Access control method, system and access control device
By using a passage control program to manage passage through intersecting track sections in an automated material handling system, the problems of high cost and difficult maintenance of traditional hardware ZCUs are solved, achieving low-cost and easy-to-maintain passage control and ensuring the normal operation and control accuracy of the system.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- SUZHOU XINSHINUO SEMICON EQUIP CO LTD
- Filing Date
- 2024-12-09
- Publication Date
- 2026-06-26
AI Technical Summary
Traditional hardware ZCUs are costly, difficult to install and maintain in automated material handling systems, and hardware failures can affect the normal operation of the system.
Access control programs are used to manage access to cross-track sections via software. These programs can be implemented in PLCs, industrial control computers, servers, or TCSs to reduce equipment costs and construction difficulty. Furthermore, the access control programs can be integrated into TCSs or other equipment to facilitate maintenance.
It reduced equipment costs and construction difficulty, simplified the maintenance process, avoided erroneous control caused by communication failures, and ensured control accuracy and normal system operation.
Smart Images
Figure CN119644857B_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of automated material handling, and in particular to access control methods, systems and devices. Background Technology
[0002] In automated material handling systems, as shown in patent document CN114755992A, the entire system is divided into multiple zones, each equipped with a corresponding ZCU (Zone Control Unit) to manage and monitor the passage of overhead cranes across intersecting track sections. Traditional ZCUs typically employ hardware management, where hardware communicates with the overhead crane via optical signals to inform it of passage permissions, and then transmits the crane's passage record to the TCS (Transportation Control System) via network communication.
[0003] Traditional hardware ZCUs require the installation of corresponding hardware equipment on the crane track, which is relatively expensive and difficult to install. Moreover, if the hardware ZCU malfunctions, it is necessary to troubleshoot the fault or even replace the equipment in order for the controlled area to continue to operate normally. This results in high maintenance difficulty and cost, and can greatly affect the normal operation of the material handling system. Summary of the Invention
[0004] The purpose of this invention is to solve the above-mentioned problems existing in the prior art and to provide a traffic control method, system and device.
[0005] The objective of this invention is achieved through the following technical solutions:
[0006] The access control method includes the following steps:
[0007] S1, When a transport vehicle is moving along the planned path, it is determined whether it is about to move to an intersecting track segment. If so, when the transport vehicle determines that it has moved to the passage request point at the upstream end of the intersecting track segment, it sends a passage request to the passage control program.
[0008] S2, after receiving the passage request, the passage control program confirms whether the transport vehicle can pass through the cross track section; when it is determined that the transport vehicle cannot pass through the cross track section, the passage control program sends a message to the transport vehicle stating that it cannot pass and to wait; when it is determined that the transport vehicle can pass through the cross track section, the passage control program sends a message to the transport vehicle stating that it can pass, and at the same time, the passage control program determines that the cross track section changes from a passable state to an impassable state;
[0009] S3, when the transport vehicle receives the message that it can pass, it continues to move forward and when it determines that it has moved to the release point at the downstream end of the cross track segment, it sends a release request to the passage control program to release the cross track segment;
[0010] S4, the passage control program receives the release request and determines that the intersecting track segment has been restored from an impassable state to a passable state.
[0011] Preferably, the access control program is configured with a waiting list matching each cross track segment to store access requests, and the access control program determines the order in which each transport vehicle passes through the cross track segment based on the waiting time of the transport vehicle corresponding to the access request in the waiting list matching each cross track segment.
[0012] Preferably, in step S2, the passage control program determines whether a transport vehicle can pass through the intersecting track section according to the following process:
[0013] S21, When the passage control procedure receives a passage request from one of the transport vehicles, it determines whether another transport vehicle is passing through the intersecting track section; if yes, it executes S22; otherwise, it executes S23.
[0014] S22, determine that the transport vehicle cannot pass through the intersecting track section;
[0015] S23, determine whether there is a transport vehicle with a longer waiting time at the passage request point of the intersecting track section; if yes, proceed to S24; if no, proceed to S25.
[0016] S24, determine that the transport vehicle cannot pass through the intersecting track section;
[0017] S25, determine that the transport vehicle can pass through the cross track section.
[0018] Preferably, when it is determined that a transport vehicle corresponding to a passage request can pass through the cross track section, the passage control program binds the vehicle information of the transport vehicle to the release point that the transport vehicle is to pass through;
[0019] When the access control program receives the release request, it determines whether the vehicle information in the release request is consistent with the vehicle information bound to the release point. If so, it clears the vehicle information bound to the release point.
[0020] Preferably, when it is determined that a transport vehicle corresponding to a passage request can pass through the cross track segment, the passage control program clears the passage request corresponding to the transport vehicle from the waiting list matched by the cross track segment.
[0021] Preferably, when the passage control program receives the release request, it determines whether the vehicle information in the release request is consistent with the vehicle information of the next passage request to be executed in real time. If so, the next passage request to be executed in the waiting list is cleared.
