Guided vehicle control method, guided vehicle control equipment and storage medium

Abstract

The invention discloses a guide vehicle control method, guide vehicle control equipment and a storage medium, and the method is applied to the guide vehicle control equipment, and comprises the steps: determining a target point location of a first guide vehicle according to a to-be-completed task of the first guide vehicle after receiving first guide vehicle practical operation completion information sent by a current station; a target point location is sent to the first guide vehicle, so that the first guide vehicle moves to the target point location, and a moving instruction is sent to the second guide vehicle according to a locking application of the second guide vehicle sent to the current station, so that the second guide vehicle begins to move to the current station according to the distance between an obstacle avoidance device on the vehicle and the moving code; and pre-arrival information sent by the second guide vehicle is received and sent to the current station, so that the current station determines actual arrival information of the second guide vehicle according to the arrival detection device. According to the invention, the accumulation of the guide vehicles at the entrance of the station can be reduced, and the waiting time of the guide vehicles at the station is reduced.

Description

Technical Field

[0001] The present invention relates to the field of logistics and warehousing, and in particular to a control method for a guided vehicle, a guided vehicle control device, and a storage medium. Background Art

[0002] In the picking workstation, the use of automated guided vehicles (AGVs) for automated order processing operations such as material handling and picking and delivery can improve order fulfillment efficiency and storage space utilization.

[0003] Currently, serial or time interval scheduling strategies are commonly used to schedule multiple AGVs. Based on these strategies, after the leading vehicle completes its task at a picking or processing station and leaves the station, the following vehicle can re-enter the station according to the schedule or time interval to continue working.

[0004] However, the above strategy will cause a delay in the response of the following vehicles entering the station, causing the AGVs waiting behind to pile up at the station and increase the waiting time of AGVs at the station. Summary of the Invention

[0005] The present invention provides a control method for a guide vehicle, a guide vehicle control device and a storage medium, which solve the problem of delayed entry response caused by the fact that the following vehicle will not enter the station until the leading vehicle leaves the station according to scheduling or time intervals. It realizes the simultaneous and safe movement of the front and rear guide vehicles, avoids empty windows and waiting at the station, reduces the response lag when leaving and entering the station, ensures the continuity of the picking operation, further reduces the accumulation of AGVs at the station entrance, and reduces the waiting time of AGVs at the station.

[0006] According to one aspect of the present invention, a control method for a guided vehicle is provided, which is applied to a guided vehicle control device; the method comprises:

[0007] After receiving the first guided vehicle practical operation completion information sent by the current site, the target point position of the first guided vehicle is determined according to the task to be completed by the first guided vehicle.

[0008] The target point is sent to the first guide vehicle so that the first guide vehicle moves to the target point, and based on the locking application of the second guide vehicle sent to the current site, a movement instruction is sent to the second guide vehicle so that the second guide vehicle starts to move toward the current site according to the obstacle avoidance device on the vehicle and the spacing of the movement code.

[0009] Receive and send the pre-arrival information sent by the second guided vehicle to the current site, so that the current site determines the actual arrival information of the second guided vehicle according to the arrival detection device.

[0010] The control method of the guided vehicle provided by the embodiment of the present invention, on the one hand, after determining that the actual operation of the first guided vehicle at the current station is completed, directly determines its target point according to the pending tasks of the first guided vehicle, not only can the next moving target point of the first guided vehicle be obtained according to the pending tasks, but also can determine whether the tasks of the first guided vehicle at the current station are all completed. At the same time, determining the target point can provide a basis for subsequently guiding the first guided vehicle to quickly leave the current station. On the other hand, when the target point of the first guided vehicle is obtained, a movement instruction can be sent to the first guided vehicle and the second guided vehicle at the same time, so that the first guided vehicle and the second guided vehicle can move simultaneously, solving the problem of delayed entry response caused by the previous vehicle leaving the station and the subsequent vehicle re-entering the station according to the scheduling or time interval. It realizes the safe and simultaneous movement of the first guided vehicle and the second guided vehicle, avoids the station's empty window and waiting, reduces the response lag when leaving and entering the station, ensures the continuity of the picking operation, further reduces the accumulation of AGVs at the station entrance, and reduces the waiting time of AGVs at the station. Finally, the arrival detection device is activated only when the current station receives the pre-arrival information sent by the second guided vehicle, reducing energy consumption. At the same time, the arrival detection device can also ensure the safety of the picking work of the station personnel.

[0011] According to another aspect of the present invention, a control device for a guided vehicle is provided, which is applied to a guided vehicle control device; the device comprises:

[0012] The determination module is used to determine the target point of the first guided vehicle according to the task to be completed of the first guided vehicle after receiving the first guided vehicle practical operation completion information sent by the current site.

[0013] The sending module is used to send the target point to the first guide vehicle so that the first guide vehicle moves to the target point, and according to the locking application of the second guide vehicle sent to the current site, send a movement instruction to the second guide vehicle so that the second guide vehicle starts to move to the current site according to the obstacle avoidance device on the vehicle and the spacing of the movement code.

[0014] The receiving module is used to receive and send the pre-arrival information sent by the second guided vehicle to the current station, so that the current station can determine the actual arrival information of the second guided vehicle according to the arrival detection device.

[0015] According to another aspect of the present invention, a guided vehicle control device is provided, the guided vehicle control device comprising:

[0016] An electronic device, the electronic device includes at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the control method of the guided vehicle of any embodiment of the present invention.

[0017] According to another aspect of the present invention, a computer-readable storage medium is provided. The computer-readable storage medium stores computer instructions, which are used to enable a processor to implement the control method of a guided vehicle according to any embodiment of the present invention when executed.

[0018] According to another aspect of the present invention, a computer program product is provided, comprising a computer program, wherein when the computer program is executed by a processor, the computer program implements the method for controlling a guided vehicle according to any embodiment of the present invention.

