Agv traffic control system, method, and agv

Abstract

Embodiments of the present application provide an AGV traffic control system, method and AGV, and belong to the technical field of logistics planning. The system comprises a logistics control system, a first AGV scheduling system and a second AGV scheduling system. The first AGV scheduling system is configured to receive the running route and position information of a target AGV and synchronize the running route and position information of the target AGV to the logistics control system. The logistics control system is configured to, in the case that the target AGV reaches a passing waiting position outside a traffic control area, determine whether there is a conflict between the running route of the target AGV and the running route of an AGV in the traffic control area synchronized by the second AGV scheduling system, and issue different control instructions to the target AGV through the first AGV scheduling system to control the passing of the target AGV. The present application can control the passing order of each AGV by setting a unified AGV traffic control system, realize unified scheduling of multi-supplier AGV traffic control, reduce the safety hazard of collision and improve the passing efficiency.

Description

Technical Field

[0001] This invention relates to the field of logistics planning technology, and more specifically to an AGV traffic control system, method, and AGV. Background Technology

[0002] In existing production lines and material storage and distribution processes, AGVs (Automated Guided Vehicles) from multiple suppliers often exist within the factory area. When multiple AGVs converge on the same route or at intersections, the different communication protocols between the AGVs and AGV scheduling systems (RCS) of different suppliers make it difficult for different suppliers' AGV scheduling systems to be compatible in scheduling other suppliers' AGVs. Therefore, it is impossible to perform unified system scheduling for multiple AGVs within the factory area. In this situation, the inability of AGV hardware and software to communicate with each other poses a risk of collisions.

[0003] The current solution involves multiple AGVs from different suppliers identifying and avoiding obstacles when they intersect on the same route or at intersections using built-in obstacle avoidance laser sensors. However, this method relies on the accuracy of each AGV's identification, posing significant safety risks. Furthermore, the sudden start and stop of multiple AGVs can also affect overall traffic efficiency. Summary of the Invention

[0004] The purpose of this invention is to provide an AGV traffic control system, method, and AGV. This AGV traffic control system can manage the passage order of AGVs of different types or brands when they pass through an area or intersection at the same time, thereby achieving unified scheduling of traffic control for AGVs from multiple suppliers, reducing the safety risks of collisions, and improving traffic efficiency.

[0005] To achieve the above objectives, in a first aspect, embodiments of the present invention provide an AGV traffic control system, comprising: a logistics control system, a first AGV scheduling system, and a second AGV scheduling system. The first AGV scheduling system is used to receive the operating route and location information of a target AGV and synchronize the operating route and location information of the target AGV to the logistics control system. The logistics control system is used to, when the target AGV arrives at a waiting position outside the traffic control area, issue different control commands to the target AGV through the first AGV scheduling system to control the passage of the target AGV, based on whether there is a conflict between the operating route of the target AGV and the operating routes of AGVs within the traffic control area synchronized by the second AGV scheduling system.

[0006] Optionally, issuing different control commands to the target AGV through the first AGV scheduling system includes: in the case where there is a conflict between the operating route of the target AGV and the operating route of any AGV in the traffic control area, issuing a waiting command to the target AGV through the first AGV scheduling system and identifying the target AGV as an AGV to be passed; or in the case where there is no conflict between the operating route of the target AGV and the operating routes of any AGV in the traffic control area, issuing a passage command to the target AGV through the first AGV scheduling system.

[0007] Optionally, the AGV traffic control system further includes lighting equipment for displaying light information along the departure markings of the control zone outside the traffic control area. The logistics control system is also used to control the light information on the target AGV's operating route to switch between prohibition signs and permission signs based on the target AGV's location information.

[0008] Optionally, the logistics control system is further configured to: when a passage instruction is issued to the target AGV through the first AGV scheduling system, control the lighting information on the running route of the target AGV to remain or change to a no-pass sign.

[0009] Optionally, the traffic control area includes a first control area departure marking and a second control area departure marking, wherein the first control area departure marking is the marking passed by the target AGV when entering the traffic control area, and the second control area departure marking is the marking passed by the target AGV when leaving the traffic control area; the first AGV scheduling system is further configured to receive first departure information sent by the target AGV passing the first control area departure marking, and synchronize the first departure information to the logistics control system; and the logistics control system is further configured to, upon receiving the first departure information, control the first light information to change to a permission sign, wherein the first light information is the light information displayed by the lighting device at the first control area departure marking; and control the second light information to remain a prohibition sign, wherein the second light information is the light information displayed by the lighting device at the second control area departure marking.