[0022] Preferably, when a transport vehicle determines that it has stopped at a designated position on the intersecting track section, the transport vehicle sends its status information to the passage control program, the status information including the passage request point information that the transport vehicle has passed; the designated position is located between the merging point of the intersecting track section and the passage request point that the transport vehicle has passed;
[0023] When the passage control program receives the status information, it determines that the passage status of the merging point is passable;
[0024] During the process of the transport vehicle stopping, the passage control program determines whether there is another passage request corresponding to a passage request point that is inconsistent with the passage request point that has been passed corresponding to the status information. If the transport vehicle corresponding to the other passage request needs to pass through the intersection track segment that the stopped transport vehicle needs to pass through, then it is determined that the transport vehicle corresponding to the other passage request can pass through the merging point and sends a passage information to the transport vehicle corresponding to the other passage request.
[0025] During the passage of the transport vehicle corresponding to the other passage request, when the passage control program receives a request to resume passage from the transport vehicle that has stopped moving, the passage control program determines whether it has received a release request from the transport vehicle corresponding to the other passage request. If so, the passage control program sends a command to the transport vehicle that has stopped moving to resume movement.
[0026] Preferably, the access control program is configured in the access control device and / or TCS.
[0027] The access control method includes the following steps:
[0028] S10, determine whether a passage request for passing through a cross track section has been received from a transport vehicle that needs to pass through a cross track section;
[0029] S20, when it is determined that a passage request sent by a transport vehicle has been received, determine whether the transport vehicle can pass through the cross track section;
[0030] S30, when it is determined that the transport vehicle cannot pass through the intersecting track section, a message indicating that passage is not possible and waiting is sent to the transport vehicle;
[0031] S40, when it is determined that the transport vehicle can pass through the cross track section, a passable message is sent to the transport vehicle. At the same time, the passage control program determines that the cross track section changes from a passable state to an impassable state.
[0032] S50, determine whether a release request has been received from the release point downstream of the cross track section after the transport vehicle has moved. If so, determine that the cross track section has been restored from an impassable state to a passable state and execute S10.
[0033] Access control system, including:
[0034] The first judgment unit is used to determine whether a passage request to pass through the cross track section is received from a transport vehicle that needs to pass through a cross track section.
[0035] The passage determination unit is used to determine whether a transport vehicle can pass through the intersecting track section when it is determined that a passage request sent by a transport vehicle has been received;
[0036] A non-passage control procedure is used to send a non-passage and wait message to the transport vehicle when it is determined that the transport vehicle cannot pass through the cross track section;
[0037] The passage unit is used to send a passage message to the transport vehicle when it is determined that the transport vehicle can pass through the cross track section. At the same time, the passage control program determines that the cross track section changes from a passable state to an impassable state.
[0038] The release unit is used to determine whether a release request has been received from the release point downstream of the cross track section after the transport vehicle has moved. If so, it determines that the cross track section has been restored from an impassable state to a passable state and communicates with the first judgment unit.
[0039] A passage control device includes a memory and a processor. The memory stores a program that can be processed by the processor. When the program is executed, it implements the passage control method as described above.
[0040] The advantages of the technical solution of this invention are mainly reflected in:
[0041] This invention changes the conventional approach of using hardware ZCU in existing technologies. Instead, it uses a traffic control program to control traffic at crossing track sections. Only one device equipped with the traffic control program is needed to achieve the corresponding control, which greatly reduces equipment costs and construction difficulty, and effectively facilitates equipment maintenance.
[0042] The access control program of the present invention can be integrated into an independent access control device and a TCS or other equipment. Thus, even if the independent access control device malfunctions or needs to be updated, the access control of the cross track section can be handed over to the TCS or other equipment that is also equipped with the access control program. After the problem is investigated or the update is completed, the control is returned to the access control device, which can effectively avoid the impact of malfunctions and updates on normal transportation.
[0043] The passage control method of the present invention can effectively avoid the problem of erroneous control caused by communication failure and ensure control accuracy. Attached Figure Description
[0044] Figure 1 This is a partial schematic diagram of the track of the present invention, which includes an I-shaped intersecting track segment;
[0045] Figure 2 This is a partial schematic diagram of the track of the present invention, which includes an h-shaped intersecting track segment;
[0046] Figure 3 This is a flowchart of the passage control method of the present invention;
[0047] Figure 4 This is a flowchart of the access control program of the present invention determining whether a transport vehicle corresponding to a access command can pass;
[0048] Figure 5 This is a schematic diagram of a transport vehicle of the present invention that needs to stop moving at a designated position on an intersecting track section;
[0049] Figure 6 It is aimed at Figure 5 A flowchart of the access control method for the state. Detailed Implementation
[0050] The objectives, advantages, and features of this invention will be illustrated and explained through the following non-limiting description of preferred embodiments. These embodiments are merely typical examples of applying the technical solutions of this invention, and all technical solutions formed by equivalent substitutions or equivalent transformations fall within the scope of protection claimed by this invention.
[0051] In the description of the solution, it should be noted that the terms "center," "upper," "lower," "left," "right," "front," "rear," "vertical," "horizontal," "inner," and "outer," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience and simplification of description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.
[0052] Example 1
[0053] The passage control method disclosed in this invention will be described below with reference to the accompanying drawings. The control method is based on a material handling system, which may include known overhead crane handling systems and / or trolley handling systems, etc. Correspondingly, the transport vehicle 300 is a feasible transport device such as an overhead crane, an AGV trolley, or a rail-guided trolley. The track 100 is a hanging rail, a ground rail, or a magnetic strip, etc., and the layout of the track 100 can be designed according to the actual equipment layout of the factory.
