AGV scheduling method based on hierarchical simplified map

Abstract

The present invention discloses an AGV scheduling method based on a hierarchical simplified map, comprising the following steps: S1, AGV i Report the current location in real time and determine whether it is in a traffic control area on a hierarchically simplified map. Based on the hierarchically simplified map, the present invention can quickly determine the type of traffic control area a vehicle is currently in, and then adopt a targeted scheduling strategy to avoid collisions and deadlocks between vehicles, ensuring smooth traffic flow on the AGV navigation path, thereby improving AGV traffic control speed and handling efficiency.

Description

Technical Field

[0001] The present invention belongs to the technical field of path planning, and more specifically, to an AGV scheduling method based on a hierarchical simplified map. Background Art

[0002] Modern technology is rapidly developing, and manual labor is gradually being replaced by automated machinery. As my country's technological advancements continue, traditional manufacturing plants are increasingly becoming intelligent and unmanned. The transportation of raw materials and finished products within factories has evolved from workers carrying goods to automated guided vehicles (AGVs) using magnetic tracks to deliver goods to their destinations. Magnetic track-guided AGVs, a common mobile robot solution in factories, are unidirectional robots that travel along pre-set, circular magnetic tracks. However, as production demands increase, the number of magnetic tracks installed within workplaces has also increased. Different magnetic tracks are connected by forks, leading to increasingly complex maps for AGV scheduling systems.

[0003] Application number CN2018116001892, invention name: An AGV scheduling and control system. When the AGV car is currently at a node, it calculates the time window of the next node and detects whether the time window of the next node overlaps. If so, the section weight of the next section of the low-priority AGV is set to infinity, and the shortest driving path from the current node to the terminal node is planned and sent to the corresponding AGV car. The system needs to calculate the time window of the next node in real time, and when there is an overlap in the time window, control the low-priority conflicting AGV to re-plan the path, thereby avoiding the next conflicting node; the scheduling and control system provided by the present invention is only applicable to traffic conflicts on one-way main sections, and cannot adapt to two-way branch sections with loading points. Summary of the Invention

[0004] The present invention provides an AGV scheduling method based on hierarchical simplified maps, aiming to improve the above problems.

[0005] The present invention is implemented as follows: an AGV scheduling method based on a hierarchical simplified map, the method specifically comprising the following steps:

[0006] S1, AGV i Report the current location in real time to determine whether the current location is in a hierarchical simplified map

[0007] Traffic control areas include L-shaped traffic control areas, Y-shaped traffic control areas and T-shaped traffic control areas;

[0008] S2. Use different dispatching methods for different types of traffic control areas;

[0009] The L-shaped traffic control area consists of a main road section and a branch road section, and the in-degree of the main site where the main road section and the branch road section intersect is 2; the Y-shaped traffic control area consists of two main road sections, and the in-degree of the main site where the two main road sections intersect is 2; the T-shaped traffic control area consists of two main road sections and a branch road section, and the in-degree of the main site where the main road section and the branch road section intersect is 3.

[0010] Furthermore, if AGV i In an L-shaped traffic control area, the main road section has a higher priority than the branch road section. The dispatching method in the L-shaped traffic control area is as follows:

[0011] In AGV i When on the main road section, detect whether there is an AGV on the branch road section that does not include the intersecting main site i If the detection result is negative, the AGV is controlled. i Continue forward. If the test result is yes, check whether there are other AGVs on the branch section. j , if it exists, control AGV i Stop until the AGV j Drive out of the branch road. If it does not exist, control the AGV i Keep driving.

[0012] Furthermore, in AGV i When in a branch section, first detect the AGV i Is it heading to the loading station on the branch road? If the test result is yes, the AGV is controlled. i Continue driving. If the test result is no, determine whether there are other AGVs on the main road. j , if it exists, control AGV i Stop until other AGVs j Drive out of the main road; if it does not exist, control the AGV i Keep driving.

[0013] Furthermore, if AGV i Currently in a Y-shaped traffic control area, main road section 1 of the Y-shaped traffic control area has a higher priority than main road section 2. The dispatching method in the Y-shaped traffic control area is as follows:

[0014] If AGV i Currently in main road section 1, control AGV i Continue driving; if AGV i Currently in main section 2, check whether there are other AGVs on main section 1 j If the test result is yes, then control the AGV i Stop until the AGV j Drive out of the main road section 1. If the detection result is no, control the AGV iKeep driving.

