Control method, device, equipment and system of automatic transportation equipment and medium

Abstract

The invention provides a control method, device, equipment and system for automatic transportation equipment and a medium, and the method comprises the steps: updating observation record information when it is observed that a transportation assembly exists in a bifurcation route corresponding to a convergence route; wherein the observation record information is used for recording the transportation assemblies which are observed in the bifurcation routes and do not enter the convergence route, and when the transportation assemblies close to the convergence route exist in the multiple bifurcation routes, the transportation assemblies of the multiple bifurcation routes are controlled to sequentially enter the convergence route according to the observed sequence of the transportation assemblies indicated by the observation record information. According to the method, the transportation assemblies of the bifurcation routes corresponding to the convergence route can be orderly controlled to enter the convergence route, and collision of the transportation assemblies of different bifurcation routes is avoided.

Description

Technical Field

[0001] This application relates to the field of industrial automation technology, and more specifically, to a control method, apparatus, device, system, and medium for automated transport equipment. Background Technology

[0002] Automated transport equipment is used to transport objects automatically and plays an important role in the automation of industrial production.

[0003] By improving the mechanical structure of automated transport equipment to increase the number of transport routes, transport congestion caused by a single route can be avoided. However, the increase in the number of transport routes also increases the difficulty of operating and controlling the transport components of multiple routes. How to control the smooth convergence of transport components from different routes is a problem that needs to be solved by those skilled in the art. Summary of the Invention

[0004] This application provides a control method, apparatus, equipment, system, and medium for automated transport equipment. The method can orderly control the transport components of the branch routes corresponding to the merging route to enter the merging route, thereby avoiding collisions between transport components of different branch routes.

[0005] In a first aspect, a control method for an automated transport device is provided. The automated transport device includes multiple transport components and a transport line. The transport line provides multiple transport routes for the transport components. The multiple transport routes include branching routes and merging routes, wherein at least two branching routes are used to connect with the same merging route. The method includes: When a transport component is observed on the bifurcation route corresponding to the merging route, the observation record information is updated; the observation record information is used to record transport components observed on the bifurcation route that have not entered the merging route. When multiple bifurcated routes have transport components that are moving toward the merging route, the transport components of the multiple bifurcated routes are controlled to enter the merging route in sequence according to the order in which each transport component is observed, as indicated by the observation record information.

[0006] In a second aspect, a control device for an automated transport system is provided. The control device controls a transport component and a transport line, the transport line providing multiple transport routes for the transport component. These multiple transport routes include branching routes and merging routes, wherein at least two branching routes are used to connect with the same merging route. The control device includes: The observation unit is used to update the observation record information when a transport component is observed on the branching route corresponding to the merging route; the observation record information is used to record the transport components observed on the branching route that have not entered the merging route. The control unit is used to control the transport components of multiple branch routes to enter the merging route sequentially, according to the order in which each transport component is observed as indicated by the observation record information, when multiple branch routes have transport components that are approaching the merging route.

[0007] Thirdly, an automated transport device includes multiple transport components, a transport line, and a control device. The transport line is used to provide multiple transport routes for the transport components. The multiple transport routes include branching routes and merging routes, wherein at least two branching routes are used to connect with the same merging route. The control device includes: Memory, used to store executable program code; A processor is configured to call and run executable program code from memory, causing the automated transport device to perform the methods described in the first aspect or any possible implementation thereof.

[0008] Fourthly, an automated production system is provided, comprising multiple transport components, a transport line, a control device, and operating equipment. The transport line provides multiple transport routes for the transport components, including branching routes and merging routes, wherein at least two branching routes are used to connect with the same merging route. The operating equipment performs at least one type of operation among loading, unloading, and processing. The control device includes: Memory, used to store executable program code; A processor is configured to call and run executable program code from memory, causing the automated production system to perform the methods described in the first aspect or any possible implementation thereof.

[0009] Fifthly, a computer-readable storage medium is provided that stores computer program code, which, when executed on a computer, causes the computer to perform the methods described in the first aspect or any possible implementation thereof.

[0010] In this embodiment, when a transport component exists on a branching route corresponding to the merging route, the observation record information is updated. Then, when it is determined that multiple branching routes have transport components approaching the merging route simultaneously, the transport components are controlled to enter the merging route sequentially according to the observation record information of each transport component being observed. Thus, the transport components can be controlled to enter the merging route in an orderly manner according to the observation order of each transport component, avoiding collisions between transport components of different branching routes, and enabling the transport components of the branching routes to smoothly enter the merging route from the branching routes. Attached Figure Description

[0011] Figure 1This is a schematic diagram illustrating a single-route transportation method related to the technology described in this application; Figure 2 This is a schematic diagram illustrating an example of multi-route transportation based on the technology related to this application; Figure 3 This is a flowchart illustrating a control method for an automated transportation device provided in an embodiment of this application; Figure 4 This is a schematic diagram illustrating an example of a transportation route provided in an embodiment of this application; Figure 5 This is a schematic diagram illustrating an example of the operation of the transportation component provided in this application embodiment; Figure 6 This is a schematic diagram illustrating an example of the operation of the transportation component provided in this application embodiment; Figure 7 This is an example schematic diagram of the first observation point provided in the embodiments of this application; Figure 8 This is an example schematic diagram of the second observation point provided in the embodiments of this application; Figure 9 This is another example schematic diagram of the second observation point provided in the embodiments of this application; Figure 10 This is an example schematic diagram illustrating the determination of first position measurement information provided in an embodiment of this application; Figure 11 This is a schematic diagram of a scenario for constructing an equivalent route for an equivalent value range, provided in an embodiment of this application. Figure 12 This is a schematic diagram of a scenario for constructing an equivalent route for an equivalent value range, provided in an embodiment of this application. Figure 13 This is another scenario diagram illustrating the equivalent route for constructing an equivalent value range provided in the embodiments of this application; Figure 14 This is a schematic diagram of a scenario for constructing an equivalent coordinate system provided in an embodiment of this application; Figure 15 This is a schematic diagram of the control device provided in the embodiments of this application; Figure 16 This is a schematic diagram of the structure of an automated transportation device provided in an embodiment of this application; Figure 17 This is a schematic diagram of the structure of an automated production system provided in an embodiment of this application. Detailed Implementation

[0012] To make the features and advantages of this application more apparent and understandable, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0013] In the following description, when referring to the accompanying drawings, the same numbers in different drawings denote the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0014] Hereinafter, the terms "first" and "second" are used for descriptive purposes only and should not be construed as implying or suggesting relative importance or implicitly indicating the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. Detailed descriptions are provided below. It should be noted that the order of description of the following embodiments is not intended to limit the preferred order of embodiments.

[0015] In related technologies, automated transport equipment can be applied to automated production scenarios. It includes transport components and transport lines. The transport components transport objects and operate along the transport route provided by the transport line, completing various production processes on the transported objects and achieving industrial automation. However, in a single transport route scenario, multiple transport components can only move along a single transport route in a uniform direction and fixed order, resulting in poor flexibility in their movement. For example, please refer to [link to relevant documentation]. Figure 1 , Figure 1 This is a schematic diagram of a single-route transportation scenario in the prior art. Transportation components YA, YB, YC, YD, and YE operate along the transportation route LA in a fixed order and along the direction FA. All transportation components (YA, YB, YC, YD, and YE) can only flow sequentially along a single route, making it difficult to adjust their operating sequence according to actual needs, resulting in poor flexibility in their movement. By improving the mechanical mechanism of the automated transportation equipment, the number of transportation routes for the transportation components is increased, thereby improving the flexibility of the transportation component operation control. For an example, please refer to [link to example]. Figure 2 , Figure 2 This is a schematic diagram of a multi-route transportation scenario provided in an embodiment of this application, and... Figure 1 The difference is that, in Figure 2 China offers multiple transportation routes (such as...) Figure 2 The transport routes LB1, LB2, and LB3 shown can be controlled to allow each transport component (such as transport component YA, transport component YB, transport component YC, transport component YD, or transport component YE) to move along transport routes LB1, LB2, and LB3, depending on the actual situation. There are no completely unified movement directions or completely fixed arrangement requirements among multiple moving modules, thereby improving the movement flexibility of the transport components.