[0010] Optionally, the traffic control area includes pedestrian walkway departure markings; the first AGV scheduling system is further configured to receive second departure information of the target AGV passing through the pedestrian walkway departure markings and synchronize the second departure information to the logistics control system; and the logistics control system is further configured to, upon receiving the second departure information, control the second light information to change to a permission sign; and control the first light information to remain as a permission sign.

[0011] Optionally, the logistics control system is further configured to, upon receiving the second departure information, determine whether there is an AGV waiting to pass: if there is no AGV waiting to pass, the logistics control system is configured to control each light information in the light information to maintain or change to a passable sign; or if there is an AGV waiting to pass, the logistics control system is configured to: determine a new target AGV from the AGVs waiting to pass; issue a pass instruction to the new target AGV through the AGV scheduling system to which the new target AGV belongs; and control the light information on the running route of the new target AGV to maintain or change to a no-pass sign.

[0012] Optionally, determining a new target AGV from the AGVs to be passed includes: if the AGV to be passed is a single AGV, determining the single AGV as the new target AGV; or if the AGV to be passed is multiple AGVs, determining a new target AGV from the multiple AGVs according to a set passage priority.

[0013] Optionally, the setting of passage priority includes the number of AGVs waiting to pass, the waiting time of each of the plurality of AGVs, and the urgency of transportation.

[0014] Optionally, the lighting equipment displays ground-projected zebra crossings in the traffic control area, wherein the ground-projected zebra crossings use red to indicate a no-entry sign and green to indicate a permitted-entry sign.

[0015] On the other hand, the present invention provides an AGV comprising: a receiver for receiving different control commands from an AGV traffic control system as described above; and an actuator for performing passage operations according to the control commands.

[0016] Optionally, the AGV further includes: a light recognizer for recognizing light information on the AGV's operating path; and the actuator is further configured to perform a passage operation according to the control command and the light information.

[0017] Optionally, the step of performing the passage operation according to the control command and the lighting information includes: if the control command is a waiting command, the AGV stops passing and waits in place; or if the control command is a passage command and the lighting information is a prohibition sign, the AGV passes; or if the control command is a passage command and the lighting information is a permission sign, the AGV issues an abnormal alarm.

[0018] On the other hand, the present invention provides an AGV traffic control method, the AGV traffic control method comprising: receiving the operating route and location information of a target AGV through a first AGV scheduling system, and synchronizing the operating route and location information of the target AGV to a logistics control system; and, when the target AGV arrives at a waiting position outside the traffic control area, issuing different control commands to the target AGV through the first AGV scheduling system to control the passage of the target AGV based on whether there is a conflict between the operating route of the target AGV and the operating routes of AGVs within the traffic control area synchronized by a second AGV scheduling system.

[0019] Optionally, the AGV traffic control method further includes: controlling the light information on the target AGV's operating route to switch between prohibition signs and permission signs based on the target AGV's location information.

[0020] Through the above technical solution, this invention can manage the passage sequence of various AGVs by setting up a unified AGV traffic control system, realizing unified scheduling of traffic control for AGVs from multiple suppliers, reducing the safety risks of collisions, and improving traffic efficiency. Moreover, the technical solution of this invention is simple and practical to control and easy to maintain.

[0021] Other features and advantages of the embodiments of the present invention will be described in detail in the following detailed description section. Attached Figure Description

[0022] The accompanying drawings are provided to further illustrate embodiments of the present invention and form part of the specification. They are used together with the following detailed description to explain the embodiments of the present invention, but do not constitute a limitation thereof. In the drawings:

[0023] Figure 1 This is a schematic diagram of an AGV traffic control system according to an embodiment of the present invention;

[0024] Figure 2 This is a schematic diagram of the LCS, RCS, and traffic control logic between AGVs in an AGV traffic control system provided according to an embodiment of the present invention.

[0025] Figure 3 This is a schematic diagram of the traffic control logic between LCS, RCS and projection lights in an AGV traffic control system provided according to an embodiment of the present invention.

