Automatic guided vehicle dispatching system and method and traffic management equipment

Abstract

The embodiment of the invention provides an automatic guided vehicle dispatching system and method and traffic management equipment, and relates to the technical field of robots. The automated guided vehicle gets close to the target preset conflict area and sends a passing permission application to traffic control equipment in the area; if the passing authority distributed by the traffic control equipment passes through the area, sending a passing authority cancellation application to the traffic control equipment after the passing authority passes; otherwise, parking and waiting; the traffic control equipment determines whether a conflict risk exists between the driving direction of the first automated guided vehicle with the current allocated permission and the driving direction of the second automated guided vehicle corresponding to the current to-be-allocated passage permission application; if the conflict risk does not exist, allocating the passage authority to the second automated guided vehicle, and if the conflict risk exists, refusing to allocate the passage authority to the second automated guided vehicle; and in response to the pass permission cancellation application, deleting the pass permission allocated to the automated guided vehicle corresponding to the pass permission cancellation application. By applying the embodiment of the invention, the collision probability between the AGVs can be reduced, and the transportation efficiency is improved.

Description

Technical Field

[0001] The present application relates to the field of robotics technology, and in particular to an automatic guided vehicle dispatching system, method and traffic control equipment. Background Art

[0002] AGV (Automated Guided Vehicle) is an industrial vehicle that automatically or manually loads goods, automatically drives to a designated location according to a set route, and then automatically or manually loads and unloads goods. With the improvement of industrial automation, AGVs have become a key tool for efficient handling and production automation. In an AGV operation environment, there are usually multiple AGVs working together. During the driving process of the AGV, the AGV can avoid obstacles through its own obstacle avoidance sensors. However, at intersections, narrow roads, doorways and other areas, the risk of AGV collision is high. Once an AGV collides, it cannot transport goods in time, and even causes road congestion. Subsequent AGVs cannot transport goods in time, resulting in low AGV transportation efficiency. For the sake of convenience, intersections, narrow roads, doorways and other areas are referred to as preset conflict areas.

[0003] In the related art, a centralized dispatching system is used to manage the operation of each automated guided vehicle to ensure that there are as few conflicts and collisions as possible in the preset conflict area. However, this solution concentrates computing power and relies on the stability and real-time performance of wireless network communications. The autonomy of the automated guided vehicles is relatively poor. For scenarios with a small number of automated guided vehicles and a large working area, the deployment cost-effectiveness is too low. Moreover, if the wireless network cannot cover the working area of ​​the automated guided vehicle, the centralized dispatching system cannot effectively dispatch the automated guided vehicles. Each automated guided vehicle still has a potential risk of collision, which still leads to low transportation efficiency of the automated guided vehicles. Summary of the invention

[0004] The purpose of the embodiments of the present application is to provide an automated guided vehicle dispatching system, method and traffic control equipment to reduce the probability of collision between automated guided vehicles and improve the transportation efficiency of automated guided vehicles. The specific technical solution is as follows:

[0005] In a first aspect of an embodiment of the present application, an automated guided vehicle dispatching system is provided, the system comprising at least one traffic control device pre-set in a preset conflict area and a plurality of automated guided vehicles, wherein the automated guided vehicles pre-store a corresponding relationship between an operation map, the preset conflict area, and the traffic control device;

[0006] The automatic guided vehicle is used to, in response to approaching a target preset conflict area, send a pass permission application to a traffic control device corresponding to the target preset conflict area; if the pass permission assigned by the traffic control device is received within a preset first time after sending the pass permission application, the vehicle passes through the target preset conflict area, otherwise, the vehicle stops and waits; after passing through the target preset conflict area, the vehicle sends a pass permission cancellation application to the traffic control device; wherein the pass permission application is used to indicate a first driving direction of the automatic guided vehicle, and the pass permission cancellation application is used to indicate the pass permission application sent by the automatic guided vehicle;

[0007] The traffic control device is used to, in response to the access permission application, record the access permission application; determine a current access permission application to be allocated in the recorded access permission application and determine the first driving direction included in the current access permission application to be allocated; determine the first automatic guided vehicle to which the access permission is currently allocated and the second driving direction of the first automatic guided vehicle; if there is no risk of conflict between the first driving direction and the second driving direction, allocate access permission to the second automatic guided vehicle, wherein the second automatic guided vehicle is the automatic guided vehicle that sent the current access permission application to be allocated; if there is a risk of conflict between the first driving direction and the second driving direction, refuse to execute the step of allocating access permission to the second automatic guided vehicle; and in response to the access cancellation application, delete the access permission allocated to the automatic guided vehicle corresponding to the access cancellation application.

[0008] In a possible implementation, the traffic control device is specifically used to, in response to the access permission application, record the access permission application and the first moment corresponding to the access permission application, the first moment being the moment when the automatic guided vehicle sends the access permission application to the traffic control device or the moment when the traffic control device receives the access permission application; determine the access permission application with the highest priority among the access permission applications that have not yet been allocated access permission as the current access permission application to be allocated in the order of the first moments; or

[0009] The traffic control device is specifically used to determine the access permission application with the highest task priority among the access permission applications that have not yet been allocated access permission as the current access permission application to be allocated; wherein the access permission application also includes the task priority of the task currently executed by the automatic guided vehicle; or

[0010] The traffic control device is specifically used to determine, among the access permission applications that have not yet been allocated access permission, an access permission application with the same second driving direction as the first automatic guided vehicle that has currently been allocated access permission as the current access permission application to be allocated.

[0011] In a possible implementation manner, the traffic control device is specifically used to, in response to the access permission application, record the access permission application and the first time corresponding to the access permission application, wherein the first time is the time when the automatic guided vehicle sends the access permission application to the traffic control device or the time when the traffic control device receives the access permission application, and the access permission application also includes the task priority of the task currently executed by the automatic guided vehicle;

[0012] The traffic control device is specifically used to weight the first moment corresponding to each of the recorded access permission applications, the task priority of the task currently performed by each of the automatic guided vehicles, and the number of access permission applications in the first driving direction to obtain a score for each of the access permission applications; and determine the access permission application with the highest score as the current access permission application to be allocated.

[0013] In a possible implementation manner, the traffic control device is specifically used to determine the access permission application in which the driving direction in the recorded access permission application is the same as the second driving direction as the current access permission application to be allocated;

[0014] The traffic control equipment is also used to, if the access permission is sent continuously to a preset number of automatic guided vehicles with a second driving direction, determine the access permission application that is the earliest at the first moment among the access permission applications that have not yet been allocated access permission and whose driving direction is different from the second driving direction as the current access permission application to be allocated.

[0015] In a possible implementation, the automatic guided vehicle is also used to obtain the current position and preset destination position of the automatic guided vehicle; in response to the time when the distance to send the access permission application is equal to a preset first duration threshold, plan a first driving route that does not include the target preset conflict area according to the current position and the preset destination position and drive along the first driving route.

[0016] In a possible implementation, the automatic guided vehicle is specifically used to, in response to the time when the distance to send the access permission application being equal to a preset first time threshold, plan a second driving route of the automatic guided vehicle according to the current position and the preset destination position; determine whether the second driving route passes through the target preset conflict area; if the second driving route does not pass through the target preset conflict area, use the second driving route as the first driving route and drive according to the first driving route; if the second driving route passes through the target preset conflict area, continue to stop and wait.

[0017] In a possible implementation manner, the traffic control device is specifically used to, in response to the access permission application, record the access permission application and the first time corresponding to the access permission application in a pre-established access permission application record, wherein the access permission application also includes an identifier of the automatic guided vehicle, and the first time is the time when the automatic guided vehicle sends the access permission application to the traffic control device or the time when the traffic control device receives the access permission application;

[0018] The automatic guided vehicle is further configured to, in response to a time interval from when the access permission application is sent being equal to a preset second time threshold, resend the access permission application to the traffic control device, wherein the preset second time threshold is less than the preset first time threshold;

[0019] The automatic guided vehicle is specifically configured to, in response to a time when the distance from the first sending of the access permission being equal to a preset first time threshold, plan a second driving route of the automatic guided vehicle according to the current position and the preset destination position;

[0020] The traffic control device is specifically used to update the access permission application record according to the access permission application record, the identification of the automatic guided vehicle, the access permission application and the first moment, and determine the current access permission application to be allocated according to the sequence of the first moments in the updated access permission application record.

[0021] According to a second aspect of an embodiment of the present application, an automated guided vehicle dispatching method is provided, which is applied to an automated guided vehicle dispatching system, wherein the system includes at least one traffic control device pre-set in a preset conflict area and a plurality of automated guided vehicles, wherein the automated guided vehicles pre-store a corresponding relationship between an operation map, the preset conflict area, and the traffic control device;

[0022] The method comprises:

[0023] In response to approaching a preset target conflict area, the automatic guided vehicle sends a pass permission application to a traffic control device corresponding to the preset target conflict area; if the pass permission assigned by the traffic control device is received within a preset first time after sending the pass permission application, the automatic guided vehicle passes through the preset target conflict area, otherwise, the automatic guided vehicle stops and waits; after passing through the preset target conflict area, the automatic guided vehicle sends a pass permission cancellation application to the traffic control device; wherein the pass permission application is used to indicate a first driving direction of the automatic guided vehicle, and the pass permission cancellation application is used to indicate the pass permission application sent by the automatic guided vehicle;

[0024] The traffic control device records the access permission application in response to the access permission application; determines a current access permission application to be allocated in the recorded access permission application and determines a first driving direction included in the current access permission application to be allocated; determines a first automated guided vehicle to which access permission is currently allocated and a second driving direction of the first automated guided vehicle; if there is no risk of conflict between the first driving direction and the second driving direction, allocates access permission to a second automated guided vehicle, wherein the second automated guided vehicle is the automated guided vehicle that sent the current access permission application to be allocated; if there is a risk of conflict between the first driving direction and the second driving direction, refuses to execute the step of allocating access permission to the second automated guided vehicle; and in response to the access cancellation application, deletes the access permission allocated to the automated guided vehicle corresponding to the access cancellation application.