[0015] Furthermore, if AGV i The current traffic is in a T-shaped traffic control area. There are main road section 1, main road section 2, and branch road section 3 in the T-shaped traffic control area. The priority of main road section 1 is higher than that of main road section 2, and the priority of main road section is higher than that of branch road section. The specific dispatching method of the T-shaped traffic control area is as follows:

[0016] If AGV i Currently on main road section 1, check whether there is an AGV on branch road section 3 that does not include the intersecting main site i If the detection result is negative, the AGV is controlled. i Continue driving. If the test result is yes, continue to check whether there are other AGVs on branch section 3. j , if it exists, control AGV i Stop until other AGVs j Drive out of branch section 3. If it does not exist, control the AGV i Keep driving;

[0017] Furthermore, if AGV i Currently on main road section 2, check whether there is an AGV on branch road section 3 that does not include the intersecting main site i target site;

[0018] If the test result is no, then check whether there are other AGVs on the main road section 1 j , if it exists, control AGV i Stop until the AGV j Drive out of main road section 1. If it does not exist, control the AGV i Keep driving;

[0019] If the test result is yes, then check whether there are other AGVs on the main road section 1 and branch road section 3 j , if it exists, control AGV i Stop until other AGVs j Drive out of the corresponding main road section 1 or branch road section 3. If it does not exist, control the AGV i Keep driving.

[0020] Furthermore, if AGV i Currently in branch section 3, first detect AGV i Is it heading to the loading station on the branch road? If the test result is yes, the AGV is controlled. i Continue driving. If the test result is no, determine whether there are other AGVs on main road section 1 and main road section 2. j , if it exists, control AGV i Stop until other AGVs jDrive out of the corresponding main road section; if it does not exist, control the AGV i Keep driving.

[0021] Furthermore, the method for forming the hierarchical simplified map is as follows:

[0022] S11. Connect the sites according to the driving path to form a bottom layer map;

[0023] S12, extracting strongly connected regions in the underlying map based on Tarjan algorithm;

[0024] S13. Perform hierarchical simplification on the strongly connected areas to form a hierarchical simplified map.

[0025] Furthermore, the hierarchical simplification process is as follows:

[0026] S131, first layer simplification: Hide the connecting sites of adjacent road sections with the same attributes to form a first layer simplified map;

[0027] S132, second-level simplification: hiding the loading stations in the T-shaped intersection area and the L-shaped intersection area in the first-level simplified map to form a second-level simplified map;

[0028] S133, third-layer simplification: The non-shortest paths between two main sites in the hidden layer are added to the second-layer map to form a third-layer simplified map.

[0029] The hierarchical simplified map takes into account possible conflicts between the branch path and the main path where the loading point is located. Based on the hierarchical simplified map, the type of traffic control area the vehicle is currently in is quickly determined, and targeted scheduling strategies are then adopted to avoid collisions and deadlocks between vehicles, thereby ensuring smooth traffic on the AGV navigation path, thereby improving AGV traffic control speed and handling efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 A flow chart of a path planning method based on a hierarchical simplified map provided by an embodiment of the present invention;

[0031] Figure 2 A schematic diagram of the underlying map provided by an embodiment of the present invention;

[0032] Figure 3 A schematic diagram of a first-layer simplified map provided by an embodiment of the present invention;

[0033] Figure 4 A schematic diagram of a second-layer simplified map provided by an embodiment of the present invention;

[0034] Figure 5 A schematic diagram of a third-layer simplified intermediate map provided by an embodiment of the present invention;

[0035] Figure 6 A schematic diagram of the third-layer simplified map provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0036] The specific implementation methods of the present invention will be further explained in detail below by describing the embodiments with reference to the accompanying drawings, so as to help those skilled in the art to have a more complete, accurate and in-depth understanding of the inventive concept and technical solution of the present invention.

[0037] Figure 1 A flowchart of a path planning method based on a hierarchical simplified map provided in an embodiment of the present invention, the method specifically includes the following steps:

[0038] S1, AGV i Report the current location in real time to determine whether the current location is in the traffic control area of the hierarchical simplified map. Traffic control area types include: L-shaped traffic control area, Y-shaped traffic control area and T-shaped traffic control area;

[0039] The L-shaped traffic control area consists of a main road section and a branch road section. The in-degree of the main intersection site between the main road section and the branch road section is 2. The priority of the main road section is higher than that of the branch road section.