[0019] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present invention, nor is it intended to limit the scope of the present invention. Other features of the present invention will become readily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0021] Figure 1 A schematic flow chart of a method for controlling a guided vehicle according to an embodiment of the present invention;

[0022] Figure 2 Another schematic flow chart of a method for controlling a guided vehicle according to an embodiment of the present invention;

[0023] Figure 3 An example diagram of the installation location of the arrival detection device provided in an embodiment of the present invention;

[0024] Figure 4 A schematic structural diagram of a control device for a guided vehicle provided in an embodiment of the present invention;

[0025] Figure 5 This is a schematic structural diagram of the electronic equipment in the guided vehicle control device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0026] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present invention.

[0027] It should be noted that the terms "first", "second", etc. in the description and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0028] Figure 1 This is a flow chart of a method for controlling a guided vehicle according to an embodiment of the present invention. This embodiment is applicable to situations where an AGV is used in a picking workstation. This method can be executed by a control device of the guided vehicle. This control device can be implemented in hardware and / or software and can be configured in a guided vehicle control system (Robot Control System, RCS). In this embodiment, the guided vehicle control system includes electronic equipment. This electronic equipment can be a server or a service cluster.

[0029] like Figure 1 As shown, the method includes:

[0030] S101. After receiving the first guided vehicle operation completion information sent by the current site, determine the target position of the first guided vehicle according to the task to be completed of the first guided vehicle.

[0031] The current station is the picking station or workstation currently located by the first guided vehicle. The first guided vehicle is an AGV already at the current station. Operation completion information is determined by the current station after the operation of the items carried by the first guided vehicle is completed. The pending tasks can be empty or the tasks for the first guided vehicle at the next station. The target location can be the warehouse location of the automated guided vehicle or the entry point of the next picking station or workstation.

[0032] Specifically, after the first guide vehicle arrives at the current site, the label light on the slot of the current site will light up. After the practical operation task of the current site corresponding to the first guide vehicle is completed, the slot label light will be turned off. At this time, the current site will know that the current practical operation task of the first guide vehicle is completed, and send the first guide vehicle practical operation completion information to the RCS. After the RCS obtains the practical operation completion information, it will obtain the pending tasks of the first guide vehicle. In one case, the pending tasks are empty, that is, the first guide vehicle has no other tasks to be completed, then it is directly determined that the first guide vehicle can return to the AGV storage location, that is, the target point is the AGV storage location. In another case, the pending tasks indicate which site the first guide vehicle is to complete the next task, then the target point can be determined as the entry point of the site corresponding to the next task to be completed. And, in another case, optionally, the pending tasks can also indicate whether the first guide vehicle has other unfinished practical operations at the current site. If so, other unfinished practical tasks can be sent to the current site, and after completing other unfinished practical tasks corresponding to the current site, the target point can be re-determined.

[0033] In this embodiment, after receiving the first guided vehicle's operational completion information from the current station, i.e., after determining that the first guided vehicle has completed its operational operations at the current station, the first guided vehicle's target location is directly determined based on its pending tasks. This not only allows the first guided vehicle to determine its next target location based on the pending tasks, but also allows the determination of whether all of the first guided vehicle's tasks at the current station have been completed. Furthermore, determining the target location also provides a basis for subsequently directing the first guided vehicle to quickly depart the current station.

[0034] S102: Send the target point to the first guide vehicle so that the first guide vehicle moves to the target point, and send a movement instruction to the second guide vehicle based on the locking application of the second guide vehicle sent to the current site so that the second guide vehicle starts to move toward the current site according to the obstacle avoidance device on the vehicle and the spacing of the movement code.

[0035] The first guide vehicle is the leading vehicle, and the second guide vehicle is the trailing vehicle. This means the second guide vehicle is the next vehicle to enter the current station after the first guide vehicle exits. A lock request is a request for the station to open or close the gates at the entrance and exit. A movement instruction is used to instruct the guide vehicle to begin moving. The obstacle avoidance device can be a radar device or a camera, etc., used to detect the distance between the current vehicle and other obstacles. A moving code is a code laid on the ground of the picking workstation to determine position and distance. The spacing between the moving codes is the spacing between the two codes.

[0036] Optionally, after determining that the first guided vehicle has completed its mission at the current station, a locking request for the first guided vehicle can be directly initiated to the current station, so that the current station opens the gate away from the station for the first guided vehicle based on the locking request. At the same time, if a signal is received that the second guided vehicle has arrived at the entrance to the current station, a locking request for the second guided vehicle can also be initiated to the current station, so that the current station opens the gate at the entrance to the station for the second guided vehicle based on the locking request. It is worth noting that the AGV involved in "waiting at the entrance" and "the second guided vehicle arrives at the entrance to the current station" in this embodiment refers to the AGV waiting at the entrance point a certain distance away from the entrance point.

[0037] Specifically, after the target point is determined, the target point can be sent to the first guide vehicle. The target point also includes the movement instructions for the first guide vehicle. That is, when the locking application of the first guide vehicle feedbacked by the current site is passed, the first guide vehicle can start to move and move toward the target point. At the same time, after the locking application of the second guide vehicle feedbacked by the current site is passed, a movement instruction can be sent to the second guide vehicle. When the second guide vehicle receives the movement instruction, it can start to move, and when moving to the current site, it avoids obstacles around the road and determines the distance from the first guide vehicle according to the obstacle avoidance device installed on the vehicle to avoid rear-ending the first guide vehicle. At the same time, it can also be determined whether the stop position of the current site has been reached based on the spacing of the movement code.

[0038] In this embodiment, when the target point of the first guided vehicle is obtained, movement instructions can be sent to the first and second guided vehicles at the same time, so that the first and second guided vehicles can move simultaneously. That is, the first guided vehicle exits the current station according to the target point, and the second guided vehicle enters the current station at the same time. This solves the problem of delayed entry response caused by the previous vehicle leaving the station and the subsequent vehicle entering the station according to scheduling or time intervals. It realizes the simultaneous and safe movement of the first and second guided vehicles, avoids the station's empty window and waiting, reduces the response lag when exiting and entering the station, ensures the continuity of the picking operation, further reduces the accumulation of AGVs at the station entrance, and reduces the waiting time of AGVs at the station.

