A traffic control method, device and electronic device for a road intersection

Abstract

An embodiment of the present application provides a traffic control method, device, and electronic device for a road intersection, which relates to the field of intelligent logistics technology. The method includes: when it is detected that there is a first automated device moving along the secondary channel of the first road and about to enter the road intersection, detecting whether there is an automated device moving along the main channel of the first road and passing through the road intersection; if so, controlling the first automated device to pass through the road intersection; if not, controlling the first automated device to stop, and returning to the step of detecting whether there is a prompt message output for prompting the moving objects in the second road to prohibit passing through the road intersection; when it is detected that the first automated device with passing permission leaves the road intersection and there is no automated device close to the road intersection in the main channel, stopping the output of the prompt message. As can be seen above, by applying the solution provided by the embodiment of the present application, the traffic capacity of the road allocated to non-automated devices can be improved.

Description

Technical Field

[0001] This application relates to the field of intelligent logistics technology, and in particular, to a traffic control method, device, and electronic device for road intersections. Background Art

[0002] Currently, with the continuous development of intelligent technologies, automated devices such as intelligent mobile robots are increasingly applied to various scenarios, such as logistics sorting scenarios, industrial production scenarios, etc.

[0003] In the above scenarios, in addition to automated devices, there may also be other moving objects such as personnel and devices driven by personnel. And usually, different roads are assigned to automated devices and other moving objects, so that the automated devices and other moving objects move along their respective assigned different roads. However, intersections often exist between the above different roads. Then, when there are road intersections that need to pass through the above different roads simultaneously, traffic control of the road intersections is required to ensure that automated devices and other moving objects can pass through the road intersections smoothly and safely.

[0004] Taking a manufacturing enterprise as an example, as Figure 1 shown, there are roads for automated devices to travel and roads for personnel-driven logistics devices to travel in the production workshop, and there is a cross intersection between the two roads. For the cross intersection of the above two roads, currently, traffic lights are usually used for traffic control. Among them, when an automated device is about to pass through the intersection, a trigger message is sent, and the traffic light control system controls the traffic lights to work, warning that an automated device is about to pass through this intersection, so that personnel can control the logistics vehicle and avoid the automated device in time. After the automated device passes through the intersection, the traffic light control system controls the traffic lights to stop working, and other devices pass through the intersection. Among them, the number of automated devices or other moving objects passing through the intersection per unit time can be called the intersection traffic flow.

[0005] However, in the above related technologies, automated devices usually pass through the intersection continuously at a certain time interval. In the case where the roads assigned to automated devices have multiple bidirectional channels, the automated devices on multiple channels will pass through the intersection at a certain time interval respectively. And when the frequency of automated devices passing through the intersection becomes higher, the intersection traffic flow of automated devices increases, and the traffic capacity of the roads assigned to other moving objects becomes worse, and it is difficult for other moving objects to pass through the intersection. Summary of the Invention

[0006] The purpose of the embodiments of this application is to provide a traffic control method, device, and electronic device for road intersections to improve the traffic capacity of the roads assigned to non-automated devices, so that non-automated devices can pass through road intersections more smoothly. The specific technical solutions are as follows:

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

[0008] When it is detected that there is a first automated device moving along the secondary channel of the first road and about to enter the road intersection, it is detected whether there is an automated device moving along the main channel of the first road and passing through the road intersection; wherein, when it is detected that there is a second automated device moving along the main channel and approaching the road intersection, a prompt message for prompting that moving objects in the second road are prohibited from passing through the road intersection is output, and the automated device passing through the road intersection includes: an automated device located within the road intersection and the second automated device; the passing directions of the main channel and the secondary channel are opposite;

[0009] If there is, control the first automated device to pass through the road intersection;

[0010] If not, control the first automated device to stop and return 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 permission leaves the road intersection and there is no automated device passing through the road intersection in the main channel, stop outputting the prompt message;

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

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

[0014] When it is detected that there is a second automated device moving along the main channel and approaching the road intersection, if the prompt message has not been output, start outputting the prompt message.

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

[0016] When it is detected that there is a second automated device moving along the main channel and approaching the road intersection, increase a preset identification value by a preset numerical value; wherein, the initial value of the preset identification value is a specified numerical value;

[0017] When each time the first automated device is detected, if an automated device moving along the main channel of the first road and passing through the road intersection is detected, increase the preset identification value by the preset numerical value;

[0018] When each time an automated device moving along the first road and leaving the road intersection is detected, decrease the preset identification value by the preset numerical value;

[0019] The stopping outputting the prompt information 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 includes:

[0020] When it is detected that the preset identification value resumes to the specified numerical value, stop outputting the prompt information; wherein, when the preset identification value is not the specified numerical value, continuously output the prompt information.

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

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

[0023] Wherein, the entrance edge is the edge that the first automated device first passes through when entering the road intersection.

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

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

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

[0027] Detecting whether there is an automated device moving along the main channel of the first road and passing through the road intersection, including:

[0028] Retrieving 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;

[0029] Wherein, 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, a secondary control point is provided on the secondary channel, and the method further includes:

[0031] Retrieving whether there is position information located between the secondary control point and the second edge in the first position information of each first automated device with passing permission moving along the secondary channel; if not, the first automated device with passing permission leaves the road intersection;

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

[0033] Wherein, the second edge is the edge farthest from the secondary control point in the passing direction of the secondary channel.

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

[0035] The retrieving whether there is position information located between the secondary control point and the second edge in the first position information of each first automated device with passing permission moving along the secondary channel includes:

[0036] Retrieving whether there is position information located within the section of the channel where the device movement route is located between the secondary control point and the second intersection in the first position information of each first automated device with passing permission moving along the secondary channel;

[0037] In the retrieval of the second location information, determining whether there is location information between the main control point and the first edge includes:

[0038] Retrieving whether there is location information within the passage section of the equipment movement route between the main control point and the first intersection in the second location information.

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

[0040] An information detection module, configured to, when detecting that there is a first automated device moving along the secondary channel of the first road and about to enter the road intersection each time, detect whether there is an automated device moving along the main channel of the first road and passing through the road intersection; wherein, when detecting that there is a second automated device moving along the main channel and approaching the road intersection each time, output a prompt message for prohibiting a moving object in the second road from passing through the road intersection, and the automated device passing through the road intersection includes: an automated device located within the road intersection and the second automated device; the passing directions of the main channel and the secondary channel are opposite;

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

[0042] A second control module, configured to, if not, control the first automated device to stop and trigger the information detection module;

[0043] An output stop module, configured to stop outputting the prompt message when detecting that the first automated device with passing permission leaves the road intersection and there is no automated device passing through the road intersection in the main channel;

[0044] Wherein, the first automated device with passing permission is: the first automated device controlled to pass through the road intersection when detecting that there is an automated device moving along the main channel and passing through the road intersection; the first road is a road allocated for automated devices, the second road is a road allocated for other moving objects except automated devices, and the road intersection is the intersection of the first road and the second road.

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

[0046] An information output module, configured to start outputting the prompt information if the prompt information has not been outputted yet when detecting a second automated device moving along the main channel and approaching the road intersection each time.

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

[0048] A first value increasing module, configured to increase a 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, configured to increase the preset identification value by the preset value each time the first automated device is detected and an automated device moving along the main channel of the first road and passing through the road intersection is detected;

[0050] A value decreasing module, configured to decrease the preset identification value by the preset 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 configured to stop outputting the prompt information when detecting that the preset identification value resumes to the specified value; wherein, when the preset identification value is not the specified value, the prompt information is continuously outputted.

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

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

[0054] Wherein, the entrance edge is the edge that the first automated device first passes through when entering the road intersection.

[0055] Optionally, in a specific implementation manner, in the case where the result of the first detection is that there is no automated device 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 device to stop moving when the first automated device moves to the entrance edge or approaches an automated device that has stopped moving and is waiting to pass through the road intersection.

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

[0057] The information detection module is specifically configured 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;

[0058] Wherein, the first edge is the edge farthest from the main control point in the traffic direction of the main channel.