[0016] However, the increased number of transport routes also increases the difficulty of controlling the operation of transport components. For example, transport components on different routes can move and enter the same transport route, thus merging on the same route. If the order in which transport components from different routes enter the same transport route is not properly controlled, multiple transport components are highly likely to collide during merging (e.g., Figure 2 A collision occurs in the area connecting transport routes LB1, LB2, and LB3. Figure 2 When transport component YB, operating on transport route LB1, and transport component YC, operating on transport route LB2, are traveling towards transport route LB3, a collision occurs in the area connecting transport routes LB1, LB2, and LB3. Once a collision occurs, the mechanical impact will not only damage the physical structure of the transport components, increasing the cost of repair and replacement, but if the transport components are transporting an object, it may also damage the object being transported, thereby increasing transportation costs.

[0017] To address the aforementioned issues, the solution provided in this application primarily includes: updating the observation record information when a transport component is observed on a branching route corresponding to the merging route; wherein, the observation record information is used to record transport components observed on the branching route but not yet entering the merging route; when multiple branching routes have transport components approaching the merging route, the transport components of the multiple branching routes are controlled to sequentially enter the merging route according to the order in which they are observed, as indicated by the observation record information. Since the observation record information records the order in which transport components on the branching routes but not yet entering the merging route are observed, their orderly entry into the merging route can be controlled according to the order in which they are observed, avoiding collisions between transport components of different branching routes and enabling the transport components of the branching routes to smoothly enter the merging route from the branching routes.

[0018] The control method for the automated transportation equipment provided in the embodiments of this application will now be described in detail with reference to the accompanying drawings.

[0019] Please see Figure 3 , Figure 3This is a schematic flowchart of a control method for an automated transport device provided in an embodiment of this application. The automated transport device includes multiple transport components and a transport line. The transport line provides multiple transport routes for the transport components. These multiple transport routes include branching routes and merging routes, with at least two branching routes connecting to the same merging route.

[0020] Specifically, the transportation routes involved in this application embodiment refer to routes formed by track modules for the movement of transportation components. Merging routes can be used to receive transportation components from multiple different transportation routes and to guide transportation components into different transportation routes; branching routes can be used to guide transportation components to merge onto the same transportation route. There are multiple branching routes and at least one merging route.

[0021] It should be noted that "branching route" and "merging route" are relative concepts determined based on the connection relationship between multiple transportation routes and the movement direction of the transportation components. Depending on the movement direction of different transportation components, the same transportation route may serve as a "branching route" or a "merging route" at different times. This application embodiment does not limit the specific situation of the same transportation route serving as a "branching route" or a "merging route" at different times.

[0022] like Figure 3 As shown, the method in this application embodiment may include the following steps S101-S102.

[0023] S101, when a transport component is observed on the branching route corresponding to the merging route, the observation record information is updated; wherein, the observation record information is used to record the transport components observed on the branching route that have not entered the merging route; The branching route corresponding to the merging route refers to the branching route that converges on the merging route along the direction of movement of the transport components. For example, please refer to... Figure 4 , Figure 4 This is a schematic diagram illustrating an example of a transportation route provided in an embodiment of this application. Figure 4 In the middle, transport components ( Figure 4 (Not shown) You can enter branching route L0 or branching route L1 from merging route L2-1, and then enter merging route L2-0 from branching route L0 or branching route L1. Then the branching routes corresponding to merging route L2-1 are branching route L0 and branching route L1.

[0024] It should also be understood that the accompanying drawings are for illustrative purposes only. In actual multi-route transportation scenarios, the shape of the branching route is not necessarily limited to the shape shown in the accompanying drawings, and the shape of the merging route is not necessarily limited to the shape shown in the accompanying drawings. The embodiments of this application do not impose specific limitations on the shape of the branching route and the shape of the merging route.

[0025] In some possible implementations, the real-time positions of each transport component can be observed through observation points to determine whether any transport component is preparing to enter the merging route from the branching routes corresponding to the merging route. The observation point can be a first observation point virtually set by a software program, or a second observation point implemented through a sensing module.

[0026] The observation record information is dynamic information established for transport components observed on the branching routes corresponding to the merging route but not yet entering the merging route. This information is dynamically updated, continuously recording relevant information about transport components observed on the branching routes corresponding to the merging route but not yet entering the merging route. The observation record information may include at least the component identification information (such as ID number) of the transport components, indicating which transport components are observed on the branching routes corresponding to the merging route. Furthermore, the component identification information in the observation record information is sorted according to the time the transport components were observed, allowing the observation record information to indicate the order in which the transport components were observed.

[0027] Furthermore, multi-dimensional information about the transport components can be obtained through the component identification information in the observation records, thereby enabling real-time tracking of the transport components' operational status based on the observation records. For example, the component identification information in the observation records can determine the transport component's position measurement information on the transport line, the transport component's motion status information (such as real-time speed and acceleration), and the transport component's operational history information (such as the completed processes and tasks and completion times of the transport component).

[0028] S102, when multiple branch routes have transport components that are moving toward the merging route, the transport components of the multiple branch routes are controlled to enter the merging route in sequence according to the order in which each transport component is observed, as indicated by the observation record information.

[0029] Specifically, when it is determined that among the multiple branching routes corresponding to the merging route, there are transport components approaching the merging route, the transport components of the multiple branching routes are controlled to enter the merging route in that order, according to the order in which they are observed as indicated by the observation record information. It can be understood that the transport components of the multiple branching routes may include not only two transport components on different branching routes, but also two transport components on the same branching route.

[0030] In this embodiment, when a transport component exists on a branching route corresponding to the merging route, the observation record information is updated. Then, when it is determined that multiple branching routes have transport components approaching the merging route simultaneously, the transport components are controlled to enter the merging route sequentially according to the observation record information of each transport component being observed. Thus, the transport components can be controlled to enter the merging route in an orderly manner according to the observation order of each transport component, avoiding collisions between transport components of different branching routes, and enabling the transport components of the branching routes to smoothly enter the merging route from the branching routes.

[0031] In this embodiment, the step "update the observation record information when a transport component is observed at the branching route corresponding to the merging route" in the above embodiment is further refined and may include: Based on the location measurement information of the transport components, the observation range of the bifurcation route corresponding to the merging route is determined, and the observation record information is updated; wherein, the observation range of the bifurcation route at least covers the route area of ​​the bifurcation route that is close to the merging route.

[0032] Specifically, the location measurement information of the transport component is obtained, and based on the location measurement information, it is determined whether the transport component has entered the observation range of the branching route corresponding to the merging route. If so, the observation record information is updated; otherwise, the observation range of the branching route is continued to observe whether the transport component exists.

[0033] Specifically, considering that the observation capability of the sensor module is limited when observing through the sensor module, more sensor modules are needed to cover the entire bifurcation route, thereby increasing the hardware cost. Also, considering that whether the observation is carried out by the sensor module or the software program, the transportation components that are far from the merging route in the bifurcation route will take a long time to enter the merging route even if they can be observed, resulting in a large amount of data and excessive consumption of computing resources.

[0034] In this case, a corresponding observation range can be configured for each branching route. The observation range of the branching route should at least cover the route area near the merging route. That is, the observation range of the branching route should cover the entire branching route or a part of the branching route near the merging route. The lengths of the observation ranges corresponding to multiple branching routes can be the same or different.

[0035] Therefore, when determining the observation range of a transport component moving to a branching route, it is possible to record the transport components on the branching route that are close to the merging route in a timely manner. At the same time, by combining the observation method and data volume, the observation range of each branching route can be flexibly configured to specifically cover the branching route. This ensures that the observation and recording information can be recorded in a timely manner for transport components on the branching route that are close to the merging route, while reasonably reducing the amount of data, avoiding excessive computer resource consumption, and reasonably reducing hardware costs when observing through the sensor module.

[0036] Optionally, based on the observed motion state of the transport components, transport components that are not ready to enter the rendezvous route can be slowed down, thereby ensuring that the observed transport components enter the rendezvous route in the order indicated by the observation record information.