[0039] S103: Receive and send the pre-arrival information sent by the second guided vehicle to the current site, so that the current site can determine the actual arrival information of the second guided vehicle according to the arrival detection device.

[0040] The pre-arrival information is information received when the second guided vehicle, upon entering the station, determines that it is approaching its docking position at the current station, indicating that the second guided vehicle is about to arrive. The arrival detection device is used to detect whether the second guided vehicle has delivered the cargo or pallet to the designated location and has docked stably. In this embodiment, the arrival detection device is also used to shield the light barrier and automatically control the tag light to illuminate when the detection passes.

[0041] Specifically, the second guided vehicle begins moving according to the movement instructions. Upon entering the current station's entrance, it can send pre-arrival information to the guided vehicle control device. The guided vehicle control device then transmits the pre-arrival information to the current station, which then activates the arrival detection device. When the arrival detection device detects that the second guided vehicle has delivered the cargo or pallet to its designated location and has stabilized, the detection passes. At this point, the light barrier can be disabled and the tag light automatically illuminated, prompting station personnel to begin picking.

[0042] In this embodiment, the arrival detection device is activated only when the current station receives the pre-arrival information sent by the second guide vehicle, thereby reducing energy consumption. At the same time, the arrival detection device can also ensure the safety of the picking work of the station personnel.

[0043] The control method for the guided vehicle provided by the embodiment of the present invention, on the one hand, after receiving the information that the first guided vehicle's actual operation is completed sent by the current site, that is, after determining that the first guided vehicle's actual operation at the current site is completed, directly determines its target point based on the first guided vehicle's pending tasks. This not only allows the first guided vehicle to obtain its next moving target point based on the pending tasks, but also allows the first guided vehicle to determine whether all its tasks at the current site have been completed. At the same time, determining the target point can also provide a basis for subsequently guiding the first guided vehicle to quickly leave the current site. On the other hand, when the target point of the first guided vehicle is obtained, movement instructions can be sent to the first guided vehicle and the second guided vehicle at the same time, so that the first guided vehicle and the second guided vehicle can move simultaneously. That is, the first guide vehicle exits the current station according to the target point, and the second guide vehicle enters the current station from the current station at the same time. This solves the problem of delayed response to the station entry caused by the previous vehicle leaving the station and the following vehicle re-entering the station according to scheduling or time intervals. It realizes the simultaneous and safe movement of the first and second guide vehicles, avoids empty windows and waiting at the station, reduces the response lag when exiting and entering the station, ensures the continuity of picking operations, further reduces the accumulation of AGVs at the station entrance, and reduces the waiting time of AGVs at the station. Finally, the arrival detection device will be turned on only when the current station receives the pre-arrival information sent by the second guide vehicle, reducing energy consumption. At the same time, based on the arrival detection device, the safety of the picking work of the site personnel can also be guaranteed.

[0044] Figure 2This is another flow chart of the control method of the guided vehicle provided by the embodiment of the present invention. Based on the above embodiment and other examples, this embodiment focuses on how to guide the first guided vehicle and the second guided vehicle to complete the exit and entry steps in parallel and quickly. Figure 2 As shown, the method includes:

[0045] S201: Receive the first guided vehicle operation completion information sent by the current site.

[0046] Specifically, after the slot label light of the current station is turned off, the current station determines that the first guide vehicle operation is completed. Therefore, after the slot label light of the current station is turned off, the first guide vehicle operation completion information can be sent to the RCS.

[0047] S202: After receiving the slot label light off information sent by the current site, receive the inventory deduction information determined by the current site according to the sorting task of the first guided vehicle displayed in the actual operation pop-up window.

[0048] Among them, the information that the slot label light is off is equivalent to the information that the guide vehicle is actually completed. The inventory deduction information is the instruction information after the items involved in this sorting task are deducted from the inventory items, which is used to indicate that the inventory deduction action has been completed. The actual operation pop-up window is used when performing picking tasks at the site, such as when the site staff wants to take items on the guide vehicle shelf and scan items. The interface that pops up is used to guide the site staff to complete the task and confirm the removal. The timing of its pop-up can be parallel to or before the slot label light is turned on and the grating is shielded. In this embodiment, the action of deducting inventory, for example, when the material box is taken away and the quantity is reduced, the current site will automatically deduct the inventory.

[0049] Specifically, after the slot label light of the current site goes out, the current site sends the first guide vehicle operation completion information and inventory deduction information to RCS. That is, after the slot label light of the current site goes out, the current site determines that the operation of the first guide vehicle is completed. At this time, the current site will send the first guide vehicle operation completion information to RCS. At the same time, it will determine the items involved in this sorting task based on the sorting task of the first guide vehicle displayed in the actual operation pop-up window, and deduct them from the inventory items. And, after the deduction is completed, the inventory deduction information will be sent to RCS to inform RCS that the inventory deduction of the current site has been completed and the subsequent process can continue.

[0050] In this embodiment, after the current site's picking and sorting task is completed and the slot tag light turns off, the site sends the RCS a message indicating the first guided vehicle's operation is complete. It then performs an inventory deduction and sends the inventory deduction information to the RCS. This allows the inventory deduction to be performed concurrently with notifying the RCS of the first guided vehicle's operation completion, reducing the time required compared to performing these two steps sequentially. This also provides a basis for the RCS to quickly generate subsequent AGV scheduling strategies, saving time.

[0051] It should be noted that, in this embodiment, S201 and S202 are parallel steps and can be executed simultaneously.

[0052] S203: The dispatching service sub-device determines whether the first guided vehicle has the next sorting task at the current station; if so, execute S204; if not, execute S205.

[0053] The guided vehicle control device includes a scheduling service sub-device (Robot Schedule Service, RSS). The scheduling service sub-device in this embodiment can be a Robot Schedule Service (RSS) device, which is used to implement robot scheduling services according to scenarios and can be dynamically deployed on demand.