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

[0060] A second retrieval module, configured to retrieve whether there is position information located between the secondary control point and the second edge in the first position information of each of the first automated devices with passing permission moving along the secondary channel; if not, the first automated device with passing permission leaves the road intersection;

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

[0062] Wherein, the second edge is the edge farthest from the secondary control point in the traffic direction of the secondary 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 secondary channel and the second edge;

[0064] The second retrieval module is specifically configured to retrieve whether there is location information within the section of the passage where the device movement route is located, between the slave control point and the second intersection point, in the first location information of each of the first automation devices with passage permission moving along the slave passage, and to retrieve whether there is location information within the section of the passage where the device movement route is located, between the master control point and the first intersection point, in the second location information.

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

[0066] A memory for storing a computer program;

[0067] A processor, when executing the program stored on the memory, implements the steps of any of the traffic control methods for a road intersection provided in the first aspect above.

[0068] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, in which a computer program is stored, and when the computer program is executed by a processor, it implements the steps of any of the traffic control methods for a road intersection provided in the first aspect above.

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

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

[0071] As can be seen above, by applying the solution provided in the embodiments of the present application, according to the actual application needs, the roads in the actual scenario are divided into a first road allocated to automated devices and a second road allocated to other moving devices except automated devices. And the first road is divided into a main channel and a secondary channel with opposite traffic directions. Among them, for the above-mentioned main channel, when the automated device moving in the main channel approaches a road intersection, a prompt message for prohibiting the moving objects in the second road from passing through the road intersection is output, so as to prompt other moving objects in the second road to avoid the automated device in time. Thus, the automated device in the main channel can directly pass through the road intersection without stopping. And in the case where there is an automated device in the secondary channel that is about to enter the road intersection, if there is an automated device moving along the main channel of the first road and passing through the road intersection, the automated device in the secondary channel can be controlled to pass through the road intersection; on the contrary, if there is no automated device moving along the main channel of the first road and passing through the road intersection, the automated device in the secondary channel is controlled to stop moving to wait for an automated device in the above-mentioned main channel that is approaching the road intersection. Furthermore, when there is an automated device moving along the main channel of the first road and passing through the road intersection in the above-mentioned main channel, the automated device in the secondary channel is controlled to resume moving and pass through the road intersection. Among them, since the above-mentioned prompt message is output every time an automated device moving in the main channel is detected approaching the road intersection, when there is an automated device in the main channel located within the road intersection, the above-mentioned prompt message still remains in the output state. Further, the automated device in the main channel close to the road intersection and the automated device located within the road intersection can both be regarded as the automated device passing through the road intersection in the main channel. That is, when there is an automated device passing through the road intersection in the above-mentioned main channel, the automated device on the secondary channel can pass through the road intersection.

[0072] Based on this, the embodiments of the present application provide a traffic control method for improving road utilization rate. Without changing the traffic volume at the intersection, by controlling the passing of automated devices through the intersection, the automated devices in the main channel and the secondary channel are controlled to pass through the road intersection concentratedly, the overall idle time of the intersection is increased, the traffic capacity of the road is improved, and the difficulty for other moving objects to pass through the road intersection is reduced. Thus, the utilization rate of the roads in the scenario is improved. Among them, for manufacturing enterprises, the embodiments of the present application provide a traffic control method for automated devices to pass through the cross intersection of the logistics channels in the production plant. By controlling the concentrated passing of multi-channel automated devices in both directions of the road, the traffic capacity of other moving objects such as personnel driving logistics equipment at the intersection is improved. Brief Description of the Drawings

[0073] To more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, other embodiments can also be obtained based on these drawings.

[0074] Figure 1 It is a schematic diagram of the road setting in the production workshop of a manufacturing enterprise;

[0075] Figure 2 It is a schematic flow chart of a traffic control method for a road intersection provided by an embodiment of the present application;

[0076] Figure 3 It is a schematic flow chart of another traffic control method for a road intersection provided by an embodiment of the present application;

[0077] Figure 4 It is a schematic diagram of the road setting in the production workshop of a manufacturing enterprise provided by an embodiment of the present application;

[0078] Figure 5 It is a schematic flow chart of yet another traffic control method for a road intersection provided by an embodiment of the present application;

[0079] Figure 6 It is a schematic structural diagram of a traffic control device for a road intersection provided by an embodiment of the present application;

[0080] Figure 7 It is a schematic structural diagram of an electronic device provided by an embodiment of the present application. Detailed implementation manners

[0081] The following will clearly and completely describe the technical solutions in the embodiments of the present application in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only some embodiments of the present application, rather than all embodiments. Based on the embodiments of the present application, all other embodiments obtained by those of ordinary skill in the art based on the present application belong to the scope of protection of the present application.

[0082] Currently, in the application scenarios where automated equipment is located, usually, different roads are allocated for automated equipment and other moving objects, and intersections often exist between the above different roads. Among them, automated equipment usually passes through intersections continuously at certain time intervals. In the case where the roads allocated for automated equipment have multiple two-way channels, 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 becomes higher, the intersection flow of automated equipment increases, the traffic capacity of the roads allocated for other moving objects becomes worse, and it is difficult for other moving objects to pass through the intersection.

[0083] 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 applicable to various application scenarios with automation devices, such as logistics sorting scenarios, industrial production scenarios, etc. The traffic control method can be applied to various types of electronic devices with automation device control functions, such as intelligent control servers of automation devices, laptops, desktop computers, mobile phones, etc. Among them, the electronic devices to which the traffic control method is applied can be independent electronic devices or an electronic device cluster composed of multiple electronic devices, and the electronic devices to which the traffic control method is applied can become an intelligent scheduling system for automation devices. For the sake of clarity in writing, hereinafter they are all simply referred to as electronic devices. Moreover, the embodiment of the present application does not specifically limit the application scenarios and execution entities of the traffic control method.

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

[0086] When it is detected that there is a first automation device moving along the secondary channel of the first road and about to enter the road intersection, it is detected whether there is an automation device moving along the main channel of the first road and passing through the road intersection; among them, when it is detected that there is a second automation device moving along the main channel and approaching the road intersection, a prompt message for prompting that the moving object in the second road is prohibited from passing through the road intersection is output. The automation device passing through the road intersection includes: the automation device located within the road intersection and the second automation device; the passing directions of the main channel and the secondary channel are opposite;

[0087] If there is, control the first automation device to pass through the road intersection;

[0088] If not, control the first automation device to stop and return to the step of detecting whether there is a second automation device moving along the main channel of the first road and passing through the road intersection;

[0089] When it is detected that the first automation device with passing permission leaves the road intersection and there is no automation device passing through the road intersection in the main channel, stop outputting the prompt message;

[0090] Among them, the first automated device with passing permission is: the first automated device that is controlled to pass through the road intersection when an automated device moving along the main channel and passing through the road intersection is detected; the first road is the road allocated for automated devices, the second road is the road allocated for other moving objects except automated devices, 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 in the embodiments of the present application, according to the actual application needs, the roads in the actual scenario are divided into the first road allocated for automated devices and the second road allocated for other moving devices except automated devices. And the first road is divided into a main channel and a secondary channel with opposite traffic directions. Among them, for the above-mentioned main channel, when an automated device moving in the main channel approaches the road intersection, a prompt message for prompting the moving objects in the second road to prohibit passing through the road intersection is output, so as to prompt other moving objects in the second road to avoid the automated device in time. Thus, the automated device in the main channel can directly pass through the road intersection without stopping. And in the case where there is an automated device about to enter the road intersection in the above-mentioned secondary channel, if there is an automated device moving along the main channel of the first road and passing through the road intersection, the automated device in the secondary channel can be controlled to pass through the road intersection; on the contrary, if there is no automated device moving along the main channel of the first road and passing through the road intersection, the automated device in the secondary channel is controlled to stop moving to wait for an automated device in the above-mentioned main channel that approaches the road intersection. Furthermore, when there is an automated device moving along the main channel of the first road and passing through the road intersection in the above-mentioned main channel, the automated device in the secondary channel is controlled to resume moving and pass through the road intersection. Among them, since the above-mentioned prompt message is output every time an automated device moving in the main channel is detected approaching the road intersection, when there is an automated device in the road intersection in the main channel, the above-mentioned prompt message still remains in the output state. Further, the automated device approaching the road intersection in the main channel and the automated device located in the road intersection can both be used as the automated device passing through the road intersection in the main channel. That is, when there is an automated device passing through the road intersection in the above-mentioned main channel, the automated device on the above-mentioned secondary channel can pass through the road intersection.