[0025] In a possible implementation, in response to the access permission application, recording the access permission application includes:

[0026] In response to the access permission application, recording the access permission application and a first time corresponding to the access permission application, the first time being a time when the automatic guided vehicle sends the access permission application to the traffic control device or a time when the traffic control device receives the access permission application;

[0027] The step of determining a current access permission application to be allocated from the recorded access permission applications comprises:

[0028] According to the order of the first moment, the most prioritized access permission application among the access permission applications that have not yet been allocated access permission is determined as the current access permission application to be allocated;

[0029] or,

[0030] The step of determining a current access permission application to be allocated from the recorded access permission applications comprises:

[0031] Determine the access permission application with the highest task priority among the access permission applications that have not yet been assigned access permission as the current access permission application to be assigned; wherein the access permission application also includes the task priority of the task currently executed by the automatic guided vehicle;

[0032] or,

[0033] The step of determining a current access permission application to be allocated from the recorded access permission applications comprises:

[0034] Among the access permission applications for which access permission has not yet been allocated, an access permission application for the same direction as the second driving direction of the first automatic guided vehicle for which access permission has currently been allocated is determined as the current access permission application to be allocated.

[0035] In a possible implementation, in response to the access permission application, recording the access permission application includes:

[0036] In response to the access permission application, recording the access permission application and a first time corresponding to the access permission application, wherein the first time is the time when the automatic guided vehicle sends the access permission application to the traffic control device or the time when the traffic control device receives the access permission application, and the access permission application also includes a task priority of a task currently executed by the automatic guided vehicle;

[0037] The step of determining a current access permission application to be allocated from the recorded access permission applications comprises:

[0038] Weighting the first time corresponding to each of the recorded access permission applications, the task priority of each task currently executed by the automated guided vehicle, and the number of access permission applications in the first driving direction to obtain a score for each of the access permission applications;

[0039] The access permission application with the highest score is determined as the access permission application currently to be allocated.

[0040] In a possible implementation, determining a current access permission application to be allocated from the recorded access permission applications includes:

[0041] Determine the access permission application whose driving direction in the recorded access permission application is the same as the second driving direction as the current access permission application to be allocated;

[0042] The method further comprises:

[0043] If the traffic control equipment continuously sends the access permission to a preset number of automatic guided vehicles with a second driving direction, the access permission application that has not yet been allocated the access permission and has the earliest first moment and a driving direction different from the second driving direction will be determined as the current access permission application to be allocated.

[0044] In a possible implementation, the method further includes:

[0045] The automatic guided vehicle obtains the current position and the preset destination position of the automatic guided vehicle; in response to the time when the distance to send the access permission application is equal to the preset first duration threshold, a first driving route that does not include the preset conflict area of ​​the target is planned according to the current position and the preset destination position, and the vehicle travels along the first driving route.

[0046] In a possible implementation, the time of sending the access permission application in response to the distance being equal to a preset first duration threshold, planning a first driving route that does not include the target preset conflict area according to the current location and the preset destination location, and driving according to the first driving route, including:

[0047] In response to the time when the access permission application is sent being equal to a preset first duration threshold, planning a second driving route of the automatic guided vehicle according to the current position and the preset destination position;

[0048] determining whether the second driving route passes through the target preset conflict area;

[0049] If the second driving route does not pass through the target preset conflict area, taking the second driving route as the first driving route and driving according to the first driving route;

[0050] If the second driving route passes through the target preset conflict area, continue to stop and wait.

[0051] In a possible implementation, in response to the access permission application, recording the access permission application includes:

[0052] In response to the access permission application, recording the access permission application and a first time corresponding to the access permission application in a pre-established access permission application record, wherein the access permission application also includes an identifier of the automatic guided vehicle, and the first time is a time when the automatic guided vehicle sends the access permission application to the traffic control device or a time when the traffic control device receives the access permission application;

[0053] The method further comprises:

[0054] The automatic guided vehicle resends the access permission application to the traffic control device in response to the time when the distance from the time of sending the access permission application is equal to the preset second time threshold, wherein the preset second time threshold is less than the preset first time threshold;

[0055] The step of planning a second driving route of the automatic guided vehicle according to the current position and the preset destination position in response to the time when the distance to the access permission application is equal to the preset first duration threshold comprises:

[0056] In response to the time when the passage permission is first sent being equal to a preset first time threshold, planning a second driving route of the automatic guided vehicle according to the current position and the preset destination position;

[0057] The step of determining a current access permission application to be allocated from the recorded access permission applications comprises:

[0058] The access permission application record is updated according to the access permission application record, the identification of the automatic guided vehicle, the access permission application and the first moment, and the current access permission application to be allocated is determined according to the sequence of the first moments in the updated access permission application record.

[0059] According to a third aspect of the embodiments of the present application, a traffic control device is provided, wherein the traffic control device is arranged in a target preset conflict area; the traffic control device is used to:

[0060] In response to a pass permission application, recording the pass permission application, wherein the pass permission application is sent by the automatic guided vehicle to the traffic control device in response to approaching a target preset conflict area, and the automatic guided vehicle pre-stores a correspondence between an operation map, the preset conflict area, and the traffic control device;

[0061] Determining a current access permission application to be allocated from the recorded access permission applications and determining a first driving direction included in the current access permission application to be allocated;

[0062] Determine a first automated guided vehicle to which authority is currently assigned and a second driving direction of the first automated guided vehicle;

[0063] If there is no risk of conflict between the first driving direction and the second driving direction, assigning a traffic permission to a second automated guided vehicle, wherein the second automated guided vehicle is the automated guided vehicle that sent the current traffic permission application to be assigned;

[0064] If there is a risk of conflict between the first driving direction and the second driving direction, refusing to execute the step of allocating passage authority to the second automated guided vehicle;

[0065] In response to an application for cancellation of access authority, the access authority allocated to the automatic guided vehicle corresponding to the application for cancellation of access authority is deleted, wherein the application for cancellation of access authority is sent to the traffic control device after the automatic guided vehicle passes through the target preset conflict area.

[0066] An embodiment of the present application also provides a computer program product comprising instructions, which, when executed on a computer, enables the computer to execute any of the above-described automatic guided vehicle scheduling methods.

[0067] Beneficial effects of the embodiments of the present application:

[0068] An automated guided vehicle dispatching system, method and traffic control equipment are provided in an embodiment of the present application. The dispatching system includes at least one traffic control equipment and multiple automated guided vehicles. A traffic control equipment is pre-set for each preset conflict area. When the automated guided vehicle approaches the target preset conflict area, it will first send a pass permission application to the traffic control equipment. Since the pass permission application is used to indicate the driving direction of the automated guided vehicle, after determining the current pass permission application to be allocated, the traffic control equipment can determine whether there is a conflict risk between the second automated guided vehicle and the first automated guided vehicle according to the driving direction of the second automated guided vehicle that has currently been allocated permission and the driving direction of the first automated guided vehicle that is currently to pass. When there is no conflict risk between the second automated guided vehicle and the first automated guided vehicle, the first automated guided vehicle can also enter and pass through the target preset conflict area. That is to say, there is no collision risk or a low collision risk between the automated guided vehicles that enter the preset conflict area at the same time. Therefore, the collision probability of the automated guided vehicles in the preset conflict area can be reduced, thereby improving the efficiency of the automated guided vehicles passing through the conflict area. Furthermore, since the automated guided vehicle will apply to the traffic control device to cancel the access permission after passing the target preset conflict area, the traffic control device will delete the access permission of the automated guided vehicle that has passed the target preset conflict area. This can prevent the automated guided vehicle from occupying the access permission in one direction for a long time, causing automated guided vehicles in other directions that conflict with this direction to be unable to pass through the target preset conflict area. This allows each automated guided vehicle to pass through the target preset conflict area in an orderly manner, thereby improving the transportation efficiency of the automated guided vehicles.

[0069] Of course, implementing any product or method of the present application does not necessarily require achieving all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0070] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application, and for ordinary technicians in this field, other embodiments can also be obtained based on these drawings.

[0071] Figure 1 This is an example diagram of a distributed intersection management strategy;

[0072] Figure 2 A schematic diagram of the structure of an automatic guided vehicle dispatching system provided in an embodiment of the present application;

[0073] Figure 3 An example diagram of a topological map provided in an embodiment of the present application;

[0074] Figure 4 An example diagram of a preset conflict area provided in an embodiment of the present application;

[0075] Figure 5 An example diagram of the relative position of the automatic guided vehicle and the preset conflict area provided in an embodiment of the present application;

[0076] Figure 6 A first example diagram of a preset conflict area and a driving direction of each automatic guided vehicle provided in an embodiment of the present application;

[0077] Figure 7 A second example diagram of the preset conflict area and the driving direction of each automatic guided vehicle provided in an embodiment of the present application;

[0078] Figure 8 A third example diagram of the preset conflict area and the driving direction of each automatic guided vehicle provided in an embodiment of the present application;

[0079] Fig. 9 A schematic diagram of an automated guided vehicle scheduling method provided in an embodiment of the present application;

[0080] Fig.10 An example diagram of an automatic guided vehicle scheduling method provided in an embodiment of the present application;

[0081] Fig.11 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0082] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field based on the present application belong to the scope of protection of the present application.

[0083] Topological map: a directed graph consisting of points and edges. The coordinates contained in the nodes correspond to the locations in the actual physical world, and the edges correspond to the routes along which the AGVs run.

[0084] Dijkstra's algorithm: Dijkstra's algorithm or Dijkstra's algorithm is a classic shortest path algorithm used to find the shortest path from a starting point to all other nodes in a graph (directed or undirected graph).

[0085] A Algorithm: refers to the heuristic search algorithm with A algorithm as the core, which finds the optimal path by comprehensively considering the actual cost and estimated cost of the node.

[0086] With the improvement of industrial automation, AGVs have become a key tool for efficient handling and production automation. However, since there are many AGVs in actual handling scenarios, AGVs can avoid obstacles well through obstacle avoidance sensors when driving in a straight line without collisions. However, the control of AGVs at intersections is relatively complex, which makes it very difficult and tricky to make AGVs drive in an orderly manner according to unified traffic rules.

[0087] In the related technology, a centralized dispatching system is used to realize the dispatching of automatic guided vehicles. The centralized dispatching system is a software system used to manage and coordinate the efficient operation of multiple automatic guided vehicles in the working area. Its main task is to reasonably allocate and adjust the work tasks of the automatic guided vehicles according to production needs and real-time conditions, and ensure that the automatic guided vehicles are collision-free and operate efficiently on the driving path. However, the computing power of this solution is concentrated, and the communication between the automatic guided vehicle and the centralized dispatching system is realized by wireless network. Therefore, this solution relies on the stability and real-time performance of wireless network communication. If the centralized dispatching system fails, all automatic guided vehicles will not be able to work normally. In addition, the cost-effectiveness of deploying a centralized dispatching system in some scenarios with a small number of automatic guided vehicles and a large site is too low, and this solution cannot be implemented when wireless network cannot be used in some special confidentiality scenarios.

