Dynamic traffic control methods, systems, devices, computer equipment and storage media

Abstract

This application relates to the field of automated guided vehicle (AGV) transportation technology, and discloses a dynamic traffic control method, system, device, computer equipment, and storage medium. This application ensures that when a driving command is sent to a transportation device in a target industrial scenario, each point in the route has exactly one direction, and that direction is consistent with the driving direction of the transportation device. This prevents situations where opposing transportation devices coexist on the same route, thus avoiding the problem of opposing deadlock. Furthermore, the transportation device will only move when the direction of each point in the route is locked, and the occupancy status of the first preset number of traversed points is unoccupied. This prevents the transportation device from moving arbitrarily, allowing for better obstacle avoidance and control of the transportation devices. In densely populated industrial scenarios, this ensures that AGVs do not collide with each other and do not experience opposing deadlock, thereby guaranteeing the production cycle time and achieving the goal of timely logistics transfer.

Description

Technical Field

[0001] This application relates to the field of automated guided vehicle transportation technology, specifically to dynamic traffic control methods, systems, devices, computer equipment, and storage media. Background Technology

[0002] With the development of the manufacturing industry, the impact of logistics on production efficiency and quality is becoming increasingly significant, especially the traffic control of Automated Guided Vehicles (AGVs), which plays a crucial role in the entire production process.

[0003] Traditional traffic control for AGVs mostly involves pre-planning static control zones at intersections of AGV routes or in areas where mechanical collisions are likely. This method is suitable for simple loop-shaped industrial scenarios, but it cannot effectively manage collisions in densely populated industrial environments. This leads to problems such as AGVs colliding with each other and deadlocks on bidirectional routes, resulting in low logistics efficiency, substandard production cycles, and delivery delays.

[0004] Therefore, in industrial settings with dense workstations, ensuring that AGVs do not collide or lock up in opposite directions, thereby guaranteeing the production cycle and achieving the timeliness of the entire logistics transfer, has become an urgent problem to be solved. Summary of the Invention

[0005] In view of this, this application provides a dynamic traffic control method, system, device, computer equipment, and storage medium to solve the problem of how to ensure that AGVs do not collide or lock up in opposite directions in industrial scenarios with dense workstations, thereby ensuring that the production cycle meets the standard and achieving the timeliness of the entire logistics transfer.

[0006] In a first aspect, this application provides a dynamic traffic control method applied to a dynamic traffic control system, the method comprising:

[0007] The first preset number and current position of the target transportation equipment in the target industrial scene are obtained, as well as the planned direction and current direction of each point in the target route. The first preset number is used to indicate the number of landmarks occupied by the target transportation equipment from the current position forward during its travel. The planned direction is the travel direction of the target transportation equipment in the target route.

[0008] When the planned direction of the first point matches the current direction of the first point, the current direction of the first point is locked as the planned direction, and the first point is any point in the target route;

[0009] When the current direction of each point in the target route is locked, the occupancy status of the first preset number of landmarks ahead is traversed from the current position of the target transportation equipment in the target route.

[0010] When the first preset number of landmarks are all in an unoccupied state, a driving instruction is sent to the target transportation equipment.

[0011] In the above technical solution, when the current direction of a point in the target route matches the planned direction of that point, the current direction of that point is locked as the planned direction, ensuring that there is only one current direction for that point and avoiding the situation where a point in the target route has multiple different current directions. Furthermore, when the current direction of each point in the target route is locked, the occupancy status of a first preset number of points ahead is traversed, starting from the current position of the target transport equipment. When all points ahead are unoccupied, a driving command is sent to the target transport equipment. This ensures that when a driving command is sent to a transport equipment in a target industrial scenario, each point in the route has exactly one direction, and that direction is consistent with the driving direction of the transport equipment, preventing situations where there are opposing transport equipment on the same route, thus avoiding the problem of opposing deadlock. In addition, the transport equipment will only move when the direction of each point in the route is locked and the occupancy status of the first preset number of traversed points is unoccupied, preventing the transport equipment from moving arbitrarily and allowing for better obstacle avoidance management, thereby preventing collisions between transport equipment. This ensures that AGVs do not collide or lock up in opposite directions in industrial settings with dense workstations, thereby guaranteeing the production cycle time and achieving the goal of timely logistics transfer.

[0012] In some optional embodiments, when at least one of the first preset number of landmarks is in an occupied state, the sending of driving instructions to the target transport equipment is stopped;

[0013] Once the occupancy status of the first preset number of landmarks is determined to be unoccupied, a driving instruction is sent to the target transport equipment.

[0014] In the above technical solution, when at least one of the first preset number of landmarks is in an occupied state, the transmission of driving instructions to the target transport equipment is stopped, and the target transport equipment waits in place. Driving instructions are only transmitted to the target transport equipment after it is determined that all of the first preset number of landmarks are unoccupied. This prevents the target transport equipment from continuing to drive towards a landmark that is occupied by another transport equipment, thus avoiding collisions between the target transport equipment and other transport equipment.

[0015] In some optional embodiments, when the occupancy status of a preset number of landmarks is unoccupied, after sending a driving instruction to the target transport equipment, the method further includes:

[0016] Monitor the position changes of the target transportation equipment as it travels along the target route to obtain the historical positions that the target transportation equipment has traveled during its journey;

[0017] Obtain the landmark information corresponding to the historical location, including the occupancy status and type of the landmark;

[0018] When the landmark type is a static area or point, the occupancy status of the landmark corresponding to the historical location is unlocked.

[0019] In the above technical solution, after sending a driving command to the target transport equipment, the system monitors the position changes of the target transport equipment as it travels along the target route to obtain the historical locations it has traversed. This allows for the acquisition of the occupancy status and landmark identifiers corresponding to these historical locations. Based on the landmark identifiers, the landmark type is determined. When the landmark type is a static area or point, the occupancy status of the landmark corresponding to the historical location is unlocked. This ensures timely unlocking of landmarks passed by the target transport equipment, preventing other transport equipment from becoming stuck due to delayed unlocking. In densely populated industrial scenarios, this ensures that AGVs do not collide or experience mutual deadlocks, while also improving the timeliness of dynamic traffic control.

[0020] In some optional embodiments, when the target transport equipment has been activated and its functions are occupied, the method further includes:

[0021] In the target route, starting from the current position of the target transportation equipment, traverse the occupancy status of the second preset number of landmarks behind it;

[0022] When there are any unoccupied landmarks among the second preset number of landmarks, the occupancy status of the unoccupied landmarks will be changed to occupied.

[0023] In the above technical solution, when the target transport equipment activates the occupancy function, the post-occupancy management module will traverse the occupancy status of a second preset number of landmarks along the target route, starting from the current position of the target transport equipment, to change the occupancy status of any unoccupied landmarks to occupied. That is, when the target transport equipment activates the occupancy function, it will change the occupancy status of the second preset number of landmarks already passed by the target transport equipment to occupied, starting from the current position of the target transport equipment. This ensures that when other transport equipment passes over landmarks already passed by the target transport equipment, it needs to consider the occupancy status of those landmarks. If a landmark is occupied, other transport equipment cannot pass over that landmark, preventing collisions between other transport equipment and the target transport equipment behind it, further avoiding collisions in densely populated industrial environments.

[0024] In some optional embodiments, when the landmark type is a non-static area, the landmark information also includes the occupancy status of the landmark corresponding to each point in the area point set; the method further includes:

[0025] Based on the target route and the set of regional locations, obtain the locations already occupied by the target transportation equipment;

[0026] When it is determined that the location occupied by the target transportation equipment does not belong to a non-static area, the occupancy status of the non-static area is unlocked.

[0027] In the above technical solution, when the landmark type is a non-static area, the points already occupied by the target transportation equipment are obtained based on the target route and the set of points in the area. Then, the non-static area is unlocked only when it is determined that the points already occupied by the target transportation equipment do not belong to the non-static area. Since a non-static area includes multiple points, when a point already occupied by the target transportation equipment belongs to a non-static area, it means that at least one of the route segment formed by the points passed by the target transportation equipment, the points the target transportation equipment has not yet reached, and the current position of the target transportation equipment is within the non-static area. The non-static area is only unlocked when none of the points passed by the target transportation equipment, the points the target transportation equipment has not yet reached, or the current position of the target transportation equipment are within the non-static area. This achieves the unlocking operation of non-static areas in complex industrial scenarios where the dynamic changes in the occupancy status of route segments and points within the area need to be considered.

[0028] In some optional embodiments, when the landmark type is a point, the method further includes:

[0029] Unlock the current direction of the landmark corresponding to the historical location.

[0030] In the above technical solution, when the landmark type is a point, it is also necessary to unlock the current direction of the landmark corresponding to the historical location so that the current direction of the point can be locked again in the future, ensuring the reusability of the point and thus saving landmark resources in industrial scenarios.

[0031] In some optional embodiments, the landmark information further includes: a set of routes to which the location belongs, which includes the target route and other routes to which the location belongs besides the target route; and an unlocking operation for the current direction of the landmark corresponding to the historical location, specifically including:

[0032] Whether the transportation equipment on other routes belonging to the monitoring point has passed through the historical location;

[0033] When transport equipment on other routes passes through a historical location, the current direction of the landmark in that historical location is unlocked.