[0092] Based on this, the embodiments of the present application provide a traffic control method for improving road utilization rate. When the traffic flow at the intersection remains unchanged, by controlling the automated equipment passing through the intersection, the automated equipment in the main channel and the secondary channel are controlled to pass through the road intersection centrally, so as to increase the overall idle time of the intersection, improve the traffic capacity of the road, and reduce the difficulty for other moving objects to pass through the road intersection. Thus, the utilization rate of the roads in the scenario is improved. Among them, for manufacturing enterprises, the embodiments of the present application provide a traffic control method for automated equipment passing through the crossroads of the logistics channels in the production plant. By controlling the multi-channel automated equipment in both directions of the road to pass through the intersection centrally, the traffic capacity of other moving objects such as personnel driving logistics equipment at the intersection is improved.

[0093] The following will specifically describe a traffic control method for a road intersection provided by the embodiments of the present application with reference to the accompanying drawings.

[0094] Figure 2 The flow chart of a traffic control method for a road intersection provided by the embodiments of the present application is shown as Figure 2 shown, and the method may include the following steps S201 - S204.

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

[0096] Among them, when it is detected that there is a second automated device moving along the main channel of the first road and approaching the road intersection, a prompt message for prompting the moving objects in the second road to prohibit passing through the road intersection is output. The automated devices passing through the road intersection include: the automated devices located within the road intersection and the second automated device; the passing directions of the main channel and the secondary channel are opposite; the first road is the road allocated for automated devices, the second road is the road allocated for other moving objects except 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, there are usually automated devices such as intelligent mobile robots in the application scenario, as well as other moving objects except automated devices such as personnel driving vehicles and personnel. For example, continuing with the manufacturing enterprise as an example, there may be intelligent mobile robots for transporting production raw materials to the production line in the production plant, as well as plant patrol vehicles driven by personnel. Therefore, according to the needs of the application scenario, the roads in the application scenario can be divided into: the road allocated for automated devices, called the first road, and the road allocated for other moving objects except automated devices, called the second road, and there may be a road intersection between the first road and the second road. For example, as Figure 1As shown, the longitudinal road is the first road, and the transverse road is the second road. The overlapping area of the longitudinal road and the transverse road is the road intersection.

[0098] Continuing with the example of a manufacturing enterprise, after the automated equipment for raw material transportation transports the production raw materials along the first road to the production line, it usually continues to move in the reverse direction along the first road to leave the production line and move to the production raw material storage area to transport raw materials to the production line again. Therefore, in the first road, the automated equipment can usually move in two directions, that is, there can be a situation of two-way multi-channels in the first road. For example, as Figure 1 shown, the first road has a channel with a traffic direction upwards and a channel with a traffic direction downwards. Thus, the first road has two-way two channels.

[0099] In the embodiment of the present application, two types of channels with opposite traffic directions in the first road can be respectively used as the main channel and the secondary channel. Among them, the automated equipment in the main channel is default allowed to pass through the road intersection, and the automated equipment in the secondary channel can only pass through the road intersection after an 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 and expects to pass through the road intersection, it can directly pass through the road intersection without pausing. Therefore, the main channel can also be called the priority channel. Correspondingly, the automated equipment moving along the secondary channel can only pass through the road intersection by relying on the road passing opportunity brought by the automated equipment in the main channel when the automated equipment in 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 secondary channel cannot trigger the output of the above prompt information, and thus cannot directly pass through the road intersection alone. It needs to stop moving and wait for an automated equipment in the main channel that approaches the road intersection to trigger the output of the above prompt information. Obviously, the automated equipment moving along the secondary channel can be regarded as "following" the automated equipment moving along the main channel to pass through the road intersection. Therefore, the secondary channel can also be called the accompanying channel. Among them, the above-mentioned automated equipment moving along the main channel and approaching the road intersection, and the automated equipment moving along the main channel and located within the road intersection can both be used as the automated equipment passing through the road intersection. And the traffic directions of the above-mentioned main channel and the secondary channel are opposite, and in practical applications, the main channel and the secondary channel in the first road can be determined according to the needs of the application scenario.

[0101] Continuing with the example of a manufacturing enterprise, to ensure that the production line does not stop due to a shortage of production raw materials, when the automated equipment used for raw material transportation reaches a road intersection during the feeding process, priority should be given to ensuring that the automated equipment passes through the road intersection. Therefore, during the above-mentioned feeding process, the passage on which the automated equipment travels can be referred to as the main passage. When the automated equipment moves towards the production raw material storage area after completing the feeding process and reaches a road intersection, 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. Then, the moving objects in the second road are prohibited from passing through the intersection, and at the same time, the automated equipment in the two traffic directions in the first road is controlled to pass through the road intersection. Therefore, the passage on which the automated equipment travels after leaving the production line after completing the feeding can be used as the secondary passage.

[0102] To ensure that the automated equipment moving along the main passage can smoothly pass through the road intersection, every time an automated equipment moving along the main passage and approaching the road intersection is detected, a prompt message for indicating that the moving objects in the second road are prohibited from passing 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 passage. In this way, when there is an automated equipment moving along the main passage of the first road and passing through the road intersection, if the above-mentioned prompt message is output, the automated equipment moving along the secondary passage 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 manner, a traffic control method for a road intersection provided in an embodiment of the present application may further include the following step 1.

[0104] Step 1: Every time a second automated equipment moving along the main passage and approaching the road intersection is detected, if the above-mentioned prompt message has not been output, start to output the above-mentioned prompt message.

[0105] In this specific implementation manner, in the application scenario, there may be a situation where the above-mentioned first automated device does not exist, but there is an automated device near the road intersection in the main channel of the first road. Since the automated device in the main channel of the first road is allowed to directly pass through the road intersection without waiting, when there is an automated 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 automated device in the main channel of the first road, so that the automated device in the main channel of the first road can continue to move and directly pass through the road intersection. Therefore, every time it is detected that there is a second automated device moving along the main channel and near the road intersection, if the above-mentioned prompt information has not been output, the above-mentioned prompt information can be started to be output. For example, a traffic light is installed in the traffic direction of the second road, and the red light in the traffic light can be lit as the prompt information. Another example is that there is a voice playback device such as a loudspeaker, and the voice playback device is controlled to play the voice message "The second road pauses passing" as the prompt information, etc.

[0106] Correspondingly, in this specific implementation manner, every time it is detected that there is a second automated device moving along the main channel and near the road intersection, if the above-mentioned prompt information has been output, the above-mentioned prompt information is continued.

[0107] Since the output of the above-mentioned prompt information is triggered by detecting that there is a second automated device moving along the main channel and near the road intersection, when traffic control is carried out at the road intersection, the automated devices in the opposite channels are considered at the same time, that is, comprehensive control of the road intersection is carried out.

[0108] As mentioned above, when traffic control is carried out at the 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 is obtained in real time, etc. Since it is necessary to determine whether to allow the above-mentioned first automated device to pass through the road intersection according to the moving situation of the automated device in the main channel of the first road, every time it is detected that there is a first automated device moving along the secondary channel of the first road and about to enter the road intersection, it is possible to first detect whether there is an automated device moving along the main channel of the first road and passing through the road intersection. And since the automated device moving along the main channel of the first road and located within the road intersection, as well as the automated device moving along the main channel of the first road and near the road intersection, can both be regarded as the automated device moving along the main channel of the first road and passing through the road intersection, the above-mentioned second automated device belongs to the automated device moving along the main channel of the first road and located within the road intersection. That is, the above-mentioned automated device passing through the road intersection includes: the automated device located within the road intersection and the above-mentioned second automated device.