[0054] Furthermore, the track 100 will include multiple intersecting track segments 200, as shown in the attached diagram. Figure 1 Appendix Figure 2 As shown, a cross track segment 200 can be an I-shaped, Y-shaped, h-shaped, or X-shaped track segment with at least one intersection point. Thus, each cross track segment 200 includes two upstream ends 210 and at least one downstream end 220; the upstream end 210 is the position that the transport vehicle 300 moves through first, and the downstream end 220 is the position that the transport vehicle 300 moves through later.
[0055] To avoid the use of multiple ZCUs to control the passage of the transport vehicle 300 through various intersecting track sections 200, as is done in the prior art, this invention discloses a method for controlling the passage of each intersecting track section 200 through a passage control program 600. The passage control program 600 can be installed in feasible devices such as PLCs, industrial control computers, servers, TCS500 (Transportation Control System), and MCS (Material Control System).
[0056] Meanwhile, to coordinate with the traffic control program 600 to control traffic at each intersecting track segment 200, each segment of track 100 is typically configured for one-way traffic; however, this is not mandatory. (See attached...) Figure 1 Appendix Figure 2As shown, a passage request point 230 can be set at or near the two upstream ends 210 of each of the cross track segments 200. There can be only one passage request point at each upstream end 210, or there can be multiple passage request points set sequentially. At the same time, a release point 240 can be set at each downstream end 220 of each of the cross track segments 100. As with the prior art, each passage request point and release point is equipped with an identifier for the transport vehicle to determine its position. The identifier is, for example, a barcode, a QR code, or an electronic tag.
[0057] Correspondingly, as shown in the appendix Figure 3 As shown, the access control method includes the following steps:
[0058] S1, during the movement of a transport vehicle 300 along the planned path, it determines whether it will pass through an intersecting track segment 200. If so, the transport vehicle 300 determines whether it has moved to the passage request point 230 of the intersecting track segment 200. If the transport vehicle 300 determines that it has moved to the passage request point 230 of the upstream end 210 of the intersecting track segment 200, it sends a passage request to the passage control program 600. The passage request includes a request sequence number, vehicle information of the transport vehicle 300, passage request point information, release point information, and time information. The request sequence number, for example, starts from 0 and increments sequentially to the nearest integer. The vehicle information includes, for example, the number and movement path of the transport vehicle 300. The passage request point information includes, for example, the location and number of the request point. The release point information includes, for example, the location and number of the release point 240. The time information includes the time when the transport vehicle sends the passage request. If a passage request is a passage request repeatedly sent by a transport vehicle at the same passage request point, then the time information in the passage request may also include the waiting time of the transport vehicle and / or the time when the transport vehicle first sends the passage request.
[0059] S2, after receiving the passage request, the passage control program 600 confirms whether the transport vehicle 300 can pass through the cross track section 200; when it is determined that the transport vehicle 300 cannot pass through the cross track section 200, the passage control program 600 sends a message to the transport vehicle 300 indicating that it cannot pass and to wait; when it is determined that the transport vehicle 300 can pass through the cross track section 200, the passage control program 600 sends a message indicating that it can pass, and at the same time, the passage control program 600 determines that the cross track section 200 changes from a passable state to an impassable state.
[0060] S3, when the transport vehicle 300 receives the message that passage is permitted, it continues to move forward and, upon determining that it has reached the release point 240 at the downstream end 220 of the intersecting track segment 200, sends a release request to the passage control program 600 to release the intersecting track segment 200. The release request also includes a request sequence number, vehicle information of the transport vehicle 300, passage request point information, release point information, etc., which will not be elaborated here. When the transport vehicle 300 receives the message that passage is not permitted and must wait, it waits at the passage request point 230.
[0061] Of course, if the transport vehicle 300 does not receive feedback from the passage control program after issuing a passage request, the transport vehicle can send a passage request to the passage control program again. At this time, the time information of the passage request may include the time when the transport vehicle first issued a passage request at the cross track section and / or the waiting time of the transport vehicle 300. The waiting time of the transport vehicle may be the time difference between the current passage request and the first passage request.
[0062] S4, the access control program 600 receives the release request and determines that the cross track section 200 has been restored from an impassable state to an accessible state. Subsequently, the access control program 600 determines whether there are other access requests and performs corresponding access control according to the waiting time of each transport vehicle.
[0063] Since the access control program may receive multiple access requests simultaneously or within a short period of time, in order to facilitate the management of access requests at each cross track segment 200, the access control program 600 is configured with a waiting list matching each cross track segment 200. Each waiting list stores access requests related to its corresponding cross track segment 200. The access control program 600 determines the execution order of access requests in the waiting list based on the waiting time of the transport vehicle corresponding to the access request in the waiting list, that is, the transport vehicle with the longer waiting time passes first. For example, the access control program 600 receives three access requests in sequence from three transport vehicles 300 that need to pass through the same cross track segment 200. Therefore, when the transport vehicle 300 corresponding to the first access request is passing through the cross track segment 200, the other two access requests are added to the waiting list. When the transport vehicle 300 corresponding to the first access request has moved out of the cross track segment 200, the access control program 600 can send a message that it can pass to the transport vehicle 300 corresponding to the second access request it received, and finally send a message that it can pass to the transport vehicle 300 corresponding to the third access request.