[0088] In order to make up for the defects of the above-mentioned centralized dispatching system, the related technology adopts a distributed intersection management strategy, such as Figure 1 The figure shows an example of a distributed intersection management strategy, where a single chip is installed at each intersection and a first optical communication device (i.e. Figure 1 In the example of FIG. 1 , the first optical communicator A, the first optical communicator B, the first optical communicator C and the first optical communicator D are shown in FIG. 1 . In front of the crossroad, car 1 sends a passing request to the single-chip microcomputer through the second optical communicator on car 1. When the single-chip microcomputer receives the passing request, it detects whether there is a car passing through the current crossroad. If car 2 is passing through the current crossroad, the traffic state is set to blocked. The single-chip microcomputer sends the passing status of car 2 to car 1 through the first optical communicator A so that car 1 performs a waiting action. After the tail of car 2 passes through the crossroad (such as Figure 1 In the example of car 2', car 2 will send a passing signal to the single-chip microcomputer through the second optical communication device on car 2. After receiving the passing signal, the single-chip microcomputer will set the traffic state to a smooth state, and send the passing status of car 2 to car 1 through the first optical communication device A so that car 1 can execute the action of passing through the cross intersection. It can be understood that in this example, the car refers to an automatic guided vehicle.

[0089] However, in actual transportation scenarios, there are a large number of automated guided vehicles. Since the cross intersection in this solution can only be occupied by one automated guided vehicle, the traffic efficiency of the automated guided vehicle is reduced, which in turn reduces the transportation efficiency of the automated guided vehicle.

[0090] In order to improve the transportation efficiency of automatic guided vehicles, the present application provides an automatic guided vehicle dispatching system, method and traffic control equipment. The automatic guided vehicle dispatching system, method and traffic control equipment provided by the present application are described below through specific embodiments.

[0091] In a first aspect of the embodiments of the present application, an automatic guided vehicle dispatching system is first provided. Figure 2 The figure is a schematic diagram of the structure of the automatic guided vehicle dispatching system provided in an embodiment of the present application, the system includes at least one traffic control device 202 pre-set in a preset conflict area and multiple automatic guided vehicles 201, and each automatic guided vehicle 201 pre-stores the correspondence between the operation map, the preset conflict area and the traffic control device.

[0092] The preset conflict area refers to the area where the automated guided vehicle may collide or deadlock in the running map. The preset conflict area is set by the user based on actual road conditions and experience. Merges, crossroads, T-junctions, etc. can all be set as preset conflict areas.

[0093] The preset conflict area included in the operation map may be one or more. The operation map of the automated guided vehicle may be a topological map, a grid map, or a geometric feature map, which is not limited in the embodiments of the present application. At least one traffic control device is provided in each preset conflict area, and different traffic control devices are provided in different preset conflict areas. The number of traffic control devices provided in different preset conflict areas may be the same or different. For example, one traffic control device is provided in the preset conflict area, and three traffic control devices are provided in the preset conflict area. The number of traffic control devices in each preset conflict area is set by the user according to his own needs and actual experience, which is not limited in the embodiments of the present application. It can be understood that the traffic control device in each preset conflict area can be set at any position in the preset conflict area that does not affect the normal passage of the automated guided vehicle, which is not limited in the embodiments of the present application.

[0094] When multiple traffic control devices are set in the preset conflict area, for the multiple traffic control devices set in the same preset conflict area, the data in each traffic control device is synchronized. In this case, one of the traffic control devices in the preset conflict area may receive the communication permission application, receive and record the pass permission application, determine whether there is a risk of conflict between the first automated guided vehicle and the second automated guided vehicle, and allocate pass permission to the automated guided vehicle. The other traffic control devices in the preset conflict area serve as backup traffic control devices. When the current traffic control device fails, one traffic control device is selected from the backup traffic control devices as the new current traffic control device. Alternatively, three traffic control devices may be set in the preset conflict area, respectively recorded as the first traffic control device, the second traffic control device and the third traffic control device. The first traffic control device receives the communication permission application, the second traffic control device receives and records the pass permission application, and the third traffic control device determines whether there is a risk of conflict between the first automated guided vehicle and the second automated guided vehicle, and allocates pass permission to the automated guided vehicle.

[0095] For the convenience of description, the figure only shows that the automatic guided vehicle dispatching system includes one traffic control device 202 and three automatic guided vehicles 201. The present application does not limit the number of automatic guided vehicles.

[0096] The automatic guided vehicle 201 is used to send a permission application to the traffic control device corresponding to the target preset conflict area in response to approaching the target preset conflict area; if the permission assigned by the traffic control device is received within a preset first time after sending the permission application, the target preset conflict area is passed; otherwise, the vehicle stops and waits; after passing the target preset conflict area, an application for canceling the permission is sent to the traffic control device.

[0097] The target preset conflict area is any preset conflict area. The access permission application is used to indicate the first driving direction of the automatic guided vehicle, and the cancellation access permission application is used to indicate the access permission application sent by the automatic guided vehicle.

[0098] Traffic control equipment 202 is used to record the access permission application in response to the access permission application; determine a current access permission application to be allocated in the recorded access permission application and determine the first driving direction included in the current access permission application to be allocated; determine the first automatic guided vehicle to which the permission is currently allocated and the second driving direction of the first automatic guided vehicle; if there is no risk of conflict between the first driving direction and the second driving direction, allocate access permission to the second automatic guided vehicle; if there is a risk of conflict between the first driving direction and the second driving direction, refuse to execute the step of allocating access permission to the second automatic guided vehicle; in response to the cancellation of the access permission application, delete the access permission allocated to the automatic guided vehicle corresponding to the cancellation of the access permission application.

[0099] Among them, the second automatic guided vehicle is the automatic guided vehicle that sends the current application for access permission to be allocated.

[0100] Conflict risk refers to the possibility of collision or deadlock of the AGV. Users can pre-set the driving direction pairs with conflict risk based on actual experience and needs. For example, the east-west and north-south directions at the crossroads are driving direction pairs with conflict risk. After the traffic control equipment determines the first driving direction included in the current application for access permission to be allocated and the second driving direction of the first AGV that has currently been allocated permission, if the first driving direction and the second driving direction hit the preset driving direction pair, it means that there is a conflict risk between the first AGV and the second AGV.

[0101] Exemplarily, assume that the preset driving direction pairs with conflict risks are: north-south-east-west, that is, there is a possibility of collision or deadlock between the automatic guided vehicle traveling from south to north or from north to south and the automatic guided vehicle traveling from east to west or from west to east. If an automated guided vehicle traveling from west to east and an automated guided vehicle traveling from south to north pass through an intersection at the same time, the traffic control equipment determines that the driving directions of the two automated guided vehicles are: from west to east and from south to north, hitting a driving direction pair with a risk of conflict, and the two automated guided vehicles are at risk of conflict; for another example, assuming that the preset driving direction pair with a risk of conflict is: from south to north-from west to east and turn left at the intersection, at an intersection, if an automated guided vehicle that drives from west to east to the intersection and then turns left passes through the intersection at the same time as an automated guided vehicle traveling from south to north, the traffic control equipment determines that the driving directions of the two automated guided vehicles are: from south to north-from west to east and turn left at the intersection, and hits the driving direction pair with a risk of conflict, and the two automated guided vehicles are also at risk of conflict.

[0102] In the application of the embodiment of the present application, the dispatching system includes at least one traffic control device pre-set in a preset conflict area and multiple automatic guided vehicles. The traffic control device is pre-set in each preset conflict area. When the automatic guided vehicle approaches the target preset conflict area, it will first send a pass permission application to the traffic control device in the target preset conflict area. Since the pass permission application includes the driving direction of the automatic guided vehicle, the traffic control device can determine whether there is a conflict risk between the second automatic guided vehicle and the first automatic guided vehicle according to the driving direction of the second automatic guided vehicle that has been currently assigned the permission and the driving direction of the first automatic guided vehicle that is currently to pass after determining the current pass permission application to be allocated. When there is no conflict risk between the second automatic guided vehicle and the first automatic guided vehicle, the first automatic guided vehicle can also enter and pass through the target preset conflict area. That is to say, there is no collision risk between the automatic guided vehicles that enter the preset conflict area at the same time, so the collision probability of the automatic guided vehicle in the preset conflict area can be reduced, thereby improving the efficiency of the automatic guided vehicle passing through the conflict area. Furthermore, since the automated guided vehicle will apply to the traffic control device to cancel the access permission after passing the target preset conflict area, the traffic control device will delete the access permission of the automated guided vehicle that has passed the target preset conflict area. This can prevent the automated guided vehicle from occupying the access permission in one direction for a long time, causing automated guided vehicles in other directions that conflict with this direction to be unable to pass through the target preset conflict area. This allows each automated guided vehicle to pass through the target preset conflict area in an orderly manner, thereby improving the transportation efficiency of the automated guided vehicles.

[0103] Still in the above text Figure 1 Taking the cross intersection as an example, the traffic control equipment in the present application will determine whether there may be a risk of conflict between the automatic guided vehicles passing through the cross intersection according to the driving direction of the automatic guided vehicle currently passing and the driving direction of the automatic guided vehicle to be allocated the right of way. If there is no risk of conflict between the automatic guided vehicle currently passing and the automatic guided vehicle to be allocated the right of way, the right of way will be allocated to the automatic guided vehicle to be allocated the right of way, without having to wait for the automatic guided vehicle to which the right of way has been allocated to completely pass through the preset conflict area before allocating the right of way to the automatic guided vehicle to be allocated the right of way. This improves the efficiency of the automatic guided vehicles passing through the conflict area and reduces the probability of collision between the automatic guided vehicles in the preset conflict area, thereby improving the transportation efficiency of the automatic guided vehicles.

[0104] The following will take the operation map as a topological map as an example, and combine with specific embodiments to describe in detail the scheduling process of the above-mentioned automatic guided vehicle scheduling system for the automatic guided vehicle:

[0105] like Figure 3 The figure shows an example of a topological map provided in an embodiment of the present application. Figure 3 Each edge 100 in the diagram represents a route for the automated guided vehicle to run, and a node 200 represents a preset conflict area. Figure 30~9 represent a preset conflict area respectively, and the arrow on each side indicates the direction in which the automated guided vehicle can travel on the route.