[0109] Among them, the above-mentioned first automated device can be detected in various ways. For example, among the automated devices moving from the access road along the first road, the automated device that has not moved into the road intersection and is located at the edge of the road intersection can be determined as the first automated device. Another example is that among the automated devices moving from the access road along the first road, the automated device that has not moved into the road intersection and is less than a certain distance away from the edge of the road intersection can be determined as the first automated device, etc. In this regard, the embodiments of the present application do not make specific limitations.

[0110] Similarly, the above-mentioned second automated device can be detected in various ways. For example, among the automated devices moving along the main road of the first road, the automated device that has not moved into the road intersection and is less than a certain distance away from the edge of the road intersection can be determined as the second automated device, etc.

[0111] S202: If there is such an automated device, control the first automated device to pass through the road intersection.

[0112] If it is detected that there is an automated device moving along the main road of the first road and passing through the road intersection, it indicates that the automated device in the current first road can pass through the road intersection. Therefore, 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 road of the first road and passing through the road intersection, the above-mentioned first automated device about to enter the road intersection is controlled to pass through the road intersection, then this first automated device can be called the first automated device with passing permission, and it is allowed to pass through the road intersection. That is, the first automated device with passing permission is: the first automated device that is controlled to pass through the road intersection when it is detected that there is an automated device moving along the main road and passing through the road intersection.

[0113] In addition, for the sake of brevity in subsequent writing, the above-mentioned automated device moving along the main road of the first road and passing through the road intersection can be simply referred to as the target automated device.

[0114] If the target automated device is detected during the first detection, the first automated device does not need to wait and is allowed to directly pass through the road intersection. Thus, the first automated device can be directly controlled to continue moving and directly pass through the road intersection.

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

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

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

[0118] Among them, in some cases, when the first automated device is first detected, since there is an automated device moving along the main channel of the first road and passing through the road intersection, the first detected first automated device can 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 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 first detected first automated device may still be within the road intersection and has not left the road intersection. At this time, in order to ensure the driving safety of the first detected first automated device, the above-mentioned prompt information is still continuously output. However, during the process of the first automated device continuing to move within the road intersection, when a first automated device moving along the secondary channel of the first road and about to enter the road intersection is detected again, since there is no automated device moving along the main channel of the first road and passing through the road intersection at this time, therefore, even if the above-mentioned prompt information is still output at this time, the first automated device detected again is still not allowed to pass through the road intersection, and the first automated device detected again is controlled to stop.

[0119] S204: When it is detected that the first automated device with passing permission leaves the road intersection and there is no automated device passing through 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 called the first automated device with passing permission.

[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 in the figure, a traffic control method for a road intersection provided by an embodiment of the present application may further include the following steps S205 - S207.

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

[0126] Among them, the initial value of the preset identification value is a specified value.

[0127] S206: When each first automated device is detected, if an automated device moving along the main channel of the first road and passing through the road intersection is detected, increase the preset identification value by a preset value.

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

[0129] In this specific implementation, a preset identification value with an initial value of a specified value can be set in advance. This preset identification value can be used to count the automated devices passing through the road intersection along the first road. And, the number of automated devices currently passing through the road intersection can be calculated according to the value of this preset identification value.

[0130] Among them, when the value of the preset identification value is the above - mentioned specified value, it can indicate that there is no automated device passing through the road intersection on the current first road. And when each automated device passing through the road intersection along the first road is detected, the value of the above - mentioned preset identification value can be increased by a preset value. And, the above - mentioned automated devices passing through the road intersection along the first road may include the second automated device moving along the main channel and approaching the road intersection, and the first automated device that continues to move or resumes moving and is controlled to pass through the road intersection. Therefore, when each second automated device moving along the main channel and approaching the road intersection is detected, the preset identification value can be increased by a preset value. And for each detected first automated device, when an automated device moving along the main channel of the first road and passing through the road intersection is detected, the above - detected first automated device is controlled to pass through the road intersection. That is, for the above - detected first automated device, only when an automated device moving along the main channel of the first road and passing through the road intersection is detected, this first automated device is allowed to pass through the road intersection. Furthermore, it is necessary to count this first automated device. Therefore, when each first automated device is detected, if 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 a preset value.

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

[0132] Correspondingly, in this specific implementation manner, step S204 above, when it is detected that the first automated device with passing permission leaves the road intersection and there is no automated device passing through the road intersection in the main channel, stop outputting the prompt information, which may include the following steps S2041.

[0133] S2041: Stop outputting the prompt information when it is detected that the preset identification value has returned to the specified value.

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

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

[0136] Furthermore, in the case where the above prompt information is output, it can be determined whether all the automated devices passing through the road intersection during the output process of the above prompt information have left the road intersection, that is, whether the first automated device with passing permission has left the road intersection and whether there is no automated device passing through the road intersection in the main channel, by whether the preset identification value has returned from a non-specified value to the specified value. Among them, when the preset identification value returns to the specified value, it means that all the automated devices passing through the road intersection during the output process of the above prompt information have left the road intersection. At this time, the first automated device with passing permission has left the road intersection and there is no automated device 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 device in the first road. Thus, when it is detected that the preset identification value has returned to the specified value, the above prompt information can be stopped from being output.

[0137] Based on this, it is possible to determine the output situation of the above prompt message by detecting whether the preset identification value is a specified value. Among them, when it is detected that the preset identification value is the specified value, it indicates that there is currently no automated device passing through the road intersection, that is, the first automated device with passing permission has left the road intersection, and there is no automated device passing through the road intersection in the main channel. Furthermore, it indicates that there is no need to output the above prompt message at this time. Therefore, the output of the above prompt message is stopped; while when it is detected that the preset identification value is not the specified value each time, it indicates that there is an automated device passing through the road intersection currently. Furthermore, it indicates that the above prompt message needs to be output at this time, and then the above prompt message is continuously output.

[0138] For example, the above preset identification value can be expressed as lock, the above specified value can be 0, that is, the initial value of the preset identification value lock is 0, and the above preset value can be 1. In this way, each time the second automated device is detected, the preset identification value is incremented by 1; and each time 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, it indicates that the detected automated device is allowed to pass through the road intersection, and it is an automated device with passing permission. Therefore, each time 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, lock is incremented by 1, that is, each time the first automated device with passing permission is detected, lock is incremented by 1. Correspondingly, each time an automated device leaving the road intersection is detected, the preset identification value is decremented by 1. In this way, when lock is not 0, the above prompt message is continuously output, and when it is detected that lock is restored from a value greater than 0 to 0, the output of the above prompt message is stopped, and then 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 preset identification value determines whether the above prompt message is output. When the value of the above preset identification value changes from the specified value to other values, the output of the above prompt message starts, and during the process that the above preset identification value is not the specified value, the above prompt message is continuously output. And when the value of the above preset identification value is restored from other values to the specified value, the output of the above prompt message is stopped, and during the process that the above preset identification value is the specified value, the state of not outputting the above prompt message is maintained.

[0140] Correspondingly, as described 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 detected first automated device can 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 preset identification value is not the specified value and the above prompt message is output. When the automated device moving along the main channel of the first road and passing through the road intersection leaves the road intersection, the first detected first automated device may still be within the road intersection and has not left the road intersection yet. At this time, in order to ensure the driving safety of the first detected first automated device, the above prompt message is still continuously output, and the above preset identification value is not the specified value. However, during the process of the first automated device continuing to move within the road intersection, when a first automated device moving along the secondary channel of the first road and about to enter the road intersection is detected again, since there is no automated device moving along the main channel of the first road and passing through the road intersection at this time, therefore, even if the above preset identification value is not the specified value and the above prompt message is still output at this time, the first automated device detected again is still not allowed to pass through the road intersection, and the first automated device detected again is controlled to be stationary. Based on this, although the value of the above preset identification value can determine the output state of the above prompt message, however, the value of the above preset identification value not being the specified value cannot be used as the basis for the first automated device detected moving along the secondary channel of the first road and about to enter the road intersection to be allowed to pass through the road intersection.