[0064] For details, see attached. Figure 4 As shown, in S2, the passage control program 600 determines whether a transport vehicle 300 can pass through the intersecting track section 200 according to the following process:
[0065] S21, when the passage control program 600 receives a passage request from a transport vehicle 300, it adds the passage request to the waiting list and determines whether another transport vehicle 300 is currently passing through the cross track section 200; if yes, that is, another transport vehicle 300 is currently passing through the cross track section 200, then S22 is executed; if no, that is, no transport vehicle 300 is currently passing through the cross track section 200, then S23 is executed.
[0066] S22, the passage control program 600 determines that the transport vehicle 300 cannot pass through the cross track section 200;
[0067] S23, the passage control program 600 determines whether there is a transport vehicle with a longer waiting time at the passage request point of the intersecting track section. If yes, then execute S24; otherwise, execute S25.
[0068] In specific judgment, the passage control program can determine whether there is a passage request in the waiting list whose waiting time for a transport vehicle is longer than the waiting time of the transport vehicle corresponding to the passage request received by the passage control program in S21. If it is determined that there is a passage instruction in the waiting list whose waiting time for a transport vehicle is longer than the waiting time of the transport vehicle corresponding to the passage request received by the passage control program in S21, it can be determined that there is a transport vehicle with a longer waiting time at the passage request point of the intersecting track section. Otherwise, it is determined that there is no transport vehicle with a longer waiting time at the passage request point of the intersecting track section. This can effectively ensure the accurate control of the waiting transport vehicles.
[0069] S24, it is determined that the transport vehicle 300 cannot pass through the cross track section 200.
[0070] S25, it is determined that the transport vehicle 300 can pass through the cross track section 200.
[0071] When it is determined that the transport vehicle 300 corresponding to a passage request can pass through the cross track section 200, the passage control program 600 binds the vehicle information of the transport vehicle 300 to the release point 240 that the transport vehicle 300 is to pass through; thus, when the passage control program 600 receives the release request, the passage control program can determine whether the vehicle information of the release request is consistent with the vehicle information bound to the release point 240. If so, it indicates that the transport vehicle 300 currently passing through the cross track section 200 matches the transport vehicle 300 that issued the passage request and has completed the passage, and the vehicle information bound to the release point 240 can be cleared; otherwise, an alarm is triggered to remind manual handling.
[0072] Furthermore, when it is determined that the transport vehicle 300 corresponding to a passage request can pass through the cross track section 200, the passage request corresponding to the transport vehicle 300 is removed from the corresponding waiting list. Of course, this is not mandatory.
[0073] Meanwhile, when a transport vehicle is passing through the cross track section, the passage control program will determine the next passage request to be executed in real time based on the passage requests in the waiting list corresponding to the cross track section.
[0074] Furthermore, when the passage control program 600 receives the release request, it determines whether the vehicle information in the release request is consistent with the vehicle information of the next passage request to be executed in real time. If so, it clears the next passage request to be executed in the waiting list and determines the next passage request to be executed again. This can effectively ensure that the data in the waiting list is updated in a timely and accurate manner.
[0075] In addition, due to factors such as communication failures, there may be a situation where the transport vehicle 300 passes through a release point 240, but the passage control program 600 does not receive a release request to release the cross track segment 200 through which the transport vehicle 300 has passed. In this case, the passage control program 600 will consider that the cross track segment 200 is still occupied and thus control other transport vehicles 300 to be unable to pass, which will greatly affect the efficiency of passage.
[0076] Therefore, the access control program 600 can communicate with the TCS 500 or with the transport vehicle 300 passing through the cross track segment 200 to determine whether the transport vehicle 300 has passed the release point 240 of the cross track segment 200. When it is determined that the transport vehicle 300 has moved past the release point 240 of the cross track segment, if the access control program 600 does not receive a release request from the transport vehicle 300, the access control program 600 can start timing automatically. When the timing reaches the set duration, the access control program 600 deletes the vehicle information bound to the release point 240 of the cross track segment 200 and determines that the cross track segment 200 has been restored from an impassable state to a passable state. At this time, if there are pass requests waiting to be executed in the waiting list, the access control program 600 sends a passable message to the transport vehicle 300 corresponding to the pass request with the longest waiting time. If there are no pass requests in the waiting list, the access control program 600 waits for new pass requests.
[0077] Of course, the access control program can also issue an alarm to remind manual intervention, or send an intervention request to the TCS500.
[0078] The operator or the TCS500 can control the waiting transport vehicle 300 at the access request point 230 to send a forced access request to the access control program 600. The forced access request includes information about the access request point 230 and the release point 240. After receiving the forced access request, the access control program 600 starts a timer. When the timer reaches the set duration, the access control program 600 deletes the vehicle information bound to the release point 240 of the cross track segment 200 and determines that the cross track segment 200 has been restored from an impassable state to a passable state. At this time, if there are any pending access requests in the waiting list, the access control program 600 sends a passable message to the transport vehicle 300 corresponding to the access request with the longest waiting time.
[0079] Further details are attached. Figure 5 As shown, when the cross track section is I-shaped or H-shaped, in some scenarios, there are situations where the transport vehicle 300 needs to stop at a designated position on the cross track section 200 to perform operations. Furthermore, the position where the transport vehicle 300 stops does not affect the movement of another transport vehicle 300 through the cross track section 200. If the cross track section 200 still prevents other transport vehicles 300 from passing through, then the operating efficiency of the other transport vehicle 300 will be affected.