[0034] In the above technical solution, when the landmark type is a point, when unlocking the current direction of the landmark corresponding to the historical location, it is necessary to ensure not only that the target transport equipment has passed the historical location, but also that transport equipment on other routes to the point has passed the historical location. This ensures that when unlocking the current direction of the landmark corresponding to the historical location, all transport equipment traveling in the same direction as the current direction of the landmark has passed the historical location, preventing premature unlocking of the current direction and thus avoiding collisions between transport equipment.

[0035] In some optional embodiments, the landmark information also includes a set of regional routes, which includes the target route and routes belonging to other regions besides the target route. The target route includes route segments in multiple non-static regions.

[0036] When the target transport device has passed through the route segment in the first non-static area and the occupancy status of the first non-static area is unlocked, the target route is removed from the area route set of the first non-static area.

[0037] In the above technical solution, when the target transportation equipment has passed through the route segment in the first non-static area, the target route is deleted from the regional route set of that area, so as to update the landmark information in a timely manner and thus update the regional information in a timely manner, avoiding the situation of dynamic traffic control errors caused by information update lag.

[0038] Secondly, this application provides a dynamic traffic control system for executing the above-mentioned dynamic traffic control method. The system includes a dynamic traffic control module, a transportation equipment information management module, a route management module, and a location management module.

[0039] The transportation equipment information management module is used to send the first preset number and current location of the target transportation equipment in the target industrial scenario to the route management module. The first preset number is used to indicate the number of landmarks occupied by the target transportation equipment from the current location forward during its journey.

[0040] The point management module is used to send the current direction of each point in the target route under the target industrial scenario to the route management module;

[0041] The route management module is used to obtain the planned direction of each point in the target route, which is the direction in which the target transportation equipment travels in the target route. When the planned direction of the first point matches the current direction of the first point, the current direction of the first point is locked as the planned direction. The first point can be any point in the target route. When the current direction of each point in the target route is locked, the module iterates through the occupancy status of a first preset number of landmarks ahead of the target transportation equipment, starting from the current position of the target transportation equipment. When the occupancy status of the first preset number of landmarks is unoccupied, a travel request for the target transportation equipment is sent to the dynamic traffic control module.

[0042] The dynamic traffic control module is used to send driving instructions to the target transportation equipment in response to the driving request sent by the route management module.

[0043] 10. The system according to claim 9, characterized in that the system further includes a post-occupancy management module, which is used to, when the post-occupancy function of the target transportation equipment has been enabled, traverse the occupancy status of a second preset number of landmarks behind the target transportation equipment in the target route, starting from the current position of the target transportation equipment; when there are landmarks in the second preset number of landmarks whose occupancy status is all unoccupied, modify the landmarks in the unoccupied status to the occupied status.

[0044] Thirdly, this application provides a dynamic traffic control device for use in a dynamic traffic control system, the device comprising:

[0045] The first acquisition module is used to acquire the first preset number and current position of the target transportation equipment in the target industrial scenario, as well as the planned direction and current direction of each point in the target route. The first preset number is used to indicate the number of landmarks occupied by the target transportation equipment from the current position forward during its travel. The planned direction is the travel direction of the target transportation equipment in the target route.

[0046] The locking module is used to lock the current direction of the first point as the planned direction when the planned direction of the first point matches the current direction of the first point. The first point is any point in the target route.

[0047] The first traversal module is used to traverse the occupancy status of the first preset number of landmarks ahead in the target route, starting from the current position of the target transportation equipment, when the current direction of each point in the target route is locked.

[0048] The sending module is used to send a driving instruction to the target transportation equipment when the occupancy status of the first preset number of landmarks is unoccupied.

[0049] Fourthly, this application provides a computer device, including: a memory and a processor, which are communicatively connected to each other. The memory stores computer instructions, and the processor executes the computer instructions to perform the aforementioned dynamic traffic control method.

[0050] Fifthly, this application provides a computer-readable storage medium storing computer instructions for causing a computer to execute the aforementioned dynamic traffic control method. Attached Figure Description

[0051] To more clearly illustrate the technical solutions in the specific embodiments of this application or the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0052] Figure 1 This is a schematic diagram of the structure of a dynamic traffic control system according to an embodiment of this application;

[0053] Figure 2 yes Figure 1 A partial workflow diagram of the dynamic traffic control module in the diagram;

[0054] Figure 3 yes Figure 1 A flowchart illustrating the workflow of the transportation equipment information management module in the document;

[0055] Figure 4 yes Figure 1 A schematic diagram of another part of the workflow of the dynamic traffic control module in the system;

[0056] Figure 5 This is a flowchart illustrating a dynamic traffic control method according to an embodiment of this application;

[0057] Figure 6 This is a flowchart illustrating another dynamic traffic control method according to an embodiment of this application;

[0058] Figure 7 In one application scenario Figure 1 A flowchart illustrating the workflow of the route management module in the system;

[0059] Figure 8 In one application scenario Figure 1 A flowchart illustrating the workflow of the post-occupancy management module;

[0060] Figure 9 In one application scenario Figure 1 A flowchart illustrating the workflow of the location management module in the system;

[0061] Figure 10 In one application scenario Figure 1 A flowchart illustrating the workflow of the region management module in the system;

[0062] Figure 11 In one application scenario Figure 1 A flowchart illustrating the workflow of the DTC static manager within the region management module;

[0063] Figure 12 This is a structural block diagram of a dynamic traffic control device according to an embodiment of this application;

[0064] Figure 13 This is a schematic diagram of the hardware structure of a computer device according to an embodiment of this application. Detailed Implementation

[0065] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0066] It should be understood that the term "instruction" mentioned in the embodiments of this application can be a direct instruction, an indirect instruction, or an indication of a relationship. For example, A instructing B can mean that A directly instructs B, such as B being able to obtain information through A; it can also mean that A indirectly instructs B, such as A instructing C, so B can obtain information through C; or it can mean that there is a relationship between A and B.

[0067] In the description of the embodiments of this application, the term "correspondence" may indicate that there is a direct or indirect correspondence between two things, or that there is an association between two things, or that there is a relationship of instruction and being instructed, configuration and being configured, etc.

[0068] In the embodiments of this application, "predefined" can be achieved by pre-storing corresponding codes, tables or other means that can be used to indicate relevant information in the device (e.g., including terminal devices and network devices). This application does not limit the specific implementation method.

[0069] Figure 1 This is a schematic diagram of the structure of a dynamic traffic control system shown in an embodiment of this application. The system includes a Dynamic Traffic Control Manager (DCT Manager) 110, a Point Management Module (DCT Point Manager) 120, an Area Management Module (DCT Area Manager) 130, a Route Management Module (DCTRoute Manager) 140, and a Transportation Equipment Information Management Module (DCT RealAgv Manager) 150.

[0070] From a hierarchical perspective, the next layer below the dynamic traffic control module 110 includes the following basic members: location management module 120, area management module 130, route management module 140, and transportation equipment information management module 150. The system may also include a DCT (Dual Control Center) Holding Occupy Manager 160. The location management module 120, area management module 130, route management module 140, transportation equipment information management module 150, and DCT 160 can access each other. The location management module 120 and area management module 130 manage their own stored information, such as updating, deleting, or notifying other management modules of their stored information. The dynamic traffic control system achieves dynamic traffic control of transportation equipment through the cooperation of these basic members, possessing three basic characteristics: no deadlock, clearly defined responsibilities, and serial control.

[0071] Each basic member has a different responsibility. The dynamic traffic control module 110 is responsible for sending driving instructions to the transport equipment to allow it to pass. The point management module 120 is used to acquire and store the point information of each point in the target industrial scenario, and to unlock the points passed by the transport equipment during its journey. The area management module 130 is used to acquire and store the area information of each area in the target industrial scenario, and to unlock the points passed by the transport equipment during its journey. The route management module 140 is used to acquire and store the route information of each route in the target industrial scenario, to lock the current direction of each point in each route, and to send the locked route to the corresponding transport equipment through the dynamic traffic control module 110, as well as to occupy the points and areas in the route. The transport equipment information management module 150 is used to acquire and store the equipment information of each transport equipment in the target industrial scenario in real time, and to make the equipment information of the transport equipment available to other modules. The post-occupancy management module 160 is used to maintain the occupancy of landmarks already passed by transport equipment with the post-occupancy function enabled in the target industrial scenario, so as to avoid collisions and improve the transfer efficiency of transport equipment.

[0072] The function of each module mentioned above is to analyze and judge relevant information to implement dynamic traffic control. Therefore, the underlying data structure is crucial. A good data structure can provide all the necessary data to each module, and the manager can quickly access this data without secondary data processing. Thus, equipment information can include: the map number of the transportation equipment, the transportation equipment identifier (e.g., the name or number of the transportation equipment), the first preset quantity, the second preset quantity, whether the function is enabled and occupied, whether it accepts traffic control, whether it accepts collision detection, real-time landmarks, the current X-coordinate of the landmark, the current Y-coordinate of the landmark, the current direction of travel (which can be indicated by an angle), and the current route.

[0073] Location information can include: location occupancy status, location map number, list of areas where the location is located, location number, X coordinate, Y coordinate, location type (to distinguish whether the location is a no-stopping location), current direction of the location, and the set of routes to which the location belongs.