[0141] Optionally, in a specific implementation manner, a secondary control point is provided on the secondary channel, and the secondary control point is spaced from the road intersection by a first distance in the opposite direction of the passing direction of the secondary channel.

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

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

[0144] Wherein, the entrance edge is the edge that the first automated device first passes through when entering the road intersection.

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

[0146] Based on this, for the secondary channel of the first road, a secondary control point can be set at a position in the opposite direction of the traffic direction of the secondary channel and at a first distance from the road intersection. Thus, when an automated device moving along the secondary channel moves to the above-mentioned secondary control point, it can be considered that the automated device starts to be an automated device about to enter the road intersection, and then the automated device starts to be the first automated device. Furthermore, all automated devices moving along the secondary channel and located between the above-mentioned secondary control point and the entrance edge of the road intersection can be regarded as the first automated devices. Therefore, after obtaining the first position information of each automated device moving along the secondary channel, it can be retrieved whether there is position information located between the secondary control point and the entrance edge of the road intersection in the first position information; if there is position information located between the secondary control point and the entrance edge of the road intersection in the first position information, it can be indicated that there is a first automated device moving along the secondary channel of the first road and about to enter the road intersection.

[0147] For example, as Figure 4 shown, route L2 is the secondary channel, and the arrow direction in route L2 is the traffic direction of the secondary channel. Points Y, C, Z, and B are located at the edge of the road intersection, point X is the secondary control point, and point X is at a first distance from point Y. Therefore, when an automated device moving along L2 moves to point X, it can be considered that the automated device starts to be the first automated device about to enter the road intersection. Therefore, when the obtained first position information includes position information located between point X and the edge (entrance edge) of the road intersection where point Y is located, it can be indicated that there is a first automated device.

[0148] Moreover, the electronic device can obtain the above-mentioned first position information in various ways, and the embodiments of the present application do not make specific limitations on this. For example, the automated device in the passage can report its own position information to the electronic device at a preset frequency; for another example, the electronic device can record the automated device currently traveling in the passage and send a position information request to the above-mentioned automated device at a preset frequency to obtain the position information fed back by the automated device in response to the position information request; for yet another example, position detection sensors such as infrared detectors can be set on the roadside of the passage. When an automated device triggers the above-mentioned position detection sensors, the above-mentioned position detection sensors can send the detected position information to the electronic device; for yet another example, one or more image acquisition devices whose acquisition ranges cover the passage can be set. The electronic device can obtain the image of the passage acquired by the above-mentioned image acquisition devices and determine the world coordinates of the automated device based on the image position of the automated device in the image of the passage 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, so as to obtain the position information of the automated device.

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

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

[0151] As mentioned above, when the automated device moving along the passage moves to the above-mentioned passage control point, it can be considered that the automated device is about to enter the road intersection. Therefore, it can be considered that all the automated devices located between the passage control point and the edge of the road intersection closest to the passage control point are the first automated devices. For example, Figure 5 For example, all the automated devices located between the edges (entrance edges) of the road intersection where points X and Y are located are the first automated devices. And when the detection result of whether there is an automated device moving along the main passage of the first road and passing through the road intersection for the first time is: there is no automated device moving along the main passage of the first road and passing through the road intersection, it is necessary to control the first automated device to stop moving so that the first automated device switches from the moving state to the stationary state. The purpose of controlling the first automated device to switch from the moving state to the stationary state is to prevent the first automated device from entering the road intersection without a prompt message being output.

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

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

[0154] As above, in the case where no prompt information is output in the result of the first detection, when the first automated device moves to the entrance edge of the road intersection, or when it is close to the automated device that has stopped moving and is waiting to pass through the road intersection, the movement of the first automated device can be controlled to stop.

[0155] Optionally, in a specific implementation manner, a main control point is set on the main passage, and the main control point is spaced from the road intersection by a second distance in the direction opposite to the traffic direction of the main passage.

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

[0157] Step 4: 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 passage; if there is position information located between the main control point and the first edge of the road intersection, then 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, then there is no automated device moving along the main passage of the first road and passing through the road intersection.

[0158] Among them, the first edge is the edge that is the farthest from the main control point in the traffic direction of the main passage.

[0159] In this specific implementation, for the main channel of the first road, a main control point can be set at a position in the opposite direction of the traffic direction of the main channel and at a second distance from the road intersection. Thus, when the automated device moving along the main channel moves to the above-mentioned main control point, it can be considered that the automated device is about to enter the road intersection. And in the main channel, the process of the automated device moving from the main control point to leaving the road intersection is called the process of the automated device passing through the road intersection. Therefore, when taking the edge farthest from the main control point in the traffic direction of the main channel as the first edge, in the main channel, the automated devices located between the main control point and the first edge can all be regarded as the automated devices passing through the road intersection. Among them, being located between the above-mentioned main control point and the first edge includes: being located at the above-mentioned main control point and being 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 can be retrieved 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 indicated that there is an automated device moving along the main channel of the first road and passing through the road intersection, and if there is no position information located between the main control point and the first edge of the road intersection, it can be indicated that there is no automated device moving along the main channel of the first road and passing through the road intersection.

[0160] Among them, the edge farthest from the secondary control point in the traffic direction of the secondary channel can be called the second edge. Then the second edge is the edge closest to the main control point in the traffic direction of the main channel. Thus, in the main channel, the automated devices moving between the main control point and the second edge can be considered as the automated devices approaching the road intersection.

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

[0162] Among them, taking Figure 4 as an example, it can be seen that the first edge is the edge farthest from the main control point in the traffic direction of the main channel, and the first edge is the edge closest to the subordinate control point in the traffic direction of the subordinate channel. Therefore, the first edge is the edge that the above-mentioned first automated device 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 above-mentioned subordinate control point and the road intersection, and the second distance between the above-mentioned main control point and the road intersection can be the same or different. In this regard, the embodiments of the present application do not make specific limitations.

[0164] Optionally, in a specific implementation manner, on the basis that the main channel is provided with a main control point and the subordinate channel is provided with a subordinate control point, as Figure 5 shown, a traffic control method for a road intersection provided by an embodiment of the present application may further include the following steps S208-S209.

[0165] S208: Retrieve whether there is position information of each first automated device with passing permission moving along the subordinate channel and located between the subordinate control point and the second edge;

[0166] If not, the first automated device with passing permission leaves the road intersection.

[0167] S209: Retrieve whether there is position information in the second position information and located between the main control point and the first edge;

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

[0169] Among them, the second edge is the edge farthest from the subordinate control point in the traffic direction of the subordinate channel.

[0170] In this specific implementation manner, the edge farthest from the control point in the traffic direction of the subordinate channel can be called the second edge, and the edge farthest from the main control point in the traffic direction of the main channel can be called the first edge.

[0171] As described above, between the control point and the second edge, there is each first automated device with passing permission moving along the access path. When there is no position information located between the control point and the second edge in the first position information of each first automated device moving along the access path, it can be explained that each first automated device moving along the access path has left the road intersection; and in the main path, the automated device moving between the main control point and the second edge can be considered as the automated device passing through the road intersection. Therefore, when there is no position information located between the main control point and the second edge in the second position information, it can be explained that there is no automated device passing through the road intersection in the main path.

[0172] Based on this, it is possible to continue to obtain the first position information of each automated device moving along the access path and the second position information of each automated device moving along the main path; furthermore, it is detected whether there is position information located between the control point and the second edge in the first position information of each first automated device with passing permission moving along the access path, and it is detected whether there is position information located between the main control point and the first edge in the second position information of each automated device moving along the main path. If the above detection results are both non-existent, it can be explained that the first automated device with passing permission has left the road intersection, and there is no automated device passing through the road intersection in the main path. In this way, when there is no position information located between the control point and the second edge in the first position information of each first automated device with passing permission moving along the access path, and there is no position information located between the main control point and the first edge in the second position information of each automated device moving along the main path, the above prompt information can be stopped from being output.

[0173] Optionally, in a specific implementation, on the basis that the main path is provided with a main control point and the access path is provided with a sub-control point, a traffic control area is set at the road intersection, and the vertices of the traffic control area include: the first intersection of the device movement route in the main path and the first edge, and the second intersection of the device movement route in the access path and the second edge.