[0037] For example, please refer to Figure 5 , Figure 5 This is a schematic diagram illustrating an example of the operation of a transportation component provided in an embodiment of this application. Figure 5 In this process, transport components can enter the merging route L2-1 from either branch route L0 or branch route L1. Branch route L0 is configured with an observation range W0, and branch route L1 is configured with an observation range W1. The length of observation range W0 is greater than the length of observation range W1. Based on the position measurement information of transport components (such as transport components YG, YF, and YH), firstly, it is determined that transport component YF enters the observation range W1 of branch route L1. Then, the observation record information is updated, and the component identification information of transport component YF is arranged in the position corresponding to sequence 1. Next, it is determined that transport component YG enters the observation range W0 of branch route L0. Then, the observation record information is updated, and the component identification information of transport component YG is arranged in the position corresponding to sequence 2. Although transport component YH is located on branch route L1, since it has not entered the observation range W1, the component identification information of transport component YH is not updated in the observation record information.

[0038] For example, please refer to Figure 6 , Figure 6 This is a schematic diagram illustrating an example of the operation of a transportation component provided in an embodiment of this application. Figure 6 In this process, transport components can also enter the merging route L2-1 from either branch route L0 or branch route L1. Branch route L0 is configured with an observation range W0, and branch route L1 is configured with an observation range W1. The length of observation range W0 is less than the length of observation range W1. Based on the position measurement information of transport components (such as transport components YI and YJ), it is first determined that transport component YJ enters the observation range W1 of branch route L1 at a speed of V1. Then, the observation record information is updated, and the component identification information of transport component YJ is arranged in the position corresponding to sequence 1. Next, it is determined that transport component YI enters the observation range W0 of branch route L0 at a speed of V0. Then, the observation record information is updated, and the component identification information of transport component YI is arranged in the position corresponding to sequence 2, where V0 is greater than V1. Since the speed V1 of transport component YJ is less than the speed V0 of transport component YI, there is a risk of collision between transport components YI and YJ. Therefore, the speed of transport component YI is controlled to be reduced to V2 (V2 is less than V1) to avoid a collision between transport components YI and YJ.

[0039] In this embodiment of the application, the observation range of the transportation component entering the bifurcation route is determined based on the position measurement information of the transportation component and the observation record information is updated. This can accurately record the motion data of the transportation component before entering the merging route, and can also reduce the deployment requirements of position sensors and reduce deployment and maintenance costs.

[0040] Furthermore, based on the location measurement information of the transport components, the observation range of the bifurcation route corresponding to the merging route is determined, including at least one of the following: When the first position measurement information of the transport component is less than or equal to a preset position threshold, it is determined that a transport component has entered the observation range; wherein, the first position measurement information is used to represent the relative length between the transport component and the first observation point, and the first observation point is set along the merging route; When the second position measurement information of the transport component is less than or equal to a preset position threshold, it is determined that a transport component has entered the observation range; wherein, the second position measurement information is used to represent the relative distance between the transport component and the second observation point, which is set around the merging route; When the third position measurement information of the transport component is obtained, it is determined that the transport component has entered the observation range; the third position measurement information is triggered to be generated when the transport component runs to the third observation point, and the third observation point is set to correspond to the branching route.

[0041] In some possible implementations, the first observation point is set along the convergence route, and it can be a virtual point. For example, please refer to... Figure 7 , Figure 7 This is a schematic diagram illustrating an example of a first observation point provided in an embodiment of this application. For example... Figure 7 As shown, the first observation point Q is set at the junction of the merging route L2-1, the branching route L1, and the branching route L0, and is a virtual point set on the merging route. By obtaining the relative length between the transport component (such as transport components YI and YJ) and this virtual first observation point, the first position measurement information of the transport component is determined. When the first position measurement information of the transport component on any branching route is less than or equal to a preset position threshold, it is determined that a transport component on that branching route has entered the observation range. For example, when transport component YJ moves on branching route L1, if the relative length (i.e., the first position measurement information) between it and the first observation point Q is less than the position threshold of branching route L1, it is determined that transport component YJ has entered the observation range of branching route L1; otherwise, it is determined that transport component YJ has entered the observation range but not the observation range. Similarly, the same method is used to determine whether transport component YI running on branching route L0 has entered the observation range, which will not be elaborated further here. In this case, the bifurcation route L0 and the bifurcation route L1 can be set with different position thresholds, or the bifurcation route L0 and the bifurcation route L1 can be set with the same position threshold.

[0042] In some possible implementations, the second observation point is positioned around the convergence route and can be a physical point. For example, please refer to... Figure 8 , Figure 8 This is a schematic diagram illustrating an example of a second observation point provided in an embodiment of this application. For example... Figure 8 As shown, the second observation point O is set near the junction of the merging route and the branching route. A position sensor installed at the second observation point acquires the relative length between the transport component (such as transport components YI and YJ) and the second observation point, determining the second position measurement information of the transport component. When the second position measurement information of a transport component on any branching route is less than or equal to a preset position threshold, it is determined that a transport component on that branching route has entered the observation range. For example, when transport component YJ moves on branching route L1, if its relative length (i.e., the second position measurement information) with the second observation point O is less than the position threshold of branching route L1, it is determined that transport component YJ has entered the observation range of branching route L1; otherwise, it is determined that transport component YJ has not entered the observation range. Similarly, the same method is used to determine whether transport component YI running on branching route L0 has entered the observation range, which will not be elaborated further here. Branching routes L0 and L1 can be set with different position thresholds, or they can be set with the same position threshold.

[0043] In some possible implementations, the third observation point can be set at or around the branching route. It can be a virtual point or a physical point. Thus, when the transport component moves to the third observation point, it triggers the generation of a corresponding electrical signal to represent the third position measurement information, thereby determining that the transport component has entered the observation range.

[0044] For example, please refer to Figure 9 , Figure 9 This is another example diagram illustrating a third observation point provided in an embodiment of this application. For example... Figure 9 As shown, position sensor E1 is installed at a position threshold that is a safe threshold away from the junction point of the branching route L0 and the merging route, and position sensor E2 is installed at a position threshold that is a safe threshold away from the junction point of the branching route L1 and the merging route. If position sensor E1 obtains the third position measurement information of the transport component YI running on the branching route L0, it is determined that the transport component YI has entered the observation range; otherwise, it is determined that the transport component YI has not entered the observation range. Similarly, the same method is used to determine whether the transport component YJ running on the branching route L1 has entered the observation range, which will not be elaborated further here. Different position thresholds can be set for branching routes L0 and L1, or the same position threshold can be set for branching routes L0 and L1, thus achieving different installation positions for position sensor E1 on branching route L0 and position sensor E2 on branching route L1.

[0045] In this embodiment, by setting the first observation point along the merging route, the relative length between the transport component and the first observation point is aligned with the actual path of the branching route. This avoids misjudgment of straight-line distance due to route curvature, improving the accuracy of the judgment results. Furthermore, if the transport line itself is equipped with a sensor for position identification, the first position measurement information can be directly obtained using this sensor, reducing additional hardware deployment costs. By setting the second observation point around the merging route, the relative distance between the transport component and the second observation point is a straight-line distance in space. The sensing module corresponding to the second observation point can be deployed separately from the track component, making the deployment more flexible. The second position measurement information generated when the transport component reaches the third observation point determines whether the transport component has entered the observation range, resulting in a faster response speed and the ability to quickly determine whether the transport components of each branching route have entered the observation range.

[0046] Furthermore, before determining the observation range of a possible bifurcation route corresponding to a merging route based on the location measurement information of the transport components, the process also includes: Based on the safe merging threshold, the observation boundary position of each observation range on the corresponding bifurcation route is determined so that the length of the route area covered by multiple bifurcation routes is not less than the safe merging threshold; wherein, the safe merging threshold is determined according to the size of the transport component.