[0054] Specifically, the RCS includes an RSS, which can be used to determine all sorting tasks for the first guided vehicle at the current station. Therefore, after the RCS receives the first guided vehicle's operational completion information, it can notify the RSS of the first guided vehicle's current sorting task in the operational completion information. The RSS can then determine whether the first guided vehicle has a next sorting task at the current station based on the current sorting task, the first guided vehicle's completed sorting tasks, and all sorting tasks. If the first guided vehicle has a next sorting task at the current station, S204 can be executed. If the first guided vehicle does not have a next sorting task at the current station, S205 can be executed.

[0055] S204: The next sorting task is taken as the current sorting task, and the current sorting task is sent to the current site, so that the current site displays the current sorting task of the first guide vehicle in the actual operation pop-up window; and the process returns to S201.

[0056] Specifically, based on the RSS, the RCS identifies the current sorting task in the first guided vehicle's operational completion information as the completed sorting task and the next sorting task as the current sorting task. The RCS then sends the current sorting task to the current station. The current station then updates the current sorting task for the first guided vehicle in the operational pop-up window. The process then returns to S201. That is, upon receiving the first guided vehicle operational completion information from the current station, the process continues with the subsequent steps until it determines that the first guided vehicle has no next sorting task at the current station, at which point it executes S205.

[0057] S205: Send an exit task to the management service sub-device, and the management service sub-device sends a locking application of the first guided vehicle to the current site, so that the current site opens an exit for the first guided vehicle according to the locking application of the first guided vehicle.

[0058] The guided vehicle control device also includes a management service sub-device. In this embodiment, the management service sub-device can be a Robot Management Service (RMS), which implements core functions such as unified management of robot (guided vehicle) scheduling tasks, universal scheduling capabilities and framework, robot motion choreography, robot communication, real-time robot status maintenance, and third-party robot adaptation and driver support. A departure task is a task identifier indicating a series of operational processes that allow the guided vehicle to prepare to depart the station.

[0059] Specifically, if the RCS determines that the first guided vehicle does not have the next sorting task at the current station, it can send a departure task to the RMS. Based on the departure task, the RMS sends a lock request for the first guided vehicle to the current station. Upon receiving the lock request, the current station can approve the lock request from the first guided vehicle and open the gate at the departure exit.

[0060] Optionally, in this embodiment, the RSS may send an off-site task to the RMS, so that the RMS quickly sends a locking request to the current site to avoid path congestion.

[0061] In this embodiment, based on the sorting task of the first guide vehicle at the current site, it is determined whether the first guide vehicle has completed all tasks. When it is determined that the first guide vehicle has completed all tasks, an application for locking is directly submitted to the current site based on the management service sub-device, providing a basis for the first guide vehicle to quickly leave the current site.

[0062] S206: Determine the target position of the first guided vehicle according to the task to be completed of the first guided vehicle.

[0063] The tasks to be completed here do not include the sorting tasks of the first guided vehicle at the current site.

[0064] Specifically, the target position of the first guided vehicle can be determined according to the following steps:

[0065] The management service sub-device determines the movement task of the first guide vehicle according to the departure task, and initiates a movement instruction to the first guide vehicle based on the movement task, so that the first guide vehicle starts to move toward the departure exit; and, when the management service sub-device receives the departure task, the scheduling service sub-device determines whether the pending tasks of the first guide vehicle are empty; if it is determined that the pending tasks of the first guide vehicle are empty, the target point of the first guide vehicle is determined to be the warehouse; if it is determined that the pending tasks of the first guide vehicle are not empty, the entry point of the next station is determined according to the pending tasks, and the entry point of the next station is used as the target point.

[0066] That is, RMS can determine the movement task of the first guide vehicle according to the departure task, and directly initiate a movement instruction to the first guide vehicle based on the movement task. At this time, the first guide vehicle moves according to the movement instruction. In one case, when the first guide vehicle moves from the parking position of the current station to the departure exit, the path to the target point has been determined, and the first guide vehicle can move directly to the target point; in another case, when the first guide vehicle moves from the parking position of the current station to the departure exit, the path to the target point has not been determined, and it can be parked at a departure station at a certain distance from the departure exit, and continue to move after the path to the target point is determined. In summary, no matter which of the above situations is it, it can be guaranteed that the first guide vehicle starts to move when it receives the movement instruction and will not continue to stay at the parking position of the current station.

[0067] At the same time, when the RMS receives a departure task, the RSS determines whether the first guided vehicle's pending tasks are empty. If so, it means the first guided vehicle has completed all tasks and can return directly to the guided vehicle garage. Therefore, the target point is the garage. If it is not empty, the next station's approach point can be directly determined based on the first guided vehicle's pending tasks. For example, each pending task can correspond to a station, and the station closest to the current station can be determined as the next station, and the approach point of the next station can be used as the target point.

[0068] In this embodiment, once the exit of the current station is opened, the first guided vehicle is notified to begin moving, ensuring that the first guided vehicle can leave the current station's parking space immediately, making room for the second guided vehicle. Furthermore, when the first guided vehicle receives a movement instruction and prepares to move, it quickly determines the target location based on its pending task, ensuring that the target movement location is quickly provided to the first guided vehicle. Furthermore, the movement of the first guided vehicle and the determination of the target location are carried out in parallel, which can reduce the time the first guided vehicle occupies the current station's parking space, providing a basis for the second guided vehicle to directly enter the station when the first guided vehicle moves, thus ensuring the timeliness of the entry response.

[0069] S207: The path traffic sub-device determines a planned path according to the current position and the target position of the first guide vehicle.

[0070] Among them, the guided vehicle control device also includes a path traffic sub-device. The path traffic sub-device in this embodiment can be a Robot Traffic Service (RTS) device, which is used to implement unified traffic control capabilities of the robot (guided vehicle), including path planning, lock management, collision detection, congestion prevention and release, deadlock prevention and release, regional unified traffic control, etc. The current point can be the docking location of the current station, or the real-time moving point of the first guided vehicle. The planned path is the moving path planned by the RTS for the first guided vehicle.

[0071] Specifically, when the first guided vehicle starts to move from the docking position of the current station, the RTS can determine a planned path for the first guided vehicle based on the current position of the first guided vehicle and the predetermined target position.

[0072] S208: The path traffic sub-device sends the planned path to the first guide vehicle, so that the first guide vehicle moves to the target point according to the planned path.

