Traffic control method and device for road intersection and electronic equipment

Abstract

The embodiment of the invention provides a traffic control method and device for a road intersection and electronic equipment, and relates to the technical field of intelligent logistics. The method comprises the following steps: detecting whether an automatic device which moves along a main channel of a first road and is passing through a road intersection exists or not when detecting that the first automatic device which moves along the auxiliary channel of the first road and is about to enter the road intersection exists; if yes, the first automation equipment is controlled to pass through the road intersection; if not, controlling the first automatic equipment to be static, and returning to the step of detecting whether the prompt information for prompting that the moving object in the second road is forbidden to pass through the road intersection is output or not; and when it is detected that the first automatic equipment with the passing permission leaves the road intersection and the automatic equipment close to the road intersection does not exist in the main channel, outputting of the prompt information is stopped. Therefore, by applying the scheme provided by the embodiment of the invention, the traffic capacity of the road allocated to the non-automatic equipment can be improved.

Description

Technical Field

[0001] The present application relates to the field of intelligent logistics technology, and in particular to a traffic control method, device and electronic equipment at a road intersection. Background Art

[0002] At present, with the continuous development of intelligent technology, automated equipment such as intelligent mobile robots are increasingly being used in various scenarios, such as logistics sorting scenarios, industrial production scenarios, etc.

[0003] In the above scenario, in addition to automated equipment, there may be other moving objects such as personnel and equipment driven by personnel, and different roads are usually assigned to automated equipment and other moving objects so that the automated equipment and other moving objects can move along the different roads assigned to them. However, there may often be intersections between the above different roads. Then, when there are road intersections that need to pass through the above different roads at the same time, traffic control is required at the road intersections to ensure that the automated equipment and other moving objects can pass through the road intersections smoothly and safely.

[0004] Taking manufacturing enterprises as an example, Figure 1 As shown, the production plant is equipped with a road for automated equipment and a road for personnel to drive logistics equipment, and there is a cross intersection between the two roads. For the cross intersection of the above two roads, traffic control is usually carried out by traffic lights. When the automated equipment is about to pass through the intersection, a trigger message is sent, and the traffic light control system controls the traffic light to warn that the automated equipment is about to pass through the intersection, so that personnel can control the logistics vehicle and avoid the automated equipment in time. After the automated equipment passes through the intersection, the traffic light control system controls the traffic light not to work, and other equipment passes through the intersection. The number of automated equipment or other moving objects passing through the intersection per unit time can be called intersection traffic.

[0005] However, in the above-mentioned related technologies, automated equipment usually passes through intersections continuously at certain time intervals. When there are two-way multi-channels on the roads allocated to automated equipment, the automated equipment on multiple channels will pass through the intersection at certain time intervals respectively. When the frequency of automated equipment passing through the intersection increases, the intersection traffic of the automated equipment increases, and the traffic capacity of the roads allocated to other mobile objects deteriorates, making it difficult for other mobile objects to pass through the intersection. Summary of the invention

[0006] The purpose of the embodiments of the present application is to provide a traffic control method, device and electronic device for a road intersection to improve the traffic capacity of roads allocated to non-automated equipment so that the non-automated equipment can pass through the road intersection more smoothly. The specific technical solution is as follows:

[0007] In a first aspect, an embodiment of the present application provides a method for traffic control at a road intersection, the method comprising:

[0008] Whenever a first automated device is detected to be moving along a secondary channel of a first road and about to enter a road intersection, it is detected whether there is an automated device moving along a main channel of the first road and passing through the road intersection; wherein whenever a second automated device is detected to be moving along the main channel and approaching the road intersection, prompt information for prompting a moving object in the second road not to pass through the road intersection is output, and the automated device passing through the road intersection includes: an automated device located in the road intersection and the second automated device; the main channel and the secondary channel have opposite travel directions;

[0009] If yes, controlling the first automated device to pass through the road intersection;

[0010] If not, controlling the first automated device to be stationary, and returning to the step of detecting whether there is a second automated device moving along the main channel of the first road and passing through the road intersection;

[0011] When it is detected that the first automated device with passing authority leaves the road intersection and there is no automated device passing the road intersection in the main channel, stopping outputting the prompt information;

[0012] Among them, the first automated equipment with passing authority is: when it is detected that there is an automated equipment moving along the main channel and passing through the road intersection, the first automated equipment is controlled to pass through the road intersection; the first road is a road allocated for automated equipment, the second road is a road allocated for other mobile objects except automated equipment, and the road intersection is the intersection of the first road and the second road.

[0013] Optionally, in a specific implementation, the method further includes:

[0014] Whenever the second automated device moving along the main channel and approaching the road intersection is detected, if the prompt information has not been output, the prompt information starts to be output.

[0015] Optionally, in a specific implementation, the method further includes:

[0016] Whenever a second automated device moving along the main channel and approaching the road intersection is detected, the preset identification value is increased by a preset value; wherein the initial value of the preset identification value is a specified value;

[0017] Whenever the first automated device is detected, if it is detected that there is an automated device moving along the main channel of the first road and passing through the road intersection, the preset identification value is increased by the preset value;

[0018] Whenever an automated device is detected moving along the first road and leaving the road intersection, the preset identification value is reduced by the preset value;

[0019] When it is detected that the first automated device in a moving state leaves the road intersection and there is no automated device passing through the road intersection in the main channel, stopping outputting the prompt information includes:

[0020] When it is detected that the preset identification value is restored to the specified value, the prompt information is stopped from being output; wherein, when the preset identification value is not the specified value, the prompt information is continuously output.

[0021] Optionally, in a specific implementation, the slave channel is provided with a slave control point, and the slave control point is spaced a first distance from the road intersection in the opposite direction of the passing direction of the slave channel; the method further includes:

[0022] Retrieve the first position information of each automated device moving along the slave passage to see whether there is position information located between the slave control point and the entrance edge of the road intersection; if there is position information located between the slave control point and the entrance edge, then there is the first automated device moving along the slave passage of the first road and about to enter the road intersection;

[0023] The entrance edge is the edge that the first automated equipment first passes when entering the road intersection.

[0024] Optionally, in a specific implementation, when the result of the first detection is that there is no automated equipment moving along the main channel of the first road and passing through the road intersection, controlling the first automated equipment to be stationary includes:

[0025] When the first automated equipment moves to the entrance edge, or approaches an automated equipment that has stopped moving and is about to pass through the road intersection, the first automated equipment is controlled to stop moving.

[0026] Optionally, in a specific implementation, the main channel is provided with a main control point, and the main control point is spaced a second distance from the road intersection in the opposite direction of the passing direction of the main channel;

[0027] The detecting whether there is an automated device moving along the main channel of the first road and passing through the road intersection comprises:

[0028] Retrieve the second position information of each automated device moving along the main passage to see whether there is position information located between the main control point and the first edge of the road intersection; if there is position information located between the main control point and the first edge of the road intersection, there is an automated device moving along the main passage of the first road and passing through the road intersection; if there is no position information located between the main control point and the first edge of the road intersection, there is no automated device moving along the main passage of the first road and passing through the road intersection;

[0029] The first edge is the edge farthest from the main control point in the passing direction of the main channel.

[0030] Optionally, in a specific implementation manner, the slave channel is provided with a slave control point, and the method further includes:

[0031] Retrieve first position information of each first automation device with passing authority moving along the slave passage to determine whether there is position information located between the slave control point and the second edge; if not, the first automation device with passing authority leaves the road intersection;

[0032] Retrieve the second position information to see whether there is position information located between the main control point and the first edge; if not, there is no automated equipment in the main channel that is passing through the road intersection;

[0033] The second edge is the edge farthest from the slave control point in the passing direction of the slave channel.

[0034] Optionally, in a specific implementation, a traffic control area is provided at the road intersection, and the vertices of the traffic control area include: a first intersection point of the device movement route in the main channel and the first edge, and a second intersection point of the device movement route in the slave channel and the second edge;

[0035] The retrieving whether there is position information located between the slave control point and the second edge in the first position information of each of the first automation devices with passing authority moving along the slave channel, comprises:

[0036] Retrieve first position information of each first automation device with passing authority moving along the slave channel, whether there is position information located in a channel section where the device moving route between the slave control point and the second intersection is located;

[0037] The searching of the second position information to determine whether there is position information located between the main control point and the first edge includes:

[0038] The second location information is retrieved to determine whether there is location information located within the channel section where the equipment moving route between the main control point and the first intersection is located.

[0039] In a second aspect, an embodiment of the present application provides a traffic control device for a road intersection, the device comprising:

[0040] An information detection module is used to detect whether there is an automated device moving along a main channel of the first road and passing through the road intersection every time a first automated device moving along a secondary channel of a first road and about to enter a road intersection is detected; wherein, every time a second automated device moving along the primary channel and approaching the road intersection is detected, a prompt message is outputted to prompt a moving object in the second road not to pass through the road intersection, wherein the automated device passing through the road intersection includes: an automated device located in the road intersection and the second automated device; the main channel and the secondary channel have opposite travel directions;

[0041] A first control module, configured to control the first automated device to pass through the road intersection if present;

[0042] a second control module, configured to control the first automation device to be stationary and trigger the information detection module if the information does not exist;

[0043] an output stop module, configured to stop outputting the prompt information when it is detected that the first automated device with passing authority leaves the road intersection and there is no automated device passing through the road intersection in the main channel;

[0044] Among them, the first automated equipment with passing authority is: when it is detected that there is an automated equipment moving along the main channel and passing through the road intersection, the first automated equipment is controlled to pass through the road intersection; the first road is a road allocated for automated equipment, the second road is a road allocated for other mobile objects except automated equipment, and the road intersection is the intersection of the first road and the second road.

[0045] Optionally, in a specific implementation, the device further includes:

[0046] The information output module is used to start outputting the prompt information if the prompt information is not outputted every time the second automated equipment moving along the main channel and approaching the road intersection is detected.

[0047] Optionally, in a specific implementation, the device further includes:

[0048] A first value increasing module is used to increase the preset identification value by a preset value each time a second automated device moving along the main channel and approaching the road intersection is detected; wherein the initial value of the preset identification value is a specified value;

[0049] A second value increasing module is configured to increase the preset identification value by the preset value whenever the first automated device is detected, if it is detected that there is an automated device moving along the main channel of the first road and passing through the road intersection;

[0050] a numerical value reduction module, configured to reduce the preset identification value by the preset numerical value each time an automated device moving along the first road and leaving the road intersection is detected;

[0051] The output stop module is specifically used to stop outputting the prompt information when it is detected that the preset identification value is restored to the specified value; wherein, when the preset identification value is not the specified value, the prompt information is continuously output.