[0080] To solve this problem, see attached... Figure 6 As shown, when a transport vehicle 300 determines that it has stopped at a designated position on the intersecting track segment 200, the transport vehicle 300 sends status information to the passage control program 600. The designated position is located between a merging point and a passage request point 230 that the transport vehicle 300 has already passed. The merging point is one of two parallel track segments on the intersecting track segment 200, where the transport vehicle needs to move to the intersection of one of the two track segments and the connecting segment. The status information includes information on the passage request point that the transport vehicle 300 has already passed, information on the expected release point, and information on the stopping position.
[0081] When the passage control program 600 receives the status information, it determines that the passage status of the merging point is passable.
[0082] During the process of the transport vehicle 300 stopping, the passage control program 600 determines whether there is another passage request corresponding to a passage request point 230 that is inconsistent with the already passed passage request point 230 corresponding to the status information. If the transport vehicle 300 corresponding to the other passage request needs to pass through the intersecting track segment 200 that the stopped transport vehicle 300 needs to pass through, then it determines that the transport vehicle 300 corresponding to the other passage request can pass through the merging point and sends a passable information to the transport vehicle 300 corresponding to the other passage request, while simultaneously switching the passage status of the merging point to impassable. If there is another passage request corresponding to a passage request point 230 that is consistent with the already passed passage request point 230 corresponding to the status information, then the transport vehicle 300 corresponding to the other passage request is not allowed to pass through the intersecting track segment 200.
[0083] When the transport vehicle 300 corresponding to the other passage request receives the information that it can pass, it can continue to move forward. During the movement of the transport vehicle 300 corresponding to the other passage request, the passage control program 600 determines whether it has received a request to resume passage from the transport vehicle 300 that has stopped moving. If so, the passage control program determines whether it has received a release request from the transport vehicle 300 corresponding to the other passage request. If so, it determines that the transport vehicle 300 corresponding to the other passage instruction has left the release point 240. The passage control program determines that the passage status of the merging point is passable, and then the passage control program 600 sends a command to the transport vehicle 300 that has stopped moving to resume movement.
[0084] Furthermore, in order to increase the redundancy of control, an independent access control device 400 can be set in the handling system to configure the access control program 600, and the access control program 600 can also be configured in the TCS500.
[0085] Therefore, multiple control modes can be used when controlling passage in each cross track segment 200, and different control modes can be switched with each other. The multiple control modes include TCS control mode, control device control mode, no control mode and local control mode.
[0086] In TCS control mode, the passage control program 600 of TCS500 controls the passage of the transport vehicle 300 in each cross track section 200; in control device control mode, the passage control program 600 of the passage control device 400 controls the passage of the transport vehicle 300 in each cross track section 200. Meanwhile, in both TCS control mode and control device control mode, the TCS500 and the access control program 600 of the access control device 400 synchronize control information; in no-control mode, neither the TCS500 nor the access control program 600 of the access control device 400 controls the passage of the transport vehicle 300 in each cross track section 200; in local control mode, the access control program 600 of the access control device 400 controls the passage of the transport vehicle 300 in each cross track section 200, but the access control program 600 of the access control device 400 no longer synchronizes control information with the access control program 600 of the TCS500.
[0087] Furthermore, the access control program of the access control device includes at least three tabs: "Automatic," "Starting," and "Running Alone." In different control modes, the three tabs correspond to different states, as detailed in the table below:
[0088] Control Mode automatic Starting Running independently TCS control mode Open closure closure Control device control mode Open Open closure No control mode closure closure closure Local control mode closure closure Open
[0089] When the handling system is initially started, either the control device control mode or the TCS control mode can be used.
[0090] (1) If the current control mode is the control device control mode and it is necessary to switch from the control device control mode to the TCS control mode, the operator can switch the current control mode to the TCS control mode on the front-end interface of the access control program 600 of the TCS500. When the access control program 600 of the TCS500 receives the control command to switch the current control mode to the TCS control mode, it sends a message to the access control program 600 of the access control device 400 to set the "Starting" tab to closed. After receiving the message, the access control program 600 of the access control device 400 sets the "Starting" tab to closed and sends a feedback message to the access control program 600 of the TCS500 that the "Starting" tab has been set to closed. After receiving the feedback message, the access control program 600 of the TCS500 determines that the current control mode has been switched to the TCS control mode and sends a message to the transport vehicle that the control mode has been switched to the TCS control mode. Each transport vehicle 300 sends a reception response to the TCS.
[0091] Furthermore, if the current control mode is the control device control mode, when the access control program 600 of the TCS500 cannot receive the status notification from the access control program 600 of the access control device 400 for a long time, the access control program 600 of the TCS500 determines that the connection status of the access control device 400 is offline. At this time, the access control program of the TCS determines that the current mode is not the local control mode, and thus switches the current control mode to the TCS control mode. It can also send a message to all transport vehicles 300 that the current control mode has been switched to the TCS control mode, and each transport vehicle 300 sends a reception response to the TCS.