[0074] Area information may include: the area's occupancy status, the map number of the area, the area type (distinguishing between static and non-static areas), the area's point set, and the area's route set. The area's point set records the point number of at least one point, and the area's route set records the route identity document (ID) of at least one route.

[0075] Route information can include: route ID, identification of the transportation equipment associated with the route, planned direction of each point on the route, landmark number of each landmark on the route, and the order of each landmark. Each module can store the acquired information in its own database in the form of a dictionary.

[0076] Optionally, the occupancy status of a location can include two cases: one is that the location is empty, indicating that the location is not occupied by transportation equipment; the other is that the location is not empty, and it is a transportation equipment identifier for a specific transportation equipment, indicating that the location is occupied by that transportation equipment. The occupancy status of an area is similar to that of a location.

[0077] Each location and area in the target industrial zone can be assigned two attributes: OccupyAGV and HoldingOccupyAGV. When the OccupyAGV attribute is set to a transport equipment identifier, it indicates that the location or area is currently occupied by transport equipment or is about to be occupied by transport equipment. When the HoldingOccupyAGV attribute is set to a transport equipment identifier, it indicates that the location or area has already been occupied by transport equipment that has passed through that location. The values ​​of these two attributes determine the occupancy status of the location or area.

[0078] When at least one of the OccupyAGV and HoldingOccupyAGV attributes of a location is a transportation equipment identifier, it indicates that the location is occupied by a transportation equipment, and the location's occupancy status is "occupied." Only when both the OccupyAGV and HoldingOccupyAGV attributes of a location are preset values ​​(e.g., 0) does it indicate that the location is not occupied by a transportation equipment, and the location's occupancy status is "unoccupied." The determination of the occupancy status of an area is similar to that of a location.

[0079] Taking any regulated transportation device in the target industrial scenario as the target transportation device, the workflow of this dynamic traffic control system is described:

[0080] The transportation equipment information management module 150 is used to send the first preset number and current position of the target transportation equipment in the target industrial scenario to the route management module. The first preset number is used to indicate the number of landmarks occupied by the target transportation equipment from the current position forward during its journey.

[0081] The point management module 120 is used to send the current direction of each point in the target route under the target industrial scenario to the route management module;

[0082] The route management module 140 is used to obtain the planned direction of each point in the target route, which is the direction in which the target transportation equipment travels in the target route. When the planned direction of the first point matches the current direction of the first point, the current direction of the first point is locked as the planned direction. The first point is any point in the target route. When the current direction of each point in the target route is locked, the occupancy status of a first preset number of landmarks ahead is traversed from the current position of the target transportation equipment in the target route. When the occupancy status of the first preset number of landmarks is unoccupied, a travel request for the target transportation equipment is sent to the dynamic traffic control module 110.

[0083] The dynamic traffic control module 110 is used to send a driving instruction to the target transportation equipment in response to the driving request sent by the route management module.

[0084] After the dynamic traffic control module 110 sends a driving instruction to the target transport equipment, the point management module 120 is used to unlock the points passed by the target transport equipment during its journey; the area management module 130 is used to unlock the areas passed by the target transport equipment during its journey. The specific unlocking process will be described in subsequent embodiments.

[0085] Optionally, the post-occupancy management module 160 is used to, when the post-occupancy function of the target transportation equipment has been enabled, traverse the occupancy status of a second preset number of landmarks behind the target transportation equipment in the current route of the target transportation equipment, starting from the current position of the target transportation equipment; when there are landmarks in the second preset number of landmarks whose occupancy status is all unoccupied, change the landmark in the unoccupied status to the occupied status.

[0086] It should be noted that the dynamic traffic control module 110, the point management module 120, the area management module 130, the route management module 140, the transportation equipment information management module 150, and the post-occupancy management module 160 each have their own independent threads, and different modules are responsible for different duties. When information stored in a certain module is accessed, the information stored in that module will not be modified by threads of other modules, meaning that the thread data resources of each module are safe and contention-free. In contrast to traditional traffic control methods, where all calculations are performed in a single thread, if a large number of transportation devices need to be controlled, the computational load becomes too large to be calculated in a timely manner, leading to low traffic control efficiency and adverse effects. The dynamic traffic control system of this application uses multiple thread processing modules to handle different tasks, achieving serial control between modules and solving the problem of traffic control delays caused by large computational loads.

[0087] In some optional embodiments, in order to further accelerate the efficiency of dynamic traffic control, the dynamic traffic control module 110 can also be used to update the information already stored in the location management module 120, area management module 130, route management module 140, transportation equipment information management module 150, and post-occupancy management module 160.

[0088] Specifically, at least one function can be set in the dynamic traffic control module 110 that is open to other systems besides the dynamic traffic control system. Through well-designed function functions, other systems can provide or obtain relevant data from the basic members of the dynamic traffic control system. That is, other systems can externally call the function to update or obtain information stored in the point management module 120, area management module 130, route management module 140, and transportation equipment information management module 150 in a timely manner. For example, Figure 2 As shown, the key external calls are: when map points change, the function to update points is called; when a pre-defined area changes, the function to update the area is called. For example, when a point on a map in a target industrial scenario is updated, the map control system can call the preset UpdatePoints function in the dynamic traffic control module 110 to provide the updated point information to the point management module 120 in a timely manner. Then, the dynamic traffic control module 110 can update the point information stored in the point management module 120 based on the UpdatePoints function. The function can be set independently; this embodiment does not impose specific limitations.

[0089] Furthermore, since the point management module 120, area management module 130, route management module 140, and post-occupancy management module 160 all rely on the real-time route and real-time uploaded location landmarks of the transportation equipment when operating in their respective threads—that is, the current route and current location of the transportation equipment—the transportation equipment information management module 150 not only needs to update the equipment information of the transportation equipment in real time but also needs to send the equipment information of the transportation equipment to other modules in real time. Specifically, the transportation equipment can use a thread polling reporting method to upload equipment information to the transportation equipment information management module 150 in real time through the dynamic traffic control module 110. The transportation equipment information management module 150 then updates the stored equipment information and sends the equipment information of the transportation equipment to other modules in real time through event notifications, ensuring the real-time nature and reliability of the equipment information.

[0090] Optionally, when multiple transport devices upload device information to the transport device information management module 150 in real time through multiple threads, such as... Figure 3As shown, the transportation equipment information management module 150 can also update the stored equipment information in a multi-threaded manner. In the first thread, the module 150 can determine whether there is a transportation equipment identifier for a transportation equipment that uploads real-time equipment information in the stored equipment information. If not, it adds the transportation equipment identifier to the stored information. In the second thread, it can determine whether the transportation equipment that uploads real-time equipment information needs to be deleted from the stored equipment information. If so, it deletes the equipment information of the transportation equipment from the stored equipment information. In the third thread, it updates the stored equipment information according to the equipment information uploaded in real-time by the transportation equipment (for example, updating the current position of a transportation equipment in the stored equipment information). This ensures the reliability of the equipment information and improves the efficiency of updating the equipment information.

[0091] Optional, such as Figure 4 As shown, the dynamic traffic control module 110 can also load all basic members of the dynamic traffic control system when the dynamic traffic control system is started, that is, load the point management module 120, area management module 130, route management module 140, transportation equipment information management module 150 and post-occupancy management module 160, and load the information stored in each module; when the dynamic traffic control system is closed, it closes all basic members of the dynamic traffic control system and saves the information obtained by all basic members, that is, closes the point management module 120, area management module 130, route management module 140, transportation equipment information management module 150 and post-occupancy management module 160, and saves the information obtained by each module.

[0092] Optionally, the dynamic traffic control module 110, the location management module 120, the area management module 130, the route management module 140, and the post-occupancy management module 160 can run on different computer devices or be centralized on the same computer device.

[0093] In summary, the various modules in the dynamic traffic control system can cooperate normally and stably to ensure the smooth operation of dynamic traffic control.

[0094] Figure 5 This is a dynamic traffic control method according to an embodiment of this application. This method is applied to, for example... Figure 1 The dynamic traffic control system shown may include the following steps:

[0095] Step 501: Obtain the first preset number and current location of the target transportation equipment in the target industrial scenario, as well as the planned direction and current direction of each point in the target route.

[0096] The first preset quantity indicates the number of landmarks occupied by the target transport equipment moving forward from its current position during its journey, and the planned direction is the direction of travel of the target transport equipment along the target route. The target transport equipment is any regulated transport equipment within the target industrial scenario. The transport equipment can be an AGV (Automated Guided Vehicle), a shuttle vehicle, or other equipment with navigation, driving, and transport functions. The target route is the current route of the target transport equipment. This embodiment uses an AGV as an example. The target industrial scenario can be a workstation-intensive or loop-type industrial scenario; this embodiment does not impose specific limitations.

[0097] Currently, any route planner will plan the route of each transportation device in each map based on the points and areas in each map of the target industrial scenario. Then, by calling the dynamic traffic control module in the dynamic traffic control system, the route information of each route in each map of the target industrial scenario will be provided to the route management module.

[0098] The route management module in the dynamic traffic control system will iterate through the route information of each route in the target industrial scenario. When it reaches the target route information, it will obtain the target transportation equipment identifier based on the transportation equipment identifier recorded in the target route information; and obtain the planned direction of each point in the target route recorded in the target route information.