[0174] Correspondingly, in this specific implementation, step S208, retrieving whether there is position information located between the sub-control point and the second edge in the first position information of each first automated device with passing permission moving along the access path, may include the following steps 5.

[0175] Step 5: Retrieve whether there is position information within the section of the access path where the device movement route is located between the sub-control point and the second intersection in the first position information of each first automated device with passing permission moving along the access path.

[0176] Correspondingly, in this specific implementation manner, in the above step S209, when retrieving the second position information, to check whether there is position information located between the main control point and the first edge, the following steps 6 can be included:

[0177] Step 6: When retrieving the second position information, check whether there is position information within the passage section where the device movement route is located between the main control point and the first intersection point.

[0178] In this specific implementation manner, a traffic control area can be set at the road intersection. The so-called traffic control area is a designated area on the road where automated devices or other moving objects are allowed or prohibited to pass. Among them, the vertices of the traffic control area can include: the first intersection point between the device movement route in the main channel and the first edge, and the second intersection point between the device movement route in the secondary channel and the second edge.

[0179] For example, as Figure 4As shown, route L1 is the main passage. The arrow direction in route L1 is the passing direction of the main passage. The dotted line with an arrow in route L1 is the equipment movement route in the main passage, and point A is the main control point. Route L2 is the secondary passage. The arrow direction in route L2 is the passing direction of the secondary passage. The dotted line with an arrow in route L2 is the equipment movement route in the secondary passage. The edge where points Y and C are located is the first edge of the road intersection, and the edge where points Z and B are located is the second edge of the road intersection. Then point C is the intersection of the equipment movement route in the main passage and the first edge, serving as the first intersection point. Point Z is the intersection of the equipment movement route in the secondary passage and the second edge, serving as the second intersection point. Furthermore, points C and Z are respectively one intersection point of the traffic control area, and this traffic control area can be the area formed by points Y, C, B, and Z. Point B is the intersection of the equipment movement route in the main passage and the second edge, and point Y is the intersection of the equipment movement route in the secondary passage and the first edge. And points B, A, and C are collinear, and points X, Y, and Z are collinear. Then the automated equipment in the section of the passage where the equipment movement route is located between points Y and Z is the automated equipment in the secondary passage within the road intersection, and the automated equipment in the section of the passage where the equipment movement route is located between points B and C is the automated equipment in the main passage within the road intersection. And the automated equipment in the section of the passage where the equipment movement route is located between points A and B is the automated equipment in the main passage near the road intersection. Therefore, the automated equipment in the section of the passage where the equipment movement route is located between points A and C is the automated equipment in the main passage passing through the road intersection. And the automated equipment in the main passage passing through the road intersection mentioned above includes: the automated equipment in the main passage within the road intersection and the automated equipment in the main passage near the road intersection. Therefore, it is possible to retrieve whether the first position information of each first automated equipment with passing permission moving along the secondary passage leaves the road intersection by retrieving whether there is position information in the section of the passage where the equipment movement route is located between points Y and Z in the first position information of each first automated equipment with passing permission moving along the secondary passage, and retrieve whether there is automated equipment in the main passage passing through the road intersection by retrieving whether there is position information in the section of the passage where the equipment movement route is located between points A and C in the second position information.

[0180] To facilitate understanding of a traffic control method for a road intersection provided by an embodiment of the present application, hereinafter, on the basis of Figure 5 , 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 will be specifically illustrated. Specifically, the specific embodiment may include the following steps 1 to 4. Specifically:

[0181] Step 1: Plan the driving routes and directions of automated equipment and personnel-driven logistics equipment at the crossroads of the logistics channel in the logistics scenario. Moreover, there are opposite driving routes for the automated equipment and personnel-driven logistics equipment in their respective allocated roads. And traffic lights are installed in the passing direction facing the personnel-driven logistics equipment.

[0182] That is, plan the first road and the second road in the logistics scenario. Among them, as Figure 4 shown, the longitudinal road is the first road, and the transverse road is the second road. There are two driving routes in the first road with passing directions from top to bottom and from bottom to top. L1 (the dotted arrow pointing upward) can be regarded as the main channel of the first road, and L2 (the dotted arrow pointing downward) can be regarded as the secondary channel of the first road; there are two driving routes in the second road with passing directions from left to right and from right to left. And traffic lights facing left and right are installed at the crossroads.

[0183] Step 2: In the intelligent scheduling system, correspondingly plan two driving routes for the automated equipment, namely L1 and L2. Configure route L1 as the priority channel (main channel), configure route L2 as the accompanying channel (secondary channel), and configure the rectangular area enclosed by B-C-Z-Y as the traffic control area. Set the application passing points A (main control point) and point X (secondary control point) for route L1 and route L2 respectively to pass through the traffic control area, the equipment entry points B and Y into the traffic control area, and the traffic control area exit points C and Z. Among them, the upper edge of the crossroads is the first edge, points Y and C are the points on the first edge, the lower edge of the crossroads is the second edge, points Z and B are the points on the second edge, points Y, C, Z, and B are the intersection points of the traffic control area respectively, 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 equipment on route L1 drives along the set passing direction and passes through point A, the intelligent scheduling system locks the traffic control area, adds 1 to its corresponding preset identification value lock, and controls the traffic signal to turn red, indicating that it is not allowed for the personnel-driven logistics equipment in the second road (transverse road) to pass through the traffic control area. The initial value of the preset identification value lock is 0. When the value of the preset identification value lock is 0, the traffic signal is green, indicating that the personnel-driven logistics equipment in the second road (transverse road) can pass through the traffic control area. When the value of the preset identification value lock is not 0, the traffic signal is red, indicating that the personnel-driven logistics equipment in the second road (transverse road) cannot pass through the traffic control area.

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

[0187] When there is an automated device traveling along the set traffic direction on route L2 and passing through point X, the intelligent dispatching system continuously determines whether there is an automated device traveling within the traffic passage section of the route between A and C on route L1 (priority passage).

[0188] If there is an automated device traveling within the traffic passage section of the route between A and C on route L1, 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 incremented by 1.

[0189] If there is no automated device traveling within the traffic passage section of the route between A and C on route L1, the automated device on route L2 is not allowed to enter the traffic control area. The automated device in route L2 is controlled to stop moving at point Y and wait until there is an automated device traveling within the traffic passage section of the route between A and C on route L1. Then, the automated device in route L2 is controlled to pass through point Y, enter the traffic control area, and the preset identification value lock corresponding to the traffic control area is incremented by 1.

[0190] When n automated devices on route L2 pass through point X, the automated devices on route L2 queue up in sequence within the traffic passage section of the route between X and Y. When there is an automated device traveling within the traffic passage section of the route between A and C on route L1, all n automated devices queuing up within the traffic passage section of the route between X and Y on route L2 enter the traffic control area, and the preset identification value lock corresponding to the traffic control area is incremented by n.

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

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

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

[0194] When all the automated devices on route L1 and route L2 have left the traffic control area and the preset identification value lock becomes 0, the traffic signal is controlled to turn green to indicate that personnel are allowed to drive logistics equipment through the traffic control area.

[0195] In response to the traffic control method for a road intersection provided in the above embodiments of the present application, an embodiment of the present application further 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, as Figure 6 shown, the device includes:

[0197] An information detection module 610, configured to detect whether there is an automated device moving along the main channel of the first road and passing through the road intersection when it detects that there is an automated device moving along the secondary channel of the first road and about to enter the road intersection; wherein, when it detects that there is a second automated device moving along the main channel of the first road and approaching the road intersection, it outputs a prompt message for prompting that the moving objects in the second road are prohibited from passing through the road intersection, and the second automated device belongs to the automated device passing through the road intersection; the passing directions of the main channel and the secondary channel are opposite;

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

[0199] A second control module 630, configured to control the first automated device to stop and trigger the information detection module if there is none;

[0200] An output stop module 640, configured to stop outputting the prompt message when it detects that the first automated device with passing permission leaves the road intersection and there is no automated device passing through the road intersection in the main channel;

[0201] Wherein, the first automated device with passing permission is: the first automated device that is controlled to pass through the road intersection when it detects that there is an automated device moving along the main channel and passing through the road intersection; the first road is the road assigned to automated devices, the second road is the road assigned to other moving objects except automated devices, and the road intersection is the intersection of the first road and the second road.