[0052] Optionally, in a specific implementation, the secondary passage is provided with a secondary control point, and the secondary control point is spaced a first distance from the road intersection in the opposite direction of the passing direction of the secondary passage; the device further includes:

[0053] A first retrieval module is used to retrieve whether there is position information located between the slave control point and the entrance edge of the road intersection in the first position information of each automated device moving along the slave channel; if there is position information located between the slave control point and the entrance edge, then there is the first automated device moving along the slave channel of the first road and about to enter the road intersection;

[0054] The entrance edge is the edge that the first automated equipment first passes when entering the road intersection.

[0055] Optionally, in a specific implementation, when the result of the first detection is that there is no automated equipment moving along the main channel of the first road and passing through the road intersection, the second control module is specifically used to control the first automated equipment to stop moving when the first automated equipment moves to the edge of the entrance, or when it approaches an automated equipment that has stopped moving and is about to pass through the road intersection.

[0056] Optionally, in a specific implementation, the main channel is provided with a main control point, and the main control point is spaced a second distance from the road intersection in the opposite direction of the passing direction of the main channel;

[0057] The information detection module is specifically used to retrieve whether there is position information located between the main control point and the first edge of the road intersection in the second position information of each automated device moving along the main channel; if there is position information located between the main control point and the first edge of the road intersection, there is automated device moving along the main channel of the first road and passing through the road intersection; if there is no position information located between the main control point and the first edge of the road intersection, there is no automated device moving along the main channel of the first road and passing through the road intersection;

[0058] The first edge is the edge farthest from the main control point in the passing direction of the main channel.

[0059] Optionally, in a specific implementation, the slave channel is provided with a slave control point, and the device further includes:

[0060] A second retrieval module is used to retrieve whether there is position information located between the slave control point and the second edge in the first position information of each of the first automation devices with passing authority moving along the slave channel; if not, the first automation devices with passing authority leave the road intersection;

[0061] Retrieve the second position information to see whether there is position information located between the main control point and the first edge; if not, there is no automated equipment in the main channel that is passing through the road intersection;

[0062] The second edge is the edge farthest from the slave control point in the passing direction of the slave channel.

[0063] Optionally, in a specific implementation, a traffic control area is provided at the road intersection, and the vertices of the traffic control area include: a first intersection point of the device movement route in the main channel and the first edge, and a second intersection point of the device movement route in the slave channel and the second edge;

[0064] The second retrieval module is specifically used to retrieve whether there is position information in the channel section where the equipment moving route between the slave control point and the second intersection is located in the first position information of each of the first automation equipment with passing authority moving along the slave channel, and to retrieve whether there is position information in the channel section where the equipment moving route between the master control point and the first intersection is located in the second position information.

[0065] In a third aspect, an embodiment of the present application provides an electronic device, including:

[0066] Memory, used to store computer programs;

[0067] The processor is used to implement the steps of the traffic control method for any road intersection provided in the first aspect when executing the program stored in the memory.

[0068] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, in which a computer program is stored. When the computer program is executed by a processor, the steps of the traffic control method for any road intersection provided in the first aspect are implemented.

[0069] In a fifth aspect, an embodiment of the present application provides a computer program product comprising instructions, which, when executed on a computer, enables the computer to execute the steps of the traffic control method for any road intersection provided in the first aspect above.

[0070] Beneficial effects of the embodiments of the present application:

[0071] As can be seen from the above, by applying the solution provided by the embodiment of the present application, according to the needs of actual application, the roads in the actual scene are divided into a first road assigned to the automation equipment and a second road assigned to other mobile devices other than the automation equipment, and the first road is divided into a main channel and a slave channel with opposite traffic directions. Among them, for the above-mentioned main channel, when the automation equipment moving in the main channel approaches the road intersection, a prompt message for prompting the mobile objects in the second road to prohibit passing through the road intersection is output, so as to prompt other mobile objects in the second road to avoid the automation equipment in time, so that the automation equipment in the main channel can directly pass through the road intersection without stopping. In the case where there is an automation equipment about to enter the road intersection in the above-mentioned slave channel, if there is an automation equipment moving along the main channel of the first road and passing through the road intersection, the automation equipment in the slave channel can be controlled to pass through the road intersection; on the contrary, if there is no automation equipment moving along the main channel of the first road and passing through the road intersection, the automation equipment in the slave channel is controlled to stop moving to wait for the presence of an automation equipment close to the road intersection in the above-mentioned main channel. Furthermore, when there is an automated device in the main channel that moves along the main channel of the first road and is passing through a road intersection, the automated device in the slave channel is controlled to resume movement and pass through the road intersection. In particular, since the above prompt information is output each time the automated device moving in the main channel is detected to be close to a road intersection, when there is an automated device located in a road intersection in the main channel, the above prompt information still remains in the output state. Furthermore, the automated device in the main channel close to the road intersection and the automated device located in the road intersection can both be regarded as the automated device in the main channel that is passing through the road intersection, that is, only when there is an automated device in the main channel that is passing through the road intersection can the automated device on the slave channel pass through the road intersection.

[0072] Based on this, the embodiment of the present application provides a traffic control method for improving road utilization. When the flow rate at the intersection remains unchanged, by controlling the automated equipment passing through the intersection, the automated equipment in the main channel and the slave channel is controlled to pass through the road intersection in a concentrated manner, the entire idle time of the intersection is increased, the road capacity is improved, and the difficulty of other moving objects passing through the road intersection is reduced, thereby improving the utilization rate of the roads in the scene. Among them, for manufacturing enterprises, the embodiment of the present application provides a traffic control method for automated equipment passing through the cross intersection of logistics channels in the production plant. By controlling the two-way multi-channel automated equipment on the road to pass through the intersection in a concentrated manner, the road capacity of other moving objects such as personnel driving logistics equipment at the intersection is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0073] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application, and for ordinary technicians in this field, other embodiments can also be obtained based on these drawings.

[0074] Figure 1 A schematic diagram of the road settings within a production plant of a manufacturing enterprise;

[0075] Figure 2 A schematic diagram of a flow chart of a traffic control method at a road intersection provided in an embodiment of the present application;

[0076] Figure 3 A schematic diagram of a flow chart of another method for controlling traffic at a road intersection provided in an embodiment of the present application;

[0077] Figure 4 A schematic diagram of the road arrangement in a production plant of a manufacturing enterprise provided in an embodiment of the present application;

[0078] Figure 5 A flow chart of another method for controlling traffic at a road intersection provided in an embodiment of the present application;

[0079] Figure 6 A schematic diagram of the structure of a traffic control device at a road intersection provided in an embodiment of the present application;

[0080] Figure 7 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0081] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field based on the present application belong to the scope of protection of the present application.

[0082] At present, in the application scenarios where automated equipment is located, different roads are usually assigned to automated equipment and other mobile objects, and there may often be intersections between the above different roads. Among them, automated equipment usually passes through intersections continuously at a certain time interval. In the case where there are two-way multi-channels on the roads assigned to automated equipment, automated equipment on multiple channels will pass through the intersections at a certain time interval respectively. When the frequency of automated equipment passing through the intersection increases, the intersection traffic of the automated equipment increases, the traffic capacity of the roads assigned to other mobile objects deteriorates, and other mobile objects find it difficult to pass through the intersection.

[0083] In order to solve the above technical problems, an embodiment of the present application provides a traffic control method for a road intersection.

[0084] Among them, the traffic control method can be applied to various application scenarios where automated equipment exists, such as logistics sorting scenarios, industrial production scenarios, etc. The traffic control method can be applied to various electronic devices with automated equipment control functions, such as intelligent control servers, laptops, desktop computers, mobile phones, etc. of automated equipment, wherein the electronic device to which the traffic control method is applied can be an independent electronic device, or an electronic device cluster composed of multiple electronic devices, and the electronic device to which the traffic control method is applied can become an intelligent scheduling system for automated equipment. For the sake of clarity, it is referred to as electronic equipment below. In addition, the embodiments of the present application do not specifically limit the application scenarios and execution entities of the traffic control method.

[0085] A traffic control method for a road intersection provided in an embodiment of the present application may include the following steps:

[0086] Whenever a first automated device is detected to be moving along a secondary channel of a first road and about to enter a road intersection, it is detected whether there is an automated device moving along a main channel of the first road and passing through the road intersection; wherein whenever a second automated device is detected to be moving along the main channel and approaching the road intersection, prompt information for prompting a moving object in the second road not to pass through the road intersection is output, and the automated device passing through the road intersection includes: an automated device located in the road intersection and the second automated device; the main channel and the secondary channel have opposite travel directions;

[0087] If yes, controlling the first automated device to pass through the road intersection;

[0088] If not, controlling the first automated device to be stationary, and returning to the step of detecting whether there is a second automated device moving along the main channel of the first road and passing through the road intersection;

[0089] When it is detected that the first automated device with passing authority leaves the road intersection and there is no automated device passing the road intersection in the main channel, stopping outputting the prompt information;

[0090] Among them, the first automated equipment with passing authority is: when it is detected that there is an automated equipment moving along the main channel and passing through the road intersection, the first automated equipment is controlled to pass through the road intersection; the first road is a road allocated for automated equipment, the second road is a road allocated for other mobile objects except automated equipment, and the road intersection is the intersection of the first road and the second road.

[0091] As can be seen from the above, by applying the solution provided by the embodiment of the present application, according to the needs of actual application, the roads in the actual scene are divided into a first road assigned to the automation equipment and a second road assigned to other mobile devices other than the automation equipment, and the first road is divided into a main channel and a slave channel with opposite traffic directions. Among them, for the above-mentioned main channel, when the automation equipment moving in the main channel approaches the road intersection, a prompt message for prompting the mobile objects in the second road to prohibit passing through the road intersection is output, so as to prompt other mobile objects in the second road to avoid the automation equipment in time, so that the automation equipment in the main channel can directly pass through the road intersection without stopping. In the case where there is an automation equipment about to enter the road intersection in the above-mentioned slave channel, if there is an automation equipment moving along the main channel of the first road and passing through the road intersection, the automation equipment in the slave channel can be controlled to pass through the road intersection; on the contrary, if there is no automation equipment moving along the main channel of the first road and passing through the road intersection, the automation equipment in the slave channel is controlled to stop moving to wait for the presence of an automation equipment close to the road intersection in the above-mentioned main channel. Furthermore, when there is an automated device in the main channel that moves along the main channel of the first road and is passing through a road intersection, the automated device in the slave channel is controlled to resume movement and pass through the road intersection. In particular, since the above prompt information is output each time the automated device moving in the main channel is detected to be close to a road intersection, when there is an automated device located in a road intersection in the main channel, the above prompt information still remains in the output state. Furthermore, the automated device in the main channel close to the road intersection and the automated device located in the road intersection can both be regarded as the automated device in the main channel that is passing through the road intersection, that is, only when there is an automated device in the main channel that is passing through the road intersection can the automated device on the slave channel pass through the road intersection.