[0099] In the target industrial scenario, all transportation equipment reports its own equipment information in real time to the transportation equipment information management module of the dynamic traffic control system using a thread-based polling reporting method. This allows other modules in the dynamic traffic control system that access the transportation equipment information management module to obtain the equipment information of the transportation equipment. Therefore, the route management module can search for equipment information with the target transportation equipment identifier from the equipment information of all transportation equipment stored in the transportation equipment information management module, and thus obtain the first preset number and current location of the target transportation equipment recorded in the target transportation equipment information.

[0100] The route management module also accesses the location management module. Based on the landmark number of each landmark in the target route recorded in the target route information, it searches for the location information corresponding to each location in the target route from the location information already stored in the location management module. It then reads the current direction of the location from the searched location information. Thus, the dynamic traffic control system can obtain the first preset number and current location of the target transportation equipment in the target industrial scenario, as well as the planned direction and current direction of each location in the target route through the route management module.

[0101] Step 502: When the planned direction of the first point matches the current direction of the first point, lock the current direction of the first point as the planned direction. The first point is any point in the target route.

[0102] The route management module in the dynamic traffic control system compares the planned direction of the first location with its current direction. If they match, the current direction of the first location is locked as the planned direction. The specific matching conditions are: the current direction is the same as the planned direction, or the current direction is arbitrary.

[0103] Step 503: When the current direction of each point in the target route is locked, the occupancy status of the first preset number of landmarks in the target route is traversed starting from the current position of the target transportation equipment.

[0104] When the current direction of each point on the target route is locked, the route management module distributes the target route to the target transportation equipment through the dynamic traffic control module. Then, the route management module iterates through the target route, starting from the current position of the target transportation equipment, to determine the occupancy status of a first preset number of landmarks ahead, in order to ascertain whether each of these landmarks is occupied by other transportation equipment.

[0105] Step 504: When the first preset number of landmarks are all in an unoccupied state, send a driving instruction to the target transportation equipment.

[0106] When the route management module determines that the occupancy status of each of the first preset number of landmarks ahead is unoccupied, it assigns the OccupyAGV attribute of each of the first preset number of landmarks to the transportation equipment identifier of the target transportation equipment, thereby occupying the landmark and indicating that the first preset number of landmarks ahead have been occupied by the target transportation equipment. Then, the route management module sends a driving instruction to the target transportation equipment through the dynamic traffic control module.

[0107] In this embodiment, when the current direction of a point in the target route matches the planned direction of that point, the current direction of that point is locked as the planned direction, ensuring that there is only one current direction for that point and avoiding the situation where a point in the target route has multiple different current directions. Furthermore, when the current direction of each point in the target route is locked, the occupancy status of a first preset number of points ahead is traversed from the current position of the target transport equipment. When the occupancy status of all points in the first preset number of points is unoccupied, a driving command is sent to the target transport equipment. This ensures that when a driving command is sent to a transport equipment in a target industrial scenario, each point in the route has exactly one direction, and that direction is consistent with the driving direction of the transport equipment, preventing situations where there are opposing transport equipment on the same route, thus avoiding the problem of opposing deadlock. In addition, the transport equipment will only move when the direction of each point in the route is locked and the occupancy status of the first preset number of traversed points is unoccupied, preventing the transport equipment from moving arbitrarily and allowing for better obstacle avoidance management, thereby preventing collisions between transport equipment. This ensures that AGVs do not collide or lock up in opposite directions in industrial settings with dense workstations, thereby guaranteeing the production cycle time and achieving the goal of timely logistics transfer.

[0108] Figure 6 This is yet another dynamic traffic control method in the embodiments of this application, which is applied to, for example... Figure 1 The dynamic traffic control system shown may include the following steps:

[0109] Step 601: Obtain the first preset number and current location of the target transportation equipment in the target industrial scenario, as well as the planned direction and current direction of each point in the target route.

[0110] Please see details Figure 5 Step 501 of the illustrated embodiment will not be described again here.

[0111] Step 602: When the planned direction of the first point matches the current direction of the first point, lock the current direction of the first point as the planned direction. The first point is any point in the target route.

[0112] Please see details Figure 5 Step 502 of the illustrated embodiment will not be described again here.

[0113] Step 603: When the current direction of each point in the target route is locked, the occupancy status of the first preset number of landmarks ahead is traversed from the current position of the target transportation equipment in the target route.

[0114] Please see details Figure 5 Step 503 of the illustrated embodiment will not be described again here.

[0115] Optionally, the route management module, based on the order of each landmark in the target route recorded in the target route information, traverses the landmark numbers of the first preset number of landmarks ahead, starting from the current position of the target transportation equipment, to determine the type of the landmark. When a landmark number indicates that the landmark type is a point, the route management module accesses the point management module to find point information with a point number matching the landmark number, and reads the values ​​of the point's OccupyAGV and HoldingOccupyAGV attributes from the found point information. When the values ​​of the point's OccupyAGV and HoldingOccupyAGV attributes are preset values, the point's occupancy status is unoccupied; when at least one of the point's OccupyAGV and HoldingOccupyAGV attributes is the transportation equipment identifier of a transportation equipment, the point's occupancy status is occupied.

[0116] When a landmark number indicates that the landmark type is a region, the route management module determines whether the region is occupied or unoccupied based on a similar method.

[0117] Step 604: When the first preset number of landmarks are all in an unoccupied state, a driving instruction is sent to the target transportation equipment.

[0118] Please see details Figure 5 Step 504 of the illustrated embodiment will not be described again here.

[0119] Optionally, to avoid collisions during the operation of the transport equipment, step 604, when the occupancy status of the first preset number of landmarks is unoccupied, sending a driving instruction to the target transport equipment may include: stopping sending a driving instruction to the target transport equipment when at least one of the first preset number of landmarks is occupied; and sending a driving instruction to the target transport equipment until it is determined that the occupancy status of the first preset number of landmarks is unoccupied.

[0120] When at least one of the first preset number of landmarks is occupied, it means that if the target transport vehicle continues to travel on the target route, it may collide with other transport vehicles. In this case, the route management module will request the dynamic traffic control module to stop sending driving instructions to the target transport vehicle, thus stopping the target transport vehicle at its current position. The route management module will only send driving instructions to the target transport vehicle through the dynamic traffic control module when all of the first preset number of landmarks are unoccupied. It can be understood that when at least one of the first preset number of landmarks is occupied, the route management module can also send a stop instruction to the target transport vehicle, stopping it at its current position. This prevents a situation where the target transport vehicle continues to travel towards a landmark that is occupied by another transport vehicle, thus avoiding collisions between the target transport vehicle and other transport vehicles.

[0121] Optionally, before sending a stop command to the target transport device, the route manager will also determine whether the target transport device's current position is at a no-stopping point. If so, it will send a stop command to the AGV to stop at another non-no-stopping point. The selection of other non-no-stopping points can be set by the user and can be the non-no-stopping point closest to the target transport device.

[0122] Optionally, when the route management module accesses the transportation equipment information management module, it can traverse the current routes of all transportation equipment. If the current route of a transportation equipment is empty, it can forcibly occupy the landmark where the transportation equipment with the empty current route is located.

[0123] Optionally, after the route management module receives all the route information provided by the route planner, it will also compare all the received route information with all the stored routes to see if there is any new or deleted route information. If so, it will update the information in a timely manner to further improve the accuracy of dynamic traffic control.

[0124] In one application scenario, combined with Figure 1 Taking a workstation-intensive industrial scenario as an example, and using AGVs as the transportation equipment in the target industrial scenario, the workflow of the route management module is as follows: Figure 7As shown, the route management module receives routes from all AGVs provided by the route planner. It compares the routes to see if any have been added or deleted, and if so, stores or updates them promptly. The update process handles newly added or deleted route information and also forces AGVs with currently empty routes to occupy points or areas. After the route update is complete, it iterates through all route information to authorize routes. The authorization method involves checking if the planned direction of the point matches the current direction. If authorization fails, it proceeds to the next route; if authorization succeeds, the route is sent to the AGV, and landmark authorization is then executed. Specifically, it checks if the point or area is occupied (the specific method is described above) and occupies the point or area accordingly. If occupation fails, a stop command is sent to the AGV through the dynamic traffic control module, preventing the AGV from moving.

[0125] Therefore, the route management module is responsible for updating and maintaining the real-time reported route information, statistically analyzing all existing AGV routes, comparing for any newly added or deleted route information, and storing or updating it promptly if any is found. When a new route is added, it attempts to authorize it. If authorization fails, it will repeatedly attempt authorization. Once route authorization is successful, the route is issued to the AGV, attempting to pre-occupy N landmarks for the transport equipment to travel on. If pre-occupancy fails, the AGV cannot be released. Simultaneously, AGVs without routes are forcibly occupied at their designated points or areas. The core of deadlock-free operation lies in pre-occupancy, ensuring that authorized routes do not involve opposing travel by controlling the route direction.

[0126] Optionally, to further prevent collisions between transport equipment in densely populated industrial settings, when the target transport equipment is already in use and occupying its functions, this dynamic traffic control method may further include:

[0127] In the target route, starting from the current position of the target transportation equipment, traverse the occupancy status of the second preset number of landmarks behind it; when there are landmarks in the second preset number of landmarks that are in an unoccupied state, change the occupancy status of the unoccupied landmarks to occupied.