[0106] The size and shape of the preset conflict area are set by the user based on needs and actual experience. Figure 3 The preset conflict area is shown as a circle for the sake of convenience, and the shape of the preset conflict area is not limited. In the operation map, there can be only one preset conflict area or multiple preset conflict areas. When there are multiple preset conflict areas in the operation map, the type of the preset conflict area can be only one or multiple. For example Figure 3 There are different types of conflict areas in the topological map shown, such as a merge 10, a crossroad 20, a T-junction 30, and a bidirectional one-way street 40. It is understandable that the conflict areas in the present application may also be of other types.

[0107] For the convenience of description, the following will take the setting of a traffic control device in each preset conflict area as an example to illustrate the automatic guided vehicle scheduling method provided by the present application for one of the preset conflict areas in the operation map.

[0108] The automatic guided vehicle responds to approaching a target preset conflict area, which may refer to the automatic guided vehicle instantly acquiring its own position information to determine, based on its own position information, a target preset conflict area on the forward route of the current driving route of the automatic guided vehicle and closest to the automatic guided vehicle, and the distance between the automatic guided vehicle and the target preset conflict area is equal to a preset first distance threshold; it may also refer to setting a preset range for each preset conflict area in advance in the running map, and when the automatic guided vehicle detects that its own geographical location in the running map enters the preset range of the target preset conflict area, it is considered to be close to the target preset conflict area; the shape of the preset range may be any shape centered on the range of the preset conflict area and larger than the preset conflict area in all directions. Assuming that the target preset conflict area is Figure 3 The intersection represented by area 20 in FIG. 1 is a preset range set for the intersection. Figure 4 The dotted rectangle in .

[0109] The default conflict area is Figure 4 As an example, assume that the traffic control device 202 is set at the intersection. Figure 4 At the position shown, when the AGV enters the preset range 300, the AGV 201 sends a pass permission application to the traffic control device 202 in the preset conflict area 200 within the target preset range 300. If the AGV 201 receives the pass permission allocated by the traffic control device 202 within the preset first time after sending the pass permission application, the AGV 201 passes through the preset conflict area 200.

[0110] The automatic guided vehicle entering the preset range may refer to the front of the automatic guided vehicle entering the preset range, or may refer to the entire body of the automatic guided vehicle entering the preset range, and this application does not limit this.

[0111] When the automated guided vehicle responds to approaching a preset conflict area of ​​the target, it may stop immediately and send a permission application to the traffic control device in the preset conflict area of ​​the target, or it may continue to move forward at the current speed while sending a permission application to the traffic control device, or it may slow down and move forward while sending a permission application to the traffic control device.

[0112] The preset first time is set based on actual experience, and this application does not limit this. It is understandable that if the automated guided vehicle sends a traffic permission application to the traffic control device while continuing to move forward when approaching the target preset conflict area, the automated guided vehicle will not enter the target preset conflict area after moving forward a certain distance within the preset first time.

[0113] If the AGV 201 does not receive the access permission assigned by the traffic control device 202 to the AGV within the preset first time after sending the access permission application to the traffic control device 202, the AGV 201 stops and waits. Figure 5 The figure shows an example diagram of the relative position of the automatic guided vehicle and the preset conflict area provided in an embodiment of the present application. It is assumed that the automatic guided vehicle 201 sends a traffic permission application to the traffic control device 202 at position A and continues to move forward. The automatic guided vehicle moves from position A to position B within the preset first time after sending the traffic permission application. The automatic guided vehicle does not receive the traffic permission allocated to it by the traffic control device during the process of moving from position A to position B, then it stops and waits at position B without entering the preset conflict area 200.

[0114] In order to facilitate the traffic control equipment to determine whether there is a risk of conflict in the driving directions of each automated guided vehicle, the access permission application of the automated guided vehicle includes the driving direction of the automated guided vehicle. When the traffic control equipment receives the access permission application and allocates access permission to the automated guided vehicle, it can determine whether to allocate access permission for the automated guided vehicle to be allocated access based on whether there is a risk of conflict between the driving direction of the automated guided vehicle currently passing through the preset conflict area where the traffic control equipment is located or the driving direction of the automated guided vehicle that has been allocated access permission and is about to pass through the preset conflict area and the driving direction of the automated guided vehicle to which access permission is currently allocated.

[0115] For example, Figure 6The figure shows a first example diagram of the preset conflict area and the driving direction of each automated guided vehicle provided in an embodiment of the present application. After receiving the access permission application 1 sent by the first automated guided vehicle P, the traffic control device 202 set in the preset conflict area 200 determines that the driving direction of the first automated guided vehicle P is from north to south according to the access permission application 1, and determines that the driving direction of the second automated guided vehicle Q to which the access permission has been allocated is from south to north to the preset conflict area and then from west to east, and then determines whether there is a conflict between the driving directions of the first automated guided vehicle P and the second automated guided vehicle Q.

[0116] by Figure 6 For example, if the actual roads corresponding to the lines in are all two-way single lanes, if the first automated guided vehicle P and the second automated guided vehicle Q arrive at the preset conflict area 200 at the same time, and the driving directions of the second automated guided vehicle Q conflict with those of the first automated guided vehicle P, at this time, the traffic control device 202 should allocate passage authority to the first automated guided vehicle P after the second automated guided vehicle Q passes through the preset conflict area 200, so that the first automated guided vehicle P passes through the preset conflict area 200.

[0117] In order to prevent the automated guided vehicle from occupying the preset conflict area for a long time using the access right, after the automated guided vehicle passes through the preset conflict area, it will send a cancellation access right application to the traffic control device in the preset conflict area, and the cancellation access right application is used to indicate the access right application sent by the automated guided vehicle. After receiving the cancellation access right application, the traffic control device deletes the access right assigned to the automated guided vehicle. Exemplarily, assuming that the automated guided vehicle sends a access right application to the traffic control device after passing through the preset conflict area, the traffic control device assigns access right to the automated guided vehicle, and the automated guided vehicle sends a cancellation access right application to the traffic control device after passing through the preset conflict area, and the cancellation access right is used to indicate the access right application sent by the automated guided vehicle. After receiving the cancellation access right application, the traffic control device deletes the access right assigned to the automated guided vehicle.

[0118] The above has explained how the traffic control equipment determines whether to allocate communication rights to the automatic guided vehicle to be currently allocated access rights according to the driving direction of each automatic guided vehicle. The following describes how the traffic control equipment determines the process of applying for the current access rights to be allocated.

[0119] It can be understood that, for any preset conflict area, when there is no automated guided vehicle waiting to pass through the preset conflict area, the traffic control device will use each pass permission application received from the automated guided vehicle as the current pass permission application to be allocated; and if there are multiple automated guided vehicles waiting to pass through the preset conflict area, the traffic control device may determine the pass permission application with the highest priority among the pass permission applications to which pass permission has not yet been allocated as the current pass permission application to be allocated, periodically or in response to deletion of the allocated pass permission, based on the time of the received pass permission application, or may randomly select one from the received pass permission applications as the current pass permission application to be allocated, periodically or in response to deletion of the allocated pass permission, or may determine the current pass permission application to be allocated in other ways.

[0120] The following is a description of the manner in which the traffic control device determines the current to-be-allocated access permission application in the embodiment of the present application:

[0121] Method 1: Determine the current access permission application to be allocated according to the access permission application time of each automatic guided vehicle.

[0122] In this manner, the traffic control device is specifically used to, in response to a pass permission application, record the pass permission application and the first moment corresponding to the pass permission application, and determine the pass permission application with the highest priority among the pass permission applications that have not yet been allocated as the current pass permission application to be allocated in the order of the first moment.

[0123] The first moment is the moment when the automatic guided vehicle sends a traffic permission application to the traffic control device or the moment when the traffic control device receives the traffic permission application.

[0124] For example, Figure 7 As shown is a second example diagram of the preset conflict area and the driving directions of each automated guided vehicle provided in an embodiment of the present application, the traffic control device 202 set in the preset conflict area 200 receives the access permission application 1 sent by the first automated guided vehicle P at 10:01, receives the access permission application 2 sent by the third automated guided vehicle R at 10:02, and receives the access permission application 3 sent by the fourth automated guided vehicle S at 10:03, and records the time when each access permission application is received as the first moment corresponding to each access permission application, and records that the driving direction of the first automated guided vehicle P is from north to south, the driving direction of the second automated guided vehicle Q is from south to north to the preset conflict area and then from west to east, the driving direction of the third automated guided vehicle R is from west to east to the preset conflict area and then from south to north, and the driving direction of the fourth automated guided vehicle S is from west to east.

[0125] Then, the access permission application 1 is first determined as the current access permission to be allocated, and it is determined whether there is a conflict between the driving directions of the first automated guided vehicle P and the second automated guided vehicle Q, and then it is determined whether to allocate access permission to the first automated guided vehicle P; after the access permission is allocated to the first automated guided vehicle P, the access permission application 2 is determined as the current access permission to be allocated, and according to the driving directions of the automated guided vehicles to which the access permission has been allocated and the driving direction of the third automated guided vehicle R, it is determined whether to allocate access permission to the third automated guided vehicle R; after the access permission is allocated to the third automated guided vehicle R, the access permission application 3 is again determined as the current access permission to be allocated, and according to the driving directions of the automated guided vehicles to which the access permission has been allocated and the driving direction of the fourth automated guided vehicle S, it is determined whether to allocate access permission to the fourth automated guided vehicle S.

[0126] Method 2: Determine the current access permission application to be allocated based on the task priority of the task currently being performed by each automated guided vehicle:

[0127] In this manner, the access permission application also includes the task priority of the task currently being performed by the automated guided vehicle, and the traffic control device is specifically used to determine the access permission application with the highest task priority among the access permission applications that have not yet been allocated access permission as the current access permission application to be allocated.

[0128] Still Figure 7 For example, assuming that the second automated guided vehicle Q has been assigned access rights, and the task priorities of the tasks currently executed by the first automated guided vehicle P, the third automated guided vehicle R, and the fourth automated guided vehicle S are, from high to low, the third automated guided vehicle R>the first automated guided vehicle P>the fourth automated guided vehicle S, then the access right application 2 is first determined as the current access right to be assigned, and whether the access right is assigned to the third automated guided vehicle R is determined according to the driving directions of the automated guided vehicles to which the access rights have been assigned and the driving direction of the third automated guided vehicle R; after the access right is assigned to the third automated guided vehicle R, the access right application 1 is determined as the current access right to be assigned, and whether the access right is assigned to the first automated guided vehicle P is determined according to the driving directions of the automated guided vehicles to which the access rights have been assigned and the driving direction of the first automated guided vehicle P; after the access right is assigned to the first automated guided vehicle P, the access right application 3 is determined as the current access right to be assigned, and whether the access right is assigned to the fourth automated guided vehicle S is determined according to the driving directions of the automated guided vehicles to which the access rights have been assigned and the driving direction of the fourth automated guided vehicle S.