[0092] Based on this, the embodiment of the present application provides a traffic control method for improving road utilization. When the flow rate at the intersection remains unchanged, by controlling the automated equipment passing through the intersection, the automated equipment in the main channel and the slave channel is controlled to pass through the road intersection in a concentrated manner, the entire idle time of the intersection is increased, the road capacity is improved, and the difficulty of other moving objects passing through the road intersection is reduced, thereby improving the utilization rate of the roads in the scene. Among them, for manufacturing enterprises, the embodiment of the present application provides a traffic control method for automated equipment passing through the cross intersection of logistics channels in the production plant. By controlling the two-way multi-channel automated equipment on the road to pass through the intersection in a concentrated manner, the road capacity of other moving objects such as personnel driving logistics equipment at the intersection is improved.

[0093] A traffic control method for a road intersection provided in an embodiment of the present application is described in detail below in conjunction with the accompanying drawings.

[0094] Figure 2 A flow chart of a traffic control method for a road intersection provided in an embodiment of the present application is shown as follows: Figure 2 As shown, the method may include the following steps S201-S204.

[0095] S201: Whenever a first automated device is detected to be moving along a secondary channel of a first road and about to enter a road intersection, detect whether there is an automated device moving along a primary channel of the first road and passing through the road intersection.

[0096] Wherein, whenever a second automated device moving along the main channel of the first road and approaching a road intersection is detected, a prompt message is output to prompt the mobile objects in the second road not to pass through the road intersection. The automated devices passing through the road intersection include: automated devices and second automated devices located in the road intersection; the main channel and the slave channel have opposite travel directions; the first road is a road allocated to the automated devices, the second road is a road allocated to other mobile objects except the automated devices, and the road intersection is the intersection of the first road and the second road.

[0097] In the embodiments of the present application, the application scenario may generally contain automated equipment such as intelligent mobile robots, as well as other mobile objects other than automated equipment such as vehicles driven by people and people. For example, continuing to take a manufacturing enterprise as an example, a production plant may contain intelligent mobile robots for transporting production materials to the production line, as well as factory patrol vehicles driven by people. Therefore, according to the needs of the application scenario, the roads in the application scenario can be divided into: roads allocated for automated equipment, referred to as first roads, and roads allocated for other mobile objects other than automated equipment, referred to as second roads, and the first road and the second road may have a road intersection. For example, Figure 1As shown, the longitudinal road is the first road, and the transverse road is the second road, and the area where the longitudinal road and the transverse road overlap is the road intersection.

[0098] Continuing with the manufacturing industry as an example, after the automated equipment used for raw material transportation transports the production raw materials to the production line along the first road, it will usually continue to move in the opposite direction along the first road to leave the production line and move to the production raw material storage area to transport the raw materials to the production line again. Therefore, in the first road, the automated equipment can usually move in two directions, that is, the first road can have two-way multi-channel situations. For example, Figure 1 As shown, the first road has a channel with an upward traffic direction and a channel with a downward traffic direction, so the first road has two bidirectional channels.

[0099] In the embodiment of the present application, two types of channels with opposite traffic directions in the first road can be used as the main channel and the slave channel respectively. Among them, the automated equipment in the main channel is allowed to pass through the road intersection by default, and the automated equipment in the slave channel can only pass through the road intersection after the automated equipment in the main channel passes through the road intersection.

[0100] That is, when the automated equipment moving along the main channel approaches the road intersection in the hope of passing through the road intersection, it can directly pass through the road intersection without stopping, so the main channel can also be called a priority channel. Correspondingly, the automated equipment moving along the slave channel can only pass through the road intersection with the help of the road access opportunity brought by the automated equipment in the main channel when the automated equipment moving along the main channel is passing through the road intersection. If there is no automated equipment in the main channel that is about to pass through the road intersection, then the automated equipment moving along the slave channel cannot trigger the output of the above prompt information, and thus, it cannot pass through the road intersection alone directly, and needs to stop moving and wait for the presence of automated equipment near the road intersection in the main channel to trigger the output of the above prompt information. Obviously, the automated equipment moving along the slave channel can be regarded as "following" the automated equipment moving along the main channel through the road intersection, so the slave channel can also be called a follow-up channel. Among them, the above-mentioned automated equipment moving along the main channel and close to the road intersection, and the automated equipment moving along the main channel and located in the road intersection can all be regarded as automated equipment passing through the road intersection. Furthermore, the main channel and the slave channel have opposite travel directions. In practical applications, the main channel and the slave channel in the first road can be determined according to the needs of the application scenario.

[0101] Continuing with the manufacturing enterprise as an example, in order to ensure that the production line will not stop due to the shortage of production materials, when the automated equipment used for raw material transportation drives to the road intersection during the feeding process, the automated equipment should be given priority to pass through the road intersection. Therefore, the channel where the automated equipment drives during the above-mentioned feeding process can be called the main channel. When the automated equipment drives to the road intersection during the process of moving to the production raw material storage place after the feeding is completed, in order to improve the traffic capacity of the second road, the automated equipment can be controlled to wait at the road intersection until the automated equipment in the feeding process in the other traffic direction moves to the road intersection, and the moving objects in the second road are prohibited from passing through the intersection, and the automated equipment in the two traffic directions in the first road are controlled to pass through the road intersection at the same time. Therefore, the channel where the automated equipment leaves the production line after the feeding is completed can be called the slave channel.

[0102] In order to ensure that the automated equipment moving along the main channel can smoothly pass through the road intersection, each time an automated equipment moving along the main channel and approaching the road intersection is detected, a prompt message for prompting the moving objects in the second road not to pass through the road intersection can be output, so as to prompt other moving objects in the second road to stop moving in time to avoid the automated equipment in the main channel. In this way, when there is an automated equipment moving along the main channel of the first road and passing through the road intersection, the above prompt message is output, and the automated equipment moving along the secondary channel and about to enter the road intersection can continue to move to pass through the road intersection.

[0103] Based on this, optionally, in a specific implementation, a traffic control method for a road intersection provided in an embodiment of the present application may also include the following step 1.

[0104] Step 1: Whenever a second automated device moving along the main channel and approaching a road intersection is detected, if the above prompt information is not output, start outputting the above prompt information.

[0105] In this specific implementation, in the application scenario, there may be a situation where the first automation device does not exist, but there is an automation device near the road intersection in the main channel of the first road. Since the automation device in the main channel of the first road is allowed to pass through the road intersection directly without waiting, when there is an automation device near the road intersection in the main channel of the first road, it is necessary to prompt other moving objects in the second road to stop passing through the road intersection to avoid the automation device in the main channel of the first road, so that the automation device in the main channel of the first road can continue to move and pass through the road intersection directly. Therefore, every time the second automation device moving along the main channel and close to the road intersection is detected, if the above prompt information is not output, the above prompt information can be output. For example, a traffic light is installed in the direction of passage facing the second road, and the red light in the traffic light can be lit as a prompt information. For another example, a voice playback device such as a loudspeaker is provided, and the voice playback device is controlled to play a voice message of "the second road is suspended" as a prompt information, etc.

[0106] Accordingly, in this specific implementation, whenever the second automated device moving along the main channel and approaching the road intersection is detected, if the above prompt information is output, the above prompt information is continued.

[0107] Since the output of the above prompt information is triggered by detecting the presence of a second automated device moving along the main channel and close to the road intersection, when performing traffic control on the road intersection, the automated equipment on the opposite channel is also considered, that is, comprehensive control is performed on the road intersection.

[0108] As mentioned above, when traffic control is performed on a road intersection, the traffic conditions of the first road and the second road can be detected in real time, for example, the position information of each moving object in the first road can be obtained in real time. Since it is necessary to determine whether to allow the above-mentioned first automation equipment to pass through the road intersection according to the movement of the automation equipment in the main channel of the first road, therefore, when the existence of the first automation equipment moving along the secondary channel of the first road and about to enter the road intersection is detected, it can be first detected whether there is an automation equipment moving along the main channel of the first road and passing through the road intersection. In addition, since the automation equipment moving along the main channel of the first road and located in the road intersection, and the automation equipment moving along the main channel of the first road and close to the road intersection can be regarded as the automation equipment moving along the main channel of the first road and passing through the road intersection, therefore, the above-mentioned second automation equipment belongs to the automation equipment moving along the main channel of the first road and located in the road intersection. That is, the above-mentioned automation equipment passing through the road intersection includes: the automation equipment located in the road intersection and the above-mentioned second automation equipment.

[0109] The detection of the first automation equipment can be determined in a variety of ways. For example, among the automation equipment moving from the passage along the first road, the automation equipment that has not moved into the road intersection and is located at the edge of the road intersection can be determined as the first automation equipment. For another example, among the automation equipment moving from the passage along the first road, the automation equipment that has not moved into the road intersection and is less than a certain distance from the edge of the road intersection can be determined as the first automation equipment, etc. This embodiment of the application does not make specific limitations.

[0110] Similarly, the detection of the second automated equipment can be determined in a variety of ways. For example, among the automated equipment moving along the main channel of the first road, the automated equipment that has not moved into the road intersection and is less than a certain distance from the edge of the road intersection can be determined as the second automated equipment.

[0111] S202: If yes, control the first automation device to pass through the road intersection.

[0112] If it is detected that there is an automated device moving along the main channel of the first road and passing through the road intersection, it means that the automated device in the current first road can pass through the road intersection, so the first automated device can be controlled to pass through the road intersection. Among them, when it is detected that there is an automated device moving along the main channel of the first road and passing through the road intersection, the first automated device detected to be about to enter the road intersection is controlled to pass through the road intersection, and the first automated device can be called a first automated device with passing authority, which is allowed to pass through the road intersection. That is, the first automated device with passing authority is: when it is detected that there is an automated device moving along the main channel and passing through the road intersection, the first automated device is controlled to pass through the road intersection.