[0026] Figures 4a-4h This is a schematic diagram of the control steps for different AGVs to pass through an AGV traffic control system according to an embodiment of the present invention;

[0027] Figure 5This is a schematic diagram of an AGV provided according to an embodiment of the present invention;

[0028] Figure 6 This is a schematic diagram of an AGV traffic control method according to an embodiment of the present invention.

[0029] Explanation of reference numerals in the attached figures

[0030] 110 logistics control system; 120 AGV scheduling system;

[0031] 121 First AGV scheduling system; 122 Second AGV scheduling system;

[0032] 200 lighting equipment;

[0033] 300AGV; 310 receiver; 320 actuator; 330 light recognition device. Detailed Implementation

[0034] The specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit the scope of the present invention.

[0035] In a first aspect, embodiments of the present invention provide an AGV traffic control system, such as... Figure 1 As shown, the AGV traffic control system may include a logistics control system 110 (also referred to as an LCS) and an AGV scheduling system 120 (also referred to as an RCS). The AGV scheduling system 120 may include a first AGV scheduling system 121 and a second AGV scheduling system 122. In one embodiment, the second AGV scheduling system 122 may include all AGV scheduling systems other than the first AGV scheduling system 121. For example, if the first AGV scheduling system 121 is an AGV scheduling system provided by supplier A, then the second AGV scheduling system 122 may include AGV scheduling systems provided by suppliers other than supplier A.

[0036] In one embodiment, such as Figure 2 As shown, the first AGV scheduling system 121 can be used to receive the running route and location information of the target AGV 300, and can synchronize the running route and location information of the target AGV 300 to the logistics control system 110.

[0037] In one embodiment, such as Figure 3As shown, the logistics control system 110 can be used to control the passage of the target AGV 300 by issuing different control commands to the target AGV 300 through the first AGV scheduling system 121, depending on whether there is a conflict between the target AGV 300's running route and the AGV's running route within the traffic control area synchronized by the second AGV scheduling system 122.

[0038] In one embodiment, each AGV scheduling system in the second AGV scheduling system 122 cannot directly communicate with the target AGV 300; that is, there is no communication protocol between each AGV scheduling system in the second AGV scheduling system 122 and the first AGV scheduling system 121. For details, please refer to... Figure 1 For example, the AGV scheduling system 120 may include a first AGV scheduling system 121 of supplier A and a second AGV scheduling system 122 of supplier B. Supplier A's AGVs can only communicate with supplier A's first AGV scheduling system 121. Since there is no communication protocol between supplier A's first AGV scheduling system 121 and supplier B's second AGV scheduling system 122, supplier A's AGVs cannot communicate with supplier B's second AGV scheduling system 122. Furthermore, it can be understood that the aforementioned second AGV scheduling system 122 may also include supplier C's AGV scheduling system and / or supplier D's AGV scheduling system. Since there is no communication protocol between supplier A's first AGV scheduling system 121 and the second AGV scheduling system 122 of suppliers other than supplier A (i.e., the AGV scheduling systems of suppliers B, C, and D), supplier A's AGVs cannot communicate with the second AGV scheduling system 122 of suppliers other than supplier A (i.e., the AGV scheduling systems of suppliers B, C, and D).

[0039] Specifically, based on research and analysis, traffic control zones can be set up in areas where AGVs from multiple suppliers interact with each other. The logistics control system 110 can issue different control commands to target AGVs 300 passing through the traffic control zone via the first AGV scheduling system 121. These control commands can include waiting commands and passage commands. Upon receiving a waiting command or passage command from the logistics control system 110, the first AGV scheduling system 121 of the target AGV 300 wirelessly transmits the command information to the target AGV 300 and controls its passage through the command information. In this way, a unified AGV traffic control system can be established to manage the passage sequence of each AGV, enabling scheduling control of the passage or stopping of AGVs from multiple suppliers. This reduces the safety hazards of collisions, avoids traffic safety accidents between AGVs from multiple suppliers, and improves passage efficiency. Furthermore, the technical solution of this invention is simple and practical to control and easy to maintain.