[0128] The post-occupancy management module in the dynamic traffic control system accesses the equipment information of the transportation equipment in the transportation equipment information management module to iterate through all transportation equipment to determine whether the post-occupancy function is enabled. Simultaneously, the post-occupancy management module also accesses information stored in the route management module, location management module, and area management module. Combined with the current location from the iterated equipment information, it determines the landmarks passed by all transportation equipment during their journey. The specific method for determining the landmarks passed by the transportation equipment will be introduced later.

[0129] When the occupancy function of the target transportation equipment is accessed, the post-occupancy management module will add the landmarks passed by the target transportation equipment to its own dictionary for data storage according to the order of each landmark in the target route. Starting from the current position of the target transportation equipment, it will traverse the occupancy status of a second preset number of landmarks passed by the target transportation equipment. When there is a landmark in the second preset number of landmarks with an unoccupied status, the value of the HoldingOccupyAGV attribute of the unoccupied landmark will be modified to the target transportation equipment identifier to occupy the landmark, thereby changing the occupancy status of the unoccupied landmark to occupied.

[0130] Optionally, the post-occupancy management module will also notify the route management module of the occupied landmarks, and the route management module will use this information to occupy the landmarks.

[0131] When the target transport equipment activates its occupancy function, the post-occupancy management module iterates through the occupancy status of a second preset number of landmarks along the target route, starting from the target transport equipment's current position and changing the occupancy status of any unoccupied landmarks to occupied. In other words, when the target transport equipment activates its occupancy function, it changes the occupancy status of the second preset number of landmarks already passed by the target transport equipment to occupied, starting from the target transport equipment's current position. This ensures that other transport equipment, when passing landmarks already passed by the target transport equipment, must consider the occupancy status of those landmarks. If a landmark is occupied, other transport equipment cannot pass by that landmark, preventing collisions between other transport equipment behind the target transport equipment. This further avoids collisions between transport equipment in densely populated industrial environments.

[0132] Optionally, when the target transport equipment does not have the post-occupancy function enabled, the post-occupancy management module will continue to traverse the next transport equipment until it reaches a transport equipment that has enabled the post-occupancy function and is receiving control.

[0133] Optionally, to further prevent collisions of transport equipment in densely populated industrial scenarios, the occupancy management module, when traversing the occupancy status of a second preset number of landmarks behind the target transport equipment from its current position, can specifically check the value of the HoldingOccupyAGV attribute of the second preset number of landmarks in its own dictionary, according to the order of each landmark in the target route, starting from the current position of the target transport equipment. When there is a landmark in the second preset number of landmarks with a HoldingOccupyAGV attribute value of a preset value, the value of the HoldingOccupyAGV attribute with the preset value is modified to the identifier of the target transport equipment.

[0134] Optionally, when the post-occupancy management module iterates through the equipment information of all transportation devices, it can also monitor whether the current location of the currently traversed transportation device (hereinafter referred to as the current transportation device) is a preset location. When the current location of the current transportation device is a preset location, it will retrieve all landmarks whose HoldingOccupyAGV attribute value is the transportation device identifier of the current transportation device from its own dictionary, and modify the value of the HoldingOccupyAGV attribute of all retrieved landmarks to the preset value. Preset locations include, but are not limited to, preset standby points, charging points, and buffer points. It can be understood that when the currently traversed transportation device is the target transportation device, the target transportation device is the current transportation device.

[0135] The post-occupancy management module also monitors whether the current transport equipment is offline and whether it is under control. When the current transport equipment is offline or not under control, regardless of whether the post-occupancy function is enabled, the post-occupancy management module will retrieve all landmarks with the HoldingOccupyAGV attribute value from its own dictionary that are the transport equipment identifiers of the current transport equipment, and modify the HoldingOccupyAGV attribute value of all retrieved landmarks to the preset value. When the current location of the current transport equipment is the preset location, or when the current transport equipment is offline or not under control, the occupancy status of the landmarks is promptly modified to facilitate the operation of other transport equipment and improve the operational efficiency of the transport equipment.

[0136] Based on the above application scenarios, the workflow of the post-occupancy management module is as follows: Figure 8 As shown, taking the target industrial scenario as a workstation-intensive industrial scenario, and all transportation equipment in the target industrial scenario as AGVs, with the transportation equipment identified by the AGV number, the occupancy management module will loop through the equipment information of all AGVs and access the information stored in the route management module, the point management module, and the area management module. Combined with the current position of the AGV, the module will determine the landmarks that the AGV passes through.

[0137] When the AGV's post-occupancy function is enabled, the post-occupancy management module adds the N landmarks that the AGV passes through to the dictionary, and then sets the HoldingOccupyAGV attribute of the landmarks that the AGV passes through to the AGV number; when the AGV goes offline, does not enable the post-occupancy function, or does not accept control, it continues to traverse the next AGV until it traverses the AGV that enables the post-occupancy function and accepts control.

[0138] Step 605: Monitor the position changes of the target transportation equipment as it travels along the target route to obtain the historical positions that the target transportation equipment has traveled during its journey.

[0139] The location management module in the dynamic traffic control system iterates through all stored location information to determine locations occupied by transportation equipment. Within the current cycle, when a location occupied by the target transportation equipment (hereinafter referred to as the current location) is encountered, the location management module accesses the transportation equipment information management module to find the equipment information whose identifier matches the target transportation equipment identifier, thereby obtaining the target transportation equipment's current location. The location management module also accesses the route management module to find the target route information whose identifier matches the target transportation equipment identifier. Based on the order of each landmark in the target route information, it determines whether the target transportation equipment's current location has passed through the current location. If it has, the current location is a historical location of the target transportation equipment during its journey; otherwise, it continues to iterate through the unvisited location information within the current cycle.

[0140] Meanwhile, the area management module iterates through all stored area information to determine the areas occupied by transportation equipment. Within the current cycle, when it reaches an area occupied by the target transportation equipment (hereinafter referred to as the current area), it accesses the route management module to find the target route information whose identifier matches the target transportation equipment identifier, and retrieves the landmark number of each landmark in the target route from the target route information. It then compares the landmark numbers in the current area's location set with the landmark numbers in the target route to find the points in the target route that are located within the current area's location set. The points in the target route that are located within the current area's location set constitute the route segment belonging to the current area within the target route. The area management module then determines whether the current location has passed through every point in the route segment based on the order of each landmark in the target route information. If it has, the target transport equipment has passed through the current area, which becomes another historical location for the target transport equipment during its journey. If at least one point in the route segment has not been passed by the current location, the target transport equipment has not passed through the current area, and the system continues to traverse the untraversed area information in the current cycle. In this way, the dynamic traffic control system can obtain the historical locations that the target transport equipment has traveled during its journey.

[0141] Optionally, when determining whether the current location of the target transportation equipment has passed through the current area, the area management module can access the route management module to find the target route information whose identifier is the target transportation equipment identifier, and obtain the landmark number of each landmark in the target route from the target route information. Then, it compares the landmark numbers in the current area's location set with the landmark numbers in the target route to find the landmarks in the target route that are located within the current area's location set. The landmarks in the target route that are located within the current area's location set form the route segment belonging to the current area. The area management module then determines whether the current location has passed through each landmark in the route segment based on the order of each landmark in the target route information. If it has passed through every landmark in the route segment, it is determined that the target transportation equipment has passed through the current area; if at least one landmark in the route segment has not been passed by the current location, it is determined that the target transportation equipment has not passed through the current area.

[0142] Step 606: Obtain the landmark information corresponding to the historical location.

[0143] The landmark information includes the occupancy status and type of the landmark. In the dynamic traffic control system, the point management module and the area management module, when determining the points and areas the target transport equipment passes through during its journey, will respectively obtain the point information of the points the target transport equipment passes through and the area information of the areas the target transport equipment passes through, thereby completing the operation of obtaining landmark information including occupancy status and type.

[0144] Step 607: When the landmark type is a static area or point, unlock the occupancy status of the landmark corresponding to the historical location.

[0145] Within the current cycle, each time the location management module determines that the current position of the target transportation equipment has passed through the current location, it will change the values ​​of the OccupyAGV attribute and the HoldingOccupyAGV attribute of the current location from the equipment identifier of the target transportation equipment to the preset value to unlock the occupancy status of the current location.

[0146] Within the current cycle, each time the area management module determines that the current location of the target transport device has passed through the current area, it reads the area type from the area information. If the area type is a static area, it changes the values ​​of the OccupyAGV and HoldingOccupyAGV attributes of the current area from the target transport device's device identifier to preset values ​​to unlock the current area's occupancy status. A static area consists of multiple points, restricting the passage of a single transport device.

[0147] After sending a driving command to the target transport equipment, the system monitors its position changes along the target route to obtain historical locations it has traversed. This information is then used to determine the occupancy status and identifiers of landmarks corresponding to those historical locations. Based on the landmark identifiers, the landmark type is identified. When the landmark type is a static area or point, the occupancy status of the landmark corresponding to the historical location is unlocked. This ensures timely unlocking of landmarks traversed by the target transport equipment, preventing other transport equipment from becoming stuck due to delayed unlocking. In densely populated industrial settings, this ensures that AGVs do not collide or experience mutual deadlocks, while also improving the timeliness of dynamic traffic control.