[0113] In addition, for the sake of simplicity in the subsequent text, the automation equipment moving along the main channel of the first road and passing through the road intersection can be referred to as the target automation equipment.

[0114] If the target automation device is detected during the first detection, the first automation device is allowed to directly pass through the road intersection without waiting, so that the first automation device can be directly controlled to continue to move and directly pass through the road intersection.

[0115] If the output that the target automation device exists is detected during a non-initial detection, it means that the target automation device was detected not to exist during each detection before this detection, and the target automation device detected this time started to pass through the road intersection between the previous detection and this detection, and before this detection, the first automation device was not allowed to pass through the road intersection, and when the result of the first detection was that the target automation device did not exist, the first automation device was controlled to stop moving. Therefore, before this detection, the first automation device was in a stationary state, and thus, when the output that the target automation device exists is detected this time, the first automation device can be controlled to resume moving and pass through the road intersection.

[0116] S203: If not, control the first automation device to be stationary, and return to step S201 to detect whether there is an automation device moving along the main channel of the first road and passing through the road intersection.

[0117] As mentioned above, whether the first automation device is allowed to pass through the road intersection depends on whether there is an automation device moving along the main channel of the first road and passing through the road intersection. When it is detected that there is no automation device moving along the main channel of the first road and passing through the road intersection, the road intersection is not open to the first automation device, and the first automation device is not allowed to pass through the road intersection. Therefore, when it is detected that there is no automation device moving along the main channel and passing through the road intersection, the first automation device is controlled to be stationary. While controlling the first automation device to be stationary, it is also possible to detect again whether there is an automation device moving along the main channel of the first road and passing through the road intersection, so as to determine whether to allow the first automation device to resume movement to pass through the road intersection based on subsequent detection results. In this way, when the detection result is that there is no automation device, the movement of the first automation device can be timely controlled through continuous loop detection to ensure smooth traffic in the application scenario.

[0118] In some cases, when the first automation device is detected for the first time, since there is an automation device moving along the main channel of the first road and passing through the road intersection, the first automation device detected for the first time can continue to move and directly pass through the road intersection. At this time, since there is an automation device moving along the main channel of the first road and passing through the road intersection, the above prompt information is output. When the above automation device moving along the main channel of the first road and passing through the road intersection leaves the road intersection, the first automation device detected for the first time may still be located in the road intersection and has not left the road intersection. At this time, in order to ensure the driving safety of the first automation device detected for the first time, the above prompt information is still output. However, in the process of the first automation device continuing to move in the road intersection, when the first automation device moving along the secondary channel of the first road and about to enter the road intersection is detected again, since there is no automation device moving along the main channel of the first road and passing through the road intersection at this time, even if the above prompt information is still output at this time, the first automation device detected again is still not allowed to pass through the road intersection, and the first automation device detected again is controlled to be stationary.

[0119] S204: When it is detected that the first automated device with passing authority leaves the road intersection and there is no automated device passing the road intersection in the main channel, stop outputting the prompt information.

[0120] As mentioned above, when it is detected that there is an automated device moving along the main channel and passing through the road intersection, the first automated device controlled to pass through the road intersection can be referred to as the first automated device with passing authority.

[0121] When there is an automated device moving along the main channel of the first road and passing through the road intersection, and the first automated device is controlled to continue to move or resume movement, the main channel of the first road and the first automated device with passing authority can continue to move to pass through the road intersection. Furthermore, when it is detected that there is no first automated device with passing authority in the road intersection, and there is no automated device near the road intersection in the main channel, it can be explained that in the process of the automated device moving along the main channel and triggering the output of the above prompt information, and the presence of an automated device passing through the road intersection in the main channel of the first road, the first automated devices moving along the secondary channel (i.e., the first automated devices with passing authority) detected have all passed through the road intersection, and there is no new automated device near the road intersection in the main channel, so that other mobile objects in the second road do not need to continue to avoid the automated devices in the first road, and therefore, the output of the above prompt information can be stopped to cancel the movement authority of other mobile devices in the second road to pass through the road intersection, and the mobile objects that have stopped moving in the second road can resume moving to pass through the road intersection, and the mobile objects that are moving in the second road can continue to move to pass through the road intersection.

[0122] For example, a traffic light is installed in the direction of travel facing the second road, and the red light in the traffic light can be lit as a prompt information. When it is determined that the first automation device and the second automation device with passing authority have left the road intersection, the green light in the traffic light can be lit and the red light can be turned off.

[0123] As can be seen from the above, the embodiment of the present application provides a traffic control method for improving the utilization rate of roads. When the flow rate at the intersection remains unchanged, by controlling the automated equipment passing through the intersection, the automated equipment in the main channel and the slave channel is controlled to pass through the road intersection, the entire idle time of the intersection is increased, the traffic capacity of the road is increased, and the difficulty of other moving objects passing through the road intersection is reduced, thereby improving the utilization rate of the roads in the scene. Among them, for manufacturing enterprises, the embodiment of the present application provides a traffic control method for automated equipment passing through the cross intersection of logistics channels in the production plant, by controlling the road bidirectional multi-channel automated equipment to pass through the intersection, and improving the road traffic capacity of other moving objects such as personnel driving logistics equipment at the intersection. In addition, the channel used for the automated equipment for raw material transportation is used as the main channel during the feeding process, so that the automated equipment sent to the production line direction is allowed to pass through the road intersection by default, thereby ensuring that the production line will not stop due to the shortage of raw materials, thereby ensuring production efficiency.

[0124] Optionally, in a specific implementation, such as Figure 3As shown, a traffic control method for a road intersection provided in an embodiment of the present application may also include the following steps S205-S207.

[0125] S205: Whenever a second automated device moving along the main channel and approaching a road intersection is detected, the preset identification value is increased by a preset value.

[0126] The initial value of the preset indication value is a specified value.

[0127] S206: Whenever a first automated device is detected, if it is detected that there is an automated device moving along the main channel of the first road and passing through the road intersection, the preset identification value is increased by a preset value.

[0128] S207: Whenever an automated device is detected moving along the first road and leaving the road intersection, the preset identification value is reduced by a preset value.

[0129] In this specific implementation, a preset identification value with an initial value of a specified numerical value can be pre-set, and the preset identification value can be used to count the automated equipment passing through the road intersection along the first road, and the number of automated equipment currently passing through the road intersection can be calculated based on the numerical value of the preset identification value.

[0130] When the value of the preset identification value is the above-specified value, it can be indicated that there is no automated equipment passing through the road intersection on the current first road, and each time an automated equipment passing through the road intersection along the first road is detected, the value of the preset identification value can be increased by the preset value. In addition, the automated equipment passing through the road intersection along the first road can include a second automated equipment moving along the main channel and close to the road intersection, and a first automated equipment that is continuously moving or resumes moving and is controlled to pass through the road intersection. Therefore, each time a second automated device is detected that moves along the main channel and approaches a road intersection, the preset identification value can be increased by the preset value, and for each first automated device detected, when the presence of an automated device moving along the main channel of the first road and passing through the road intersection is detected, the first automated device detected is controlled to pass through the road intersection, that is, for the first automated device detected, only when the presence of an automated device moving along the main channel of the first road and passing through the road intersection is detected, the first automated device is allowed to pass through the road intersection, and then, the first automated device needs to be counted. Therefore, each time a first automated device is detected, if the presence of an automated device moving along the main channel of the first road and passing through the road intersection is detected, the preset identification value is increased by the preset value.

[0131] Accordingly, when the automated equipment in the first road passes through the road intersection, since it is no longer the automated equipment currently passing through the road intersection, and the value of the preset identification value represents the number of automated equipment currently passing through the road intersection, it is necessary to reduce the preset identification value by the preset value, that is, every time an automated equipment is detected moving along the first road and leaving the road intersection, the preset identification value is reduced by the preset value.

[0132] Accordingly, in this specific implementation, the above step S204, when it is detected that the first automated device with passing authority leaves the road intersection and there is no automated device passing the road intersection in the main channel, stops outputting the prompt information, and may include the following step S2041.

[0133] S2041: When it is detected that the preset identification value is restored to the specified value, stop outputting the prompt information.

[0134] Among them, when the preset identification value is not the specified value, the above prompt information is continuously output.

[0135] As mentioned above, when the value of the preset identification value is the above-mentioned specified value, it may indicate that there is currently no automated equipment passing through the road intersection, and thus, the above-mentioned prompt information is not output; correspondingly, when the value of the preset identification value is not the above-mentioned specified value, it may indicate that there is currently automated equipment passing through the road intersection, and thus, the road intersection is open to the automated equipment in the first road, and the above-mentioned prompt information is output.

[0136] Furthermore, when the above prompt information is output, whether the preset identification value is restored from a non-specified value to a specified value can be used to indicate whether all the automated equipment passing through the road intersection during the output of the above prompt information has left the road intersection, that is, whether all the first automated equipment with the passing authority has left the road intersection, and whether there is no automated equipment passing through the road intersection in the main channel. Among them, when the preset identification value is restored to the specified value, it means that all the automated equipment passing through the road intersection during the output of the above prompt information has left the road intersection, and at this time, the first automated equipment with the passing authority has left the road intersection, and there is no automated equipment passing through the road intersection in the main channel. Therefore, other moving objects in the second road do not necessarily need to avoid the automated equipment in the first road. Therefore, when it is detected that the preset identification value is restored to the specified value, the output of the above prompt information can be stopped.

[0137] Based on this, the output of the above prompt information can be determined by detecting whether the preset identification value is a specified value. Among them, when the preset identification value is detected to be a specified value, it means that there is no automated equipment passing through the road intersection at present, that is, the first automated equipment with passing authority has left the road intersection, and there is no automated equipment passing through the road intersection in the main channel, and then, it means that there is no need to output the above prompt information at this time, so the output of the above prompt information is stopped; and every time the preset identification value is detected to be not a specified value, it means that there is an automated equipment passing through the road intersection at present, and then, it means that the above prompt information needs to be output at this time, and the above prompt information is continuously output.