[0073] Specifically, after determining the planned path, the RTS can directly send the planned path to the first guide vehicle. In this case, in one case, the first guide vehicle is located between the current station's docking position and the exit, so the first guide vehicle can move directly to the target point along the planned path. In another case, the first guide vehicle is already parked at the exit station a certain distance away from the exit, so it can start and move to the target point along the planned path.

[0074] In this embodiment, the planned path of the first guide vehicle is determined between the stop position of the first guide vehicle at the current station and the exit, which changes the current strategy that the first guide vehicle needs to calculate the moving path at the stop point of the current station before moving. The first guide vehicle determines the planned path directly during the movement from the stop point of the current station, making way for the second guide vehicle at the stop point of the current station, and ensuring that the second guide vehicle can enter the station quickly.

[0075] S209: Send an arrival instruction of the second guided vehicle to the current site, so that the current site displays the sorting task of the second guided vehicle in the actual operation pop-up window.

[0076] The arrival instruction is used to inform the current station that the second guided vehicle has arrived at the entry point and is ready to enter the station at any time.

[0077] Specifically, when the current station opens the exit for the first guided vehicle and the RSS determines the target point and plans the path for the first guided vehicle to move, the RSS also sends the arrival instruction of the second guided vehicle to the current station. Once the current station receives the arrival instruction of the second guided vehicle, the sorting task for the second guided vehicle will be displayed in the actual operation pop-up window.

[0078] For example, after determining that the first guided vehicle has no pending tasks at the current station, that is, when the current station has received the locking application of the first guided vehicle and is preparing to open the exit for the first guided vehicle, if the current station has received the arrival instruction of the second guided vehicle, the current station can directly display the sorting task of the second guided vehicle in the actual operation pop-up window.

[0079] In this embodiment, when the current station determines that the second guided vehicle has arrived at the station entrance, the sorting task of the second guided vehicle can be displayed in the actual operation pop-up window, providing a basis for the second guided vehicle to directly perform sorting work when it arrives at the stop point.

[0080] S210. After the management service sub-device determines the movement task of the first guided vehicle, the path traffic sub-device sends the locking application of the second guided vehicle to the current station, so that the current station opens the entrance for the second guided vehicle according to the locking application of the second guided vehicle.

[0081] Specifically, after RMS determines the movement task of the first guided vehicle, that is, before the first guided vehicle is ready to start moving from the stop point of the current station, RTS will send the locking application of the second guided vehicle to the current station. The current station will approve the locking application of the second guided vehicle and open the entrance for the second guided vehicle.

[0082] In this embodiment, after the RMS determines the movement task of the first guided vehicle, it applies to the current site for a locking application for the second guided vehicle, so that the current site opens the entrance to the station, ensuring that the second guided vehicle can enter the current site in time, and providing a basis for the second guided vehicle to move in parallel with the first guided vehicle when the first guided vehicle moves from the stop point.

[0083] S211. According to the locking application of the second guided vehicle sent to the current site, a movement instruction is sent to the second guided vehicle, so that the second guided vehicle starts to move toward the current site according to the obstacle avoidance device on the vehicle and the spacing of the movement code.

[0084] Specifically, upon receiving a request from the second guided vehicle to approve the lock at the current station, a movement instruction can be directly sent to the second guided vehicle. At this point, the second guided vehicle can begin moving directly from the approaching position of the current station and, based on an obstacle avoidance device on the second guided vehicle, such as a radar detection device, focus on detecting the distance between the second guided vehicle and the first guided vehicle, with a secondary focus on detecting obstacles on the road that has moved to the docking position at the current station during the approaching process. Furthermore, the distance between the movement codes can be used to determine whether the docking position at the current station has been reached. Optionally, the second guided vehicle can determine the docking position at the current station when it determines that it has moved the distance of one movement code.

[0085] For example, when the locking application success information of the second guide vehicle sent by the current site is received and a movement instruction is initiated to the first guide vehicle, a movement instruction is initiated to the second guide vehicle, so that the second guide vehicle determines the interval distance between itself and the first guide vehicle according to the obstacle avoidance device, determines the remaining distance from the current site according to the spacing of the movement code, and determines the moving speed according to the interval distance and the remaining distance.

[0086] That is, when the lock application success information of the second guide vehicle sent by the current site is received and the RCS initiates a movement command to the first guide vehicle, a movement command can be simultaneously initiated to the second guide vehicle. At this time, the second guide vehicle can determine the distance between it and the first guide vehicle in real time based on the obstacle avoidance device to ensure that the distance between the second guide vehicle and the first guide vehicle does not exceed the safety distance due to excessive movement. At the same time, the remaining distance from the current site can also be determined based on the spacing of the movement code, and the moving speed of the second guide vehicle can be determined based on the remaining distance and the interval distance. For example, when the interval distance is small, the moving speed is reduced, and when the interval distance is large, the moving speed is increased. When the remaining distance is small, the moving speed is reduced, and when the remaining distance is large, the moving speed is increased. At the same time, weights corresponding to different ranges can be set for the interval distance and the remaining distance, and the moving speed of the second guide vehicle can be determined by calculating the total weight value.

[0087] In this embodiment, when the first guide vehicle starts to move from the parking position, the second guide vehicle can also start to enter the entrance of the current station and move toward the parking position of the current station. The two guide vehicles can move in parallel while ensuring that there is no conflict between the two guide vehicles, thereby reducing the waiting time of the guide vehicles waiting at the entrance and increasing the picking work time and resource utilization.

[0088] S212. Receive the remaining distance determined by the second guide vehicle, and when the remaining distance is less than the preset distance, send pre-arrival information to the current site, so that the current site starts the arrival detection device, and when the detection of the arrival detection device is passed, determine the actual arrival information of the second guide vehicle.

[0089] The arrival detection device in this embodiment may be two photoelectric sensors. For example, Figure 3 This is an example diagram of the installation position of the arrival detection device provided in the embodiment of the present invention, as shown in FIG. Figure 3 As shown, a station includes a placement table 301, a workbench 302, two spread walls 303, and two photoelectric sensors 304 located in front of the workbench 302 and facing the placement table 301. The placement table is used to place shelves carried by guided vehicles. The workbench is the work area for station staff. The spread walls are where station staff sort items. Both photoelectric sensors can detect whether shelves, pallets, trays, or AGVs are in place. The preset distance is a pre-set distance.