[0129] Method 3: Determine the current pending access permission application based on the driving direction of the AGV that has currently been assigned access permission:

[0130] In this manner, the traffic control device is specifically used to determine a pass permission application for which pass permission has not yet been allocated and which has the same second driving direction as the first automatic guided vehicle for which pass permission is currently allocated as the current pass permission application to be allocated.

[0131] For example, Figure 8 FIG. 2 is a third example diagram of the preset conflict area and the driving directions of each automated guided vehicle provided in an embodiment of the present application. Assume that the traffic control device 202 in the preset conflict area 200 has allocated the right of passage to the second automated guided vehicle Q. The driving directions of the first automated guided vehicle P, the second automated guided vehicle Q, the third automated guided vehicle R, and the fourth automated guided vehicle S are as follows: Figure 8 As shown, the driving direction of the first automated guided vehicle P and the driving direction of the second automated guided vehicle Q are both from north to south, the driving direction of the third automated guided vehicle R is from west to east to the preset conflict area and then from north to south, and the driving direction of the fourth automated guided vehicle S is from west to east.

[0132] Since the driving direction of the first automated guided vehicle P is the same as the driving direction of the second automated guided vehicle Q to which the access permission has been allocated, the access permission application sent by the first automated guided vehicle P is determined as the current access permission application to be allocated.

[0133] By adopting the embodiment of the present application, the traffic control equipment can determine the current application for access permission to be allocated in an orderly manner in any manner, and determine whether to allocate access permission to the automatic guided vehicle based on whether there is a conflict in the driving direction, thereby reducing the probability of collision of the automatic guided vehicle in the preset conflict area, and improving the traffic capacity of the preset conflict area, thereby improving the overall traffic efficiency.

[0134] It is understandable that if the above-mentioned method three is used to determine the current application for access rights to be allocated, too much access rights are continuously allocated to automatic guided vehicles in the same driving direction, resulting in too long travel time in the same direction, which may cause serious congestion of automatic guided vehicles in other driving directions that conflict with the current driving direction. For example, the traffic control equipment continuously allocates access rights to automatic guided vehicles traveling from west to east, then the automatic guided vehicles traveling from south to north, from north to south, and from east to west that conflict with the driving direction from west to east will be congested outside the preset conflict area for a long time.

[0135] In order to solve this problem, in one possible implementation, the traffic control equipment is also used to, if access permissions are continuously sent to a preset number of automatic guided vehicles with a second driving direction, then the access permission application that is the earliest at the first moment among the access permission applications that have not yet been allocated access permission and whose driving direction is different from the second driving direction will be determined as the current access permission application to be allocated.

[0136] The preset number is set based on actual experience and user needs, and the embodiments of the present application do not limit this. For example, assuming that the second driving direction is from west to east, the preset number is 5, and after the traffic control device continuously allocates access rights to 5 automatic guided vehicles with a driving direction from west to east, it determines from the access rights applications that have not yet allocated access rights that the driving direction is not from west to east and the earliest access rights application at the first moment is the current access rights application to be allocated, and allocates access rights to the automatic guided vehicle corresponding to the current access rights application to be allocated.

[0137] It can be understood that when determining a new current application for access permission to be allocated after allocating access permission to the automated guided vehicle corresponding to the current application for access permission to be allocated, the new current application for access permission to be allocated can be determined based on the time of the application for access permission of each automated guided vehicle, or based on the task priority of the task currently being performed by each automated guided vehicle, or based on the driving direction of the automated guided vehicle to which access permission has been currently allocated. The embodiments of the present application are not limited to this.

[0138] By adopting the embodiment of the present application, after the traffic control equipment continuously sends pass permissions to a preset number of automatic guided vehicles with a second driving direction, the pass permission application that has not yet been assigned pass permission and has a driving direction different from the second driving direction is determined as the current pass permission application to be assigned. This can avoid serious congestion in other driving directions that conflict with the second driving direction, and ensure that automatic guided vehicles in each driving direction can pass through the preset conflict area in an orderly manner, thereby improving the overall scheduling efficiency.

[0139] However, in actual application scenarios, the traffic control equipment only uses any one of the above methods 1 to 3 to determine the current application for allocated access rights, which lacks flexibility and adaptability. Once user needs change, for example, the user originally set the access rights to be allocated to each automated guided vehicle according to the driving direction of each automated guided vehicle, but now wants to pay more attention to task priority, the traffic control equipment may not be able to adjust in time.

[0140] Based on this, in a possible implementation manner, the traffic control device is specifically used to, in response to the access permission application, record the access permission application and the first moment corresponding to the access permission application;

[0141] The traffic control equipment is specifically used to weight the first moment corresponding to each recorded access permission application, the task priority of the task currently performed by each automatic guided vehicle, and the number of access permission applications in the first driving direction to obtain the score of each access permission application; and determine the access permission application with the highest score as the current access permission application to be allocated.

[0142] The first moment is the moment when the automatic guided vehicle sends a permission application to the traffic control device or the moment when the traffic control device receives the permission application. The permission application also includes the task priority of the task currently executed by the automatic guided vehicle.

[0143] The first weight of the first moment corresponding to each access permission application, the second weight of the task priority of the task currently executed by each automated guided vehicle, and the third weight of the number of access permission applications in the first driving direction can be equal or different, and the values ​​of the first weight, the second weight, and the third weight are set according to user needs and actual experience. If the user attaches more importance to the first moment corresponding to each access permission application, the value of the first weight is greater than the values ​​of the second weight and the third weight; if the user attaches more importance to the task priority, the value of the second weight is greater than the values ​​of the first weight and the third weight; if the user attaches more importance to the driving direction, the value of the third weight is greater than the values ​​of the first weight and the second weight.

[0144] In a specific embodiment, assuming that the value of the first weight is a, the value of the second weight is b, and the value of the third weight is c, the traffic control device receives access permission applications 1-3 and records their corresponding first moments t1~t3, task priorities d1~d3, the driving direction in access permission application 1 is from west to east, the driving direction in access permission application 2 is from south to north, and the driving direction in access permission application 3 is from south to north. It can be seen that the number of driving directions from west to east is 1, and the number of driving directions from south to north is 2. For access permission applications 1~3, respectively, their scores are calculated as follows: for access permission application 1, the score is: a×t1+b×d1+c×1, for access permission application 2, the score is: a×t2+b×d2+c×2, for access permission application 3, the score is: a×t3+b×d3+c×2, assuming that the value of a×t3+b×d3+c×2 is the largest, access permission application 3 is determined as the current access permission application to be allocated.

[0145] By adopting the embodiment of the present application, the score of each access permission application is obtained by weighting the first moment corresponding to each recorded access permission application, the task priority of the task currently executed by each automatic guided vehicle, and the number of access permission applications in the first driving direction, and the access permission application with the highest score is determined as the current access permission application to be allocated. The weight values ​​can be flexibly adjusted according to user needs and traffic environment to adapt to different traffic environments and task requirements, so that the scheduling system can better respond to emergencies and changes, and improve the adaptability and robustness of the overall scheduling system.

[0146] The driving route of the automatic guided vehicle can be planned by the host computer according to the current position of the automatic guided vehicle and the preset destination position and sent to the automatic guided vehicle, or it can be planned by the automatic guided vehicle according to the current position of the automatic guided vehicle and the preset destination position.

[0147] It is understandable that if the AGV does not receive the permission to pass after sending the permission application to the traffic control device for a long time, it means that the current preset conflict area may be seriously congested. The AGV can re-plan the driving route according to the current position of the AGV and the preset destination position to bypass the preset conflict area. The AGV can use the Dijkstra algorithm or A to plan the route according to the running map, current position and preset destination position. Other algorithms may also be used, and this embodiment of the present application does not limit this.

[0148] Based on this, in a possible implementation, the automated guided vehicle is also used to obtain the current position and preset destination position of the automated guided vehicle; in response to the time when the distance to send the access permission application is equal to the preset first duration threshold, a first driving route that does not include the target preset conflict area is planned according to the current position and the preset destination position and the vehicle is driven along the first driving route.

[0149] Among them, the first duration threshold is set according to user needs and actual experience, and the embodiments of the present application are not limited to this.

[0150] For example, assuming that the preset first time threshold is 5 minutes, the automatic guided vehicle sends an application for access permission to the traffic control equipment at 10:00, and has not received access permission at 10:05, then a first driving route that does not include the target preset conflict area is planned according to the current position and the preset destination position and the vehicle travels along the first driving route. In this way, the congested target preset conflict area can be avoided and other relatively unobstructed driving routes can be selected, thereby effectively shortening the driving time of the automatic guided vehicle and improving the traffic efficiency of the automatic guided vehicle.

[0151] When the automatic guided vehicle replans the driving route according to the current position and the preset destination position, it can directly plan a first driving route that does not include the target preset conflict area by taking not passing through the target preset conflict area as a planning condition, or it can first plan at least one second driving route according to the current position and the preset destination position, and then select a driving route that does not pass through the target preset conflict area from the second driving routes as the first driving route.

[0152] If the automated guided vehicle cannot plan a first driving route that does not include the target preset conflict area by taking not passing through the target preset conflict area as a planning condition, or if all second driving routes pass through the target preset conflict area, it is considered that the automated guided vehicle cannot bypass the target preset conflict area and can only continue to wait until the traffic control equipment in the target preset conflict area allocates it with passage authority.

[0153] With the embodiment of the present application, if the newly planned route cannot bypass the target preset conflict area, the automatic guided vehicle continues to wait, thereby avoiding the extra time consumption caused by blindly changing the driving route when the target preset conflict area cannot be bypassed.

[0154] It is understandable that after the AGV sends the access permission application to the traffic control device, it can resend the access permission application to the traffic control device every preset second time threshold. For example, assuming that the second time threshold is 2 minutes, the AGV sends the access permission application to the traffic control device at 10:00. If the access permission is not received at 10:02, the AGV sends the access permission application to the traffic control device again at 10:02, and so on.