[0138] For example, the preset identification value may be represented as lock, and the specified value may be 0, that is, the initial value of the preset identification value lock is 0, and the preset value may be 1. Thus, each time the second automation device is detected, the preset identification value is increased by 1; and each time the first automation device is detected, if an automation device is detected to be moving along the main channel of the first road and passing through the road intersection, it means that the detected automation device is allowed to pass through the road intersection, and it is an automation device with passing authority. Therefore, each time the first automation device is detected, if an automation device is detected to be moving along the main channel of the first road and passing through the road intersection, lock is increased by 1, that is, each time the first automation device with passing authority is detected, lock is increased by 1. Correspondingly, each time the automation device leaving the road intersection is detected, the preset identification value is reduced by 1. Thus, when lock is not 0, the prompt information is continuously output, and when it is detected that lock is restored from a value greater than 0 to 0, the prompt information is stopped from being output, and other moving objects in the second road can pass through the road intersection.

[0139] As can be seen from the above, in the embodiment of the present application, the value of the above-mentioned preset identification value determines whether the above-mentioned prompt information is output or not. When the value of the above-mentioned preset identification value changes from a specified value to another value, the above-mentioned prompt information starts to be output, and when the above-mentioned preset identification value is not the specified value, the above-mentioned prompt information is continuously output. When the value of the above-mentioned preset identification value is restored from other values ​​to the specified value, the above-mentioned prompt information is stopped from being output, and when the above-mentioned preset identification value is the specified value, the state of not outputting the above-mentioned prompt information is maintained.

[0140] Accordingly, as mentioned above, in some cases, when the first automated device is detected for the first time, since there is an automated device moving along the main channel of the first road and passing through the road intersection, the first automated device detected for the first time may continue to move and directly pass through the road intersection. At this time, since there is an automated device moving along the main channel of the first road and passing through the road intersection, the above-mentioned preset identification value is not the specified value and the above-mentioned prompt information is output. When the above-mentioned automated device moving along the main channel of the first road and passing through the road intersection leaves the road intersection, the above-mentioned first-detected first automated device may still be located in the road intersection and has not left the road intersection. At this time, in order to ensure the driving safety of the above-mentioned first-detected first automated device, the above-mentioned prompt information is still continuously output, and the above-mentioned preset identification value is not the specified value. However, when the first automation device continues to move in the road intersection, when the first automation device moving along the secondary channel of the first road and about to enter the road intersection is detected again, since there is no automation device moving along the main channel of the first road and passing through the road intersection at this time, even if the preset identification value is not the specified value and the prompt information is still output, the first automation device detected again is still not allowed to pass through the road intersection, and the first automation device detected again is controlled to be stationary. Based on this, although the value of the preset identification value can determine the output state of the prompt information, the value of the preset identification value is not the specified value, and cannot be used as a basis for allowing the first automation device detected moving along the secondary channel of the first road and about to enter the road intersection to pass through the road intersection.

[0141] Optionally, in a specific implementation, a slave control point is provided in the slave channel, and the slave control point is spaced a first distance from the road intersection in a direction opposite to the travel direction of the slave channel.

[0142] Accordingly, in this specific implementation, a traffic control method for a road intersection provided in an embodiment of the present application may further include the following step 2:

[0143] Step 2: Retrieve the first position information of each automated device moving along the slave channel to see whether there is position information located between the slave control point and the entrance edge of the road intersection; if there is position information located between the slave control point and the entrance edge, there is a first automated device moving along the slave channel of the first road and about to enter the road intersection.

[0144] The entry edge is the edge that the first automated device passes through first when entering the road intersection.

[0145] In this specific implementation, since it takes a certain amount of time for the electronic device to determine the subsequent control method of the first automation device by detecting whether there is an automation device moving along the main channel of the first road and passing through the road intersection each time the first automation device is detected, and during this time, the first automation device will continue to move. Therefore, in order to further improve the safety of road traffic and avoid traffic accidents caused by the first automation device entering the road intersection before the electronic device performs subsequent control on the first automation device, the edge that the first automation device passes through when entering the road intersection can be used as the entrance edge, so that the automation device that has not moved from the channel to the entrance edge of the road intersection and has a certain distance from the entrance edge of the road intersection is determined as the first automation device that moves along the channel and is about to enter the road intersection, so as to reserve a certain distance for the movement of the first automation device within the time taken by the above-mentioned electronic device to detect whether the above-mentioned prompt information is output.

[0146] Based on this, for the slave channel of the first road, a slave control point can be set in the opposite direction of the passing direction of the slave channel and at a position separated from the road intersection by a first distance. Therefore, when the automation equipment moving along the slave channel moves to the above-mentioned slave control point, it can be considered that the automation equipment starts to be an automation equipment about to enter the road intersection, and the automation equipment starts to be a first automation equipment, and then, the automation equipment moving along the slave channel and located between the above-mentioned slave control point and the entrance edge of the road intersection can be regarded as the first automation equipment. Therefore, after obtaining the first position information of each automation equipment moving along the slave channel, it can be retrieved whether there is position information located between the slave control point and the entrance edge of the road intersection in the first position information; if there is position information located between the slave control point and the entrance edge of the road intersection in the first position information, it can be explained that there is a first automation equipment moving along the slave channel of the first road and about to enter the road intersection.

[0147] For example, Figure 4 As shown, route L2 is a slave channel, the arrow direction in route L2 is the passing direction of the slave channel, points Y, C, Z and B are located at the edge of the road intersection, point X is a slave control point, and point X is separated from point Y by a first distance. Therefore, when the automated device moving along L2 moves to point X, it can be considered that the automated device begins to act as the first automated device about to enter the road intersection. Therefore, when the first position information obtained includes position information located between the edge (entrance edge) of the road intersection where the above-mentioned point X and point Y are located, it can be indicated that the first automated device exists.

[0148] Furthermore, the electronic device can obtain the above-mentioned first position information in a variety of ways, and the embodiments of the present application do not specifically limit this. For example, the automated equipment in the slave channel can report its own position information to the electronic device at a preset frequency; for another example, the electronic device can record the automated equipment currently traveling in the slave channel, and send a position information request to the automated equipment at a preset frequency to obtain the position information fed back by the automated equipment in response to the position information request; for another example, a position detection sensor such as an infrared detector can be set on the roadside of the slave channel, and when an automated device triggers the position detection sensor, the position detection sensor can send the detected position information to the electronic device; for another example, the acquisition range can be set to cover one or more image acquisition devices of the slave channel, and the electronic device can obtain the image of the slave channel acquired by the image acquisition device, and determine the world coordinates of the automated equipment based on the image position of the automated equipment in the image of the slave channel according to the coordinate conversion relationship between the image coordinate system, the camera coordinate system of the image acquisition device, and the world coordinate system, and obtain the position information of the automated equipment.

[0149] Optionally, when the result of the first detection is that there is no automated equipment moving along the main channel of the first road and passing through the road intersection, in the above step S203, controlling the first automated equipment to stop moving may include the following step 3.

[0150] Step 3: When the first automated device moves to the edge of the entrance, or approaches an automated device that has stopped moving and is about to pass through the road intersection, the first automated device is controlled to stop moving.

[0151] As mentioned above, when the automated equipment moving along the slave channel moves to the slave control point, it can be considered that the automated equipment is about to enter the road intersection. Therefore, it can be considered that the automated equipment located between the slave control point and the edge of the road intersection closest to the slave control point is the first automated equipment. Figure 5 For example, the automation equipment located between the edge (entrance edge) of the road intersection where point X and point Y are located are all first automation equipment. When the result of the first detection of whether there is an automation equipment moving along the main channel of the first road and passing through the road intersection is: if there is no automation equipment moving along the main channel of the first road and passing through the road intersection, the first automation equipment needs to be controlled to stop moving so that the first automation equipment switches from a moving state to a stationary state. The purpose of controlling the first automation equipment to switch from a moving state to a stationary state is to prevent the first automation equipment from entering the road intersection without outputting a prompt message.

[0152] Based on this, the edge that the first automated device passes through first when entering the road intersection can be called the entrance edge. Since the first automated device has moved to the above-mentioned slave control point, when the result of the first detection is that no prompt information is output, the first automated device can be controlled to stop moving when the first automated device moves between the above-mentioned slave control point and the entrance edge.

[0153] Furthermore, in the application scenario, there may be a situation where there are multiple automation devices arranged in a row and moving sequentially in the slave channel. Therefore, when the result of the first detection is that no prompt information is output, for the first automation device among the above-mentioned multiple automation devices that first moves to the slave control point, since there is no automation device between the slave control point and the entrance edge, the first automation device that first moves to the slave control point can stop moving when it moves to the entrance edge. For the subsequent automation devices among the above-mentioned multiple automation devices, when it moves to the slave control point as the first automation device, there is an automation device that has stopped moving and is waiting to pass through the road intersection between the slave control point and the entrance edge. Therefore, the first automation device that subsequently moves to the slave control point can stop moving when it moves close to the above-mentioned automation device that has stopped moving and is waiting to pass through the road intersection.

[0154] As described above, when the result of the first detection is that no prompt information is output, the first automation device can be controlled to stop moving when the first automation device moves to the entrance edge of the road intersection, or when it approaches an automation device that has stopped moving and is about to pass through the road intersection.

[0155] Optionally, in a specific implementation, the main channel is provided with a main control point, and the main control point is spaced a second distance from the road intersection in the opposite direction of the travel direction of the main channel.

[0156] Accordingly, in this specific implementation, in the above step S2012, detecting whether there is an automated device moving along the main channel of the first road and passing through the road intersection may include the following step 4.

[0157] Step 4: Retrieve the second position information of each automated device moving along the main channel to see whether there is position information located between the main control point and the first edge of the road intersection; if there is position information located between the main control point and the first edge of the road intersection, there is automated equipment moving along the main channel of the first road and passing through the road intersection; if there is no position information located between the main control point and the first edge of the road intersection, there is no automated equipment moving along the main channel of the first road and passing through the road intersection.

[0158] The first edge is the edge farthest from the main control point in the passing direction of the main channel.

[0159] In this specific implementation, for the main channel of the first road, a main control point can be set in the opposite direction of the main channel's travel direction and at a position separated from the road intersection by a second distance. Thus, when the automated equipment moving along the main channel moves to the above-mentioned main control point, it can be considered that the automated equipment is about to enter the road intersection, and, in the main channel, the process of moving the automated equipment to the above-mentioned main control point to leaving the road intersection is called the process of the automated equipment passing through the road intersection. Therefore, when the edge farthest from the main control point in the travel direction of the main channel is taken as the first edge, in the main channel, the automated equipment located between the main control point and the first edge can all be regarded as the automated equipment passing through the road intersection. Among them, located between the above-mentioned main control point and the first edge includes: located at the above-mentioned main control point, and located on the straight line where the above-mentioned first edge is located. Therefore, after obtaining the second position information of each automated device moving along the main channel, it is possible to retrieve whether there is position information located between the main control point and the first edge of the road intersection in the second position information; if there is position information located between the main control point and the first edge of the road intersection, it can be explained that there is automated equipment moving along the main channel of the first road and passing through the road intersection; if there is no position information located between the main control point and the first edge of the road intersection, it can be explained that there is no automated equipment moving along the main channel of the first road and passing through the road intersection.