[0040] The Y-shaped traffic control area consists of two main road sections. The in-degree of the intersection main site of the two main road sections is 2. The priority of the two main road sections is set;

[0041] The T-shaped traffic control area consists of two main road sections and one branch road section. The in-degree of the main intersection site between the main road section and the branch road section is 3. The priority of the two main road sections is set, and the priority of the main road section is higher than that of the branch road section.

[0042] S2. Use different dispatching methods for different types of traffic control areas.

[0043] In the embodiment of the present invention, if the AGV i You are currently in an L-shaped traffic control area. The dispatching method in the L-shaped traffic control area is as follows:

[0044] In AGV i When on the main road section, detect whether there is an AGV on the branch road section that does not include the intersecting main site i If the detection result is negative, the AGV is controlled. i Continue forward. If the test result is yes, check whether there are other AGVs on the branch section. j , if it exists, control AGV i Stop until the AGV j Drive out of the branch road. If it does not exist, control the AGV i Keep driving.

[0045] In AGV iWhen in a branch section, first detect the AGV i Is it heading to the loading station on the branch road? If the test result is yes, the AGV is controlled. i Continue driving. If the test result is no, determine whether there are other AGVs on the main road. j , if it exists, control AGV i Stop until other AGVs j Drive out of the main road; if it does not exist, control the AGV i Keep driving.

[0046] In the embodiment of the present invention, if the AGV i Currently in a Y-shaped traffic control area, main road section 1 of the Y-shaped traffic control area has a higher priority than main road section 2. The dispatching method in the Y-shaped traffic control area is as follows:

[0047] If AGV i Currently in main road section 1, control AGV i Keep driving;

[0048] If AGV i Currently in main section 2, check whether there are other AGVs on main section 1 j If the test result is yes, then control the AGV i Stop until the AGV j Drive out of the main road section 1. If the detection result is no, control the AGV i Keep driving.

[0049] In the embodiment of the present invention, if the AGV i The current traffic is in a T-shaped traffic control area. There are main road section 1, main road section 2, and branch road section 3 in the T-shaped traffic control area. The priority of main road section 1 is higher than that of main road section 2, and the priority of main road section is higher than that of branch road section. The specific dispatching method of the T-shaped traffic control area is as follows:

[0050] If AGV i Currently on main road section 1, check whether there is an AGV on branch road section 3 that does not include the intersecting main site i If the detection result is negative, the AGV is controlled. i Continue driving. If the test result is yes, continue to check whether there are other AGVs on branch section 3. j , if it exists, control AGV i Stop until other AGVs j Drive out of branch section 3. If it does not exist, control the AGV i Keep driving;

[0051] If AGV i Currently on main road section 2, check whether there is an AGV on branch road section 3 that does not include the intersecting main sitei target site;

[0052] If the test result is no, then check whether there are other AGVs on the main road section 1 j , if it exists, control AGV i Stop until the AGV j Drive out of main road section 1. If it does not exist, control the AGV i Keep driving;

[0053] If the test result is yes, then check whether there are other AGVs on the main road section 1 and branch road section 3 j , if it exists, control AGV i Stop until other AGVs j Drive out of the corresponding main road section 1 or branch road section 3. If it does not exist, control the AGV i Keep driving.

[0054] If AGV i Currently in branch section 3, first detect AGV i Is it heading to the loading station on the branch road? If the test result is yes, the AGV is controlled. i Continue driving. If the test result is no, determine whether there are other AGVs on main road section 1 and main road section 2. j , if it exists, control AGV i Stop until other AGVs j Drive out of the corresponding main road section; if it does not exist, control the AGV i Keep driving.

[0055] In an embodiment of the present invention, the method for forming a hierarchical simplified map is specifically as follows:

[0056] S11. Connect the sites according to the driving path to form a bottom layer map;

[0057] In an embodiment of the present invention, the site includes a main site and a loading station on the magnetic navigation. The section between the main sites is called the main section, and the section between the main site and the loading station is called the branch section. The branch section is bidirectional, and the main section is unidirectional. The main path composed of the main sections rotates in a unidirectional closed loop.