[0155] The preset second time threshold is less than the preset first time threshold, and if the time from when the automatic guided vehicle first sent the access permission application is equal to the preset first time threshold, the second driving route of the automatic guided vehicle is re-planned according to the current position and the preset destination position. Exemplarily, assuming that the first preset time threshold is 5 minutes and the second time threshold is 2 minutes, the automatic guided vehicle sends an access permission application to the traffic control device at 10:00. If the access permission is not received at 10:02, the access permission is sent to the traffic control device again at 10:02. If the access permission is not received at 10:04, the access permission is sent to the traffic control device again at 10:04. If the access permission is not received at 10:05, the automatic guided vehicle re-plans the second driving route according to the current position of the automatic guided vehicle and the preset destination position, and selects the first driving route that does not include the target preset conflict area in the second driving route, and drives according to the first driving route.

[0156] In order to facilitate the traffic management equipment to manage various access permission applications, a access permission application record is pre-established in the traffic management equipment. After each time the traffic management equipment receives a access permission application sent by the automatic guided vehicle, the traffic management equipment records the access permission application, the first moment corresponding to the access permission application, and the identification of the automatic guided vehicle in the access permission application record.

[0157] Since the automated guided vehicle may send access permission applications to the traffic control equipment multiple times while waiting, the traffic control equipment is specifically used to update the access permission application record based on the access permission application record, the identification of the automated guided vehicle, the access permission application and the first moment, and determine the current access permission application to be allocated according to the order of the first moments in the updated access permission application record.

[0158] It can be understood that the first moment may refer to the moment each time the automatic guided vehicle sends an application for access permission to the traffic control device or the moment each time the traffic control device receives an application for access permission, or it may refer to the moment when the automatic guided vehicle sends an application for access permission to the traffic control device for the first time or the moment when the traffic control device first receives an application for access permission sent by the automatic guided vehicle corresponding to each identifier.

[0159] In a case where the first moment is each time the automated guided vehicle sends an application for pass permission to the traffic control device or each time the traffic control device receives an application for pass permission, the traffic control device will update the first moment corresponding to each pass permission application to the moment when the automated guided vehicle last sent an application for pass permission to the traffic control device or the moment when the traffic control device last received an application for pass permission sent by the automated guided vehicle when updating the pass permission application record based on the pass permission application record, the identification of the automated guided vehicle, the pass permission application and the first moment.

[0160] For example, assuming that the first automated guided vehicle sends a pass application 1 to the traffic control device at 10:00, the traffic control device records the pass application 1, the identification 1 of the first automated guided vehicle, and the first time corresponding to the first automated guided vehicle, 10:00, in the pass application record, and the second automated guided vehicle sends a pass application 2 to the traffic control device at 10:01, the traffic control device records the pass application 2, the identification 2 of the second automated guided vehicle, and the first time corresponding to the second automated guided vehicle, 10:01, in the pass application record. If the access permission application of the first automated guided vehicle is received at 10:02 and the access permission application of the second automated guided vehicle is received at 10:03, the access permission application record is updated to access permission application 1, identification 1 of the first automated guided vehicle, and the first moment 10:02 corresponding to the first automated guided vehicle, access permission application 2, identification 2 of the second automated guided vehicle, and the first moment 10:03 corresponding to the second automated guided vehicle, and the access permission application currently to be allocated is determined to be access permission application 1 in the order of the first moments in the updated access permission application record.

[0161] When the first moment is the moment when the automatic guided vehicle first sends an application for pass to the traffic management device or the moment when the traffic management device first receives the application for pass sent by the automatic guided vehicle corresponding to each identification, the traffic management device will update the first moment corresponding to each pass application to the moment when the automatic guided vehicle first sends an application for pass to the traffic management device or the moment when the traffic management device first receives the application for pass sent by the automatic guided vehicle when updating the pass application record based on the pass application record, the identification of the automatic guided vehicle, the pass application and the first moment.

[0162] For example, assuming that the first automated guided vehicle sends a pass application 1 to the traffic control device at 10:00, the traffic control device records the pass application 1, the identification 1 of the first automated guided vehicle, and the first time corresponding to the first automated guided vehicle, 10:00, in the pass application record, and the second automated guided vehicle sends a pass application 2 to the traffic control device at 10:01, the traffic control device records the pass application 2, the identification 2 of the second automated guided vehicle, and the first time corresponding to the second automated guided vehicle, 10:01, in the pass application record. If the access permission application of the first automated guided vehicle is received at 10:02 and the access permission application of the second automated guided vehicle is received at 10:03, the access permission application record is updated to access permission application 1, identification 1 of the first automated guided vehicle, and the first moment 10:00 corresponding to the first automated guided vehicle, access permission application 2, identification 2 of the second automated guided vehicle, and the first moment 10:01 corresponding to the second automated guided vehicle, and the access permission application currently to be allocated is determined to be access permission application 1 in the order of the first moments in the updated access permission application record.

[0163] By adopting the embodiment of the present application, the automatic guided vehicle periodically sends a pass permission application to the traffic control device while waiting for the traffic control device to assign it a pass permission. The traffic control device can update the pass permission application record so that the traffic control device can dynamically adjust the strategy for assigning pass permissions based on the updated pass permission application record to avoid congestion and conflict.

[0164] It is understandable that in the above embodiments, the communication connection between the automatic guided vehicle and the traffic control equipment can be established by using short-range hardware communication and processing equipment, such as optical communication or RFID (Radio Frequency Identification) combined with a processor, or by using platform software to run a traffic control service corresponding to a preset conflict area on a platform server, and the automatic guided vehicle communicates with the traffic control service using a wireless network. The embodiments of the present application do not limit the communication method between the automatic guided vehicle and the traffic control equipment.

[0165] Corresponding to the first aspect, a second aspect of the embodiment of the present application provides an automated guided vehicle dispatching method, which is applied to the automated guided vehicle dispatching system of the first aspect, the system comprising at least one traffic control device pre-set in a preset conflict area and a plurality of automated guided vehicles, wherein the corresponding relationship between the operation map, the preset conflict area and the traffic control device is pre-stored in the automated guided vehicle;

[0166] like Fig. 9 FIG. 1 is a schematic diagram of an automatic guided vehicle scheduling method provided in an embodiment of the present application, the method comprising the following steps:

[0167] In step S101, the automatic guided vehicle sends a permission application to the traffic control device corresponding to the target preset conflict area in response to approaching the target preset conflict area; if the permission assigned by the traffic control device is received within the preset first time after sending the permission application, the target preset conflict area is passed; otherwise, the vehicle stops and waits; after passing the target preset conflict area, an application for cancellation of permission is sent to the traffic control device.

[0168] The access permission application is used to indicate the first driving direction of the automatic guided vehicle, and the access permission cancellation application is used to indicate the access permission application sent by the automatic guided vehicle.

[0169] In step S102, the traffic control device responds to the access permission application and records the access permission application; determines a current access permission application to be allocated in the recorded access permission application and determines the first driving direction included in the current access permission application to be allocated; determines the first automatic guided vehicle to which the access permission is currently allocated and the second driving direction of the first automatic guided vehicle; if there is no risk of conflict between the first driving direction and the second driving direction, allocates access permission to the second automatic guided vehicle; if there is a risk of conflict between the first driving direction and the second driving direction, refuses to execute the step of allocating access permission to the second automatic guided vehicle; in response to the cancellation of the access permission application, deletes the access permission allocated to the automatic guided vehicle corresponding to the cancellation of the access permission application.

[0170] Among them, the second automatic guided vehicle is the automatic guided vehicle that sends the current application for access permission to be allocated.

[0171] According to the embodiment of the present application, the dispatching system includes at least one traffic control device and multiple automated guided vehicles. The traffic control device is pre-set for each preset conflict area. When the automated guided vehicle approaches the target preset conflict area, it will first send a permission application to the traffic control device. Since the permission application includes the driving direction of the automated guided vehicle, after determining the current permission application to be allocated, the traffic control device can determine whether there is a risk of conflict between the second automated guided vehicle and the first automated guided vehicle based on the driving direction of the second automated guided vehicle that has been currently allocated permission and the driving direction of the first automated guided vehicle that is currently to pass. When there is no risk of conflict between the second automated guided vehicle and the first automated guided vehicle, the first automated guided vehicle can also enter and pass through the target preset conflict area, thereby improving the efficiency of the automated guided vehicles passing through the conflict area. Furthermore, since the automated guided vehicle will apply to the traffic control device to cancel the access permission application after passing the target preset conflict area, the traffic control device will delete the access permission of the automated guided vehicle that has passed the target preset conflict area. This can avoid the problem of the automated guided vehicle colliding with the target preset conflict area next time the automated guided vehicle passes through the target preset conflict area without applying to the traffic control device for access permission. This allows each automated guided vehicle to pass through the target preset conflict area in an orderly manner, reduces the probability of collision between the automated guided vehicles in the target preset conflict area, and improves the transportation efficiency of the automated guided vehicles.

[0172] In a possible implementation, in response to the access permission application, recording the access permission application includes:

[0173] In response to the access permission application, recording the access permission application and a first time corresponding to the access permission application, the first time being a time when the automatic guided vehicle sends the access permission application to the traffic control device or a time when the traffic control device receives the access permission application;

[0174] A current access permission application to be allocated is identified among the recorded access permission applications, including:

[0175] According to the order of priority at the first moment, the access permission application with the highest priority among the access permission applications that have not yet been allocated access permissions is determined as the current access permission application to be allocated;

[0176] or,

[0177] A current access permission application to be allocated is identified among the recorded access permission applications, including:

[0178] Determine the access permission application with the highest task priority among the access permission applications that have not yet been assigned access permission as the current access permission application to be assigned; wherein the access permission application also includes the task priority of the task currently being executed by the automated guided vehicle;

[0179] or,

[0180] A current access permission application to be allocated is identified among the recorded access permission applications, including:

[0181] Among the access permission applications for which access permission has not yet been allocated, an access permission application for the same direction as the second driving direction of the first automatic guided vehicle for which access permission has currently been allocated is determined as the current access permission application to be allocated.

[0182] In a possible implementation, in response to the access permission application, recording the access permission application includes:

[0183] In response to the access permission application, recording the access permission application and the first time corresponding to the access permission application, wherein the first time is the time when the automatic guided vehicle sends the access permission application to the traffic control device or the time when the traffic control device receives the access permission application, and the access permission application also includes the task priority of the task currently executed by the automatic guided vehicle;

[0184] A current access permission application to be allocated is identified among the recorded access permission applications, including:

[0185] Weighting the first time corresponding to each recorded access permission application, the task priority of the task currently executed by each automated guided vehicle, and the number of access permission applications in the first driving direction to obtain a score for each access permission application;

[0186] The access permission application with the highest score is determined as the access permission application currently to be allocated.