[0160] Among them, the edge farthest from the slave control point in the direction of passage of the slave channel can be called the second edge, and the second edge is the edge closest to the main control point in the direction of passage of the main channel. In the main channel, the automated equipment moving between the main control point and the second edge can be considered as automated equipment close to the road intersection.

[0161] For example, Figure 4 As shown, route L1 is the main channel, the arrow direction in route L1 is the passing direction of the main channel, point A is the main control point, the edge where point Y and point C are located is the first edge of the road intersection, and point A is separated from point B by a second distance. Therefore, when the automated equipment moving along L1 moves to point A, it can be considered that the automated equipment is about to enter the road intersection, and the automated equipment moving in the channel between point A and point C is the automated equipment passing through the road intersection. Therefore, when the acquired second position information includes the position information between point A and point C, it can be explained that there is an automated equipment moving along the main channel of the first road and passing through the road intersection, and when the acquired second position information does not include the position information between point A and point C, it can be explained that there is no automated equipment moving along the main channel of the first road and passing through the road intersection.

[0162] Among them, Figure 4 For example, it can be seen that the first edge is the edge farthest from the main control point in the direction of travel of the main channel, and the first edge is the edge closest to the control point in the direction of travel of the channel. Therefore, the first edge is the edge that the above-mentioned first automated equipment first enters when entering the road intersection, that is, the first edge is the above-mentioned entrance edge.

[0163] In addition, the first distance between the slave control point and the road intersection, and the second distance between the master control point and the road intersection may be the same or different, and this embodiment of the present application does not specifically limit this.

[0164] Optionally, in a specific implementation, the master channel is provided with a master control point, and the slave channel is provided with a slave control point. Figure 5 As shown, a traffic control method for a road intersection provided in an embodiment of the present application may also include the following steps S208-S209.

[0165] S208: Retrieve first position information of each first automation device with passing authority moving along the slave channel, and check whether there is position information located between the slave control point and the second edge;

[0166] If not, the first automated device with authorization to pass leaves the road intersection.

[0167] S209: searching the second position information for position information between the main control point and the first edge;

[0168] If not present, there is no automated equipment in the main channel passing through the road intersection.

[0169] The second edge is the edge farthest from the control point in the direction of passage.

[0170] In this specific implementation, the edge farthest from the control point in the direction of passage of the slave channel may be called the second edge, and the edge farthest from the main control point in the direction of passage of the main channel may be called the first edge.

[0171] As mentioned above, between the slave control point and the second edge, there exists each first automation device with the passing authority moving along the slave channel, and when the first position information of each first automation device with the passing authority moving along the slave channel does not include the position information between the slave control point and the second edge, it can be explained that each first automation device with the passing authority moving along the slave channel has left the road intersection; and, in the main channel, the automation device moving between the main control point and the second edge can be considered as the automation device passing through the road intersection, therefore, when the second position information does not include the position information between the main control point and the second edge, it can be explained that there is no automation device passing through the road intersection in the main channel.

[0172] Based on this, the first position information of each automation device moving along the slave channel and the second position information of each automation device moving along the main channel can be continuously obtained; further, it is detected whether there is position information between the slave control point and the second edge in the first position information of each first automation device with passing authority moving along the slave channel, and whether there is position information between the main control point and the first edge in the second position information of each automation device moving along the main channel. If the above detection results are all non-existent, it can be explained that the first automation device with passing authority has left the road intersection, and there is no automation device passing through the road intersection in the main channel. In this way, when there is no position information between the slave control point and the second edge in the first position information of each first automation device with passing authority moving along the slave channel, and there is no position information between the main control point and the first edge in the second position information of each automation device moving along the main channel, the output of the above prompt information can be stopped.

[0173] Optionally, in a specific implementation, based on the main control point provided in the main channel and the slave control point provided in the slave channel, a traffic control area is provided at the road intersection, and the vertices of the traffic control area include: a first intersection point of the equipment moving route in the main channel and the first edge, and a second intersection point of the equipment moving route in the slave channel and the second edge.

[0174] Accordingly, in this specific implementation, the above step S208, retrieving the first position information of each first automation device with passing authority moving along the slave channel, and whether there is position information located between the slave control point and the second edge, may include the following step 5.

[0175] Step 5: Retrieve the first position information of each first automation device with passing authority moving along the slave channel to see whether there is position information located in the channel section where the device moving route between the slave control point and the second intersection is located.

[0176] Accordingly, in this specific implementation, the above step S209, searching whether there is position information located between the main control point and the first edge in the second position information, may include the following step 6:

[0177] Step 6: Search the second location information to see whether there is location information located in the channel section where the equipment moving route between the main control point and the first intersection point is located.

[0178] In this specific implementation, a traffic control area can be set at a road intersection, and the so-called traffic control area is a designated area of ​​the road that allows or prohibits automated equipment or other mobile objects from passing through. The vertices of the traffic control area may include: a first intersection point of the equipment moving route in the main channel and the first edge, and a second intersection point of the equipment moving route in the secondary channel and the second edge.

[0179] For example, Figure 4As shown, route L1 is the main channel, the direction of the arrow in route L1 is the travel direction of the main channel, the dotted line with an arrow in route L1 is the equipment moving route in the main channel, and point A is the main control point; route L2 is the slave channel, the direction of the arrow in route L2 is the travel direction of the slave channel, and the dotted line with an arrow in route L2 is the equipment moving route in the slave channel; the edge where point Y and point C are located is the first edge of the road intersection, and the edge where point Z and point B are located is the second edge of the road intersection. Point C is the intersection of the device moving route in the main channel and the first edge, which is used as the first intersection; Point Z is the intersection of the device moving route in the slave channel and the second edge, which is used as the second intersection. Furthermore, Point C and Point Z are respectively an intersection of a traffic control area, and the traffic control area can be an area formed by Point Y, Point C, Point B and Point Z, and Point B is the intersection of the device moving route in the main channel and the second edge, Point Y is the intersection of the device moving route in the slave channel and the first edge, and Point B, Point A and Point C are collinear, and Point X, Point Y and Point Z are collinear. Then the automated equipment located in the channel section where the equipment movement route between point Y and point Z is located is the automated equipment located in the road intersection in the slave channel, while the automated equipment located in the channel section where the equipment movement route between point B and point C is located is the automated equipment located in the road intersection in the main channel, and the automated equipment located in the channel section where the equipment movement route between point A and point B is located is the automated equipment close to the road intersection in the main channel. Therefore, the automated equipment located in the channel section where the equipment movement route between point A and point C is located is the automated equipment that is passing through the road intersection in the main channel, and the automated equipment that is passing through the road intersection in the above-mentioned main channel includes: the automated equipment located in the road intersection in the main channel, and the automated equipment close to the road intersection in the main channel. Therefore, it is possible to retrieve whether the first position information of each first automation device with passing authority moving along the slave channel leaves the road intersection by retrieving whether there is position information located in the channel section where the device moving route between points Y and Z is located in the first position information of each first automation device with passing authority moving along the slave channel, and to retrieve whether there is an automation device passing through the road intersection in the main channel by retrieving whether there is position information located in the channel section where the device moving route between points A and C is located in the second position information.

[0180] In order to facilitate understanding of a traffic control method for a road intersection provided in an embodiment of the present application, below, Figure 5 Based on the above, taking the logistics scenario in a manufacturing enterprise as an example, a traffic control method for a road intersection provided by an embodiment of the present application is specifically illustrated, wherein the specific embodiment may include the following steps 1 to 4. Specifically:

[0181] Step 1: Plan the driving routes and directions of the automated equipment and human-driven logistics equipment involved in the logistics scenario at the intersection of the logistics channel, and the automated equipment and human-driven logistics equipment have routes for driving in opposite directions on their respective assigned roads. In addition, traffic lights are installed in the direction of travel for human-driven logistics equipment.

[0182] That is, plan the first road and the second road in the logistics scenario. Figure 4 As shown, the longitudinal road is the first road, the transverse road is the second road, and there are two driving routes in the first road, one with a traffic direction from top to bottom and the other from top to bottom. L1 (the dotted arrow pointing upward) can be considered as the main channel of the first road, and L2 (the dotted arrow pointing downward) can be considered as the secondary channel of the first road; there are two driving routes in the second road, one with a traffic direction from left to right and the other from right to left, and traffic lights facing the left and right are installed at the intersection.

[0183] Step 2: In the intelligent dispatching system, two automated equipment driving routes L1 and L2 are planned accordingly, and route L1 is configured as the priority channel (main channel), route L2 is configured as the accompanying channel (slave channel), and the rectangular area surrounded by BCZY is configured as the traffic control area. For route L1 and route L2, set the application points A (main control point) and point X (slave control point) for passing through the traffic control area, the equipment traffic control area entry points B and Y, and the traffic control area exit points C and Z. Among them, the upper edge of the intersection is the first edge, point Y and point C are the points of the first edge, the lower edge of the intersection is the second edge, point Z and point B are the points of the second edge, point Y, point C, point Z and point B are the intersection points of the traffic control area, point C is the first intersection point of route L1 and the first edge, and point Z is the second intersection point of route L2 and the second edge.

[0184] Step 3: Enter the traffic control area;

[0185] When an automated device on route L1 travels along the set direction of travel and passes through point A, the intelligent dispatching system locks the traffic control area, increases the corresponding preset identification value lock by 1, and controls the traffic light to turn red, indicating that personnel on the second road (transverse road) are not allowed to drive logistics equipment through the traffic control area. Among them, the initial value of the preset identification value lock is 0. When the value of the preset identification value lock is 0, the traffic light is green, indicating that personnel on the second road (transverse road) can drive logistics equipment through the traffic control area. When the value of the preset identification value lock is not 0, the traffic light is red, indicating that personnel on the second road (transverse road) cannot drive logistics equipment through the traffic control area.

[0186] When m automated devices travel in sequence along the set travel direction and pass through point A, the preset identification value lock corresponding to the traffic control area is increased by m.