[0058] S12, extracting strongly connected regions in the underlying map based on Tarjan algorithm;

[0059] In the embodiment of the present invention, since the main path spins in a unidirectional closed loop, a strongly connected region is extracted from the underlying map.

[0060] S13, performing hierarchical simplification on the strongly connected areas to form a hierarchical simplified map;

[0061] In the embodiment of the present invention, the following three-layer hierarchical simplification is performed for each maximum connected area in the underlying map. The hierarchical simplification process is as follows:

[0062] S131, first-level simplification: Hide the connecting stations of adjacent road sections with the same attributes to form a first-level simplified map. The first-level simplification process is as follows:

[0063] S1311. Check whether the current main road segment and the next main road segment have the same direction, and whether the out-degree of the connection point of the two main road segments is 1. If the test results are both yes, the two main road segments are deemed to have the same attributes. The connection site of the two main road segments is hidden in the underlying map, and the identifier of the connection point is added to the intermediate site set corresponding to the merged road segment where the main sites on both sides are located.

[0064] S1312: Take the next main road segment as the current main road segment and execute step S1311 until all main road segments in the current maximum connected area are traversed.

[0065] S132, second-level simplification: Hide the loading stations within the traffic control area in the first-level simplified map to form a second-level simplified map. The second-level simplification process is as follows:

[0066] Detect the T-shaped and L-shaped traffic control areas in the first-layer simplified map, hide the loading stations in the T-shaped and L-shaped traffic control areas, add the identifiers of the hidden stations to the intermediate stations corresponding to the main road section, and add the branch road section and main road section where the hidden stations are located to the sub-areas where the two main stations are located, forming the second-layer simplified map;

[0067] S133. Third-layer simplification: The non-shortest paths between two main sites are hidden on the second-layer map to form a third-layer simplified map. The third-layer simplification method is as follows:

[0068] S1331. Find each primary site A with an out-degree greater than or equal to 2 in the second-layer simplified map. Starting from the direction corresponding to the out-degree of each primary site A, find the next primary site B on the corresponding path.

[0069] 1S332. Obtain all paths between master sites A and B, add the identifiers of the sub-regions that make up the non-shortest paths to the sub-region set of the region where master sites A and B are located, and add the representations of all sites on the non-shortest paths to the intermediate site set corresponding to the two master sites.

[0070] S1333. Execute step S1331 repeatedly until only two main stations exist on the second-level simplified map to form a closed-loop driving path, which is the third-level simplified map, and also the highest-level simplified map.

[0071] The first-layer simplified map, the second-layer simplified map and the third-layer simplified map constitute a hierarchical simplified map.

[0072] Combine Figures 2 to 6 The specific embodiment shown here describes in detail the simplification process of the underlying map, which is described as follows:

[0073] Figure 2 is the bottom map, Table 1 is Figure 2 Corresponding to the data table information in the underlying map;

[0074] Table 1 Data table information in the bottom map

[0075]

[0076]

[0077] The road segment edge-3 between main site 4 and main site 6, the road segment edge-4 between main site 6 and main site 7, and the road segment edge-5 between main site 7 and main site 8 have the same segment attributes, so main site 6 and main site 7 are hidden; the road segment edge-9 between main site 9 and main site 11, the road segment edge-10 between main site 11 and main site 12, and the road segment edge-11 between main site 12 and main site 13 have the same segment attributes, so main site 11 and main site 12 are hidden, thereby forming the first-level simplified map, as shown in FIG. Figure 3 As shown, the corresponding numerical table information is shown in Table 2;

[0078] Table 2 Data table information of the first layer simplified map

[0079] Path ID starting point end Is it bidirectional? Intermediate Node Weight Is it a main road? road1 1 2 0 0 1 1 road2 2 4 0 0 1 1 road3 4 8 0 6-7 3 1 road4 8 9 0 0 1 1 road5 9 13 0 11-12 3 1 road6 13 1 0 0 1 1 road7 1 8 0 0 1 1 road8 1 15 1 0 1 0 road9 2 3 1 0 1 0 road10 4 5 1 0 1 0 road11 9 10 1 0 1 0 road12 13 14 1 0 1 0 road13 13 9 0 0 1 1