[0092] Alternatively, if the current control mode is the control device control mode, when a transport vehicle sends a passage request to the passage control program of the passage control device and cannot receive a response from the passage control program, the transport vehicle sends a passage request to the TCS and requests to switch to the TCS control mode. When the passage control program of the TCS determines that the current mode is not the local control mode, it switches the current control mode to the TCS control mode and can send an instruction to each of the transport vehicles 300 to switch the current control mode to the TCS control mode. Each of the transport vehicles 300 sends a reception response to the TCS.
[0093] (2) If the current control mode is TCS control mode and it is necessary to switch to control device control mode, the operator can switch the current control mode to control device control mode on the front-end interface of the access control program of TCS500.
[0094] When the access control program of TCS500 receives a control command to switch the current control mode to the control device control mode, it sends a message to the access control program of access control device 400 to enable the "Starting" tab. Upon receiving this message, if the switch is possible, the access control program of access control device 400 enables its "Starting" tab and sends a message to the access control program of TCS500 confirming that its "Starting" tab is enabled. Upon receiving this message, the access control program of TCS500 determines that the current control mode has been switched to the control device control mode. Subsequently, the access control program of TCS500 sends an instruction to all transport vehicles to switch the control mode to the control device control mode, and each transport vehicle responds upon receiving the instruction. Subsequently, the transport vehicle sends a passage request to the passage control program of the passage control device 400. If the transport vehicle continues to send a passage request to the passage control program of TCS500, the passage control program of TCS500 replies to the transport vehicle with a message that the passage control program of the passage control device will control the passage of the cross track section.
[0095] (3) If the current control mode is TCS control mode and it needs to be switched to no control mode, that is, the passage control program of passage control device 400 or TCS500 is not needed to control the passage of the transport vehicle in each cross track section, the “automatic” tab of the passage control program of passage control device 400 can be manually set to off. The passage control program of the passage control device sends a message to the passage control program of TCS that its “automatic” tab is set to off. After receiving the message, TCS500 will switch the current control mode to no control mode and send an instruction to all transport vehicles to switch the current control mode to no control mode. Each transport vehicle responds after receiving the instruction.
[0096] At this point, regardless of whether the transport vehicle sends a passage request to the access control program of the TCS500 or the access control device 400, it will receive an uncontrollable response, and the access control program of the TCS500 will not be able to accept the request to switch control.
[0097] (4) Conversely, if the current mode is no control and it is necessary to switch to TCS control mode, the "automatic" tab of the access control program of the access control device 400 can be manually set to on. The access control program of the access control device sends a message to the access control program of the TCS that its "automatic" tab is on. After receiving the message, the access control program of the TCS 500 will switch the current control mode to TCS mode and send an instruction to all transport vehicles to switch the current control mode to TCS control mode. Each transport vehicle responds after receiving the instruction.
[0098] (5) If the current control mode is local control mode and it is necessary to switch to no control mode, the "running alone" tab of the access control program of the access control device 400 can be manually set to off. The access control program of the access control device 400 sends a message to the access control program of the TCS that its "running alone" tab is set to off. After receiving the message, the access control program of the TCS 500 will switch the current control mode to no control mode and send an instruction to all transport vehicles to switch the current control mode to no control mode. Each transport vehicle responds after receiving the instruction.
[0099] (6) Conversely, if the current control mode is no control mode and it is necessary to switch to local control mode, the "Running Alone" tab of the access control program of access control device 400 can be manually set to "On". The access control program of access control device 400 sends a message to the access control program of TCS that its "Running Alone" tab is set to "On". After receiving the message, the access control program of TCS 500 switches the current control mode to local control mode and sends an instruction to all the transport vehicles to switch the current control mode to TCS control mode. Each transport vehicle responds after receiving the instruction.
[0100] (7) If the current control mode is local control mode and it needs to be switched to TCS control mode, if the access control program of TCS500 does not receive the status information reported by the access control program of access control device 400 for a long time, TCS500 will determine that access control device 400 is offline. At this time, if the transport vehicle sends an access request to the access control program of access control device 400 and does not receive a response, it will send a request to switch the current control mode to the access control program of TCS500. TCS500 determines that although it is local control mode at this time, access control device 400 is offline. The access control program of TCS determines to switch the current control mode to TCS control mode and sends an instruction to all transport vehicles to switch the current control mode to TCS control mode. Each transport vehicle responds after receiving the instruction.
[0101] Example 2
[0102] This embodiment discloses a passage control method, including the following steps:
[0103] S10, determine whether a passage request to pass through the cross track section 200 has been received from a transport vehicle 300 that needs to pass through the cross track section 200;
[0104] S20, when it is determined that a passage request sent by the transport vehicle 300 has been received, determine whether the transport vehicle 300 can pass through the cross track section 200;
[0105] S30, when it is determined that the transport vehicle 300 cannot pass through the intersecting track section 200, a message of "cannot pass and wait" is sent to the transport vehicle 300;
[0106] S40, when it is determined that the transport vehicle 300 can pass through the cross track section 200, a passable message is sent to the transport vehicle 300. At the same time, the passage control program 600 determines that the cross track section 200 changes from a passable state to an impassable state.
[0107] S50, determine whether a release request has been received from the release point 240 downstream of the cross track section 200 after the transport vehicle 300 has moved past the release point 240. If so, determine that the cross track section 200 has been restored from an impassable state to a passable state and execute S10.