[0187] When there is an automated device on route L2 traveling along the set direction of travel and passing through point X, the intelligent dispatching system continues to determine whether there is an automated device on route L1 (priority channel) traveling in the channel section of the route between AC.

[0188] If there is an automated device on route L1 traveling in the passage section where the route between AC is located, the automated device on route L2 is allowed to enter the traffic control area, and the preset identification value lock corresponding to the traffic control area is increased by 1.

[0189] If there is no automated equipment in route L1 traveling in the channel section where the route between AC is located, the automated equipment on route L2 is not allowed to enter the traffic control area. The automated equipment in route L2 is controlled to stop moving at point Y and wait until there is an automated equipment in route L1 traveling in the channel section where the route between AC is located. The automated equipment in route L2 is controlled to pass point Y and enter the traffic control area, and the preset identification value lock corresponding to the traffic control area is increased by 1.

[0190] When n automated devices pass through point X in route L2, the automated devices in route L2 queue up in order in the channel section where the route is located between XY. When automated devices in route L1 travel in the channel section where the route is located between AC, all n automated devices queued in the channel section where the route is located between XY in route L2 enter the traffic control area, and the preset identification value lock corresponding to the traffic control area is increased by n.

[0191] Step 4: Leave the traffic control area;

[0192] When the automated equipment in route L1 travels along the set direction of travel and passes through point C and leaves the traffic control area, the preset identification value lock corresponding to the traffic control area is reduced by 1;

[0193] Similarly, when the automated equipment in route L2 travels along the set travel direction and passes through point Z and leaves the traffic control area, the preset identification value lock corresponding to the traffic control area is reduced by 1;

[0194] When all automated equipment in routes L1 and L2 leave the traffic control area, the preset identification value lock becomes 0, and the traffic light turns green, prompting personnel to allow driving logistics equipment through the traffic control area.

[0195] In response to the traffic control method for a road intersection provided in the above-mentioned embodiment of the present application, the embodiment of the present application also provides a traffic control device for a road intersection.

[0196] Figure 6 A traffic control device for a road intersection provided in an embodiment of the present application, such as Figure 6 As shown, the device comprises:

[0197] The information detection module 610 is used to detect whether there is an automated device moving along the main channel of the first road and passing through the road intersection every time a first automated device moving along the secondary channel of the first road and about to enter the road intersection is detected; wherein, each time a second automated device moving along the main channel of the first road and approaching the road intersection is detected, a prompt message for prompting a mobile object in the second road not to pass through the road intersection is output, and the second automated device belongs to the automated device passing through the road intersection; the main channel and the secondary channel have opposite travel directions;

[0198] A first control module 620, configured to control the first automated device to pass through the road intersection if present;

[0199] A second control module 630, for controlling the first automation device to be stationary and triggering the information detection module if it does not exist;

[0200] The output stop module 640 is used to stop outputting the prompt information when it is detected that the first automated device with the passing authority leaves the road intersection and there is no automated device passing through the road intersection in the main channel;

[0201] Among them, the first automated equipment with passing authority is: when it is detected that there is an automated equipment moving along the main channel and passing through the road intersection, the first automated equipment is controlled to pass through the road intersection; the first road is a road allocated for automated equipment, the second road is a road allocated for other mobile objects except automated equipment, and the road intersection is the intersection of the first road and the second road.

[0202] As can be seen from the above, by applying the solution provided by the embodiment of the present application, according to the needs of actual application, the roads in the actual scene are divided into a first road assigned to the automation equipment and a second road assigned to other mobile devices other than the automation equipment, and the first road is divided into a main channel and a slave channel with opposite traffic directions. Among them, for the above-mentioned main channel, when the automation equipment moving in the main channel approaches the road intersection, a prompt message for prompting the mobile objects in the second road to prohibit passing through the road intersection is output, so as to prompt other mobile objects in the second road to avoid the automation equipment in time, so that the automation equipment in the main channel can directly pass through the road intersection without stopping. In the case where there is an automation equipment about to enter the road intersection in the above-mentioned slave channel, if there is an automation equipment moving along the main channel of the first road and passing through the road intersection, the automation equipment in the slave channel can be controlled to pass through the road intersection; on the contrary, if there is no automation equipment moving along the main channel of the first road and passing through the road intersection, the automation equipment in the slave channel is controlled to stop moving to wait for the presence of an automation equipment close to the road intersection in the above-mentioned main channel. Furthermore, when there is an automated device in the main channel that moves along the main channel of the first road and is passing through a road intersection, the automated device in the slave channel is controlled to resume movement and pass through the road intersection. In particular, since the above prompt information is output each time the automated device moving in the main channel is detected to be close to a road intersection, when there is an automated device located in a road intersection in the main channel, the above prompt information still remains in the output state. Furthermore, the automated device in the main channel close to the road intersection and the automated device located in the road intersection can both be regarded as the automated device in the main channel that is passing through the road intersection, that is, only when there is an automated device in the main channel that is passing through the road intersection can the automated device on the slave channel pass through the road intersection.

[0203] Based on this, the embodiment of the present application provides a traffic control method for improving road utilization. When the flow rate at the intersection remains unchanged, by controlling the automated equipment passing through the intersection, the automated equipment in the main channel and the slave channel is controlled to pass through the road intersection in a concentrated manner, the entire idle time of the intersection is increased, the road capacity is improved, and the difficulty of other moving objects passing through the road intersection is reduced, thereby improving the utilization rate of the roads in the scene. Among them, for manufacturing enterprises, the embodiment of the present application provides a traffic control method for automated equipment passing through the cross intersection of logistics channels in the production plant. By controlling the two-way multi-channel automated equipment on the road to pass through the intersection in a concentrated manner, the road capacity of other moving objects such as personnel driving logistics equipment at the intersection is improved.

[0204] Optionally, in a specific implementation, the device further includes:

[0205] The information output module is used to start outputting the prompt information if the prompt information is not outputted every time the second automated equipment moving along the main channel and approaching the road intersection is detected.

[0206] Optionally, in a specific implementation, the device further includes:

[0207] A first value increasing module is used to increase the preset identification value by a preset value each time a second automated device moving along the main channel and approaching the road intersection is detected; wherein the initial value of the preset identification value is a specified value;

[0208] A second value increasing module is configured to increase the preset identification value by the preset value whenever the first automated device is detected, if it is detected that there is an automated device moving along the main channel of the first road and passing through the road intersection;

[0209] a numerical value reduction module, configured to reduce the preset identification value by the preset numerical value each time an automated device moving along the first road and leaving the road intersection is detected;

[0210] The output stop module 640 is specifically used to stop outputting the prompt information when it is detected that the preset identification value is restored to the specified value; wherein, when the preset identification value is not the specified value, the prompt information is continuously output.

[0211] Optionally, in a specific implementation, the secondary passage is provided with a secondary control point, and the secondary control point is spaced a first distance from the road intersection in the opposite direction of the passing direction of the secondary passage; the device further includes:

[0212] A first retrieval module is used to retrieve whether there is position information located between the slave control point and the entrance edge of the road intersection in the first position information of each automated device moving along the slave channel; if there is position information located between the slave control point and the entrance edge, then there is the first automated device moving along the slave channel of the first road and about to enter the road intersection;

[0213] The entrance edge is the edge that the first automated equipment first passes when entering the road intersection.

[0214] Optionally, in a specific implementation, when the result of the first detection is that there is no automated equipment moving along the main channel of the first road and passing through the road intersection, the second control module is specifically used to control the first automated equipment to stop moving when the first automated equipment moves to the edge of the entrance, or when it approaches an automated equipment that has stopped moving and is about to pass through the road intersection.

[0215] Optionally, in a specific implementation, the main channel is provided with a main control point, and the main control point is spaced a second distance from the road intersection in the opposite direction of the passing direction of the main channel;

[0216] The information detection module 610 is specifically used to retrieve whether there is position information located between the main control point and the first edge of the road intersection in the second position information of each automated device moving along the main channel; if there is position information located between the main control point and the first edge of the road intersection, there is an automated device moving along the main channel of the first road and passing through the road intersection; if there is no position information located between the main control point and the first edge of the road intersection, there is no automated device moving along the main channel of the first road and passing through the road intersection;

[0217] The first edge is the edge farthest from the main control point in the passing direction of the main channel.

[0218] Optionally, in a specific implementation, the slave channel is provided with a slave control point, and the device further includes:

[0219] A second retrieval module is used to retrieve whether there is position information located between the slave control point and the second edge in the first position information of each of the first automation devices with passing authority moving along the slave channel; if not, the first automation devices with passing authority leave the road intersection;

[0220] Retrieve the second position information to see whether there is position information located between the main control point and the first edge; if not, there is no automated equipment in the main channel that is passing through the road intersection;

[0221] The second edge is the edge farthest from the slave control point in the passing direction of the slave channel.

[0222] Optionally, in a specific implementation, a traffic control area is provided at the road intersection, and the vertices of the traffic control area include: a first intersection point of the device movement route in the main channel and the first edge, and a second intersection point of the device movement route in the slave channel and the second edge;

[0223] The second retrieval module is specifically used to retrieve whether there is position information in the channel section where the equipment moving route between the slave control point and the second intersection is located in the first position information of each of the first automation equipment with passing authority moving along the slave channel, and to retrieve whether there is position information in the channel section where the equipment moving route between the master control point and the first intersection is located in the second position information.

[0224] The present application also provides an electronic device, such as Figure 7 As shown, including:

[0225] Memory 701, used for storing computer programs;

[0226] The processor 702 is used to implement the steps of the traffic control method for any road intersection provided in the above-mentioned embodiment of the present application when executing the program stored in the memory 701.

[0227] Furthermore, the electronic device may further include a communication bus and / or a communication interface, and the processor 702, the communication interface, and the memory 701 communicate with each other via the communication bus.

[0228] The communication bus mentioned in the above electronic device can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. The communication bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, only one thick line is used in the figure, but it does not mean that there is only one bus or one type of bus.

[0229] The communication interface is used for communication between the above electronic device and other devices.

[0230] The memory may include a random access memory (RAM) or a non-volatile memory (NVM), such as at least one disk memory. Optionally, the memory may also be at least one storage device located away from the aforementioned processor.

[0231] The above-mentioned processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0232] In another embodiment provided in the present application, a computer-readable storage medium is also provided, in which a computer program is stored. When the computer program is executed by a processor, the steps of the traffic control method for any road intersection provided in the above-mentioned embodiments of the present application are implemented.