[0080] The main road section road1 and the branch road9 form an L-shaped traffic control area, hide station 3, and add the path identification of the main road section road1 and the branch road9 to sub-area 1; the main road section road2 and the branch road10 form an L-shaped traffic control area, hide station 5, and add the path identification of the main road section road2 and the branch road10 to sub-area 2; the main road section road5 and the branch road12 form an L-shaped traffic control area, hide station 14, and add the path identification of the main road section road5 and the branch road12 to sub-area 7; the main road section road6 and the branch road8 form an L-shaped traffic control area, hide station 15, and add the section identification of the main road section road6 and the branch road8 to sub-area 8; the main road section road4, the main road section road13 and the branch road11 form a T-shaped traffic control area, hide station 10, and add the main road section road4 and the branch road11 to sub-area 5, forming a second-layer simplified map, as shown in FIG. Figure 4 As shown, the corresponding table information is shown in Table 3;

[0081] Table 3 Data table information of the second layer simplified map

[0082] Region ID starting point end Intermediate Node Path ID Weight Traffic management strategy 1 1 2 3 1-9 1 PolicyL 2 2 4 5 2-10 1 PolicyL 3 4 8 6-7 3 3 PolicyY 4 1 8 0 7 1 PolicyY 5 8 9 10 4-11 1 PolicyT 6 9 13 11-12-14 5-12 3 PolicyL 7 13 1 15 6-8 1 PolicyL 8 13 9 0 13 1 PolicyT

[0083] The out-degree of main site 1 is 2. Starting from the two out-degree corresponding directions, the next site on both paths is the same, which is main site 8. There are two paths from main site 1 to 8, 1→2→4→8 and 1→8. Since the path 1→8 is short, sub-region 1 where road 1 and road 9 are located, sub-region 2 where road 2 and road 10 are located, and sub-region 3 where road 3 is located are hidden in region -1ST 2 where main site 1 and main site 8 are located. Sub-region 4 where road 7 is located is not hidden, but is also added to region -1ST 2 where site 1 and main site 8 are located. Figure 5 As shown, the corresponding numerical table is shown in Table 4;

[0084] Table 4: The third layer simplified intermediate map data

[0085] Region-1st id starting point end Intermediate Node Sub-region ID Weight 1 13 1 15 7 1 2 1 8 2-3-4-5-6-7 1-2-3,4 1 3 8 9 10 5 1 4 9 13 11-12-14 6 3 5 13 9 0 8 1

[0086] The out-degree of main site 13 is 2. Starting from the two out-degree corresponding directions, the next site on the two paths is the same, that is, main site 9. There are two paths from main site 13 to main site 9, namely 13→1→8→9 and 13→9. Since the path 13→9 is short, the area-1ST 1 where main site 13 and main site 1 are located, the area-1ST 2 where main site 1 and main site 8 are located, and the area-1ST 3 where main site 8 and main site 9 are located. Area-1ST 1, area-1ST 2, and area-1ST 3 are hidden in area 1 where main site 13 and main site 9 are located. Area-1ST 5 where road 13 and road 9 are located is not hidden, but is also added to area 1 where site 13 and main site 9 are located. The simplified map of the third layer is as follows Figure 6 As shown in Table 5, the corresponding numerical table of the third-layer simplified map is shown in Table 5.

[0087] Table 5: Data table of the third layer simplified map

[0088] Region ID starting point end Intermediate Node region-1st-id Weight 1 13 9 1-2-3-4-5-6-7-8-9-10-15 1-2-3,5 1 2 9 13 11-12-14 4 3

[0089] The present invention has been described exemplarily. Obviously, the specific implementation of the present invention is not limited to the above-mentioned method. As long as various non-substantial improvements are made using the method concept and technical solution of the present invention, or the concept and technical solution of the present invention are directly applied to other occasions without improvement, they are all within the scope of protection of the present invention.