[0148] Optionally, the area management module can also restrict the movement of target transport equipment within static areas. Specifically, after unlocking the occupancy status of landmarks of static area type, when the current location of the target transport equipment is within at least one static area, the area management module will also lock all static areas where the current location is located. Only when all static areas where the current location is located are successfully locked will the area management module send a driving command to the target transport equipment through the dynamic traffic control module; otherwise, it will send a stop command to the target transport equipment through the dynamic traffic control module, thereby controlling the target transport equipment to remain stationary. The area management module also locks all static areas where the current location is located by changing the value of the OccupyAGV attribute of all static areas where the current location is located from the preset value to the transport equipment identifier of the target transport equipment when all static areas where the current location is located are unoccupied.

[0149] It should be noted that when the route management module determines that the occupancy status of the first preset number of landmarks is unoccupied, and sends a driving command to the target transport equipment, the area management module will cooperate with the route management module to determine whether the current location of the target transport equipment is within at least one static area. If it is within a static area, the area management module will determine whether all static areas where the current location is located are occupied by the target transport equipment. If all static areas are occupied by the target transport equipment, the area management module will also send a driving command to the target transport equipment, allowing the target transport equipment to drive normally. If at least one static area is not occupied by the target transport equipment, the area management module will also send a stop command to the target transport equipment. In this case, even if a driving command is sent by the route management module, the target transport equipment will stop driving. For the target transport equipment, the stop command has a higher priority than the driving command.

[0150] It should be noted that when the route management module occupies a landmark ahead of the current location in the target route, if the landmark to be occupied is located in a static area, the route management module will occupy not only the landmark but also all the static areas where the landmark is located. Only when all static areas and the landmark are successfully occupied will the landmark be considered successfully occupied.

[0151] Optionally, a DTC static manager can be set in the region management module. The DTC static manager is responsible for executing the processing of static regions by the region management module. It can be understood that the DTC static manager has the same functions as the region management module, except that the DTC static manager is not responsible for the processing of non-static regions.

[0152] Optionally, when the landmark type is a point, the point management module will not only unlock the occupancy status of the landmark corresponding to the historical location, but also unlock the current direction of the landmark corresponding to the historical location. This is to facilitate the subsequent locking of the current direction of the point, ensuring the reusability of the point and thus saving landmark resources in industrial scenarios.

[0153] Optionally, the landmark information may also include a set of routes to which the location belongs, which includes the target route and other routes to which the location belongs, excluding the target route; the unlocking operation for the current direction of the landmark corresponding to the historical location may include: monitoring whether the transportation equipment in other routes to which the location belongs has passed through the historical location; when the transportation equipment in other routes to which the location belongs has passed through the historical location, the current direction of the landmark in the historical location is unlocked.

[0154] Within the current cycle, each time the location management module determines that the current position of the target transport equipment has passed through the current location, it reads the set of routes to which the location belongs from the location information of the current location. This determines the other routes to which the current location belongs besides the target route. The module then monitors whether transport equipment on these other routes has passed through the current location. If all transport equipment on these other routes has passed through the current location, the current direction of the current location is changed to any value; otherwise, the current direction remains unchanged. The specific method by which the location management module monitors whether transport equipment on these other routes has passed through the current location is similar to step 605 and will not be elaborated upon here.

[0155] Optionally, the route set to which the point belongs records all route IDs of the current direction of the locked point in the form of a dictionary. The point management module can determine the target route and other routes to which the point belongs based on the route IDs in the route set to which the point belongs.

[0156] When the landmark type is a point, unlocking the current direction of the landmark corresponding to a historical location must ensure that not only the target transport equipment has passed the historical location, but also transport equipment on other routes belonging to that point has passed that historical location. This ensures that when unlocking the current direction of the landmark corresponding to a historical location, all transport equipment traveling in the same direction as the current direction of the landmark has passed that historical location, preventing premature unlocking of the current direction and thus avoiding collisions between transport equipment.

[0157] Based on the above application scenarios, the workflow of the location management module is as follows: Figure 9 As shown, the point management module includes two occupancy operation (DTC Occupy) attributes: direction and whether it is occupied. The direction is determined by the authorized routes, and the occupancy is determined by the AGV that has been pre-locked or is already docked at the point. Based on these two concepts, the point management module will iterate through all point information and release points that meet the conditions. Within the current loop, when a point is found to be occupied (i.e., the point is occupied), the module attempts to release the point's occupancy. The specific condition for releasing a point's occupancy is that the AGV occupying that point is no longer at that point. If the condition is not met, or the currently visited point is not occupied, the module continues to iterate through the point information. When a released point has its direction set (i.e., the current direction is not arbitrary) and the release is successful, the module attempts to release the point's direction. The specific condition for releasing the point's direction is that the routes passing through that point have already passed through it; that is, all AGVs in the route set to which that point belongs have passed through that point.

[0158] Step 608: When the landmark type is a non-static area, obtain the locations already occupied by the target transportation equipment based on the target route and the set of regional locations.

[0159] Each time the area management module determines that the current location of the target transportation equipment has passed through the current area, it obtains the route segment belonging to the current area in the target route, as well as the location number of each point in the route segment. Based on the location number of each point in the route segment, the module can find the OccupyAGV attribute and HoldingOccupyAGV attribute of each point in the route segment from the location management module, thereby determining whether the point in the route segment is occupied by the target transportation equipment. Thus, when the area type of the current area is a non-static area, the area management module obtains the points that the target transportation equipment has occupied.

[0160] Step 609: When it is determined that the location occupied by the target transportation equipment does not belong to a non-static area, the occupancy status of the non-static area is unlocked.

[0161] The area management module monitors in real time the points occupied by the target transportation equipment in the route segment of the current area. When each point in the route segment is no longer occupied by the target transportation equipment, it is determined that the points occupied by the target transportation equipment do not belong to the non-static area. Then, the values ​​of the OccupyAGV attribute and HoldingOccupyAGV attribute of the current area are modified to the preset values ​​to complete the unlocking operation of the non-static area's occupancy status.

[0162] When the landmark type is a non-static area, the points already occupied by the target transportation equipment are obtained based on the target route and the set of points in the area. The non-static area is only unlocked when it is determined that the points already occupied by the target transportation equipment do not belong to the non-static area. Since a non-static area includes multiple points, when a point already occupied by the target transportation equipment belongs to a non-static area, it means that at least one of the route segment formed by the points the target transportation equipment has passed through, the points the target transportation equipment has not yet reached, and the current position of the target transportation equipment is within the non-static area. The non-static area is only unlocked when none of the points the target transportation equipment has passed through, the points the target transportation equipment has not yet reached, or the current position of the target transportation equipment are within the non-static area. This achieves the unlocking operation of non-static areas in complex industrial scenarios where the dynamic changes in the occupancy status of route segments and points within the area need to be considered.

[0163] Optionally, the landmark information also includes a set of regional routes, which includes the target route and routes belonging to other regions besides the target route. The target route includes route segments in multiple non-static regions.

[0164] When the target transport device has passed through the route segment in the first non-static area and the occupancy status of the first non-static area is unlocked, the target route is removed from the area route set of the first non-static area.

[0165] The first non-static region is any non-static region in the target route. When the region management module traverses to a route segment in the first non-static region that the target transport device has already passed through within the current cycle, and completes the unlocking operation for the occupancy status of the first non-static region, it will delete the route ID of the target route from the region route set in the region information of the first non-static region. The specific method for determining that the target transport device has passed through the first non-static region is the same as the method for determining that the target transport device has passed through the current region, and will not be repeated here.

[0166] When the target transport equipment has passed through the route segment in the first non-static area, the target route is removed from the area route set of that area to update the landmark information in a timely manner and thus update the area information in a timely manner, avoiding errors in dynamic traffic control caused by information lag.

[0167] Based on the above application scenarios, the workflow of the region management module is as follows: Figure 10 as well as Figure 11 As shown, the dynamic traffic control system not only occupies and unlocks points, but also performs the same operations on areas. Area occupancy is already implemented in the route management module of the dynamic traffic control system, while the unlocking operation for occupied areas is executed by the area management module. The area management module can handle dynamic traffic control blocks for AGVs with routes and directions, as well as dynamic traffic control blocks for AGVs that do not consider routes or directions.

[0168] The area management module includes a DTC Occupy attribute: whether an area is occupied. The module iterates through all area information, releasing occupied areas that meet certain conditions. Within the current loop, when an area is found to be occupied (i.e., the area is currently occupied) and is a non-static area, the module attempts to release the area's occupancy. The specific condition for releasing an area is that the current position of the AGV occupying the area, as well as the AGV's previous and next occupying points, are not within that area. The AGV's previous and next occupying points are the points within the AGV's current route segment belonging to that area that are occupied by the AGV. If the condition is not met, or if the currently visited area is not occupied, the module continues iterating through the area information.

[0169] For routes already authorized within a region (i.e., routes recorded in the region's route set), attempt to revoke authorization. If the route has already left the region, then revoke authorization. Specifically, for non-static regions that have been unoccupied, since the region management module has already determined which route the AGV traversed through the non-static region belongs to when the occupancy status of the non-static region is revoked, the region management module can delete the route ID of that route from the region's route set for that non-static region.