[0187] In a possible implementation, determining a current access permission application to be allocated from the recorded access permission applications includes:

[0188] Determine the access permission application with the same driving direction as the second driving direction in the recorded access permission application as the current access permission application to be allocated;

[0189] The method also includes:

[0190] If the traffic control equipment continuously sends access permissions to a preset number of automatic guided vehicles with a second driving direction, the access permission application that is the earliest at the first moment among the access permission applications that have not yet been allocated access permissions and whose driving direction is different from the second driving direction will be determined as the current access permission application to be allocated.

[0191] In a possible implementation, the method further includes:

[0192] The automated guided vehicle obtains the current position and preset destination position of the automated guided vehicle; in response to the time when the distance to send the access permission application is equal to the preset first duration threshold, a first driving route that does not include the target preset conflict area is planned according to the current position and the preset destination position, and the vehicle travels along the first driving route.

[0193] In a possible implementation, in response to the time when the distance to the passage permission application is equal to the preset first duration threshold, planning a first driving route that does not include the target preset conflict area according to the current position and the preset destination position and driving according to the first driving route includes:

[0194] In response to the time when the distance to the passage permission application is equal to the preset first duration threshold, planning a second driving route of the automatic guided vehicle according to the current position and the preset destination position;

[0195] determining whether the second driving route passes through a target preset conflict area;

[0196] If the second driving route does not pass through the target preset conflict area, the second driving route is used as the first driving route and the vehicle is driven according to the first driving route;

[0197] If the second driving route passes through the target preset conflict area, continue to stop and wait.

[0198] In a possible implementation, in response to the access permission application, recording the access permission application includes:

[0199] In response to the access permission application, recording the access permission application and the first time corresponding to the access permission application in a pre-established access permission application record, wherein the access permission application also includes an identifier of the automatic guided vehicle, and the first time is the time when the automatic guided vehicle sends the access permission application to the traffic control device or the time when the traffic control device receives the access permission application;

[0200] The method also includes:

[0201] The automatic guided vehicle resends the access permission application to the traffic control device in response to the time when the distance from the time of sending the access permission application is equal to the preset second time threshold, wherein the preset second time threshold is less than the preset first time threshold;

[0202] In response to the time when the distance to the passage permission application is equal to the preset first time threshold, planning a second driving route of the automatic guided vehicle according to the current position and the preset destination position, including:

[0203] In response to the time when the passage permission is first sent being equal to a preset first time threshold, planning a second driving route of the automatic guided vehicle according to the current position and the preset destination position;

[0204] A current access permission application to be allocated is identified among the recorded access permission applications, including:

[0205] According to the access permission application record, the identification of the automatic guided vehicle, the access permission application and the first moment update access permission application record, and according to the sequence of the first moments in the updated access permission application record, the current access permission application to be allocated is determined.

[0206] In order to more clearly illustrate the automatic guided vehicle scheduling method provided in the embodiment of the present application, it is described below in conjunction with a specific embodiment.

[0207] like Fig.10 The figure shows an example of the automatic guided vehicle scheduling method provided by the embodiment of the present application. When the automatic guided vehicle is traveling along the driving route, the automatic guided vehicle obtains its real-time position in real time, and determines whether the automatic guided vehicle is close to the conflict area (i.e., the target preset conflict area mentioned above) according to its real-time position. If it is not close to the conflict area, it continues to travel along the driving route. If it is close to the preset conflict area, it applies for access permission to the traffic control equipment in the preset conflict area (i.e., sends an access permission application to the traffic control equipment).

[0208] Then determine whether the application is approved (i.e., whether the access authority assigned by the traffic control device is received). If the application is approved (i.e., the access authority is received), pass through the conflict area, and apply to the traffic control device to cancel the access authority after passing; if the application is not approved (i.e., the access authority is not received), wait in place (i.e., stop and wait).

[0209] When the waiting time of the automatic guided vehicle reaches the threshold (i.e., the time when the access permission application is sent in response to the distance is equal to the preset first time threshold), the route is replanned. If the planning is successful (i.e., the driving route that does not include the target preset conflict area is obtained by planning), the vehicle drives along the new route; if the planning is unsuccessful (i.e., the driving route that does not include the target preset conflict area is not obtained by planning), the vehicle continues to stop and wait.

[0210] Corresponding to the first and second aspects above, a third aspect of the embodiments of the present application further provides a traffic control device, which is arranged in a target preset conflict area; the traffic control device is used to:

[0211] In response to a pass permission application, recording the pass permission application, wherein the pass permission application is sent by the automatic guided vehicle to the traffic control device in response to approaching a target preset conflict area, and the automatic guided vehicle pre-stores a correspondence between an operation map, a preset conflict area, and a traffic control device;

[0212] Determining a current access permission application to be allocated from the recorded access permission applications and determining a first driving direction included in the current access permission application to be allocated;

[0213] Determine whether there is a conflict risk between the first automated guided vehicle that is currently assigned authority and the second driving direction of the first automated guided vehicle;

[0214] If there is no risk of conflict between the first driving direction and the second driving direction, assigning a passage permission to a second automated guided vehicle, wherein the second automated guided vehicle is the automated guided vehicle that sent the current application for passage permission to be assigned;

[0215] If there is a risk of conflict between the first driving direction and the second driving direction, refusing to execute the step of allocating passage authority to the second automated guided vehicle;

[0216] In response to an application for cancellation of access authority, the access authority allocated to the automatic guided vehicle corresponding to the application for cancellation of access authority is deleted, wherein the application for cancellation of access authority is sent to the traffic control device after the automatic guided vehicle passes through a target preset conflict area.

[0217] In the embodiment of the present application, a traffic control device is pre-set in each preset conflict area. When the automated guided vehicle approaches the target preset conflict area, the automated guided vehicle will first send a permission application to the traffic control device. Since the permission application includes the driving direction of the automated guided vehicle, after determining the current permission application to be allocated, the traffic control device can determine whether there is a risk of conflict between the second automated guided vehicle and the first automated guided vehicle based on the driving direction of the second automated guided vehicle that has currently been allocated permission and the driving direction of the first automated guided vehicle that is currently to pass. When there is no risk of conflict between the second automated guided vehicle and the first automated guided vehicle, the first automated guided vehicle can also enter and pass through the target preset conflict area. In other words, there is no risk of collision or a low risk of collision between the automated guided vehicles that enter the preset conflict area at the same time. Therefore, the probability of collision of the automated guided vehicles in the preset conflict area can be reduced, thereby improving the efficiency of the automated guided vehicles passing through the conflict area. Furthermore, since the automated guided vehicle will apply to the traffic control device to cancel the access permission after passing the target preset conflict area, the traffic control device will delete the access permission of the automated guided vehicle that has passed the target preset conflict area. This can prevent the automated guided vehicle from occupying the access permission in one direction for a long time, causing automated guided vehicles in other directions that conflict with this direction to be unable to pass through the target preset conflict area. This allows each automated guided vehicle to pass through the target preset conflict area in an orderly manner, thereby improving the transportation efficiency of the automated guided vehicles.

[0218] The present application also provides an electronic device, such as Fig.11 As shown, including:

[0219] Memory 1101, used for storing computer programs;

[0220] The processor 1102 is used to implement the steps of any of the above-mentioned automatic guided vehicle scheduling methods when executing the program stored in the memory 1101.

[0221] The memory may include a random access memory (RAM) or a non-volatile memory (NVM), such as at least one disk memory. Optionally, the memory may also be at least one storage device located away from the aforementioned processor.

[0222] The above-mentioned processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0223] In another embodiment provided in the present application, a computer-readable storage medium is provided, in which a computer program is stored. When the computer program is executed by a processor, the steps of any of the above-mentioned automatic guided vehicle scheduling methods are implemented.

[0224] In another embodiment provided in the present application, a computer program product including instructions is also provided, which, when executed on a computer, enables the computer to execute any one of the automatic guided vehicle scheduling methods in the above embodiments.

[0225] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions may be transmitted from a website site, computer, server or data center to another website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium may be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more available media integrated. The available medium may be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a solid-state hard disk (SSD), etc.

[0226] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0227] Each embodiment in this specification is described in a related manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the method and traffic control device embodiments, since they are basically similar to the system embodiments, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0228] The above description is only a preferred embodiment of the present application and is not intended to limit the protection scope of the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application are included in the protection scope of the present application.

Claims

1. An automatic guided vehicle dispatching system, characterized in that: The system comprises at least one traffic control device pre-set in a preset conflict area and a plurality of automatic guided vehicles, wherein the automatic guided vehicles pre-store a corresponding relationship between an operation map, the preset conflict area and the traffic control device; The automatic guided vehicle is used to, in response to approaching a target preset conflict area, send a pass permission application to a traffic control device corresponding to the target preset conflict area; if the pass permission assigned by the traffic control device is received within a preset first time after sending the pass permission application, the vehicle passes through the target preset conflict area, otherwise, the vehicle stops and waits; after passing through the target preset conflict area, the vehicle sends a pass permission cancellation application to the traffic control device; wherein the pass permission application is used to indicate a first driving direction of the automatic guided vehicle, and the pass permission cancellation application is used to indicate the pass permission application sent by the automatic guided vehicle; The traffic control device is used to, in response to the access permission application, record the access permission application; determine a current access permission application to be allocated in the recorded access permission application and determine the first driving direction included in the current access permission application to be allocated; determine the first automatic guided vehicle to which the access permission is currently allocated and the second driving direction of the first automatic guided vehicle; if there is no risk of conflict between the first driving direction and the second driving direction, allocate access permission to the second automatic guided vehicle, wherein the second automatic guided vehicle is the automatic guided vehicle that sent the current access permission application to be allocated; if there is a risk of conflict between the first driving direction and the second driving direction, refuse to execute the step of allocating access permission to the second automatic guided vehicle; and in response to the access cancellation application, delete the access permission allocated to the automatic guided vehicle corresponding to the access cancellation application.

2. The system according to claim 1, characterized in that The traffic control device is specifically used to, in response to the access permission application, record the access permission application and the first moment corresponding to the access permission application, the first moment being the moment when the automatic guided vehicle sends the access permission application to the traffic control device or the moment when the traffic control device receives the access permission application; determine the access permission application with the highest priority among the access permission applications that have not yet been allocated access permission as the current access permission application to be allocated in the order of the first moments; or The traffic control device is specifically used to determine the access permission application with the highest task priority among the access permission applications that have not yet been allocated access permission as the current access permission application to be allocated; wherein the access permission application also includes the task priority of the task currently executed by the automatic guided vehicle; or The traffic control device is specifically used to determine, among the access permission applications that have not yet been allocated access permission, an access permission application with the same second driving direction as the first automatic guided vehicle that has currently been allocated access permission as the current access permission application to be allocated.