[0040] In one embodiment, issuing different control commands to the target AGV 300 through the first AGV scheduling system 121 may include: if there is a conflict between the operating route of the target AGV 300 and the operating route of any AGV within the traffic control area, the first AGV scheduling system 121 may issue a waiting command to the target AGV 300 and designate the target AGV 300 as an AGV to be allowed to pass. Conversely, if there is no conflict between the operating route of the target AGV 300 and the operating routes of any AGV within the traffic control area, the first AGV scheduling system 121 may issue a passage command to the target AGV 300.

[0041] In implementing this invention, the applicant also discovered that there are no traffic signs around intersections where AGVs travel, making it difficult for pedestrians to discern the AGV's movement status and route when crossing intersections, which can easily lead to safety accidents. Therefore, another embodiment is provided, such as... Figure 1 As shown, the AGV traffic control system may also include lighting equipment 200 for displaying light information along the departure markings of the controlled area outside the traffic control zone. In this case, the logistics control system 110 may also be used to control the light information on the running route of the target AGV 300 to switch between prohibition signs and permission signs based on the location information of the target AGV 300.

[0042] Specifically, the logistics control system 110, in addition to scheduling and controlling the passage or stopping of the target AGV 300, can also simultaneously control the lighting information on the target AGV 300's operating route to switch between "no passage" and "passage allowed" signs. This serves as guidance for pedestrians at intersections and as an auxiliary basis for judging the passage of the target AGV 300. That is, the target AGV 300 can identify the lighting information and determine whether passage is permitted based on its own hardware's visual recognition function, while simultaneously combining this with received control commands to achieve passive and active passage control through a combination of hardware and software. In other words, this invention achieves collaborative obstacle avoidance by linking lighting equipment with AGV passage scheduling, combined with visual judgment, for multiple supplier AGVs on shared routes. This method can avoid safety accidents involving people and AGVs, or multiple AGVs, at intersections, and also integrates pedestrian guidance with multi-supplier AGV scheduling, compatible with lighting guidance for pedestrians at intersections.

[0043] In one embodiment, the lighting device 200 can be a projection lamp, and the lighting information it displays can be a ground projection zebra crossing, wherein the ground projection zebra crossing can be in red to indicate a no-passing sign and in green to indicate a passable sign.

[0044] In one embodiment, the traffic control area may include a first control area departure marking, a second control area departure marking, and a pedestrian walkway departure marking. The first control area departure marking is the marking traversed by the target AGV 300 when entering the traffic control area, and the second control area departure marking is the marking traversed by the target AGV 300 when leaving the traffic control area. Simultaneously, the lighting information displayed by the lighting device 200 at the first control area departure marking can be defined as the first lighting information, and the second lighting information can be defined as the lighting information displayed by the lighting device 200 at the second control area departure marking.

[0045] In this case, refer to Figure 2 As shown, the first AGV scheduling system 121 can also be used to perform the following functions:

[0046] (1) Receive the first exit information sent by the target AGV300 as it passes through the first control zone and leaves the lane marking, and synchronize the first exit information to the logistics control system 110.

[0047] (2) Receive the second exit information of the target AGV300 passing through the pedestrian passage and leaving the marking, and synchronize the second exit information to the logistics control system 110.

[0048] In the same situation, refer to Figure 3 As shown, the control methods for lighting information by the logistics control system 110 may include:

[0049] (1) When a passage instruction is issued to the target AGV300 through the first AGV scheduling system 121, the lighting information on the running line of the target AGV300 is maintained or changed to a no-pass sign.

[0050] (2) Upon receiving the first exit information, control the first light information to change to a permit sign and control the second light information to remain a prohibit sign.

[0051] (3) Upon receiving the second exit information, control the second light information to change to a permit sign and control the first light information to remain a permit sign.

[0052] In one embodiment, the logistics control system 110 can also be used to determine, upon receiving the second departure information, whether there is an AGV waiting to pass at the passage waiting position. Then, if there is no AGV waiting to pass, the logistics control system 110 can be used to control each light in the light information to maintain or change to a passage permission indicator. If there is an AGV waiting to pass, the logistics control system 110 can be used to:

[0053] (1) Identify a new target AGV from the AGVs to be passed.

[0054] (2) Issue a passage instruction to the new target AGV through the AGV scheduling system to which the new target AGV belongs.

[0055] (3) Control the lighting information on the running route of the new target AGV to maintain or change to a no-pass sign.