[0090] Specifically, the RCS receives the remaining distance determined by the second guided vehicle in real time and determines whether it is less than a preset distance. If it is not less than the preset distance, it continues to receive the remaining distance determined by the second guided vehicle. If it is less than the preset distance, it can directly send pre-arrival information to the current station. Upon receiving the pre-arrival information at the current station, it can activate the arrival detection device, that is, turn on two photoelectric sensors.

[0091] Optionally, at this time, if the actual operation pop-up window of the current site has not yet displayed the current sorting task of the second guide vehicle, the current site can display the current sorting task of the second guide vehicle in the actual operation pop-up window.

[0092] Specifically, under normal circumstances, when the second guided vehicle arrives and stops at the current stop, and the goods on the shelf or pallet are already on the placement table, both photoelectric sensors can detect that the goods are in place. At this point, it indicates that the current working environment is safe, and the arrival detection device can be determined to have passed the inspection, the interception of the safety barrier is closed, and the picking light (i.e., the tag light) is automatically turned on to remind the staff to pick up the goods.

[0093] Alternatively, in abnormal circumstances, such as when both photoelectric sensors fail to detect the arrival of goods simultaneously, this could be due to sensor failure or the goods being placed out of their normal viewing position. In this case, the system can wait for the second guided vehicle to confirm its crawling and proactively report its "steady stop" status to the current station based on the RCS. The light barrier is then disabled and the light is illuminated to allow workers to begin picking. Crawling refers to the process of slowing down and moving at an extremely low speed when the guided vehicle approaches its stop point (i.e., the work station or precise positioning point) at the current station, allowing for precise alignment and avoiding collisions.

[0094] For example, if the detection received from the arrival detection device sent by the current site is a failure, an arrival information acquisition instruction is sent to the second guide vehicle. That is, if the two photoelectric sensors do not detect successfully at the same time, the current site sends information to the RCS that the detection of the arrival detection device is a failure. The RCS directly sends an arrival information acquisition instruction to the second guide vehicle to monitor in real time whether the second guide vehicle has arrived at the station. At this time, the second guide vehicle receives the arrival information acquisition instruction, and when it arrives at the stop point of the current station, it will feedback the information that it has arrived at the station, that is, the actual arrival information, to the RCS. For example, the actual arrival information fed back by the second guide vehicle based on the arrival information acquisition instruction is received, and the actual arrival information is sent to the current site, so that the current site can turn off the arrival detection device based on the actual arrival information. That is, when the current site receives the actual arrival information of the second guide vehicle, the arrival detection device can be turned off.

[0095] That is, in this embodiment, when the second guided vehicle has not started or completed crawling, the "light up" signal is sent in advance and the grating is shielded, as long as any one of the conditions of "photoelectric sensor detection is successful" or "RCS reports that the AGV has stopped steadily" is met.

[0096] It should be noted that, in this embodiment, S206 - S208 and S209 - S212 are parallel steps and can be executed simultaneously.

[0097] In this embodiment, the relative distance of the second guide vehicle from the stop position of the current station can be determined in real time based on the remaining distance determined by the second guide vehicle. This not only can timely inform the current station of the imminent arrival of the second guide vehicle so that the current station can prepare for picking work in advance, but also can turn on the arrival detection device before the second guide vehicle arrives, eliminating the energy consumption problem caused by the continuous opening state of the arrival detection device, saving some energy consumption, and ensuring the safety of the picking work of the current station staff.

[0098] Optionally, in the above embodiment, each current site can interact with RCS in real time to obtain information such as the driving path and work tasks of each AGV, so that when obtaining this information, each site can calculate which channels need to be locked, and the calculation will give priority to the AGVs that have left the warehouse, that is, the AGVs that are performing cargo delivery tasks, to prevent AGVs that do not need to enter the site but may pass by the site from entering the site and disturbing the work.

[0099] In this embodiment, all key actions, such as deducting inventory, the first guided vehicle leaving the station, and the second guided vehicle entering the station, can be carried out in parallel with other steps or issued in advance, so that the path can be planned and locked for the AGV in advance, reducing the time for waiting and calculation during the movement of the AGV. It can also achieve the same time as the first guided vehicle starts to leave the station and the second guided vehicle starts to enter the station, thereby improving the efficiency of the entire link. In addition, based on the actual arrival information of the photoelectric sensor or the AGV itself, the workstation can be informed in advance that manual picking operations can begin; by actively reporting the "arrived station" information when the second guided vehicle crawls and arrives at the station, the time required to wait for the crawl to complete, the current station to send the information of whether the station has arrived to the station to the RCS, the RCS to receive the arrival information of the second guided vehicle, and then feedback to the current station is saved, further providing a faster "job handover" opportunity for retreat.

[0100] Figure 4 Schematic diagram of the structure of the control device of the guided vehicle provided by the embodiment of the present invention. Figure 4 As shown, the device is applied to a guided vehicle control device; the device comprises:

[0101] The determination module 401 is configured to determine the target position of the first guided vehicle according to the to-be-completed task of the first guided vehicle after receiving the first guided vehicle operation completion information sent by the current site.

[0102] The sending module 402 is used to send the target point to the first guide vehicle so that the first guide vehicle moves to the target point, and according to the locking application of the second guide vehicle sent to the current site, send a movement instruction to the second guide vehicle so that the second guide vehicle starts to move toward the current site according to the obstacle avoidance device on the vehicle and the spacing of the movement code.

[0103] The receiving module 403 is used to receive and send the pre-arrival information sent by the second guided vehicle to the current station, so that the current station can determine the actual arrival information of the second guided vehicle according to the arrival detection device.