[0233] In another embodiment provided in the present application, a computer program product comprising instructions is also provided, which, when executed on a computer, enables the computer to execute the steps of any of the traffic control methods for road intersections provided in the above-mentioned embodiments of the present application.

[0234] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions may be transmitted from a website site, computer, server or data center to another website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium may be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more available media integrated. The available medium may be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a solid-state hard disk (SSD), etc.

[0235] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0236] Each embodiment in this specification is described in a related manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the device embodiment, electronic device embodiment, computer-readable storage medium embodiment, and computer program product embodiment, since they are basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0237] The above description is only a preferred embodiment of the present application and is not intended to limit the protection scope of the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application are included in the protection scope of the present application.

Claims

1. A traffic control method at a road intersection, characterized in that: The method comprises: Whenever a first automated device is detected to be moving along a secondary channel of a first road and about to enter a road intersection, it is detected whether there is an automated device moving along a main channel of the first road and passing through the road intersection; wherein whenever a second automated device is detected to be moving along the main channel and approaching the road intersection, prompt information for prompting a moving object in the second road not to pass through the road intersection is output, and the automated device passing through the road intersection includes: an automated device located in the road intersection and the second automated device; the main channel and the secondary channel have opposite travel directions; If yes, controlling the first automated device to pass through the road intersection; If not, controlling the first automated device to be stationary, and returning to the step of detecting whether there is a second automated device moving along the main channel of the first road and passing through the road intersection; When it is detected that the first automated device with passing authority leaves the road intersection and there is no automated device passing the road intersection in the main channel, stopping outputting the prompt information; Among them, the first automated equipment with passing authority is: when it is detected that there is an automated equipment moving along the main channel and passing through the road intersection, the first automated equipment is controlled to pass through the road intersection; the first road is a road allocated for automated equipment, the second road is a road allocated for other mobile objects except automated equipment, and the road intersection is the intersection of the first road and the second road.

2. The method according to claim 1, characterized in that The method further comprises: Whenever the second automated device moving along the main channel and approaching the road intersection is detected, if the prompt information has not been output, the prompt information starts to be output.

3. The method according to claim 1 or 2, characterized in that: The method further comprises: Whenever a second automated device moving along the main channel and approaching the road intersection is detected, the preset identification value is increased by a preset value; wherein the initial value of the preset identification value is a specified value; Whenever the first automated device is detected, if it is detected that there is an automated device moving along the main channel of the first road and passing through the road intersection, the preset identification value is increased by the preset value; Whenever an automated device is detected moving along the first road and leaving the road intersection, the preset identification value is reduced by the preset value; When it is detected that the first automated device in a moving state leaves the road intersection and there is no automated device passing through the road intersection in the main channel, stopping outputting the prompt information includes: When it is detected that the preset identification value is restored to the specified value, the prompt information is stopped from being output; wherein, when the preset identification value is not the specified value, the prompt information is continuously output.

4. The method according to claim 1, characterized in that: The secondary passage is provided with a secondary control point, and the secondary control point is spaced a first distance from the road intersection in the opposite direction of the passing direction of the secondary passage; the method further comprises: Retrieve the first position information of each automated device moving along the slave passage to see whether there is position information located between the slave control point and the entrance edge of the road intersection; if there is position information located between the slave control point and the entrance edge, then there is the first automated device moving along the slave passage of the first road and about to enter the road intersection; The entrance edge is the edge that the first automated equipment first passes when entering the road intersection.

5. The method according to claim 4, characterized in that When the result of the first detection is that there is no automated equipment moving along the main channel of the first road and passing through the road intersection, controlling the first automated equipment to be stationary includes: When the first automated equipment moves to the entrance edge, or approaches an automated equipment that has stopped moving and is about to pass through the road intersection, the first automated equipment is controlled to stop moving.

6. The method according to claim 1, characterized in that The main passage is provided with a main control point, and the main control point is spaced a second distance from the road intersection in the opposite direction of the passing direction of the main passage; The detecting whether there is an automated device moving along the main channel of the first road and passing through the road intersection comprises: Retrieve the second position information of each automated device moving along the main passage to see whether there is position information located between the main control point and the first edge of the road intersection; if there is position information located between the main control point and the first edge of the road intersection, there is an automated device moving along the main passage of the first road and passing through the road intersection; if there is no position information located between the main control point and the first edge of the road intersection, there is no automated device moving along the main passage of the first road and passing through the road intersection; The first edge is the edge farthest from the main control point in the passing direction of the main channel.

7. The method according to claim 6, characterized in that The slave channel is provided with a slave control point, and the method further comprises: Retrieve first position information of each first automation device with passing authority moving along the slave passage to determine whether there is position information located between the slave control point and the second edge; if not, the first automation device with passing authority leaves the road intersection; Retrieve the second position information to see whether there is position information located between the main control point and the first edge; if not, there is no automated equipment in the main channel that is passing through the road intersection; The second edge is the edge farthest from the slave control point in the passing direction of the slave channel.

8. The method according to claim 7, characterized in that The road intersection is provided with a traffic control area, and the vertices of the traffic control area include: a first intersection point of the equipment moving route in the main channel and the first edge, and a second intersection point of the equipment moving route in the secondary channel and the second edge; The retrieving whether there is position information located between the slave control point and the second edge in the first position information of each of the first automation devices with passing authority moving along the slave channel, comprises: Retrieve first position information of each first automation device with passing authority moving along the slave channel, whether there is position information located in a channel section where the device moving route between the slave control point and the second intersection is located; The searching of the second position information to determine whether there is position information located between the main control point and the first edge includes: The second location information is retrieved to determine whether there is location information located within the channel section where the equipment moving route between the main control point and the first intersection is located.

9. A traffic control device at a road intersection, characterized in that: The device comprises: An information detection module is used to detect whether there is an automated device moving along a main channel of the first road and passing through the road intersection every time a first automated device moving along a secondary channel of a first road and about to enter a road intersection is detected; wherein, every time a second automated device moving along the primary channel and approaching the road intersection is detected, a prompt message is outputted to prompt a moving object in the second road not to pass through the road intersection, wherein the automated device passing through the road intersection includes: an automated device located in the road intersection and the second automated device; the main channel and the secondary channel have opposite travel directions; A first control module, configured to control the first automated device to pass through the road intersection if present; a second control module, configured to control the first automation device to be stationary and trigger the information detection module if the information does not exist; an output stop module, configured to stop outputting the prompt information when it is detected that the first automated device with passing authority leaves the road intersection and there is no automated device passing through the road intersection in the main channel; Among them, the first automated equipment with passing authority is: when it is detected that there is an automated equipment moving along the main channel and passing through the road intersection, the first automated equipment is controlled to pass through the road intersection; the first road is a road allocated for automated equipment, the second road is a road allocated for other mobile objects except automated equipment, and the road intersection is the intersection of the first road and the second road.

10. The device according to claim 9, characterized in that The device also includes: an information output module, configured to start outputting the prompt information if the prompt information is not outputted, each time the second automated equipment moving along the main channel and approaching the road intersection is detected; and / or; The device also includes: A first value increasing module is used to increase the preset identification value by a preset value each time a second automated device moving along the main channel and approaching the road intersection is detected; wherein the initial value of the preset identification value is a specified value; A second value increasing module is configured to increase the preset identification value by the preset value whenever the first automated device is detected, if it is detected that there is an automated device moving along the main channel of the first road and passing through the road intersection; a numerical value reduction module, configured to reduce the preset identification value by the preset numerical value each time an automated device moving along the first road and leaving the road intersection is detected; The output stop module is specifically used to stop outputting the prompt information when it is detected that the preset identification value is restored to the specified value; wherein, when the preset identification value is not the specified value, the prompt information is continuously output; and / or; The secondary passage is provided with a secondary control point, and the secondary control point is spaced a first distance from the road intersection in the opposite direction of the passing direction of the secondary passage; the device further comprises: A first retrieval module is used to retrieve whether there is position information located between the slave control point and the entrance edge of the road intersection in the first position information of each automated device moving along the slave channel; if there is position information located between the slave control point and the entrance edge, then there is the first automated device moving along the slave channel of the first road and about to enter the road intersection; Wherein, the entry edge is the edge that the first automated equipment first passes when entering the road intersection; and / or; When the result of the first detection is that there is no automated equipment moving along the main channel of the first road and passing through the road intersection, the second control module is specifically configured to control the first automated equipment to stop moving when the first automated equipment moves to the edge of the entrance, or when the first automated equipment approaches an automated equipment that has stopped moving and is about to pass through the road intersection; and / or; The main passage is provided with a main control point, and the main control point is spaced a second distance from the road intersection in the opposite direction of the passing direction of the main passage; The information detection module is specifically used to retrieve whether there is position information located between the main control point and the first edge of the road intersection in the second position information of each automated device moving along the main channel; if there is position information located between the main control point and the first edge of the road intersection, there is automated device moving along the main channel of the first road and passing through the road intersection; if there is no position information located between the main control point and the first edge of the road intersection, there is no automated device moving along the main channel of the first road and passing through the road intersection; Wherein, the first edge is the edge farthest from the main control point in the passing direction of the main channel; and / or; The slave channel is provided with a slave control point, and the device further comprises: A second retrieval module is used to retrieve whether there is position information located between the slave control point and the second edge in the first position information of each of the first automation devices with passing authority moving along the slave channel; if not, the first automation devices with passing authority leave the road intersection; Retrieve the second position information to see whether there is position information located between the main control point and the first edge; if not, there is no automated equipment in the main channel that is passing through the road intersection; The second edge is the edge farthest from the slave control point in the passing direction of the slave channel; and / or; The road intersection is provided with a traffic control area, and the vertices of the traffic control area include: a first intersection point of the equipment moving route in the main channel and the first edge, and a second intersection point of the equipment moving route in the secondary channel and the second edge; The second retrieval module is specifically used to retrieve whether there is position information in the channel section where the equipment moving route between the slave control point and the second intersection is located in the first position information of each of the first automation equipment with passing authority moving along the slave channel, and to retrieve whether there is position information in the channel section where the equipment moving route between the master control point and the first intersection is located in the second position information.

11. An electronic device, characterized in that: include: Memory, used to store computer programs; A processor, for implementing any of the methods described in claims 1-8 when executing a program stored in a memory.

12. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method according to any one of claims 1 to 8 is implemented.

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