[0056] Preferably, upon receiving the second departure information, the logistics control system 110 can determine whether there is an AGV waiting to pass at the passage waiting position after a set time has elapsed. The purpose of setting this set time in this invention is to allow a certain time gap between the passage of two AGVs for pedestrians to pass, and to avoid a situation where a certain pedestrian crossing is blocked for a long time due to the continuous passage of multiple AGVs.

[0057] In one embodiment, the set time can be a fixed time or a variable time. If the set time is fixed, for example, it can be set to 10-30 seconds. If the set time is variable, the change in the set time can be controlled according to different preset conditions.

[0058] For example, the preset condition may include whether the duration of the light information displaying a "No Entry" sign exceeds a preset threshold. In this case, the logistics control system 110 can time the duration of the light information displaying a "No Entry" sign. If the duration of each light information displaying a "No Entry" sign is less than the preset threshold (e.g., it can be set to 200-300 seconds), the set time can be a first set time (e.g., it can be set to 5-10 seconds). If there is light information displaying a "No Entry" sign whose duration exceeds the preset threshold, the logistics control system 110 controls the set time to be adjusted to a second set time (e.g., it can be set to 30-60 seconds).

[0059] In one embodiment, determining a new target AGV from among the AGVs to be traversed may include: if there is only one AGV to be traversed, that AGV is designated as the new target AGV; and if there are multiple AGVs to be traversed, a new target AGV is determined from among the multiple AGVs based on a set passage priority.

[0060] In one embodiment, setting the passage priority may include the number of AGVs waiting to pass, the waiting time of each AGV among the multiple AGVs, and the urgency of the transport.

[0061] Through the above technical solution, this invention can manage the passage sequence of various AGVs by setting up a unified AGV traffic control system, realizing unified scheduling of traffic control for AGVs from multiple suppliers, reducing the safety risks of collisions, and improving traffic efficiency. Moreover, the technical solution of this invention is simple and practical to control and easy to maintain.

[0062] To better describe the present invention, an embodiment is provided, such as... Figures 4a-4h As shown. In this embodiment, a first AGV and a second AGV belonging to different manufacturers and suppliers are provided, and the specific steps for controlling the first AGV and the second AGV to pass through the traffic control area using the AGV traffic control system of the present invention are described below:

[0063] (1) As Figure 4a As shown, no AGVs are allowed to pass through the traffic control area. In this situation, all lighting information displayed by the lighting equipment indicates that passage is permitted; that is, all zebra crossings projected onto the ground by the lighting equipment are green. Pedestrians can then travel along any of the pedestrian walkways on the east, south, north, or west sides.

[0064] (2) Figure 4b As shown, the first AGV moves from east to south (in... Figure 4a In the -g configuration, all directions are north (upwards are considered north). The first AGV's dispatch system receives the first AGV's route and location information and synchronizes this information to the logistics control system. When the first AGV enters the waiting area outside the traffic control zone from the east, the logistics control system identifies that there are no other AGVs within the traffic control zone, meaning there is no conflict between the first AGV's route and the routes of other AGVs within the traffic control zone. In this case, the logistics control system issues a passage command to the first AGV through the dispatch system and simultaneously controls the lights along the first AGV's route to change to a no-passing sign. Specifically, the lighting equipment changes the color of the zebra crossings projected on the east and south sides to red, while maintaining the green color on the west and north sides. At this time, pedestrians are prohibited from crossing the east and south sides, while pedestrians are allowed to cross the west and north sides.

[0065] (3) Figure 4cAs shown, when the first AGV receives a passage instruction from the first AGV scheduling system and recognizes the east and south side light information as prohibition signs, the first AGV proceeds. After passing through the first control zone on the east side and leaving the marked area, the first AGV issues a first exit signal, which is then synchronized to the logistics control system by the first AGV scheduling system. Upon receiving the first exit signal, the logistics control system changes the first light information on the east side to a permission sign and keeps the second light information on the south side a prohibition sign; that is, it changes the color of the zebra crossing projected on the east side to green, while keeping the color of the zebra crossing projected on the south side red. At this time, pedestrians are still prohibited from crossing the south side pedestrian walkway, while pedestrians are allowed to cross the east, north, and west sides.