Claims

1. An AGV scheduling method based on hierarchical simplified maps, characterized in that: The method specifically comprises the following steps: S1, AGV i Report the current location in real time to determine whether the current location is in the traffic control area of the hierarchical simplified map. Traffic control area types include: L-shaped traffic control area, Y-shaped traffic control area and T-shaped traffic control area; S2. Use different dispatching methods for different types of traffic control areas; The L-shaped traffic control area consists of a main road section and a branch road section. The in-degree of the main intersection site between the main road section and the branch road section is 2. The Y-shaped traffic control area consists of two main road sections, and the in-degree of the intersection main station of the two main road sections is 2; The T-shaped traffic control area consists of two main road sections and one branch road section. The in-degree of the main intersection site between the main road section and the branch road section is 3. The method for forming a hierarchical simplified map is as follows: S11. Connect the sites according to the driving path to form a bottom layer map; S12, extracting strongly connected regions in the underlying map based on Tarjan algorithm; S13, performing hierarchical simplification on the strongly connected areas to form a hierarchical simplified map; The hierarchical simplification process is as follows: S131, first layer simplification: Hide the connecting sites of adjacent road sections with the same attributes to form a first layer simplified map; S132, second-level simplification: hiding the loading stations in the T-shaped intersection area and the L-shaped intersection area in the first-level simplified map to form a second-level simplified map; S133. Third-layer simplification: Hide the non-shortest paths between the two main sites on the second-layer map to form a third-layer simplified map.

2. The AGV scheduling method based on hierarchical simplified maps as claimed in claim 1, characterized in that: If AGV i In an L-shaped traffic control area, the main road section has a higher priority than the branch road section. The dispatching method in the L-shaped traffic control area is as follows: In AGV i When on the main road section, detect whether there is an AGV on the branch road section that does not include the intersecting main site i If the detection result is negative, the AGV is controlled. i Continue forward. If the test result is yes, check whether there are other AGVs on the branch section. j , if it exists, control AGV i Stop until the AGV j Drive out of the branch road. If it does not exist, control the AGV i Keep driving.

3. The AGV scheduling method based on hierarchical simplified map as claimed in claim 2, characterized in that: In AGV i When in a branch section, first detect the AGV i Is it heading to the loading station on the branch road? If the test result is yes, the AGV is controlled. i Continue driving. If the test result is no, determine whether there are other AGVs on the main road. j , if it exists, control AGV i Stop until other AGVs j Drive out of the main road; if it does not exist, control the AGV i Keep driving.

4. The AGV scheduling method based on hierarchical simplified map according to claim 1, characterized in that: If AGV i Currently in a Y-shaped traffic control area, the priority of main road section 1 that constitutes the Y-shaped traffic control area is higher than that of main road section 2. The specific dispatching method in the Y-shaped traffic control area is as follows: If AGV i Currently in main road section 1, control AGV i Continue driving; if AGV i Currently in main section 2, check whether there are other AGVs on main section 1 j If the test result is yes, then control the AGV i Stop until the AGV j Drive out of the main road section 1. If the detection result is no, control the AGV i Keep driving.

5. The AGV scheduling method based on hierarchical simplified map according to claim 1, characterized in that: If AGV i The current traffic is in a T-shaped traffic control area. There are main road section 1, main road section 2, and branch road section 3 in the T-shaped traffic control area. The priority of main road section 1 is higher than that of main road section 2, and the priority of main road section is higher than that of branch road section. The specific dispatching method of the T-shaped traffic control area is as follows: If AGV i Currently on main road section 1, check whether there is an AGV on branch road section 3 that does not include the intersecting main site i If the detection result is negative, the AGV is controlled. i Continue driving. If the test result is yes, continue to check whether there are other AGVs on branch section 3. j , if it exists, control AGV i Stop until other AGVs j Drive out of branch section 3. If it does not exist, control the AGV i Keep driving.

6. The AGV scheduling method based on hierarchical simplified map according to claim 5, characterized in that: If AGV i Currently on main road section 2, check whether there is an AGV on branch road section 3 that does not include the intersecting main site i target site; If the test result is no, then check whether there are other AGVs on the main road section 1 j , if it exists, control AGV i Stop until the AGV j Drive out of main road section 1. If it does not exist, control the AGV i Keep driving; If the test result is yes, then check whether there are other AGVs on the main road section 1 and branch road section 3 j , if it exists, control AGV i Stop until other AGVs j Drive out of the corresponding main road section 1 or branch road section 3. If it does not exist, control the AGV i Keep driving.

7. The AGV scheduling method based on hierarchical simplified map according to claim 5, characterized in that: If AGV i Currently in branch section 3, first detect AGV i Is it heading to the loading station on the branch road? If the test result is yes, the AGV is controlled. i Continue driving. If the test result is no, determine whether there are other AGVs on main road section 1 and main road section 2. j , if it exists, control AGV i Stop until other AGVs j Drive out of the corresponding main road section; if it does not exist, control the AGV i Keep driving.

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