3. The system according to claim 1, characterized in that The traffic control device is specifically used to, in response to the access permission application, record the access permission application and the first time corresponding to the access permission application, wherein the first time is the time when the automatic guided vehicle sends the access permission application to the traffic control device or the time when the traffic control device receives the access permission application, and the access permission application also includes the task priority of the task currently executed by the automatic guided vehicle; The traffic control device is specifically used to weight the first moment corresponding to each of the recorded access permission applications, the task priority of the task currently performed by each of the automatic guided vehicles, and the number of access permission applications in the first driving direction to obtain a score for each of the access permission applications; and determine the access permission application with the highest score as the current access permission application to be allocated.

4. The system according to claim 1, characterized in that The traffic control device is specifically used to determine the access permission application with the same driving direction as the second driving direction in the recorded access permission application as the current access permission application to be allocated; The traffic control equipment is also used to, if the access permission is sent continuously to a preset number of automatic guided vehicles with a second driving direction, determine the access permission application that is the earliest at the first moment among the access permission applications that have not yet been allocated access permission and whose driving direction is different from the second driving direction as the current access permission application to be allocated.

5. The system according to claim 1, characterized in that The automatic guided vehicle is also used to obtain the current position and preset destination position of the automatic guided vehicle; in response to the time when the distance to send the access permission application is equal to the preset first duration threshold, plan a first driving route that does not include the target preset conflict area according to the current position and the preset destination position, and drive according to the first driving route.

6. The system according to claim 5, characterized in that The automatic guided vehicle is specifically configured to, in response to the time when the distance to the time of sending the access permission application being equal to a preset first duration threshold, plan a second driving route of the automatic guided vehicle according to the current position and the preset destination position; determining whether the second driving route passes through the target preset conflict area; If the second driving route does not pass through the target preset conflict area, taking the second driving route as the first driving route and driving according to the first driving route; If the second driving route passes through the target preset conflict area, continue to stop and wait.

7. The system according to claim 6, characterized in that The traffic control device is specifically used to, in response to the access permission application, record the access permission application and the first time corresponding to the access permission application in a pre-established access permission application record, wherein the access permission application also includes an identifier of the automatic guided vehicle, and the first time is the time when the automatic guided vehicle sends the access permission application to the traffic control device or the time when the traffic control device receives the access permission application; The automatic guided vehicle is further configured to, in response to a time interval from when the access permission application is sent being equal to a preset second time threshold, resend the access permission application to the traffic control device, wherein the preset second time threshold is less than the preset first time threshold; The automatic guided vehicle is specifically configured to, in response to a time when the distance from the first sending of the access permission being equal to a preset first time threshold, plan a second driving route of the automatic guided vehicle according to the current position and the preset destination position; The traffic control device is specifically used to update the access permission application record according to the access permission application record, the identification of the automatic guided vehicle, the access permission application and the first moment, and determine the current access permission application to be allocated according to the sequence of the first moments in the updated access permission application record.

8. An automatic guided vehicle dispatching method, characterized in that: Applied to an automatic guided vehicle dispatching system, the system comprises at least one traffic control device pre-set in a preset conflict area and a plurality of automatic guided vehicles, wherein the automatic guided vehicles pre-store a corresponding relationship between an operation map, the preset conflict area and the traffic control device; The method comprises: In response to approaching a preset target conflict area, the automatic guided vehicle sends a pass permission application to a traffic control device corresponding to the preset target conflict area; if the pass permission assigned by the traffic control device is received within a preset first time after sending the pass permission application, the automatic guided vehicle passes through the preset target conflict area, otherwise, the automatic guided vehicle stops and waits; after passing through the preset target conflict area, the automatic guided vehicle sends a pass permission cancellation application to the traffic control device; wherein the pass permission application is used to indicate a first driving direction of the automatic guided vehicle, and the pass permission cancellation application is used to indicate the pass permission application sent by the automatic guided vehicle; The traffic control device records the access permission application in response to the access permission application; determines a current access permission application to be allocated in the recorded access permission application and determines a first driving direction included in the current access permission application to be allocated; determines a first automated guided vehicle to which access permission is currently allocated and a second driving direction of the first automated guided vehicle; if there is no risk of conflict between the first driving direction and the second driving direction, allocates access permission to a second automated guided vehicle, wherein the second automated guided vehicle is the automated guided vehicle that sent the current access permission application to be allocated; if there is a risk of conflict between the first driving direction and the second driving direction, refuses to execute the step of allocating access permission to the second automated guided vehicle; and in response to the access cancellation application, deletes the access permission allocated to the automated guided vehicle corresponding to the access cancellation application.

9. The method according to claim 8, characterized in that The step of recording the access permission application in response to the access permission application comprises: In response to the access permission application, recording the access permission application and a first time corresponding to the access permission application, the first time being a time when the automatic guided vehicle sends the access permission application to the traffic control device or a time when the traffic control device receives the access permission application; The step of determining a current access permission application to be allocated from the recorded access permission applications comprises: According to the order of the first moment, the most prioritized access permission application among the access permission applications that have not yet been allocated access permission is determined as the current access permission application to be allocated; or, The step of determining a current access permission application to be allocated from the recorded access permission applications comprises: Determine the access permission application with the highest task priority among the access permission applications that have not yet been assigned access permission as the current access permission application to be assigned; wherein the access permission application also includes the task priority of the task currently executed by the automatic guided vehicle; or, The step of determining a current access permission application to be allocated from the recorded access permission applications comprises: Among the access permission applications for which access permission has not yet been allocated, an access permission application for the same direction as the second driving direction of the first automatic guided vehicle for which access permission has currently been allocated is determined as the current access permission application to be allocated.

10. The method according to claim 8, characterized in that The step of recording the access permission application in response to the access permission application includes: In response to the access permission application, recording the access permission application and a first time corresponding to the access permission application, wherein the first time is the time when the automatic guided vehicle sends the access permission application to the traffic control device or the time when the traffic control device receives the access permission application, and the access permission application also includes a task priority of a task currently executed by the automatic guided vehicle; The step of determining a current access permission application to be allocated from the recorded access permission applications comprises: Weighting the first time corresponding to each of the recorded access permission applications, the task priority of each task currently executed by the automated guided vehicle, and the number of access permission applications in the first driving direction to obtain a score for each of the access permission applications; The access permission application with the highest score is determined as the access permission application currently to be allocated.

11. The method according to claim 8, characterized in that The step of determining a current access permission application to be allocated from the recorded access permission applications comprises: Determine the access permission application whose driving direction in the recorded access permission application is the same as the second driving direction as the current access permission application to be allocated; The method further comprises: If the traffic control equipment continuously sends the access permission to a preset number of automatic guided vehicles with a second driving direction, the access permission application that has not yet been allocated access permission and has the earliest access permission application at the first moment and has a driving direction different from the second driving direction will be determined as the current access permission application to be allocated.

12. The method according to claim 8, characterized in that The method further comprises: The automatic guided vehicle obtains the current position and the preset destination position of the automatic guided vehicle; in response to the time when the distance to send the access permission application is equal to the preset first duration threshold, a first driving route that does not include the preset conflict area of ​​the target is planned according to the current position and the preset destination position, and the vehicle travels along the first driving route.

13. The method according to claim 12, characterized in that The time of sending the access permission application in response to the distance being equal to a preset first duration threshold, planning a first driving route that does not include the target preset conflict area according to the current position and the preset destination position and driving according to the first driving route, including: In response to the time when the access permission application is sent being equal to a preset first duration threshold, planning a second driving route of the automatic guided vehicle according to the current position and the preset destination position; determining whether the second driving route passes through the target preset conflict area; If the second driving route does not pass through the target preset conflict area, taking the second driving route as the first driving route and driving according to the first driving route; If the second driving route passes through the target preset conflict area, continue to stop and wait.

14. The method according to claim 13, characterized in that The step of recording the access permission application in response to the access permission application includes: In response to the access permission application, recording the access permission application and a first time corresponding to the access permission application in a pre-established access permission application record, wherein the access permission application also includes an identifier of the automatic guided vehicle, and the first time is a time when the automatic guided vehicle sends the access permission application to the traffic control device or a time when the traffic control device receives the access permission application; The method further comprises: The automatic guided vehicle resends the access permission application to the traffic control device in response to the time when the distance from the time of sending the access permission application is equal to the preset second time threshold, wherein the preset second time threshold is less than the preset first time threshold; The step of responding to the time when the distance to send the access permission application is equal to a preset first duration threshold, and planning a second driving route of the automatic guided vehicle according to the current position and the preset destination position, comprises: In response to the time when the passage permission is first sent being equal to a preset first time threshold, planning a second driving route of the automatic guided vehicle according to the current position and the preset destination position; The step of determining a current access permission application to be allocated from the recorded access permission applications comprises: The access permission application record is updated according to the access permission application record, the identification of the automatic guided vehicle, the access permission application and the first moment, and the current access permission application to be allocated is determined according to the sequence of the first moments in the updated access permission application record.

15. A traffic control device, characterized in that: The traffic control device is arranged in a target preset conflict area; the traffic control device is used for: In response to a pass permission application, recording the pass permission application, wherein the pass permission application is sent by the automatic guided vehicle to the traffic control device in response to approaching a target preset conflict area, and the automatic guided vehicle pre-stores a correspondence between an operation map, the preset conflict area, and the traffic control device; Determining a current access permission application to be allocated from the recorded access permission applications and determining a first driving direction included in the current access permission application to be allocated; Determine a first automated guided vehicle to which authority is currently assigned and a second driving direction of the first automated guided vehicle; If there is no risk of conflict between the first driving direction and the second driving direction, assigning a traffic permission to a second automated guided vehicle, wherein the second automated guided vehicle is the automated guided vehicle that sent the current traffic permission application to be assigned; If there is a risk of conflict between the first driving direction and the second driving direction, refusing to execute the step of allocating passage authority to the second automated guided vehicle; In response to an application for cancellation of access authority, the access authority allocated to the automatic guided vehicle corresponding to the application for cancellation of access authority is deleted, wherein the application for cancellation of access authority is sent to the traffic control device after the automatic guided vehicle passes through the target preset conflict area.

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