[0066] (4) Figure 4d As shown, while the first AGV is still traveling within the traffic control zone, the second AGV is traveling from south to north. The second AGV dispatch system receives the second AGV's route and location information and synchronizes this information to the logistics control system. When the second AGV enters the waiting position outside the traffic control zone from the south, the logistics control system identifies the presence of the first AGV within the traffic control zone, indicating a conflict between the second AGV's route and the first AGV's route within the traffic control zone. In this situation, the logistics control system issues a waiting instruction to the second AGV through the second AGV dispatch system, designating the second AGV as the waiting AGV, and simultaneously maintaining all lighting information as it was. Upon receiving the waiting instruction from the second AGV dispatch system, the second AGV stops traveling and waits at the designated waiting position. At this time, pedestrians are still prohibited from crossing the south side of the pedestrian walkway, while pedestrians are allowed to cross the east, north, and west sides.

[0067] (5) Figure 4e As shown, after the first AGV passes the pedestrian crossing on the south side and leaves the marked area, it sends out a second exit signal. The first AGV scheduling system then synchronizes this second exit signal to the logistics control system. Upon receiving the second exit signal, the logistics control system changes the second light signal on the south side to a "passing permitted" indicator while maintaining the first light signal on the east side as a "passing permitted" indicator. Specifically, it changes the color of the zebra crossing projected on the south side to green, while maintaining the color of the zebra crossing projected on the east side as green. At this time, pedestrians can pass on the east, south, north, and west sides.

[0068] Simultaneously, upon receiving the second departure information, the logistics control system preferably checks whether a second AGV is waiting to pass at the waiting position after a set time (e.g., 15 seconds). Since there is only one AGV waiting to pass, this second AGV is designated as the new target AGV. Then, a passage command is issued to the second AGV through its dispatch system, and the lighting along the second AGV's route is controlled to maintain or change to a no-pass sign. Specifically, the lighting equipment changes the color of the zebra crossing projected on the south and north sides to red, while maintaining the color of the zebra crossing projected on the east and west sides as green. At this time, pedestrians are prohibited from crossing the pedestrian walkways on the south and north sides, while pedestrians are allowed to cross the pedestrian walkways on the east and west sides.

[0069] (6) Figure 4f As shown, when the second AGV receives a passage instruction from the second AGV scheduling system and identifies the light information on the south and north sides as a prohibition sign, the second AGV proceeds. After passing through the first control zone on the south side and leaving the lane markings, the second AGV issues a first exit signal, which is then synchronized to the logistics control system by the second AGV scheduling system. Upon receiving the first exit signal, the logistics control system changes the first light information on the south side to a permission sign and keeps the second light information on the north side a prohibition sign; that is, it changes the color of the zebra crossing projected on the south side to green, while keeping the color of the zebra crossing projected on the north side red. At this time, pedestrians are still prohibited from crossing the north side pedestrian crossing, while pedestrians are allowed to cross the east, south, and west sides.

[0070] (7) Figure 4g As shown, after the second AGV passes the pedestrian crossing on the north side and leaves the marked area, it issues a second exit signal. The second AGV scheduling system then synchronizes this exit signal to the logistics control system. Upon receiving the second exit signal, the logistics control system changes the second light signal on the north side to a "passing permitted" indicator while maintaining the first light signal on the south side as a "passing permitted" indicator. Specifically, it changes the color of the zebra crossing projected onto the north side to green, while maintaining the green color on the south side. At this time, pedestrians on the east, south, north, and west sides can all pass.

[0071] (8) Figure 4hAs shown, upon receiving the second departure information, the logistics control system determines that there are no AGVs waiting to pass at the designated waiting position. Then, the logistics control system maintains or changes each light indicator in the lighting information to a permitted passage sign. Since the light information on the east, south, north, and west sides all indicates permitted passage, the control equipment maintains the color of the zebra crossing projected onto the ground on the east, south, north, and west sides as green. At this time, pedestrians can pass on the east, south, north, and west sides.

[0072] As can be seen from the above embodiments, this invention achieves coordinated obstacle avoidance by linking lighting equipment with AGV traffic scheduling, combined with visual judgment, to enable software and hardware-based obstacle avoidance for AGVs from multiple suppliers on shared road sections, thereby preventing safety accidents. Furthermore, this invention can also integrate pedestrian guidance with multi-supplier AGV scheduling, and is compatible with lighting guidance for pedestrians at intersections.