[0108] The access control method can refer to the workflow of the access control program in Embodiment 1 above for corresponding access control, which will not be elaborated here.
[0109] Example 3
[0110] This embodiment discloses a traffic control system, including:
[0111] The first judgment unit is used to determine whether a passage request to pass through the cross track section 200 is received from a transport vehicle 300 that needs to pass through the cross track section 200.
[0112] The passage determination unit is used to determine whether the transport vehicle 300 can pass through the cross track section 200 when it is determined that a passage request sent by the transport vehicle 300 has been received;
[0113] The non-passage control program 600 is used to send a non-passage and wait message to the transport vehicle 300 when it is determined that the transport vehicle 300 cannot pass through the cross track section 200;
[0114] The passage unit is used to send a passage message to the transport vehicle 300 when it is determined that the transport vehicle 300 can pass through the cross track section 200. At the same time, the passage control program 600 determines that the cross track section 200 changes from a passable state to an impassable state.
[0115] The release unit is used to determine whether it receives a release request sent by the release point 240 downstream of the cross track section 200 after the transport vehicle 300 moves through it. If so, it determines that the cross track section 200 has been restored from an impassable state to a passable state and communicates with the first judgment unit.
[0116] Example 4
[0117] This embodiment discloses a passage control device, including a memory and a processor. The memory stores a program that can be processed by the processor. When the program is executed, it implements the passage control method as described above.
[0118] This invention has many other embodiments, and all technical solutions formed by equivalent transformation or equivalent transformation fall within the protection scope of this invention.
Claims
1. A passage control method, characterized in that, Includes the following steps: S1, During the movement of a transport vehicle along the planned path, it is determined whether it is about to move to an intersecting track segment. If so, when the transport vehicle determines that it has moved to the passage request point at the upstream end of the intersecting track segment, it sends a passage request to the passage control program. The passage request includes the transport vehicle's vehicle information, passage request point information, and release point information. S2, after receiving the passage request, the passage control program confirms whether the transport vehicle can pass through the cross track section; When it is determined that the transport vehicle cannot pass through the intersecting track section, the passage control program sends a message to the transport vehicle indicating that it cannot pass and to wait. When it is determined that the transport vehicle can pass through the cross track section, the passage control program sends a passage message to the transport vehicle. At the same time, the passage control program determines that the cross track section changes from a passable state to a non-passable state. S3, when the transport vehicle receives the message that it can pass, it continues to move forward and when it determines that it has moved to the release point at the downstream end of the cross track segment, it sends a release request to the passage control program to release the cross track segment; S4, the passage control program receives the release request and determines that the intersecting track segment has been restored from an impassable state to a passable state; When the passage control program determines that the transport vehicle has moved past the release point of the cross track section and has not received a release request from the transport vehicle, the passage control program starts timing. When the timing reaches the set duration, the passage control program deletes the vehicle information bound to the release point of the cross track section and determines that the cross track section has been restored from an impassable state to a passable state. When a transport vehicle determines that it has stopped at a designated position on an intersecting track section, the transport vehicle sends its status information to the passage control program. The status information includes information on the passage request points that the transport vehicle has passed. The designated position is located between the merging point of the intersecting track section and the passage request point that the transport vehicle has passed. When the passage control program receives the status information, it determines that the passage status of the merging point is passable; During the process of the transport vehicle stopping, the passage control program determines whether there is another passage request corresponding to a passage request point that is inconsistent with the passage request point that has been passed corresponding to the status information. If the transport vehicle corresponding to the other passage request needs to pass through the intersection track segment that the stopped transport vehicle needs to pass through, then it is determined that the transport vehicle corresponding to the other passage request can pass through the merging point and sends a passage information to the transport vehicle corresponding to the other passage request. During the passage of the transport vehicle corresponding to the other passage request, when the passage control program receives a request to resume passage from the transport vehicle that has stopped moving, the passage control program determines whether it has received a release request from the transport vehicle corresponding to the other passage request. If so, the passage control program sends a command to the transport vehicle that has stopped moving to resume movement. The passage control program is configured in the passage control device and the TCS respectively. When performing passage control for each cross track section, either the TCS control mode or the control device control mode is used. In the TCS control mode, the passage control program of the TCS controls the passage of the transport vehicle in each cross track section. In the control device control mode, the passage control program of the passage control device controls the passage of the transport vehicle in each cross track section. At the same time, in both the TCS control mode and the control device control mode, the passage control programs of the TCS and the passage control device synchronize control information. If the current control mode is the control device control mode, when the access control program of the TCS cannot receive the status notification of the access control device for a long time, the access control program of the TCS determines that the connection status of the access control device is offline. The access control program of the TCS switches the current control mode to the TCS control mode and can send a message to all transport vehicles that the current control mode has been switched to the TCS control mode. Each transport vehicle sends a reception response to the TCS. Alternatively, if the current control mode is the control device control mode, when a transport vehicle sends a passage request to the passage control program of the passage control device and cannot receive a response from the passage control program, the transport vehicle sends a passage request to the TCS and requests to switch to the TCS control mode. When the passage control program of the TCS determines that the current mode is not the local control mode, it switches the current control mode to the TCS control mode and can send an instruction to each transport vehicle to switch the current control mode to the TCS control mode. Each transport vehicle then sends a response to the TCS.