[0202] As can be seen above, by applying the solution provided in the embodiments of the present application, according to the actual application needs, the roads in the actual scenario are divided into a first road allocated to automated devices and a second road allocated to other mobile devices except automated devices. Moreover, the first road is divided into a main channel and a secondary channel with opposite traffic directions. Among them, for the above-mentioned main channel, when the automated device moving in the main channel approaches a road intersection, a prompt message is output to prompt the mobile objects in the second road to prohibit passing through the road intersection, so as to prompt other mobile objects in the second road to avoid the automated device in time. Thus, the automated device in the main channel can directly pass through the road intersection without pausing. In the case where there is an automated device about to enter the road intersection in the above-mentioned secondary channel, if there is an automated device moving along the main channel of the first road and passing through the road intersection, the automated device in the secondary channel can be controlled to pass through the road intersection; on the contrary, if there is no automated device moving along the main channel of the first road and passing through the road intersection, the automated device in the secondary channel is controlled to stop moving to wait for the automated device in the above-mentioned main channel that is approaching the road intersection. Furthermore, when there is an automated device moving along the main channel of the first road and passing through the road intersection in the above-mentioned main channel, the automated device in the secondary channel is controlled to resume moving and pass through the road intersection. Among them, since the above-mentioned prompt message is output every time an automated device moving in the main channel is detected approaching the road intersection, when there is an automated device in the road intersection in the main channel, the above-mentioned prompt message still remains in the output state. Further, the automated device close to the road intersection in the main channel and the automated device located in the road intersection can both be regarded as the automated device passing through the road intersection in the main channel. That is, when there is an automated device passing through the road intersection in the above-mentioned main channel, the automated device on the above-mentioned secondary channel can pass through the road intersection.

[0203] Based on this, the embodiments of the present application provide a traffic control method for improving road utilization rate. Without changing the traffic volume at the intersection, by controlling the passing of automated devices through the intersection, the automated devices in the main channel and the secondary channel are controlled to pass through the road intersection concentratedly, improving the overall idle time of the intersection, enhancing the traffic capacity of the road, and reducing the difficulty for other mobile objects to pass through the road intersection. Thus, the utilization rate of the roads in the scenario is improved. Among them, for manufacturing enterprises, the embodiments of the present application provide a traffic control method for automated devices to pass through the cross intersection of the logistics channels in the production plant. By controlling the concentrated passing of automated devices with multi-channels in both directions of the road through the intersection, the traffic capacity of other mobile objects such as personnel driving logistics equipment at the intersection is improved.

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

[0205] An information output module, configured to start outputting the prompt information when it is detected that there is a second automated device moving along the main channel and approaching the road intersection, and the prompt information has not been output yet.

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

[0207] A first numerical value increasing module, configured to increase a preset identification value by a preset numerical value when it is detected that there is a second automated device moving along the main channel and approaching the road intersection; wherein, the initial value of the preset identification value is a specified numerical value;

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

[0209] A numerical value decreasing module, configured to decrease the preset identification value by the preset numerical value when it is detected that there is an automated device moving along the first road and leaving the road intersection;

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

[0211] Optionally, in a specific implementation, a secondary control point is provided on the secondary channel, and the secondary control point is spaced apart from the road intersection by a first distance in the opposite direction of the traffic direction of the secondary channel; the device further includes:

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

[0213] Wherein, the entrance edge is the edge that the first automated device first passes through when entering the road intersection.

[0214] Optionally, in a specific implementation manner, when the result of the first detection is that there is no automated device 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 device to stop moving when the first automated device moves to the edge of the entrance or approaches an automated device that has stopped moving and is waiting to pass through the road intersection.

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

[0216] The information detection module 610 is specifically configured 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, then 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, then there is no automated device moving along the main channel of the first road and passing through the road intersection;

[0217] Wherein, the first edge is the edge that is farthest from the main control point in the traffic direction of the main channel.

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

[0219] A second retrieval module, configured to retrieve whether there is position information located between the secondary control point and the second edge in the first position information of each first automated device having passing permission and moving along the secondary channel; if not, the first automated device having passing permission leaves the road intersection;

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

[0221] Wherein, the second edge is the edge that is farthest from the secondary control point in the traffic direction of the secondary channel.

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

[0223] The second retrieval module is specifically configured to retrieve whether there is location information within the section of the channel where the equipment movement route is located, between the secondary control point and the second intersection, in the first location information of each of the first automated devices with passing permission moving along the secondary channel, and to retrieve whether there is location information within the section of the channel where the equipment movement route is located, between the main control point and the first intersection, in the second location information.

[0224] An embodiment of the present application also provides an electronic device, as Figure 7 shown, including:

[0225] A memory 701 for storing a computer program;

[0226] A processor 702, when executing the program stored on the memory 701, implements the steps of any of the traffic control methods for road intersections provided in the embodiments of the present application.

[0227] And the above-mentioned electronic device may further include a communication bus and / or a communication interface, and the processor 702, the communication interface, and the memory 701 complete mutual communication through the communication bus.

[0228] The communication bus mentioned in the above-mentioned electronic device may be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. This communication bus can be divided into an address bus, a data bus, a control bus, etc. For the sake of representation, only a 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-mentioned electronic device and other devices.

[0230] The memory may include a Random Access Memory (RAM), and may also include a Non-Volatile Memory (NVM), such as at least one disk memory. Optionally, the memory may also be at least one storage device located far from the aforementioned processor.

[0231] The above-mentioned processor may be a general-purpose processor, including a Central Processing Unit (CPU), a Network Processor (NP), etc.; it may 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 by the present application, there is also provided a computer-readable storage medium, in which a computer program is stored. When the computer program is executed by a processor, the steps of any traffic control method for a road intersection provided by the embodiments of the present application are implemented.

[0233] In another embodiment provided by the present application, there is also provided a computer program product containing instructions. When it runs on a computer, the computer is caused to execute the steps of any traffic control method for a road intersection provided by the 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 processes or functions described in the embodiments of the present application are generated in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. 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 one website, computer, server, or data center to another website, computer, server, or data center by wire (such as coaxial cable, optical fiber, Digital Subscriber Line (DSL)) or wirelessly (such as infrared, wireless, microwave, etc.). The computer-readable storage medium may be any available medium that can be accessed by a computer, or a data storage device such as a server, data center, etc. that includes one or more integrated available media. The available medium may be a magnetic medium (for example, a floppy disk, a hard disk, a magnetic tape), an optical medium (for example, a DVD), or a Solid State Disk (SSD), etc.

[0235] It should be noted that in this text, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprising", "including" or any other variant thereof are intended to cover non-exclusive inclusion, such that a process, method, article or device comprising a series of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "comprising an..." does not exclude the presence of additional identical elements in the process, method, article or device comprising the said element.

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

[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 all included in the protection scope of the present application.

Claims

1. A traffic control method for a road intersection, characterized in that, The method includes: When it is detected that there is a first automated device moving along the secondary channel of the first road and about to enter the road intersection, it is detected whether there is an automated device moving along the primary channel of the first road and passing through the road intersection; wherein, when it is detected that there is a second automated device moving along the primary channel and approaching the road intersection, a prompt message is output to prompt that the moving objects in the second road are prohibited from passing through the road intersection. The automated device passing through the road intersection includes: the automated device located within the road intersection and the second automated device; the passing directions of the primary channel and the secondary channel are opposite, and the second automated device moving along the primary channel of the first road and approaching the road intersection passes directly through the road intersection without pausing; the primary channel is the channel traveled by the automated device for raw material transportation during the feeding process; the secondary channel is the channel traveled by the automated device for raw material transportation when returning after the feeding is completed; If there is, control the first automated device to pass through the road intersection to follow the automated device moving along the primary channel through the road intersection; If there is not, control the first automated device to stop and return to the step of detecting whether there is a second automated device moving along the primary channel of the first road and passing through the road intersection; When it is detected that the first automated device with passing permission leaves the road intersection and there is no automated device passing through the road intersection in the primary channel, stop outputting the prompt message; Wherein, the first automated device with passing permission is: the first automated device controlled to pass through the road intersection when it is detected that there is an automated device moving along the primary channel and passing through the road intersection; the first road is the road assigned to the automated device, the second road is the road assigned to other moving objects except the automated device, 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 includes: When it is detected that there is a second automated device moving along the primary channel and approaching the road intersection, if the prompt message has not been output, start outputting the prompt message.