[0073] On the other hand, the present invention provides an AGV300, such as Figure 5 As shown, the AGV 300 may include a receiver 310 and an actuator 320. The receiver 310 is used to receive different control commands from the AGV traffic control system as described above. The actuator 320 is used to perform passage operations according to the control commands.

[0074] In one embodiment, the AGV 300 may further include a light recognizer 330 for recognizing light information on the AGV 300's operating path. In this case, the actuator 320 may also be used to perform passage operations based on control commands and light information.

[0075] In one embodiment, performing a passage operation based on control commands and lighting information may include:

[0076] (1) When the control command is a waiting command, the AGV300 stops passing and waits in place.

[0077] (2) When the control command is a pass command and the light information is a no pass sign, the AGV300 passes.

[0078] (3) When the control command is a passage command and the light information is a passage permission indicator, the AGV300 will issue an abnormal alarm.

[0079] For specific details and benefits of an AGV provided in the embodiments of the present invention, please refer to the above description of a traffic control system applicable to AGVs, which will not be repeated here.

[0080] On the other hand, the present invention provides an AGV traffic control method, such as... Figure 6 As shown, the AGV traffic control method may include steps S410-S420.

[0081] Step S410: Receive the running route and location information of the target AGV through the first AGV scheduling system, and synchronize the running route and location information of the target AGV to the logistics control system.

[0082] In step S420, when the target AGV arrives at the waiting position outside the traffic control area, depending on whether there is a conflict between the target AGV's running route and the running route of the AGV in the traffic control area synchronized by the second AGV scheduling system, different control commands can be issued to the target AGV through the first AGV scheduling system to control the passage of the target AGV.

[0083] In this second AGV scheduling system, each AGV scheduling system cannot communicate directly with the target AGV; that is, there is no communication protocol between each AGV scheduling system in the second AGV scheduling system and the first AGV scheduling system.

[0084] In one embodiment, the AGV traffic control method may further include step S430, which controls the lighting information on the target AGV's operating route to switch between prohibition signs and permission signs based on the target AGV's location information.

[0085] For specific details and benefits of the AGV traffic control method provided in the embodiments of the present invention, please refer to the above description applicable to AGV traffic control systems, which will not be repeated here.

[0086] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0087] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. An AGV traffic control system, characterized by, The AGV traffic control system includes: a logistics control system, a first AGV scheduling system, and a second AGV scheduling system. The first AGV scheduling system is used to receive the operating route and location information of the target AGV, and synchronize the operating route and location information of the target AGV to the logistics control system; and The logistics control system is used to control the passage of the target AGV by issuing different control commands to it through the first AGV scheduling system, based on whether there is a conflict between the target AGV's operating route and the operating routes of AGVs within the traffic control area synchronized with the second AGV scheduling system, when the target AGV arrives at the waiting position outside the traffic control area. The AGV traffic control system also includes lighting equipment for displaying light information along the exit markings of the control zone outside the traffic control area. The logistics control system is also used to control the lighting information on the target AGV's running route to switch between "no passage" and "passage allowed" signs based on the target AGV's location information. The traffic control area includes a first control area departure marking and a second control area departure marking. The first control area departure marking is the marking that the target AGV passes through when entering the traffic control area, and the second control area departure marking is the marking that the target AGV passes through when leaving the traffic control area. The first AGV scheduling system is further configured to receive first exit information from the target AGV as it passes the exit mark of the first control zone, and synchronize the first exit information to the logistics control system; and The logistics control system is further configured to, upon receiving the first departure information, control the first light information to change to a permission sign, wherein the first light information is the light information displayed by the lighting device at the departure mark of the first control zone; and control the second light information to remain a prohibition sign. The traffic control area includes pedestrian walkway departure markings; The first AGV scheduling system is further configured to receive second exit information of the target AGV passing through the pedestrian walkway and leaving the markings, and synchronize the second exit information to the logistics control system; and The logistics control system is further configured to, upon receiving the second departure information, control the second light information to change into a permission sign; and control the first light information to remain as a permission sign.