[0170] like Figure 11 As shown, traffic control in certain scenarios only requires basic area control, disregarding routes and directions, and only considering whether the AGV is within a static area. Based on this, a DTC static manager is set up in the area management module to restrict AGV passage within static areas. Within static areas, routes and directions are not considered; only whether the AGV is within the static area is taken into account. The specific method for releasing area occupancy is as follows... Figure 9Similar to the previous method, but when the AGV's current position is outside the area, it will attempt to release the area occupancy. After the DTC static manager releases the static area occupancy, it will still attempt to lock the area when the AGV travels into it to determine whether to allow the AGV to pass. The specific release condition is the static area where the AGV's current position is located. If the AGV's current position exists in multiple static areas simultaneously, it will occupy all static areas including the current position; all areas must be successfully occupied before the AGV can pass. The specific occupancy method is the same as... Figure 5 Step 504 shown is similar and will not be repeated here.

[0171] In the above application scenarios, the basic members of the dynamic traffic control system complete dynamic traffic control through mutual cooperation as follows:

[0172] When a route needs to be sent to an AGV, the route management module first authorizes whether the route meets the authorization conditions. If not, the route is not sent to the AGV until authorization is successful. The transportation equipment information management module synchronously updates the AGV's current location and other equipment information. The route management module obtains the AGV's current location from the transportation equipment information management module and attempts to occupy landmarks in advance. If the occupation fails, a stop command is issued. The point management module is responsible for unlocking the points that the AGV has already passed based on the real-time AGV equipment information. The area management module is responsible for unlocking the areas that the AGV has left based on the real-time AGV equipment information. The post-occupancy management module locks the landmarks that the AGV has already passed. When a landmark locked by the post-occupancy management module is passed, the route management module is notified, and the route management module will use this information to attempt to occupy the landmark.

[0173] In a dynamic traffic control system, each basic member has a different function, and various information is processed through a dynamic traffic control module. These basic members can effectively cooperate to ensure AGVs do not collide, achieving the goal of safe material handling. In contrast, traditional traffic control algorithms perform all calculations in a single thread. When a large number of AGVs need to be controlled, the computational load becomes too large to be processed in a timely manner, leading to delays and adverse effects. The dynamic traffic control system proposed in this application designs multiple basic members with independent threads, solving problems such as large computational load and delays. More importantly, this dynamic traffic control system solves the problem of deadlock between opposing AGV routes on bidirectional roads. The route management module performs direction authorization checks on routes; if an existing route is in the opposite direction to the route requiring authorization, authorization for the current route is denied.

[0174] This embodiment also provides a dynamic traffic control device applied to a dynamic traffic control system. This device is used to implement the above embodiments and preferred embodiments, and details already described will not be repeated. As used below, the term "module" can refer to a combination of software and / or hardware that performs a predetermined function. Although the device described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0175] This embodiment provides a dynamic traffic control device, such as... Figure 12 As shown, it includes:

[0176] The first acquisition module 1210 is used to acquire the first preset number and current position of the target transportation equipment in the target industrial scene, as well as the planned direction and current direction of each point in the target route. The first preset number is used to indicate the number of landmarks occupied by the target transportation equipment from the current position forward during its travel. The planned direction is the travel direction of the target transportation equipment in the target route.

[0177] The locking module 1220 is used to lock the current direction of the first point as the planned direction when the planned direction of the first point matches the current direction of the first point. The first point is any point in the target route.

[0178] The first traversal module 1230 is used to traverse the occupancy status of a first preset number of landmarks ahead in the target route, starting from the current position of the target transportation equipment, when the current direction of each point in the target route is locked.

[0179] The sending module 1240 is used to send a driving instruction to the target transportation equipment when the occupancy status of the first preset number of landmarks is unoccupied.

[0180] In some optional embodiments, the sending module is further configured to stop sending driving instructions to the target transportation equipment when at least one of the first preset number of landmarks is in an occupied state; and to send driving instructions to the target transportation equipment until it is determined that the occupancy status of the first preset number of landmarks is unoccupied.

[0181] In some alternative embodiments, the dynamic traffic control device further includes:

[0182] The monitoring module is used to monitor the position changes of the target transportation equipment as it travels along the target route, so as to obtain the historical positions that the target transportation equipment has traveled during the journey.

[0183] The second acquisition module is used to acquire the landmark information of the landmark corresponding to the historical location, including the occupancy status and type of the landmark.

[0184] The first unlocking module is used to unlock the occupancy status of landmarks corresponding to historical locations when the landmark type is a static area or point.

[0185] In some alternative embodiments, the dynamic traffic control device further includes:

[0186] When the target transportation equipment has been activated and the occupancy function is enabled, the second traversal module traverses the occupancy status of the second preset number of landmarks behind the target transportation equipment in the target route, starting from the current position of the target transportation equipment.

[0187] The modification module is used to change the occupancy status of the unoccupied landmarks to occupied when there are unoccupied landmarks among the second preset number of landmarks.

[0188] In some optional embodiments, when the landmark type is a non-static area, the landmark information also includes the occupancy status of the landmark corresponding to each point in the area point set; the dynamic traffic control device also includes:

[0189] The third acquisition module is used to acquire the locations already occupied by the target transportation equipment based on the target route and the set of regional locations;

[0190] The second unlocking module is used to unlock the occupancy status of a non-static area when it is determined that the location occupied by the target transportation equipment does not belong to a non-static area.

[0191] In some optional embodiments, when the landmark type is a location, the dynamic traffic control device further includes:

[0192] The third unlocking module is used to unlock the current direction of the landmark corresponding to the historical location.

[0193] In some optional embodiments, the landmark information further includes: a set of routes to which the location belongs, the set of routes to which the location belongs includes the target route, and other routes to which the location belongs, excluding the target route; the third unlocking module includes:

[0194] The monitoring unit is used to monitor whether transportation equipment on other routes to the same location has passed through the historical location.

[0195] The unlocking unit is used to unlock the current direction of the landmark at the historical location when transport equipment on other routes to the same location passes by the historical location.

[0196] In some optional embodiments, the landmark information further includes a set of regional routes, which includes a target route and routes belonging to other areas besides the target route. The target route includes route segments in multiple non-static areas. The dynamic traffic control device also includes:

[0197] The deletion module is used to delete the target route from the area route set of the first non-static area when the target transport equipment has passed through the route segment in the first non-static area and the occupancy status of the first non-static area is unlocked.

[0198] Further functional descriptions of the above modules and units are the same as those in the corresponding embodiments described above, and will not be repeated here.

[0199] In this embodiment, the dynamic traffic control device is presented in the form of a functional unit. Here, a unit refers to an ASIC (Application Specific Integrated Circuit) circuit, a processor and memory that execute one or more software or fixed programs, and / or other devices that can provide the above functions.

[0200] This application also provides a computer device having the above-described features. Figure 12 The dynamic traffic control device shown.

[0201] Please see Figure 13 , Figure 13 This is a schematic diagram of the structure of a computer device provided in an optional embodiment of this application, such as... Figure 13 As shown, the computer device includes one or more processors 10, memory 20, and interfaces for connecting the components, including high-speed interfaces and low-speed interfaces. The components communicate with each other via different buses and can be mounted on a common motherboard or otherwise installed as needed. The processors can process instructions executed within the computer device, including instructions stored in or on memory to display graphical information of a GUI on external input / output devices (such as display devices coupled to the interfaces). In some alternative implementations, multiple processors and / or multiple buses can be used with multiple memories and multiple memory modules, if desired. Similarly, multiple computer devices can be connected, each providing some of the necessary operations (e.g., as a server array, a group of blade servers, or a multiprocessor system). Figure 13 Take a processor 10 as an example.

[0202] Processor 10 may be a central processing unit, a network processor, or a combination thereof. Processor 10 may further include a hardware chip. The hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof. The programmable logic device may be a complex programmable logic device (CAMP), a field-programmable gate array (FPGA), a general-purpose array logic (GDA), or any combination thereof.

[0203] The memory 20 stores instructions executable by at least one processor 10 to cause the at least one processor 10 to perform the method shown in the above embodiments.

[0204] The memory 20 may include a program storage area and a data storage area. The program storage area may store the operating system and applications required for at least one function; the data storage area may store data created based on the use of the computer device. Furthermore, the memory 20 may include high-speed random access memory and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some alternative embodiments, the memory 20 may optionally include memory remotely located relative to the processor 10, and these remote memories may be connected to the computer device via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0205] The memory 20 may include volatile memory, such as random access memory; the memory may also include non-volatile memory, such as flash memory, hard disk or solid-state drive; the memory 20 may also include a combination of the above types of memory.

[0206] The computer device also includes a communication interface 30 for communicating with other devices or communication networks.

[0207] This application also provides a computer-readable storage medium. The methods described in this application can be implemented in hardware or firmware, or implemented as recordable on a storage medium, or implemented as computer code downloaded over a network and originally stored on a remote storage medium or a non-transitory machine-readable storage medium and subsequently stored on a local storage medium. Thus, the methods described herein can be processed by software stored on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. The storage medium can be a magnetic disk, optical disk, read-only memory, random access memory, flash memory, hard disk, or solid-state drive, etc.; further, the storage medium can also include combinations of the above types of memory. It is understood that computers, processors, microprocessor controllers, or programmable hardware include storage components capable of storing or receiving software or computer code. When the software or computer code is accessed and executed by the computer, processor, or hardware, the methods shown in the above embodiments are implemented.

