

The utility model provides an anti-lock drilling tool for coiled tubing operation, and relates to the technical field of oil-gas exploration and development. The anti-lock drilling tool comprises a drilling tool main body, a first flexible shaft universal shaft and a spiral rotor, and the driving shaft, the first flexible shaft universal shaft and the spiral rotor are jointly sleeved with a first shell; the anti-locking assembly comprises an anti-falling connecting rod, a second flexible shaft cardan shaft and a first adjusting piece, the anti-falling connecting rod is connected with the spiral rotor, the anti-falling connecting rod, the second flexible shaft cardan shaft and the first adjusting piece are jointly sleeved with a second shell, and the opposite ends of the second shell and the first shell are connected in a sealed mode; the end, away from the anti-falling connecting rod, of the first adjusting piece is rotationally connected with a second adjusting piece, the first adjusting piece and the second adjusting piece are connected to form an adjusting cavity, and a first through hole and a second through hole are formed in the outer side of the first adjusting piece and the outer side of the second adjusting piece correspondingly. And the connecting joint is provided with a flow guide channel communicated with the adjusting cavity. The coiled tubing locking device can prevent the coiled tubing from being locked during operation.

The method, device, equipment, storage medium and program product provided by the embodiments of the present disclosure can calculate the theoretical minimum physical construction period through the obtained engineering related data, check and update the subjective requirement data of the tendering party, generate subjective update data, extract the parameterized content and key parameters of the subjective update data, write into the electronic contract after determining the actual use ratio and the standby ratio, form the engineering contract, decompose the sub-division engineering into the most basic acceptable tasks according to the engineering contract, generate the right-verification voucher after the instant visa of the temporary event is checked and accepted, grade the payment after the work results in the right-verification voucher are mapped through three levels, finally generate the completion report based on the payment results, realize the whole-link penetration type information processing management from the tendering to the completion, and realize the transformation of the engineering information processing from the lagging audit to the instant locking and from the fuzzy allocation to the accurate and direct.

The invention provides a method of operating a dispensing system (110), where the dispensing system (110) comprises:-a plurality of carriers (112) configured for carrying one or more objects (114),-a transport plane (122) configured for supporting the carriers (112), where the transport plane (122) comprises a plurality of transport modules (124) configured for supporting the carriers (112), wherein a grid (126) of logical positions (128) is defined on the transport plane (122),-a drive system (130) configured for moving the carrier (112) between the logical positions (128) on the transport plane (122),-a control system (136) configured for controlling the drive system (130), where the control system (136) comprises a route planning system (138) configured for planning a route of the carrier (112) between the logical positions (128) on the transport plane (122). The route planning system is configured for calculating a route for the carrier (112) wherein the method comprises the steps of: a) defining a global pattern of safety points (148) by using the route planning system (138) and applying the global pattern on the transport plane (122), wherein the safety point (148) is a logical position (128) selected taking into account the range of movement of the carrier (112) occupying the logical position (128), such that the carrier (112) can be placed and removed again at the safety point (148), and wherein the global pattern is applied to the transport plane (122) without being affected by module boundaries; b) calculating partial routes for the carrier (112) by using the route planning system (138) such that the end position of each partial route is one of the safety points (148) or has a free path to one of the safety points (148) that is reachable in the next partial route. Furthermore, the invention discloses a distribution system (110) for carrying out the method according to the invention, as well as a computer program and a computer-readable storage medium.

The invention discloses an intelligent water conservancy information management method and system based on a block chain, and relates to the field of water conservancy data storage and sharing. The method comprises the steps that (1) an intelligent water conservancy platform based on a block chain and an IPFS file system is constructed, and after a user makes a data uploading request, the platform receives data and stores the data in the IPFS; (2) the IPFS feeds back an address hash value corresponding to the data to the block chain, and the block chain node packages the hash value in a transaction record; (3) a main node election mode of the block chain adopts a vote change mechanism, the candidate node free time number and the slave node free time number are compared, and the candidate node with the maximum free time number is selected as a main node; and (4) the block passing through the node consensus is added into the block chain, the data on the chain is displayed on a platform page, and the user can check and modify the data according to the authority. Safe storage and sharing of the water conservancy data are achieved, the data storage efficiency is improved, the consensus time is shortened, and the system throughput is improved.