2. The AGV traffic control system of claim 1, wherein, The step of issuing different control commands to the target AGV through the first AGV scheduling system includes: If there is a conflict between the operating route of the target AGV and the operating route of any AGV within the traffic control area, a waiting instruction is issued to the target AGV through the first AGV scheduling system, and the target AGV is identified as an AGV waiting to pass; or If there is no conflict between the target AGV's operating route and the operating routes of AGVs within the traffic control area, a passage instruction is issued to the target AGV through the first AGV scheduling system.

3. The AGV traffic control system of claim 1, wherein, The logistics control system is also used to: when a passage instruction is issued to the target AGV through the first AGV scheduling system, control the lighting information on the running route of the target AGV to remain or change to a no-pass sign.

4. The AGV traffic control system of claim 1, wherein, The logistics control system is further configured to, upon receiving the second departure information, determine whether there is an AGV waiting to pass: In the absence of any AGVs waiting to pass, the logistics control system is used to control each light information in the light information to maintain or change to a passage permission indicator; or In the presence of AGVs waiting to pass, the logistics control system is used for: Determine a new target AGV from the AGVs that need to pass; The system sends a passage command to the new target AGV through its AGV scheduling system; and The lighting information on the operating path of the new target AGV is maintained or changed to a no-passage sign.

5. The AGV traffic control system of claim 4, wherein, The step of determining a new target AGV from the AGVs to be passed includes: If the AGV to be passed is a single AGV, then that single AGV is designated as the new target AGV; or When there are multiple AGVs to be passed, a new target AGV is determined from among the multiple AGVs according to the set passage priority.

6. The AGV traffic control system of claim 5, wherein, The set passage priority includes the number of AGVs waiting to pass, the waiting time of each of the multiple AGVs, and the urgency of the transportation.

7. The AGV traffic control system of claim 1, wherein, The lighting equipment displays ground-projected zebra crossings in the traffic control area, where red indicates a no-entry sign and green indicates a permitted-entry sign.

8. An AGV, characterized by The AGV includes: Receiver, for receiving different control commands from the AGV traffic control system according to any one of claims 1-7; and An actuator for performing passage operations according to the control instructions.

9. The AGV according to claim 8, characterized in that, The AGV also includes: A light identifier is used to identify light information on the operating path of the AGV; and The actuator is also used to perform passage operations according to the control instructions and the lighting information.

10. The AGV according to claim 9, characterized in that, The step of performing the passage operation according to the control command and the lighting information includes: If the control command is a wait command, the AGV stops moving and waits in place; or The AGV proceeds when the control command is a passage command and the light information is a prohibition sign; or If the control command is a passage command and the light information is a passage permission indicator, the AGV will issue an abnormal alarm.

11. An AGV traffic control method, characterized in that, The AGV traffic control method includes: The system receives the operating route and location information of the target AGV through the first AGV scheduling system, and synchronizes the operating route and location information of the target AGV to the logistics control system; and If the target AGV arrives at a waiting position outside the traffic control area, depending on whether there is a conflict between the target AGV's operating route and the operating routes of AGVs within the traffic control area synchronized with the second AGV scheduling system, the first AGV scheduling system issues different control commands to the target AGV to control its passage. The AGV traffic control method further includes: controlling the lighting information on the target AGV's operating route to switch between "no passage" and "permitted passage" signs based on the target AGV's location information. The traffic control area includes a first control area departure marking and a second control area departure marking. The first control area departure marking is the marking that the target AGV passes through when entering the traffic control area, and the second control area departure marking is the marking that the target AGV passes through when leaving the traffic control area. The AGV traffic control method further includes: receiving, through the first AGV scheduling system, a first exit information sent by the target AGV as it passes the exit marking in the first control area, and synchronizing the first exit information to the logistics control system; and Upon receiving the first departure information, the logistics control system controls the first light information to change into a permission sign, wherein the first light information is the light information displayed by the lighting equipment at the departure mark of the first control zone; and controls the second light information to remain as a prohibition sign. The traffic control area includes pedestrian walkway departure markings; The AGV traffic control method further includes: receiving, through the first AGV scheduling system, second exit information of the target AGV passing through the pedestrian walkway and leaving the markings, and synchronizing the second exit information to the logistics control system; and Upon receiving the second departure information, the logistics control system controls the second light information to change into a passage permission sign; and controls the first light information to remain as a passage permission sign.

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