[0104] Optionally, when receiving the first guided vehicle operation completion information sent by the current site, the receiving module 403 is further configured to:

[0105] After receiving the slot label light off information sent by the current site, receive the inventory deduction information determined by the current site based on the sorting task of the first guided vehicle displayed in the actual operation pop-up window;

[0106] After receiving the inventory deduction information determined by the current site according to the sorting task of the first guided vehicle displayed in the actual operation pop-up window, the sending module 402 is further used to:

[0107] Send the arrival instruction of the second guided vehicle to the current site, so that the current site displays the sorting task of the second guided vehicle in the actual operation pop-up window.

[0108] Optionally, the guided vehicle control device includes a scheduling service sub-device and a management service sub-device; after receiving the first guided vehicle operation completion information sent by the current site and before sending the arrival instruction of the second guided vehicle to the current site, the receiving module 403 is further used to:

[0109] The scheduling service sub-device determines whether the first guide vehicle has the next sorting task at the current station; if the first guide vehicle has the next sorting task at the current station, the next sorting task is used as the current sorting task, and the current sorting task is sent to the current station so that the current station displays the current sorting task of the first guide vehicle in the actual operation pop-up window; and, returns to execute the step of receiving the actual operation completion information of the first guide vehicle sent by the current station; if the first guide vehicle does not have the next sorting task at the current station, the departure task is sent to the management service sub-device, and the management service sub-device sends a locking application for the first guide vehicle to the current station, so that the current station opens the departure exit for the first guide vehicle according to the locking application of the first guide vehicle, and continues to execute the step of determining the target point of the first guide vehicle according to the to-be-completed task of the first guide vehicle and continues to execute the step of sending the arrival instruction of the second guide vehicle to the current station.

[0110] Optionally, the determining module 401 is specifically configured to:

[0111] The management service sub-device determines the movement task of the first guide vehicle according to the departure task, and initiates a movement instruction to the first guide vehicle based on the movement task, so that the first guide vehicle starts to move toward the departure exit; and, when the management service sub-device receives the departure task, the scheduling service sub-device determines whether the pending tasks of the first guide vehicle are empty; if it is determined that the pending tasks of the first guide vehicle are empty, the target point of the first guide vehicle is determined to be the warehouse; if it is determined that the pending tasks of the first guide vehicle are not empty, the entry point of the next station is determined according to the pending tasks, and the entry point of the next station is used as the target point.

[0112] Optionally, the guided vehicle control device further includes a path traffic sub-device, and the sending module 402 is specifically configured to:

[0113] The path traffic sub-device determines a planned path according to the current position of the first guide vehicle and the target position; the path traffic sub-device sends the planned path to the first guide vehicle so that the first guide vehicle moves to the target position according to the planned path.

[0114] Optionally, before sending a movement instruction to the second guided vehicle based on the locking application of the second guided vehicle sent to the current site, so that the second guided vehicle starts to move toward the current site according to the obstacle avoidance device on the vehicle and the spacing of the movement code, the sending module 402 is further used to:

[0115] After the management service sub-device determines the movement task of the first guided vehicle, the path traffic sub-device sends the locking request of the second guided vehicle to the current station, so that the current station opens the entrance for the second guided vehicle according to the locking request of the second guided vehicle;

[0116] According to the locking application of the second guided vehicle sent to the current site, a movement instruction is sent to the second guided vehicle, so that the second guided vehicle starts to move toward the current site according to the obstacle avoidance device on the vehicle and the spacing of the movement code. The sending module 402 is specifically used to:

[0117] When receiving the locking application success information of the second guide vehicle sent by the current site and initiating a movement instruction to the first guide vehicle, a movement instruction is initiated to the second guide vehicle, so that the second guide vehicle determines the interval distance between itself and the first guide vehicle according to the obstacle avoidance device, determines the remaining distance from the current site according to the spacing of the movement code, and determines the moving speed according to the interval distance and the remaining distance.

[0118] Optionally, the receiving module 403 receives and sends the pre-arrival information sent by the second guided vehicle to the current station, so that the current station determines the actual arrival information of the second guided vehicle according to the arrival detection device. The receiving module 403 is specifically used to:

[0119] Receive the remaining distance determined by the second guide vehicle, and when the remaining distance is less than the preset distance, send pre-arrival information to the current site, so that the current site starts the arrival detection device, and when the arrival detection device detects that it passes, determine the actual arrival information of the second guide vehicle.

[0120] Optionally, the device further includes a closing module, which is specifically configured to:

[0121] If the detection received from the arrival detection device sent by the current site is a failure, an arrival information acquisition instruction is sent to the second guide vehicle; the actual arrival information fed back by the second guide vehicle based on the arrival information acquisition instruction is received, and the actual arrival information is sent to the current site, so that the current site closes the arrival detection device according to the actual arrival information.

[0122] The control device of the guided vehicle provided in the embodiment of the present invention can execute the control method of the guided vehicle provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0123] Figure 5A schematic diagram of the structure of an electronic device in a guided vehicle control device provided in an embodiment of the present invention. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0124] like Figure 5 As shown, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., which is communicatively connected to the at least one processor 11. The memory stores a computer program that can be executed by the at least one processor. The processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 into the random access memory (RAM) 13. Various programs and data required for the operation of the electronic device 10 can also be stored in the RAM 13. The processor 11, ROM 12, and RAM 13 are connected to each other via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0125] Multiple components in the electronic device 10 are connected to the I / O interface 15, including an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a magnetic disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices via a computer network such as the Internet and / or various telecommunication networks.

[0126] The processor 11 can be any general-purpose and / or specialized processing component with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various specialized artificial intelligence (AI) computing chips, various processors that run machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as the control method of the guided vehicle.

[0127] In some embodiments, the control method of the guided vehicle can be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed on the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the control method of the guided vehicle described above can be performed. Alternatively, in other embodiments, the processor 11 can be configured to execute the control method of the guided vehicle by any other appropriate means (e.g., by means of firmware).

[0128] The computer program product may be implemented by writing computer program code for performing the operations of the present invention in one or more programming languages, or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a stand-alone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0129] It should be understood that the steps described in the present invention may be executed in parallel, sequentially, or in a different order, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not impose any restrictions thereon.