Embodiments of the present application provide a thread pool management method and device, and electronic equipment. The method comprises: in the case of detecting a first task, determining a first thread pool for executing a second task from a thread pool call chain, wherein the thread pool call chain is a call chain composed of multiple thread pools, and the first task is a subtask submitted during execution of the second task; selecting a second thread pool in the thread pool call chain to execute the first task, wherein the second thread pool is at a first position in the thread pool call chain, and the first position is after a second position of the first thread pool in the thread pool call chain. Embodiments of the present application enable the first task and the second task to be processed by different thread pools respectively, thereby solving the deadlock problem caused by parent and child tasks entering the same thread pool to compete for thread resources.

The present application relates to a kind of port unmanned truck intersection cooperative traffic method, system and medium, the method comprises: L1.unmanned truck vehicle sequence executes port operation task, through intersection, based on intersection road testing equipment, vehicle arrival intersection time series data information and the number data information of vehicle are acquired in real time, and according to vehicle number data information, the task trajectory data information of vehicle is obtained;L2.based on the vehicle arrival intersection time series data information and the number data information of vehicle, with the number data information of vehicle as the basis, time series priority algorithm is used to preliminary optimization vehicle traffic sequence.The present application not only determines the traffic priority of all trucks at the intersection to be passed in advance, lets part of the trucks wait, part of the trucks go first, but also can avoid the deadlock problem caused by multiple vehicles entering the intersection at the same time, improve the traffic efficiency, and further improve the work efficiency, save labor cost.

The present application relates to a hand clamping prevention detector, comprising a shell and a detection assembly in the shell, the detection assembly comprising a circular turntable, a door movable relative to the turntable, a first motor and a second motor, the turntable being provided with a plurality of test channels, each test channel being capable of inserting a detection card, the turntable being driven to rotate by the first motor and in turn driving the plurality of test channels to rotate, the detection card being capable of being inserted into the test channel when the door is opened, the door preventing the detection card from being inserted into the test channel when the door is closed, the detection assembly further comprising an elastic element for driving the door to close, the second motor being used for driving the door to open when the second motor is forward rotated and being used for offsetting part of the elastic force of the elastic element during the closing process of the door when the second motor is reverse rotated. The detector has a hand clamping prevention structure, preventing the fingers of the operator from being injured by the detector during the operation process, and avoiding the occurrence of medical accidents in the detection and diagnosis field. The present application has a simple structure, low cost and low failure.

The invention relates to a ring oscillator. The ring oscillator comprises a starting circuit which drives the ring oscillator to start normal work when the ring oscillator is powered on; the first current source circuit is connected to the starting circuit and generates first current in direct proportion to absolute temperature; a second current source circuit connected to the first current source circuit and generating a second current having a negative temperature coefficient capable of compensating the absolute temperature based on the first current; the third current source circuit is connected to the first current source circuit and the second current source circuit, and generates third current irrelevant to absolute temperature based on the first current and the second current; an oscillator core circuit connected to the third current source circuit and generating an oscillator output frequency based on the bias voltage; and the frequency compensation circuit is connected to the first current source circuit, the third current source circuit and the oscillator core circuit, and generates control current based on the first current and the third current to compensate the output frequency of the oscillator.

The invention discloses a multi-AGV path planning method for avoiding path conflict and deadlock, relates to the technical field of path planning, fundamentally solves the deadlock problem by building a channel extension time window model, and the model avoids mutual independence by building the correlation between channel resources, so that the path conflict and deadlock can be avoided. The possibility of deadlock caused by formation of AGV circulation waiting is actively eliminated on the system design level, so that AGV path deadlock prevention is realized, in the aspect of traffic efficiency, a tailgating search and same-direction strategy is innovatively proposed, the bottleneck of traditional single-channel exclusive occupation is broken through, the flexibility of path planning is improved through the tailgating search strategy, unnecessary detour is reduced, and the path planning efficiency is improved. The same-direction strategy allows multiple vehicles to cooperatively use the channel under the safe interval, the single-channel throughput and the road resource utilization rate are remarkably improved, and the congestion probability and the intersection conflict are effectively reduced through combination of the two.