[0047] Specifically, as shown above, there can be one or more observation points, and these points can be located on either branching or merging routes. When an observation point is located on a merging route, the observation range covers a portion of both the branching and merging routes. When a transport component enters the merging route from one branching route, if the observation range of the other branching route is shorter, the transport component on the other branching route may be observed later, potentially leading to a collision between the transport components on the two branching routes at the route intersection. Therefore, a minimum length limit needs to be imposed on the observation range along the branching route. The safe merging threshold can be determined in advance based on the size of the transport components. Then, using the safe merging threshold as a standard, it can be determined that the length of the corresponding bifurcation route covered by each observation range is not less than the safe merging threshold. This determines the observation boundary position in the observation range that is located on the bifurcation route and is relatively far away from the docking point. In other words, starting from the docking point of the merging route and the bifurcation route, the observation boundary position can be determined by extending at least the length corresponding to the safe merging threshold along the direction of each bifurcation route corresponding to the merging route. This ensures that the length of the route area covered by the observation range in all bifurcation routes is not less than the safe merging threshold.

[0048] When the length of a branch path among multiple branch paths is less than the safe merging threshold, the branch path is fully covered by the observation range; otherwise, the branch path may be partially or fully covered by the observation range.

[0049] For example, the length of branching route L0 is C1, the length of branching route L1 is C2, and the size of the transport component is determined by its maximum outer diameter after the object or load is installed, let's say k. The safe merging threshold can be N times the size of the transport component, where N is a natural number greater than 1. Therefore, the safe merging threshold can be determined as 2k. Furthermore, starting from the junction point of merging route L2-1 with branching routes L0 and L1, a distance of 2k is extended along each branching route direction. The endpoint of this extension is then determined as the observation boundary position relatively far from the junction point.

[0050] In this embodiment of the application, by determining the observation range at the observation boundary position of the bifurcation route based on the safe merging threshold, it is possible to unify the observation range even when the lengths of the bifurcation routes are different, and avoid the difference in the length of the observation range, ensuring that all transportation components of the bifurcation routes have the same preparation distance before entering the merging route.

[0051] In this embodiment of the application, before the step "determining the observation range of a bifurcation route corresponding to a merging route based on the location measurement information of the transport component" in the above embodiment, any one of the following is included: The real-time position of the transport component in the branching route corresponding to the merging route and the position of the first observation point of the first observation point are equivalently located using the same reference object. Based on the equivalent position information of the transport component obtained from the position equivalence and the equivalent position information of the first observation point, the first position measurement information of the transport component is determined. If the bifurcation route corresponding to the merging route does not share the same boundary value with the merging route, the first position measurement information is determined based on the real-time position of the transport component in the bifurcation route corresponding to the merging route, the length of the bifurcation route corresponding to the merging route, and the length from the first observation point to the end of the bifurcation route. If the bifurcation route corresponding to the merging route shares the same boundary value as the merging route, the first position measurement information is determined based on the real-time position of the transport component in the bifurcation route corresponding to the merging route and the position of the first observation point.

[0052] In practical applications, the real-time positions of transport components on different branching routes differ, making position comparison and relative position determination impossible. Therefore, it is necessary to perform position equivalence on the real-time positions of transport components on branching routes to enable position comparison and relative position determination under the same reference. When performing position equivalence on the real-time positions of transport components on branching routes, at least the position coordinate values ​​in the mover's real-time position information should be equivalent. Optionally, a corresponding position coordinate identifier can be assigned to the equivalent position coordinate values ​​to indicate that the corresponding position coordinate values ​​have been equivalent.

[0053] Based on this, the equivalent location information obtained through location equivalence includes at least the equivalent location coordinate values ​​(i.e., equivalent coordinate values). Optionally, the equivalent location information may also include a location coordinate identifier indicating that equivalence has been performed (i.e., equivalent coordinate identifier). The location coordinate identifier (i.e., equivalent coordinate identifier) ​​in the equivalent location information may correspond to the branch route where the transport component is located.

[0054] In some possible implementations, the reference object is selected from the branch line where the transport component preparing to enter the merging route is located, other branch lines parallel to the branch line where the transport component preparing to enter the merging route is located, or the merging route corresponding to the branch line where the transport component preparing to enter the merging route is located. Thus, the obtained equivalent position information can transform the transport components existing on multiple branch lines from different position references to the same position reference, enabling collision avoidance monitoring among the transport components existing on multiple branch lines.

[0055] In some possible implementations, if the bifurcation route corresponding to the merging route does not share the same boundary value, and the coordinate axis construction method of the bifurcation route is different from that of the merging route, then the first position measurement information is determined based on the real-time position of the transport component in the bifurcation route corresponding to the merging route, the length of the bifurcation route, and the length between the ends of the merging route and the bifurcation route.

[0056] For details, please refer to Figure 10 , Figure 10 This is an example diagram illustrating the determination of first position measurement information provided in an embodiment of this application. Figure 10In the diagram, the merging route L2-1 uses the first observation point P as the origin and constructs a coordinate system along the branching route L0 in the opposite direction to the movement direction of the transport component. Its boundary values ​​are the same as those of the branching route L0, resulting in coordinates B0, B1, B2, ..., Bn. The branching route L1 uses the intersection of the merging route L2-0 and the branching route as the origin and constructs a coordinate system along the branching route L1 according to the movement direction of the transport component. Its boundary values ​​are different from those of the merging route L2-1, resulting in coordinates A0, A1, A2, ..., An. That is, the merging route L2-1 and the branching route L1 do not share the same boundary values. Therefore, after obtaining the real-time position of the transport component, the specific steps for obtaining the first position measurement information of the transport component running on the branching route L1 include: obtaining the length of the branching route L1, the length from the first observation point P to the end of the branching route, subtracting the real-time position coordinates of the transport component from the length of the branching route L1, and then adding the length from the first observation point P to the end of the branching route.

[0057] In some possible implementations, if the branching route corresponding to the merging route and the merging route share the same boundary value, the first position measurement information can be determined directly based on the real-time position of the transport component in the branching route corresponding to the merging route and the position of the first observation point.

[0058] For example, please continue to refer to Figure 10 Based on the above description, it is determined that the bifurcation route L0 and the merging route L2-1 have the same boundary values. After obtaining the real-time position of the transport component, when further obtaining the first position measurement information of the transport component running on the bifurcation route L0, the difference between the real-time position coordinate value of the transport component and the position coordinate value of the first observation point is directly calculated, and this difference is determined as the first position measurement information of the transport component.

[0059] In this embodiment, the real-time position of the transport component and the position of the first observation point are equivalently represented based on the same reference object. This converts two coordinate positions under different coordinate systems into equivalent position information under the same reference. Therefore, the first position measurement information of the transport component can be determined based on the equivalent position information of the transport component and the first observation point, providing a basis for subsequent determination of whether the transport component has entered the observation range, thus avoiding misjudgments due to incomparable data. Furthermore, a corresponding method is provided to determine the first position measurement information of the transport component, specifically addressing whether the branching route where the transport component is located shares the same boundary value with the merging route. This ensures accurate acquisition of the first position measurement information, providing a basis for determining whether the transport component has entered the observation range.

[0060] In this embodiment, the step of "performing positional equivalence between the real-time position of the transport component in the branching route corresponding to the merging route and the position of the first observation point of the first observation point according to the same reference object" in the above embodiment includes any one of the following: When a bifurcation route corresponding to the merging route is selected as the reference object, the real-time position of the transport component in the bifurcation route that is not selected as the reference object and the position of the first observation point of the first observation point are equivalent based on the position value range of the bifurcation route selected as the reference object. When the merging route is selected as the reference object, an equivalent coordinate system is constructed along at least one corresponding branching route based on the first observation point corresponding to the merging route, and the real-time position of the transportation component in at least one branching route is equivalent to the position of the first observation point.

[0061] In some possible implementations, when a branching route corresponding to the merging route is selected as the reference object, an equivalent value range for positional equivalence can be determined based on the positional value range of the selected branching route. This equivalent value range is the entirety or a subset of the positional value ranges of the branching route. For transport components located on branching routes not selected as reference objects, after performing positional equivalence between the real-time position of the transport component and the position of the first observation point of the first observation point, the position coordinates in the equivalent position information fall within the equivalent value range. This ensures that the transport components and the first observation point on the branching routes not selected as reference objects are under the same positional reference as the transport components and the first observation point on the branching routes selected as reference objects.