[0130] The above specific embodiments do not limit the scope of protection of the present invention. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions may be made based on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention are intended to be included within the scope of protection of the present invention.

Claims

1. A method for controlling a guided vehicle, characterized in that: Applied to guided vehicle control equipment; the method includes: After receiving the first guided vehicle operation completion information sent by the current site, determining the target point of the first guided vehicle according to the task to be completed by the first guided vehicle; Sending the target point to the first guided vehicle so that the first guided vehicle moves to the target point, and sending a movement instruction to the second guided vehicle based on the locking request sent to the current site so that the second guided vehicle starts to move toward the current site according to the obstacle avoidance device on the vehicle and the distance of the movement code; Receive and send the pre-arrival information sent by the second guided vehicle to the current site, so that the current site determines the actual arrival information of the second guided vehicle according to the arrival detection device.

2. The control method of the guided vehicle according to claim 1, characterized in that: When receiving the first guided vehicle operation completion information sent by the current site, it also includes: After receiving the slot tag light off information sent by the current site, receiving inventory deduction information determined by the current site according to the sorting task of the first guided vehicle displayed in the actual operation pop-up window; After receiving the inventory deduction information determined by the current site according to the sorting task of the first guided vehicle displayed in the actual operation pop-up window, the method further includes: An arrival instruction of the second guided vehicle is sent to the current site, so that the current site displays the sorting task of the second guided vehicle in the actual operation pop-up window.

3. The control method of the guided vehicle according to claim 2, characterized in that: The guided vehicle control device includes a scheduling service sub-device and a management service sub-device; after receiving the first guided vehicle operation completion information sent by the current station and before sending the second guided vehicle arrival instruction to the current station, it also includes: The scheduling service sub-device determines whether the first guide vehicle has a next sorting task at the current station; If the first guided vehicle still has a next sorting task at the current station, the next sorting task is used as the current sorting task, and the current sorting task is sent to the current station so that the current station displays the current sorting task of the first guided vehicle in the actual operation pop-up window; and the process returns to the step of receiving the actual operation completion information of the first guided vehicle sent by the current station; If the first guided vehicle does not have the next sorting task at the current site, an off-site task is sent to the management service sub-device, and the management service sub-device sends a locking application for the first guided vehicle to the current site, so that the current site opens an off-site exit for the first guided vehicle according to the locking application for the first guided vehicle, and continues to execute the steps of determining the target position of the first guided vehicle according to the task to be completed of the first guided vehicle and continuing to execute the step of sending an arrival instruction for the second guided vehicle to the current site.

4. The control method of the guided vehicle according to claim 3, characterized in that: The determining the target position of the first guided vehicle according to the task to be completed by the first guided vehicle includes: The management service sub-device determines a movement task of the first guide vehicle according to the departure task, and initiates a movement instruction to the first guide vehicle based on the movement task, so that the first guide vehicle starts to move toward the departure exit; and When the management service sub-device receives the off-station task, the scheduling service sub-device determines whether the to-be-completed tasks of the first guide vehicle are empty; if it is determined that the to-be-completed tasks of the first guide vehicle are empty, the target point of the first guide vehicle is determined to be the warehouse; if it is determined that the to-be-completed tasks of the first guide vehicle are not empty, the entry point of the next station is determined according to the to-be-completed tasks, and the entry point of the next station is used as the target point.

5. The control method of the guided vehicle according to claim 3, characterized in that: The guided vehicle control device further includes a path traffic sub-device; the sending of the target point to the first guided vehicle so as to move the first guided vehicle to the target point includes: The path traffic sub-device determines a planned path based on the current position of the first guide vehicle and the target position; The path traffic sub-device sends the planned path to the first guide vehicle, so that the first guide vehicle moves to the target point according to the planned path.

6. The control method of the guided vehicle according to claim 5, characterized in that: Before sending a movement instruction to the second guided vehicle based on the locking application of the second guided vehicle sent to the current site, so that the second guided vehicle starts to move toward the current site according to the obstacle avoidance device on the vehicle and the spacing of the movement code, the method further includes: After the management service sub-device determines the movement task of the first guided vehicle, the path traffic sub-device sends the locking request of the second guided vehicle to the current station, so that the current station opens the entrance for the second guided vehicle according to the locking request of the second guided vehicle; The step of sending a movement instruction to the second guided vehicle according to the locking application of the second guided vehicle sent to the current site, so that the second guided vehicle starts to move toward the current site according to the obstacle avoidance device on the vehicle and the spacing of the movement code, includes: Upon receiving the locking application success information of the second guide vehicle sent by the current site and initiating a movement instruction to the first guide vehicle, a movement instruction is initiated to the second guide vehicle, so that the second guide vehicle determines the interval distance between itself and the first guide vehicle according to the obstacle avoidance device, determines the remaining distance from the current site according to the spacing of the movement codes, and determines the moving speed according to the interval distance and the remaining distance.

7. The control method of the guided vehicle according to claim 6, characterized in that: The receiving and sending the pre-arrival information sent by the second guided vehicle to the current station, so that the current station determines the actual arrival information of the second guided vehicle according to the arrival detection device, includes: Receive the remaining distance determined by the second guide vehicle, and when the remaining distance is less than the preset distance, send the pre-arrival information to the current site, so that the current site starts the arrival detection device, and when the detection of the arrival detection device is passed, determine the actual arrival information of the second guide vehicle.

8. The method for controlling a guided vehicle according to claim 7, wherein: The method further includes: If the detection of the arrival detection device sent by the current station is a failure, sending an arrival information acquisition instruction to the second guide vehicle; Receive actual arrival information fed back by the second guided vehicle according to the arrival information acquisition instruction, and send the actual arrival information to the current site, so that the current site turns off the arrival detection device according to the actual arrival information.

9. A guided vehicle control device, characterized in that: include: An electronic device comprising one or more processors; A memory for storing one or more programs, wherein when the one or more programs are executed by the one or more processors, the one or more processors implement the control method of the guided vehicle according to any one of claims 1 to 8.

10. A readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the method for controlling a guided vehicle according to any one of claims 1 to 8 is implemented.

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