3. The method according to claim 1 or 2, characterized in that, The method further includes: When it is detected that there is a second automated device moving along the primary channel and approaching the road intersection, increase the preset identification value by a preset value; wherein, the initial value of the preset identification value is a specified value; When it is detected that there is the first automated device, if it is detected that there is an automated device moving along the primary channel of the first road and passing through the road intersection, increase the preset identification value by the preset value; When it is detected that there is an automated device moving along the first road and leaving the road intersection, decrease the preset identification value 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 returns to the specified value, stopping outputting the prompt information; wherein, when the preset identification value is not the specified value, continuously outputting the prompt information.

4. The method according to claim 1, wherein The secondary channel is provided with a secondary control point, and the secondary control point is spaced from the road intersection by a first distance in the direction opposite to the traffic direction of the secondary channel; the method further includes: Retrieving whether there is position information located between the secondary control point and the entrance edge of the road intersection in the first position information of each automated device moving along the secondary channel; if there is position information located between the secondary control point and the entrance edge, there is the first automated device moving along the secondary channel of the first road and about to enter the road intersection; Wherein, the entrance edge is the edge that the first automated device first passes through when entering the road intersection.

5. The method according to claim 4, wherein In the case where the result of the first detection is that there is no automated device moving along the main channel of the first road and passing through the road intersection, controlling the first automated device to stop moving includes: When the first automated device moves to the entrance edge, or approaches an automated device that has stopped moving and is waiting to pass through the road intersection, controlling the first automated device to stop moving.

6. The method according to claim 1, wherein The main channel is provided with a main control point, and the main control point is spaced from the road intersection by a second distance in the direction opposite to the traffic direction of the main channel; Detecting whether there is an automated device moving along the main channel of the first road and passing through the road intersection includes: Retrieving 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; Wherein, the first edge is the edge that is farthest from the main control point in the traffic direction of the main channel.

7. The method according to claim 6, characterized in that, The secondary channel is provided with a secondary control point, and the method further includes: Retrieving whether there is position information located between the secondary control point and the second edge in the first position information of each of the first automated devices with passing permission moving along the secondary channel; if not, the first automated device with passing permission leaves the road intersection; Retrieve whether there is location information between the main control point and the first edge in the second location information; if not, there is no automated device passing through the road intersection in the main channel; Wherein, the second edge is the edge farthest from the secondary control point in the passing direction of the secondary channel.

8. The method according to claim 7, wherein The road intersection is provided with a traffic control area, and the vertices of the traffic control area include: the first intersection point of the device movement route in the main channel and the first edge, and the second intersection point of the device movement route in the secondary channel and the second edge; Retrieving whether there is location information between the secondary control point and the second edge in the first location information of each of the first automated devices with passing permission moving along the secondary channel includes: Retrieving whether there is location information within the section of the channel where the device movement route is located between the secondary control point and the second intersection point in the first location information of each of the first automated devices with passing permission moving along the secondary channel; The retrieving whether there is location information between the main control point and the first edge in the second location information includes: Retrieving whether there is location information within the section of the channel where the device movement route is located between the main control point and the first intersection point in the second location information.

9. A traffic control device for a road intersection, characterized in that, The device includes: An information detection module, configured to detect whether there is an automated device moving along the main channel of the first road and passing through the road intersection each time an 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 and approaching the road intersection is detected, a prompt message for prompting that the moving object in the second road is prohibited from passing through the road intersection is output, and the automated device passing through the road intersection includes: the automated device located within the road intersection and the second automated device; the passing directions of the main channel and the secondary channel are opposite, and the second automated device moving along the main channel of the first road and approaching the road intersection does not need to pause and directly passes through the road intersection; the main channel is the channel traveled by the automated device for raw material transportation during the feeding process; the secondary channel is the channel traveled by the automated device for raw material transportation when returning after the feeding is completed; A first control module, configured to, if so, control the first automated device to pass through the road intersection to follow the automated device moving along the main channel through the road intersection; A second control module, configured to, if not, control the first automated device to stop and trigger the information detection module; An output stop module, configured to stop outputting the prompt message when it is detected that the first automated device with passing permission leaves the road intersection and there is no automated device passing through the road intersection in the main channel; Among them, the first automated device with passing permission is: the first automated device that is controlled to pass through the road intersection when an automated device moving along the main channel and passing through the road intersection is detected; the first road is the road allocated for automated devices, the second road is the road allocated for other moving objects except automated devices, 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 further includes: An information output module, configured to start outputting the prompt information when it is detected that there is a second automated device moving along the main channel and approaching the road intersection and the prompt information has not been output. And / or; The device further includes: A first numerical value increasing module, configured to increase a preset identification value by a preset numerical value each time it is detected that there is a second automated device moving along the main channel and approaching the road intersection; wherein, the initial value of the preset identification value is a specified numerical value. A second numerical value increasing module, configured to increase the preset identification value by the preset numerical value each time the first automated device is detected and 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 decreasing module, configured to decrease the preset identification value by the preset numerical value each time it is detected that there is an automated device moving along the first road and leaving the road intersection. The output stop module is specifically configured to stop outputting the prompt information when it is detected that the preset identification value has returned to the specified numerical value; wherein, when the preset identification value is not the specified numerical value, the prompt information is continuously output. And / or; A secondary control point is provided on the secondary channel, and the secondary control point is spaced from the road intersection by a first distance in the opposite direction of the passing direction of the secondary channel; the device further includes: A first retrieval module, configured to retrieve whether there is position information located between the secondary control point and the entrance edge of the road intersection in the first position information of each automated device moving along the secondary channel; if there is position information located between the secondary control point and the entrance edge, then there is a first automated device moving along the secondary channel of the first road and about to enter the road intersection. Among them, the entrance edge is the edge that the first automated device first passes through when entering the road intersection. And / or; In the case where the result of the first detection is that there is no automated device 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 device to stop moving when the first automated device moves to the entrance edge or approaches an automated device that has stopped moving and is waiting to pass through the road intersection. And / or; A main control point is provided on the main channel, and the main control point is spaced from the road intersection by a second distance in the opposite direction of the passing direction of the main channel. The information detection module is specifically configured 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; Wherein, the first edge is the edge farthest from the main control point in the traffic direction of the main channel; and / or; The secondary channel is provided with a secondary control point, and the device further includes: A second retrieval module, configured to retrieve whether there is position information located between the secondary control point and the second edge in the first position information of each of the first automated devices with passing permission moving along the secondary channel; if not, the first automated device with passing permission leaves the road intersection; Retrieve whether there is position information located between the main control point and the first edge in the second position information; if not, there is no automated device passing through the road intersection in the main channel; Wherein, the second edge is the edge farthest from the secondary control point in the traffic direction of the secondary 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 device movement route in the main channel and the first edge, and a second intersection point of the device movement route in the secondary channel and the second edge; The second retrieval module is specifically configured to retrieve whether there is position information within the section of the channel where the device movement route is located, between the secondary control point and the second intersection point, in the first position information of each of the first automated devices with passing permission moving along the secondary channel, and retrieve whether there is position information within the section of the channel where the device movement route is located, between the main control point and the first intersection point, in the second position information.

11. An electronic device, characterized in that, Comprising: A memory for storing a computer program; A processor, when executing the program stored on the memory, implements the method according to any one of claims 1-8.

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 the processor, it implements the method according to any one of claims 1-8.

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