[0062] When the equivalent value range is a subset of the location value range, the road segment interval corresponding to the bifurcation route in the location value range can be selected.

[0063] Optionally, after determining the equivalent value range based on the position value range of the bifurcation route used as the reference object, an equivalent route with a length equal to the equivalent value range is constructed. Then, based on the equivalent route, the equivalent position information of the transport components of the bifurcation route not selected as the reference object and the first observation point within the equivalent route is obtained. Specifically, a docking point is provided at the junction of multiple bifurcation routes and the same merging route; based on the position value range of the bifurcation route selected as the reference object, the real-time position of the transport components located in the bifurcation route not selected as the reference object is equivalentized, including: Based on a preset mapping relationship, the transport components on the bifurcation route that are not selected as the reference object are mapped to the equivalent route corresponding to the bifurcation route, so as to determine the equivalent position information by the position of the transport components in the equivalent route; wherein, the mapping relationship is obtained by aligning the bifurcation route that is not selected as the reference object and the equivalent route with the docking point, and the equivalent value range of the equivalent route is the whole set or a subset of the position value range of the bifurcation route that is selected as the reference object.

[0064] Please see Figure 11 , Figure 11 This is a schematic diagram illustrating a scenario for constructing an equivalent route for an equivalent value range, as provided in an embodiment of this application. Figure 11 In this diagram, the bifurcation ends of the branching routes (branching routes L0 and L1) extending from the merging route L2-0 along the movement direction of the transport component are taken as the starting points of branching routes L0 and L1, and the merging position of branching routes L1 and L0 is taken as the ending point of the branching end of the merging route L2-1 closest to the merging module. Thus, branching route L0 is defined as [X01, X02], and the position of branching route L1 is defined as [X11, X12]. Here, X01 represents the starting position of branching route L0, X02 represents the ending position of branching route L0, X11 represents the starting position of branching route L1, and X12 represents the ending position of branching route L1. When the lengths of branch paths L0 and L1 are not equal, one boundary value of [X01, X02] and [X11, X12] can be the same, but the other boundary value can be different. For example, X01 is equal to X11, and X02 is not equal to X12; or, the boundary values ​​at both ends of [X01, X02] and [X11, X12] are different. That is, in this embodiment of the application, [X01, X02] and [X11, X12] have at most one boundary value that is the same.

[0065] Furthermore, after determining the range of position values ​​for the bifurcation route selected as the reference object, the equivalent range of position values ​​for position equivalence is determined based on this range of position values. Taking the connection point set at the junction of bifurcation route L1 and bifurcation route L0 with merging route L2-1 as the starting point, the equivalent route of the bifurcation route not selected as the reference object is constructed. Figure 11Using bifurcation path L1 as the reference object, an equivalent path L1' of bifurcation path L0 is constructed. The equivalent value range [X1A, X12] of the equivalent path L1' is a subset of the position value range [X11, X12] of the reference path L1, meaning the boundary value X1A of the equivalent value range is greater than the boundary value X11 of the position value range of the bifurcation path L1. In another case, when the equivalent value range [X1A, X12] of the equivalent path L1' is the complete set of the position value range [X11, X12] of the bifurcation path L1, meaning the boundary value X1A of the equivalent value range is equal to the boundary value X11 of the position value range of the bifurcation path L1, the constructed equivalent path L1' is as follows: Figure 12 As shown, Figure 12 This is a schematic diagram of a scenario for constructing an equivalent route with an equivalent value range, provided in an embodiment of this application. It can be understood that when constructing the equivalent route L1', since it is constructed along the direction of the merging module, starting from the docking point set at the junction of the branching route and the merging route, the other boundary value of the equivalent value range of the equivalent route constructed in this way is equal to the boundary value of the position value range of the branching route, which is the reference object, that is, they are both X12.

[0066] Please see Figure 13 , Figure 13 This is another schematic diagram illustrating an equivalent route for constructing an equivalent value range, provided in the embodiments of this application. Figure 13 In the process, the equivalent route is constructed using the bifurcation route L0 as the baseline object, from... Figure 13 It can be seen that the equivalent value range [X0A, X02] of the corresponding equivalent route L0' constructed with the bifurcation route L0 as the reference object is a subset of the position value range [X01, X02] of the bifurcation route L0. Similarly, with the bifurcation route L0 as the reference object, an equivalent route L0' with the equivalent value range [X0A, X02] is constructed as the complete set of the position value range [X01, X02] of the bifurcation route L0, which is similar to the above construction process and will not be repeated here.

[0067] Based on the above, taking the bifurcation route corresponding to the merging route as the reference object, after constructing the equivalent route of the bifurcation route that is not used as the reference object, the transportation components of the bifurcation route that is not selected as the reference object are mapped to the equivalent route based on the preset mapping relationship, and the equivalent position information of the transportation component is determined by the position of the transportation component in the equivalent route.

[0068] In some possible implementations, the mapping relationship can be determined by the offset between the branch path that is not selected as the reference object and the branch path that is selected as the reference object. This offset is used to eliminate the length difference between the branch path that is not selected as the reference object and the branch path that is selected as the reference object.

[0069] When the length of the bifurcation route selected as the reference object is greater than or equal to the length of the bifurcation route not selected as the reference object, all transport components in the bifurcation route not selected as the reference object can be mapped to the bifurcation route selected as the reference object to obtain the equivalent position information of the transport components.

[0070] When the length of the bifurcation route selected as the reference object is less than the length of the bifurcation route not selected as the reference object, only the transportation components of the bifurcation route not selected as the reference object are mapped to the length of the bifurcation route selected as the reference object.

[0071] Once the offset is determined, the transport components of the branch routes that were not selected as reference objects can be mapped to the equivalent routes corresponding to the branch routes based on the offset.

[0072] For example, see the above. Figure 11 If the position range of the bifurcation route L1, which is used as the reference object, is [0, 50], and the position range of the bifurcation route L0, which is not selected as the reference object, is [0, 70], then the real-time position of the transport component on the bifurcation route L0 is 60. Based on the position range of the bifurcation route L1, the equivalent value range of the equivalent route L1' is determined to be [30, 50]. Therefore, when constructing the equivalent route with the bifurcation route L1 as the reference object, the offset between the bifurcation routes L0 and L1 is calculated to be 20 (70-50). Mapping the transport component from the bifurcation route L0 to the equivalent route L1' and performing position equivalence yields the equivalent position information of the transport component in the equivalent route as 40.

[0073] In some possible implementations, the mapping relationship can be a mapping table showing the correspondence between the positions in the branching routes that are not selected as reference objects and the positions in the branching routes that are selected as reference objects. Based on this mapping table, the transport components in the branching routes that are not selected as reference objects can be mapped to the equivalent routes, and positional equivalence can be performed to obtain the equivalent position information of the transport components in the equivalent routes.

[0074] In this embodiment of the application, based on a preset mapping relationship, the transportation components on the branching route that are not selected as the reference object are mapped to the equivalent route corresponding to the branching route, thereby obtaining the equivalent position information of the transportation components on the branching route that are not selected as the reference object. The equivalent position information of the transportation components can be determined through the mapping relationship, which improves the convenience of obtaining the equivalent position information.

[0075] In some possible implementations, when the merging route is used as the reference object, an equivalent coordinate system is constructed along at least one corresponding branching route based on the first observation point corresponding to the merging route, and the real-time position of the transportation component in at least one branching route and the position of the first observation point are equivalently positioned.