2. The passage control method according to claim 1, characterized in that: The access control program is configured with a waiting list matching each cross track segment to store access requests. The access control program determines the order in which each transport vehicle passes through the cross track segment based on the waiting time of the transport vehicle corresponding to the access request in the waiting list matching each cross track segment.
3. The passage control method according to claim 1, characterized in that, In step S2, the passage control procedure determines whether a transport vehicle can pass through the intersecting track section according to the following process: S21, When the passage control procedure receives a passage request from one of the transport vehicles, it determines whether another transport vehicle is passing through the intersecting track section; if yes, it executes S22; otherwise, it executes S23. S22, determine that the transport vehicle cannot pass through the intersecting track section; S23, determine whether there is a transport vehicle with a longer waiting time at the passage request point of the intersecting track section; if yes, proceed to S24; if no, proceed to S25. S24, determine that the transport vehicle cannot pass through the intersecting track section; S25, determine that the transport vehicle can pass through the cross track section.
4. The passage control method according to claim 1, characterized in that: When it is determined that a transport vehicle corresponding to a passage request can pass through the cross track section, the passage control program binds the vehicle information of the transport vehicle to the release point that the transport vehicle is to pass through; When the access control program receives the release request, it determines whether the vehicle information in the release request is consistent with the vehicle information bound to the release point. If so, it clears the vehicle information bound to the release point.
5. The passage control method according to claim 1, characterized in that: When it is determined that a transport vehicle corresponding to a passage request can pass through the cross track segment, the passage control program clears the passage request corresponding to the transport vehicle from the waiting list matched by the cross track segment.
6. The passage control method according to claim 1, characterized in that: When the passage control program receives the release request, it determines whether the vehicle information in the release request is consistent with the vehicle information of the next passage request to be executed in real time. If so, the next passage request to be executed in the waiting list is cleared.
7. A passage control method, characterized in that, Includes the following steps: S10, determine whether a passage request for passing through a cross track section has been received from a transport vehicle that needs to pass through a cross track section; S20, when it is determined that a passage request sent by a transport vehicle has been received, determine whether the transport vehicle can pass through the cross track section; S30, when it is determined that the transport vehicle cannot pass through the intersecting track section, a message indicating that passage is not possible and waiting is sent to the transport vehicle; S40, when it is determined that the transport vehicle can pass through the cross track section, a passable message is sent to the transport vehicle. At the same time, the passage control program determines that the cross track section changes from a passable state to a non-passable state. S50, determine whether a release request has been received from the release point downstream of the cross track section after the transport vehicle has moved through it; if so, determine that the cross track section has been restored from an impassable state to a passable state and execute S10. If it is determined that the transport vehicle has moved past the release point of the cross track section and no release request is received from the transport vehicle, a timer is started. When the timer reaches the set duration, the vehicle information bound to the release point of the cross track section is deleted, and the cross track section is determined to be restored from an impassable state to a passable state. Upon receiving status information from a transport vehicle, the passage status of the merging point that the transport vehicle is about to pass through is determined to be passable; when a transport vehicle determines that it has stopped at a designated position on the intersecting track section, the transport vehicle sends its status information to the passage control program, the status information including the passage request point information that the transport vehicle has passed; the designated position is located between the merging point of the intersecting track section and the passage request point that the transport vehicle has passed; During the process of the transport vehicle stopping, it is determined whether there is another passage request corresponding to a passage request point that is inconsistent with the passage request point that has been passed corresponding to the status information. The transport vehicle corresponding to the other passage request needs to pass through the cross track segment that the stopped transport vehicle needs to pass through. If so, then it is determined that the transport vehicle corresponding to the other passage request can pass through the merging point and send the passage information to the transport vehicle corresponding to the other passage request; During the passage of the transport vehicle corresponding to the other passage request, if a request to resume passage is received from the transport vehicle that has stopped moving, it is determined whether a release request has been received from the transport vehicle corresponding to the other passage request. If so, an instruction to resume movement is sent to the transport vehicle that has stopped moving. The traffic control program for implementing the traffic control method is configured in the traffic control device and the TCS respectively; when performing traffic control for each intersecting track section, the traffic control is performed using either the TCS control mode or the control device control mode. In TCS control mode, the passage control program of the TCS controls the passage of the transport vehicle in each intersecting track section; in control device control mode, the passage control program of the passage control device controls the passage of the transport vehicle in each intersecting track section; at the same time, in both TCS control mode and control device control mode, the passage control programs of the TCS and the passage control device synchronize control information. If the current control mode is the control device control mode, when the access control program of the TCS cannot receive the status notification of the access control device for a long time, the access control program of the TCS determines that the connection status of the access control device is offline. The access control program of the TCS switches the current control mode to the TCS control mode and can send a message to all transport vehicles that the current control mode has been switched to the TCS control mode. Each transport vehicle sends a reception response to the TCS. Alternatively, if the current control mode is the control device control mode, when a transport vehicle sends a passage request to the passage control program of the passage control device and cannot receive a response from the passage control program, the transport vehicle sends a passage request to the TCS and requests to switch to the TCS control mode. When the passage control program of the TCS determines that the current mode is not the local control mode, it switches the current control mode to the TCS control mode and can send an instruction to each transport vehicle to switch the current control mode to the TCS control mode. Each transport vehicle then sends a response to the TCS.