[0208] Although embodiments of this application have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of this application, and all such modifications and variations fall within the scope defined by the appended claims.

Claims

1. A dynamic traffic control method, characterized in that, The method, applied to a dynamic traffic control system, includes: The first preset number and current position of the target transportation equipment in the target industrial scene are obtained, as well as the planned direction and current direction of each point in the target route. The first preset number is used to indicate the number of landmarks occupied by the target transportation equipment from the current position during its travel. The planned direction is the travel direction of the target transportation equipment in the target route, and the current direction is multiple different directions of the target transportation equipment in the target route. When the planned direction of the first point matches the current direction of the first point, the current direction of the first point is locked as the planned direction. The first point is any point in the target route. When the current direction of each point in the target route is locked, the occupancy status of the first preset number of landmarks ahead is traversed in the target route, starting from the current position of the target transportation equipment. When the first preset number of landmarks are all unoccupied, a driving instruction is sent to the target transportation equipment; When the first preset number of landmarks are all unoccupied, after sending a driving instruction to the target transportation equipment, the method further includes: Monitor the position changes of the target transport equipment as it travels along the target route to obtain the historical positions that the target transport equipment has traveled during its journey; Specifically, the point management module iterates through all stored point information to determine the points occupied by the transport equipment, obtains the current position of the target transport equipment, and determines whether the current position of the target transport equipment has passed the current point. If it has, the current point is a historical position of the target transport equipment during its journey; if it has not passed the current point, it continues to iterate through the point information that has not been traversed in the current cycle. Specifically, the area management module iterates through all stored area information to determine the area occupied by the transport equipment, and checks whether the current location has passed through every point in the route segment. If it has passed through every point in the target route segment, it is determined that the target transport equipment has passed through the current area, which is another historical location of the target transport equipment during its journey. If there is at least one point in the route segment that has not been passed by the current location, it is determined that the target transport equipment has not passed through the current area, and the system continues to iterate through the area information that has not been traversed in the current cycle. Obtain the landmark information corresponding to the historical location, including the occupancy status and type of the landmark; When the landmark type is a static area or point, the occupancy status of the landmark corresponding to the historical location is unlocked.

2. The method according to claim 1, characterized in that, When at least one of the first preset number of landmarks is in an occupied state, the driving instruction is stopped from being sent to the target transportation equipment. Once it is determined that the first preset number of landmarks are all unoccupied, the driving instruction is sent to the target transportation equipment.

3. The method according to claim 1, characterized in that, When the target transportation equipment has been activated and its functions are occupied, the method further includes: In the target route, starting from the current position of the target transportation equipment, the occupancy status of a second preset number of landmarks is traversed; when there are landmarks in the second preset number of landmarks whose occupancy status is unoccupied, the occupancy status of the unoccupied landmarks is changed to occupied.

4. The method according to claim 1, characterized in that, When the landmark type is a non-static area, the landmark information also includes the occupancy status of the landmark corresponding to each point in the area point set; the method further includes: Based on the target route and the set of locations in the area, obtain the locations already occupied by the target transportation equipment; When it is determined that the location occupied by the target transportation equipment does not belong to the non-static area, the occupancy status of the non-static area is unlocked.

5. The method according to claim 1, characterized in that, When the landmark type is a location, the method further includes: Unlock the current direction of the landmark corresponding to the historical location.

6. The method according to claim 5, characterized in that, The landmark information also includes: a set of routes to which the location belongs, the set of routes to which the location belongs includes the target route, and other routes to which the location belongs, excluding the target route; the unlocking operation for the current direction of the landmark corresponding to the historical location specifically includes: Whether transport equipment on other routes belonging to the monitoring point has passed through the historical location; When a transport device on another route to the location passes through the historical location, the current direction of the landmark in the historical location is unlocked.

7. The method according to claim 3 or 4, characterized in that, The landmark information also includes a set of regional routes, which includes the target route and routes belonging to other regions besides the target route. The target route includes route segments in multiple non-static regions. When the target transport device has passed through the route segment in the first non-static area and the occupancy status of the first non-static area is unlocked, the target route is deleted from the area route set of the first non-static area.

8. A dynamic traffic control system, characterized in that, The system is used to perform the method described in any one of claims 1 to 7, and the system includes a dynamic traffic control module, a transportation equipment information management module, a route management module, a location management module, and a region management module. The transportation equipment information management module is used to send a first preset number and current location of the target transportation equipment in the target industrial scenario to the route management module. The first preset number is used to indicate the number of landmarks occupied by the target transportation equipment moving forward from the current location during its journey. The point management module is used to send the current direction of each point in the target route under the target industrial scenario to the route management module, and to iterate through all the stored point information to determine the points occupied by the transport equipment, obtain the current position of the target transport equipment, and determine whether the current position of the target transport equipment has passed the current point. If it has passed, the current point is a historical position of the target transport equipment during its journey; if it has not passed the current point, it continues to iterate through the point information that has not been traversed in the current cycle. The area management module is used to iterate through all stored area information to determine the area occupied by the transport equipment, and to determine whether the current position has passed through every point in the route segment. If it has passed through every point in the target route segment, it is determined that the target transport equipment has passed through the current area, which is another historical position of the target transport equipment during its journey. If there is at least one point in the route segment that has not been passed by the current position, it is determined that the target transport equipment has not passed through the current area, and the system continues to iterate through the area information that has not been traversed in the current cycle. The route management module is used to obtain the planned direction of each point in the target route. The planned direction is the driving direction of the target transportation equipment in the target route, and the current direction is multiple different directions of the target transportation equipment in the target route. When the planned direction of the first point matches the current direction of the first point, the current direction of the first point is locked as the planned direction. The first point is any point in the target route. When the current direction of each point in the target route is locked, the occupancy status of a first preset number of landmarks ahead in the target route is traversed starting from the current position of the target transportation equipment. When the occupancy status of the first preset number of landmarks is unoccupied, a driving request for the target transportation equipment is sent to the dynamic traffic control module. The dynamic traffic control module is used to send a driving instruction to the target transportation equipment in response to the driving request sent by the route management module.

9. The system according to claim 8, characterized in that, The system also includes a post-occupancy management module, which is used to traverse the occupancy status of a second preset number of landmarks behind the target transportation equipment in the target route when the target transportation equipment has enabled the post-occupancy function; When all of the second preset number of landmarks are in an unoccupied state, the unoccupied landmarks will be changed to an occupied state.

10. The system according to claim 9, characterized in that, The dynamic traffic control module is also used to update the information already stored in the transportation equipment information management module, route management module, post-occupancy management module, and location management module.

11. A dynamic traffic control device, characterized in that, The device, used in dynamic traffic control systems, includes: The first acquisition module is used to acquire a first preset number and current position of the target transportation equipment in the target industrial scene, as well as the planned direction and current direction of each point in the target route. The first preset number is used to indicate the number of landmarks occupied by the target transportation equipment moving forward from the current position during its journey. The planned direction is the direction of travel of the target transportation equipment in the target route, and the current direction is multiple different directions of the target transportation equipment in the target route. A locking module is used to lock the current direction of the first point as the planned direction when the planned direction of the first point matches the current direction of the first point. The first point is any point in the target route. The first traversal module is used to traverse the occupancy status of a first preset number of landmarks ahead in the target route, starting from the current position of the target transportation equipment, when the current direction of each point in the target route is locked. The sending module is used to send a driving instruction to the target transportation equipment when the first preset number of landmarks are all unoccupied. Dynamic traffic control devices also include: The monitoring module is used to monitor the position changes of the target transportation equipment as it travels along the target route, so as to obtain the historical positions that the target transportation equipment has traveled during the journey. The point management module iterates through all stored point information to determine the points occupied by the transport equipment, obtains the current position of the target transport equipment, and determines whether the current position of the target transport equipment has passed the current point. If it has, the current point is a historical position of the target transport equipment during its journey; otherwise, it continues to iterate through the point information that has not been traversed in the current cycle. Specifically, the area management module iterates through all stored area information to determine the area occupied by the transport equipment, and checks whether the current location has passed through every point in the route segment. If it has passed through every point in the target route segment, it is determined that the target transport equipment has passed through the current area, which is another historical location of the target transport equipment during its journey. If there is at least one point in the route segment that has not been passed by the current location, it is determined that the target transport equipment has not passed through the current area, and the system continues to iterate through the area information that has not been traversed in the current cycle. The second acquisition module is used to acquire the landmark information of the landmark corresponding to the historical location, including the occupancy status and type of the landmark. The first unlocking module is used to unlock the occupancy status of landmarks corresponding to historical locations when the landmark type is a static area or point.

12. A computer device, characterized in that, include: A memory and a processor are communicatively connected, the memory storing computer instructions, and the processor executing the computer instructions to perform the dynamic traffic control method according to any one of claims 1 to 7.

13. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions for causing the computer to perform the dynamic traffic control method according to any one of claims 1 to 7.

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