[0076] For example, please continue to see Figure 14 , Figure 14 This is a schematic diagram of a scenario for constructing an equivalent coordinate system provided in an embodiment of this application. Figure 14 In the process, if any branching route L0 or L1 is continuous with the first observation point M in the merging route L2-1 and their numerical changes are the same, then an equivalent coordinate system does not need to be constructed for this branching route; the real-time position of the transport component in the branching route is the equivalent position information. If it is determined that an equivalent coordinate system needs to be constructed, the first observation point M can be used as the origin, and the equivalent coordinate system for the branching route can be constructed in the opposite direction to the movement direction of the transport component, using the same scale. Figure 14 The equivalent coordinate system includes the equivalent coordinate system L0'' of the bifurcation route L0 constructed with the first observation point M as the origin, and the equivalent coordinate system L1'' of the bifurcation route L1 constructed with the first observation point M as the origin. Then, based on the real-time position of the transport component YI, the equivalent position information of the transport component YI in the equivalent coordinate system L0'' is determined. Similarly, based on the real-time position of the transport component YJ, the equivalent position information of the transport component YJ in the equivalent coordinate system L1'' and the equivalent position information of the first observation point are determined. In the equivalent coordinate system constructed with the first observation point M as the origin, the equivalent position information of the first observation point M can be the maximum value of the coordinate system (which can be 0), and the equivalent position information of the transport component is negative.

[0077] Specifically, based on the first observation point corresponding to the convergence route, an equivalent coordinate system is constructed along at least one corresponding bifurcation route, including: Determine the compensation length between the first observation point and the end of the bifurcation route; Based on the compensation length, an equivalent coordinate system is constructed along at least one bifurcation route corresponding to the merging route.

[0078] It should be noted that when constructing the equivalent coordinate system with the first observation point in the bifurcation route as the origin, if there is a distance between the first observation point and the end of the bifurcation route, it is necessary to determine the compensation length between the first observation point and the end of the bifurcation route. This compensation length represents the distance between the junction of the bifurcation route and the merging route and the first observation point in the merging route. Then, based on this compensation distance, an equivalent coordinate system is constructed along the bifurcation route corresponding to the merging route.

[0079] For example, please refer to the above. Figure 13 ,exist Figure 13The distance between the first observation point M and the intersection of the bifurcation route and the merging route L2-1 is the compensation distance.

[0080] In this embodiment, by obtaining the compensation length between the first observation point and the end of the bifurcation route, the real-time position of the transportation components of the remaining bifurcation routes is accurately converted into equivalent position information in the equivalent coordinate system. Even when the first observation point is not set at the end of the bifurcation of the merging module, the equivalent coordinate system of the bifurcation route can still be constructed through the compensation length. This breaks the limitation that the construction of the equivalent coordinate system depends on the first observation point coinciding with the end of the bifurcation, improves the applicability of the scenario for constructing the equivalent coordinate system, and can accurately determine the equivalent position information of the transportation components. This further improves the flexibility of the automated production system in the complex layout of automated transportation equipment (such as the first observation point of the merging route needing to be set at a non-bifurcation end position as needed).

[0081] Based on the above, by setting the branching route as the reference object and / or the merging route as the reference object for positional equivalence, the equivalent positional information of the transportation components in each branching route can be obtained. This allows for adaptation to different scenario requirements, selection of appropriate reference objects, and obtaining the equivalent positional information of the transportation components.

[0082] In this embodiment of the application, before the step "based on the positional value range of the bifurcation route selected as the reference object, perform positional equivalence on the real-time position of the transportation component in the bifurcation route not selected as the reference object and the position of the first observation point" in the above embodiment, any one of the following is included: In the bifurcation routes that were not selected as reference objects, it was determined that there were transport components close to the merging route; In the bifurcation route that is not selected as the reference object, it is determined that there is a transport component passing through an equivalent trigger point; wherein the equivalent trigger point is set in the bifurcation route that is not selected as the reference object, and according to the direction of movement of the transport component, the length of the equivalent trigger point along the bifurcation route that is not set as the reference object to the end of the bifurcation route is not greater than the shorter of the bifurcation route that is set as the reference object and the bifurcation route that is not set as the reference object.

[0083] Specifically, when a branching route corresponding to the merging route is selected as the reference object, before performing position equivalence on the real-time positions of the transport components in the branching routes not selected as reference objects, it is determined whether there are transport components close to the merging route or whether there are transport components passing through equivalent trigger points in the branching routes not selected as reference objects. If either condition is met, the real-time positions of the transport components in the branching routes not selected as reference objects are positionally equivalent to obtain the equivalent position information of the branching routes corresponding to the merging route.

[0084] In some possible implementations, the presence of a transportation component in a preset section of a branch route that was not selected as a reference object can be determined based on the real-time location information of the transportation components. Specifically, observation points can be set in the merging route to obtain the observation distance between any transportation component in the branch route that was not selected as a reference object and the observation point. If the observation distance is less than or equal to an observation threshold, it is determined that there is a transportation component close to the merging route in the branch route that was not selected as a reference object; if the observation distance between all transportation components in the branch route that was not selected as a reference object and the observation point is greater than the observation threshold, it is determined that there is no transportation component close to the merging route in the branch route that was not selected as a reference object.

[0085] In some possible implementations, after a branch line is selected as the reference object from the branch lines corresponding to the merging route, an equivalent trigger point is determined from the branch lines corresponding to the merging route that are not selected as reference objects. In this case, according to the movement direction of the transport component, when there are multiple branch lines that are not selected as reference objects, the distance between the equivalent trigger point of each branch line and the end of the branch line is equal.

[0086] For example, see Figure 11 The equivalent trigger point is defined as the length of the bifurcation line L0 (not set as the reference object) to the bifurcation end of L0, where LEN1 is the overall length of the bifurcation line set as the reference object, and LEN2 is the overall length of the bifurcation line not set as the reference object. LEN0 is not greater than the shorter of LEN1 and LEN2, i.e., LEN0 ≤ min(LEN1, LEN2). By restricting the installation position of the equivalent trigger point in the bifurcation line not set as the reference object, the positional equivalence of the transport components in the bifurcation line not set as the reference object can be triggered in a timely manner, avoiding the problem of invalid calculation and resource waste caused by premature positional equivalence. At the same time, when the transport components enter the merging route, there is sufficient time to perform anti-collision monitoring on the non-merging and merging modules based on the obtained equivalent position information.

[0087] Optionally, after determining the equivalent trigger point of the branch route that is not set as a reference object, a sensor, such as an infrared sensor, is installed at the equivalent trigger point. Alternatively, a virtual point can be set at the branch route location corresponding to the equivalent starting point by software. This can determine whether there is a transport component passing through the equivalent trigger point in the branch route that is not selected as a reference object.

[0088] In this embodiment of the application, by determining that there is a transport component preparing to enter the merging route in the bifurcation route, or determining that there is a transport component passing through an equivalent trigger point in the bifurcation route, the real-time position of the transport component in the bifurcation route that is not selected as the reference object is equivalently calculated, and the equivalent position information of the transport component can be obtained in a timely manner.

[0089] In this embodiment of the application, before the step "to perform positional equivalence between the real-time position of the transport component in the branching route corresponding to the merging route and the position of the first observation point of the first observation point according to the same reference object" in the above embodiment, any one of the following is included: Among the at least two branching routes corresponding to the merging route, the longest branching route is selected as the reference object; Among the at least two branching routes corresponding to the merging route, the shortest branching route is selected as the reference object; Among the at least two bifurcation routes corresponding to the merging route, select the bifurcation route that shares the same boundary value with the merging route as the reference object; Among the at least two branching routes corresponding to the merging route, the branching route with the largest number of transport components is selected as the benchmark.

[0090] It should be understood that before determining the equivalent position information of the moving part of the transport component by performing position equivalence on the real-time position of the transport component in the bifurcation route that is not selected as the reference object according to the same reference object, it is also necessary to select a bifurcation route that can be used as the reference object from the bifurcation routes corresponding to the merging route.

[0091] In some possible implementations, for high-precision collision avoidance scenarios that require obtaining the equivalent position information of all transport components in the branching route and then performing collision avoidance monitoring on the transport components in each branching route, the longest branching route is selected from at least two branching routes corresponding to the merging route as the reference object. This allows the equivalent position information of all transport components in the branching route to be obtained and used for accurate collision avoidance monitoring.

[0092] In some possible implementations, for scenarios where it is necessary to ensure the positional accuracy of the preset road segment interval and where the real-time performance of collision avoidance monitoring is high, the shortest branch route can be selected as the reference object from at least two branch routes corresponding to the merging route, thereby reducing the amount of computation required to calculate the equivalent positional information of the transportation components.

[0093] In some possible real-time approaches, for intensive transportation scenarios, the branching route with the most transportation components can be selected as the baseline among at least two branching routes corresponding to the merging route. For example, see [link to relevant documentation]. Figure 14 Because of Figure 14In the diagram, there is one transport component for branch route L0 (transport component YG) and two transport components for branch route L1 (transport component YF and transport component YH). Therefore, branch route L1 is selected as the reference object.

[0094] In this embodiment of the application, a suitable branching route is selected as the reference object from the branching routes corresponding to the merging route according to different scenario requirements. This makes the selected reference object meet the scenario requirements, enriches the diversity of reference object selection, and improves the accuracy of reference object selection.

[0095] In this embodiment, after the step of "controlling the transport components of multiple branch routes to sequentially enter the merging route according to the order in which each transport component is observed as indicated by the observation record information" in the above embodiment, it further includes: After detecting that a transport component has entered the merging route, the observation record information is updated. Based on the order in which each transport component is observed, indicated by the updated observation record information, the transport components of multiple branch routes are controlled to enter the merging route in sequence.

[0096] Specifically, following the order in which each transport component is observed as indicated by the observation record information, the transport components of multiple branch routes are controlled to enter the merging route in sequence. After detecting that an existing transport component has entered the merging route, the observation record information is updated again. The updated observation record information does not contain the component identification information of the transport components that have entered the merging route, or the order corresponding to the component identification information of the transport components that have entered the merging route in the updated observation record information is set to an invalid symbol.

[0097] For example, please continue to refer to Figure 5 The observation log records the observed order of transport component YF as 1, transport component YG as 2, and transport component YH as 3. When transport component YF is detected to have entered the rendezvous route, the observed order of transport component YG is updated to 1, and the observed order of transport component YH is updated to 2. Based on the updated order, transport components YG and YH are controlled to enter the rendezvous route sequentially.

[0098] In this embodiment of the application, after detecting that a transport component has entered the merging route, the observation record information is updated and the subsequent transport components are controlled to enter the merging route in sequence based on the updated observation order. By updating the observation record information in real time, the accuracy of the order of transport components entering the merging route from the branching route is ensured, and the transport components that have entered the merging route are prevented from interfering with subsequent judgments.

[0099] In this embodiment of the application, the control method for automated transport equipment further includes: When a transport component is detected to be preparing to enter the merging route from a branching route, collision avoidance monitoring is performed on the transport components around the merging component that are not preparing to enter the merging route.

[0100] Specifically, collision avoidance monitoring is performed on transport components around the transport component preparing to enter the merging route that are not preparing to enter the merging route, including: collision avoidance monitoring on transport components on the same branching route as the transport component preparing to enter the merging route; and / or, collision avoidance monitoring on transport components on different branching routes from the transport component preparing to enter the merging route.

[0101] For example, please see Figure 5 Based on the equivalent location information, the location coordinate identifier L0 can be used to determine that transport component YG is located on the branch route L0, which is different from the location coordinate identifiers L1 of transport components YF and YH. Thus, it can be determined that transport component YG is on a different branch route from transport components YF and YH, and that transport components YF and YH are on the same branch route. When transport component YF is about to enter the merging route, collision avoidance monitoring is performed on transport component YH, which is on the same branch route as transport component YF, and / or collision avoidance monitoring is performed on transport component YG, which is not on the same branch route as transport component YF, for example, controlling transport component YG to stop running.

[0102] In this embodiment of the application, by performing collision avoidance monitoring on the surrounding transport components that are not preparing to enter the merging route, collisions are avoided between the transport component preparing to enter the merging route and the surrounding transport components preparing to enter the merging route, thereby improving the safety of the transport component preparing to enter the merging route.

[0103] This application also provides a control device, which will be described in detail below with reference to the accompanying drawings. It should be noted that... Figure 15 The control device in the above-mentioned related embodiments is used to execute the methods provided in the above-mentioned related embodiments. For ease of explanation, only the parts related to the embodiments of this application are shown. For specific technical details not disclosed, please refer to the content of the above-mentioned related embodiments.

[0104] Specifically, such as Figure 15 As shown, the control device 700 is used to control the transport component and the transport line. The transport line provides multiple transport routes for the transport component, including branching routes and merging routes. At least two branching routes are used to connect with the same merging route. The control device includes: The observation unit 701 is used to update the observation record information when a transport component is observed on the branching route corresponding to the merging route; wherein, the observation record information is used to record the transport components observed on the branching route that have not entered the merging route; The control unit 702 is used to control the transport components of multiple branch routes to enter the merging route in sequence according to the order in which each transport component is observed, as indicated by the observation record information, when multiple branch routes have transport components that are approaching the merging route.

[0105] Optionally, in some embodiments, the observation unit 701 can be used for: Based on the location measurement information of the transport components, the observation range of the bifurcation route corresponding to the merging route is determined, and the observation record information is updated; wherein, the observation range of the bifurcation route at least covers the route area of ​​the bifurcation route that is close to the merging route.

[0106] Alternatively, in some embodiments, the observation unit 701 may be used for at least one of the following: When the first position measurement information of the transport component is less than or equal to a preset position threshold, it is determined that a transport component has entered the observation range; wherein, the first position measurement information is used to represent the relative length between the transport component and the first observation point, and the first observation point is set along the merging route; When the second position measurement information of the transport component is less than or equal to a preset position threshold, it is determined that a transport component has entered the observation range; wherein, the second position measurement information is used to represent the relative distance between the transport component and the second observation point, which is set around the merging route; When the third position measurement information of the transport component is obtained, it is determined that a transport component has entered the observation range; wherein, the second position measurement information is triggered to be generated when the transport component runs to the third observation point, and the second observation point is set to correspond to the branching route.

[0107] Alternatively, in some embodiments, the observation unit 701 may be used for at least one of the following: The real-time position of the transport component in the branching route corresponding to the merging route and the position of the first observation point of the first observation point are equivalently located using the same reference object. Based on the equivalent position information of the transport component obtained from the position equivalence and the equivalent position information of the first observation point, the first position measurement information of the transport component is determined. If the bifurcation route corresponding to the merging route does not share the same boundary value with the merging route, the first position measurement information is determined based on the real-time position of the transport component in the bifurcation route corresponding to the merging route, the length of the bifurcation route corresponding to the merging route, and the length from the first observation point to the end of the bifurcation route. If the bifurcation route corresponding to the merging route shares the same boundary value as the merging route, the first position measurement information is determined based on the real-time position of the transport component in the bifurcation route corresponding to the merging route and the position of the first observation point.

[0108] Alternatively, in some embodiments, the observation unit 701 may be used for at least one of the following: When a bifurcation route corresponding to the merging route is selected as the reference object, the real-time position of the transport component in the bifurcation route that is not selected as the reference object and the position of the first observation point of the first observation point are equivalent based on the position value range of the bifurcation route selected as the reference object. When the merging route is selected as the reference object, an equivalent coordinate system is constructed along at least one corresponding branching route based on the first observation point corresponding to the merging route, and the real-time position of the transportation component in at least one branching route is equivalent to the position of the first observation point.

[0109] Optionally, in some embodiments, the observation unit 701 can be used for: Determine the compensation length from the first observation point to the end of the bifurcation route; Based on the compensation length, an equivalent coordinate system is constructed along at least one bifurcation route corresponding to the merging route.

[0110] Optionally, in some embodiments, the observation unit 701 can be used for: Based on a preset mapping relationship, the transport components on the bifurcation route that are not selected as the reference object are mapped to the equivalent route corresponding to the bifurcation route, so as to determine the position measurement information by the position of the transport components in the equivalent route; wherein, the mapping relationship is obtained by aligning the bifurcation route that is not selected as the reference object and the equivalent route with the docking point, and the position value range of the equivalent route is the whole set or a subset of the position value range of the bifurcation route that is selected as the reference object.

[0111] Alternatively, in some embodiments, the observation unit 701 may be used for at least one of the following: In the bifurcation routes that were not selected as reference objects, it was determined that there were transport components close to the merging route; In the bifurcation route that is not selected as the reference object, it is determined that there is a transport component passing through an equivalent trigger point; wherein the equivalent trigger point is set in the bifurcation route that is not selected as the reference object, and according to the direction of movement of the transport component, the length of the equivalent trigger point along the bifurcation route that is not set as the reference object to the end of the bifurcation route is not greater than the shorter of the bifurcation route that is set as the reference object and the bifurcation route that is not set as the reference object.

[0112] Optionally, in some embodiments, the observation unit 701 can be used for: Based on the safe merging threshold, the observation boundary position of each observation range on the corresponding bifurcation route is determined so that the length of the route area covered by multiple bifurcation routes is not less than the safe merging threshold; wherein, the safe merging threshold is determined according to the size of the transport component.

[0113] Alternatively, in some embodiments, the observation unit 701 may also be used for at least one of the following: Among the at least two branching routes corresponding to the merging route, the longest branching route is selected as the reference object; Among the at least two branching routes corresponding to the merging route, the shortest branching route is selected as the reference object; Among the at least two bifurcation routes corresponding to the merging route, select the bifurcation route that shares the same boundary value with the merging route as the reference object; Among the at least two branching routes corresponding to the merging route, the branching route with the largest number of transport components is selected as the benchmark.

[0114] Optionally, in some embodiments, the control unit 702 may also be used for: After detecting that a transport component has entered the merging route, the observation record information is updated. Based on the order in which each transport component is observed, indicated by the updated observation record information, the transport components of multiple branch routes are controlled to enter the merging route in sequence.

[0115] Alternatively, in some embodiments, the observation unit 701 can also be used for: When a transport component is detected to be preparing to enter the merging route from a branching route, collision avoidance monitoring is performed on the transport components around the merging component that are not preparing to enter the merging route.

[0116] This application also provides an automated transportation device. Please refer to [link to relevant documentation]. Figure 16 , Figure 16 This is a schematic diagram of an automated transport device provided in an embodiment of this application. The automated transport device 800 includes multiple transport components 801, a transport line 802, and a control device 803. The transport line 802 provides multiple transport routes for the transport components 801. The multiple transport routes include branching routes and merging routes, wherein at least two branching routes are used to connect with the same merging route. The control device 803 includes a processor 8031 ​​and a memory 8032. The processor 8031 ​​and the memory 8032 are electrically connected.

[0117] The processor 8031 ​​is the control center of the automated transport equipment 800. It connects various parts of the automated transport equipment 800 through various interfaces and lines. By running or calling computer programs stored in the memory 8032 and calling data stored in the memory 8032, it executes various functions of the automated transport equipment 800 and processes data, thereby performing overall monitoring of the automated transport equipment 800.

[0118] The memory 8032 can be used to store software programs and modules. The processor 8031 ​​executes various functional applications and controls the mobile module 801 by running the computer programs and modules stored in the memory 8032. The memory 8032 may mainly include a program storage area and a data storage area. The program storage area may store the operating system, computer programs required for at least one function, etc.; the data storage area may store data created based on the use of the automated transport equipment 800, etc.

[0119] Furthermore, the memory 8032 may include high-speed random access memory 8032, and may also include non-volatile memory 8032, such as at least one disk storage device 8032, flash memory device, or other volatile solid-state memory 8032. Accordingly, the memory 8032 may also include a memory controller 8032 to provide the processor 8031 ​​with access to the memory 8032.

[0120] In this embodiment, the processor 8031 ​​loads the instructions corresponding to the processes of one or more computer programs into the memory 8032 according to the following steps, and the processor 8031 ​​runs the computer programs stored in the memory 8032 to realize the mobile module control method provided in the above embodiment.

[0121] For the effects achievable by the embodiments of this application, please refer to the relevant embodiments of the control method for the above-mentioned automated transport equipment, which will not be repeated here.

[0122] This application also provides an automated production system. Please refer to [link to relevant documentation]. Figure 17 , Figure 17 This is a schematic diagram of an automated production system provided in an embodiment of this application. The automated production system 900 includes multiple transport components 901, a transport line 902, a control device 903, and at least one operating device 904. The transport line 902 provides multiple transport routes for the transport components 901. The multiple transport routes include branching routes and merging routes. At least two branching routes are used to connect with the same merging route. At least one operating device 904 is distributed along the transport components 901, and each operating device 904 is used to perform at least one type of process among loading, unloading, and processing. The control device 903 includes a processor 9031 and a memory 9032. The processor 9031 and the memory 9032 are electrically connected.

[0123] The processor 9031 is the control center of the automated production system 900. It connects various parts of the automated production system 900 through various interfaces and lines. By running or calling computer programs stored in the memory 9032 and calling data stored in the memory 9032, it executes various functions of the automated production system 900 and processes data, thereby performing overall monitoring of the automated production system 900.

[0124] The memory 9032 can be used to store software programs and modules. The processor 9031 executes various functional applications and controls the mobile module 901 by running the computer programs and modules stored in the memory 9032. The memory 9032 may mainly include a program storage area and a data storage area. The program storage area may store the operating system, computer programs required for at least one function, etc.; the data storage area may store data created based on the use of the automated production system 900, etc.

[0125] Furthermore, the memory 9032 may include high-speed random access memory 9032, and may also include non-volatile memory 9032, such as at least one disk storage device 9032, flash memory device, or other volatile solid-state memory 9032. Accordingly, the memory 9032 may also include a memory controller 9032 to provide the processor 9031 with access to the memory 9032.

[0126] In this embodiment, the processor 9031 loads the instructions corresponding to the processes of one or more computer programs into the memory 9032, and the processor 9031 runs the computer programs stored in the memory 9032, thereby implementing the mobile module control method provided in the above embodiment.

[0127] For the effects achievable by the embodiments of this application, please refer to the relevant embodiments of the above-mentioned mobile module control method, which will not be repeated here.

[0128] This application also provides a computer-readable storage medium storing computer program code. When the computer program code is run on a computer, the computer executes the above-described related method steps to implement the mobile module control method provided in the above embodiments.

[0129] The storage medium may include: read-only memory (ROM), random access memory (RAM), disk or optical disk, etc.

[0130] Since the instructions stored in the storage medium can execute the steps in any of the mobile module control methods provided in the embodiments of this application, the beneficial effects that any of the mobile module control methods provided in the embodiments of this application can achieve can be realized. For details, please refer to the previous embodiments, which will not be repeated here.

[0131] In the embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another apparatus, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0132] For the control device in the embodiments of this application, its functional modules can be integrated into a single processing chip, or each module can exist physically separately, or two or more modules can be integrated into one module. The integrated module can be implemented in hardware or as a software functional module. If the integrated module is implemented as a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium.

[0133] The mobile module control method, apparatus, device, system, and storage medium provided in the embodiments of this application have been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of this application. The above embodiments are only for the purpose of helping to understand the methods and core ideas of this application; at the same time, those skilled in the art will recognize that, based on the ideas of this application, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A control method for an automated transport device, characterized in that, The automated transport equipment includes multiple transport components and a transport line. The transport line provides multiple transport routes for the transport components. These multiple transport routes include branching routes and merging routes, wherein at least two of the branching routes are used to connect with the same merging route. The method includes: When a transport component is observed on the branching route corresponding to the merging route, the observation record information is updated; wherein, the observation record information is used to record transport components observed on the branching route that have not entered the merging route; When multiple branch routes have transport components that are approaching the merging route, the transport components of the multiple branch routes are controlled to enter the merging route in sequence according to the order in which the transport components are observed, as indicated by the observation record information.

2. The method according to claim 1, characterized in that, When a transport component is observed on the branching route corresponding to the merging route, the observation record information is updated, including: Based on the location measurement information of the transport components, it is determined that there are transport components entering the observation range of the branching route corresponding to the merging route, and the observation record information is updated; wherein, the observation range of the branching route at least covers the route area of ​​the branching route that is close to the merging route.

3. The method according to claim 2, characterized in that, The determination, based on the location measurement information of the transport component, that there exists an observation range where a transport component enters the bifurcation route corresponding to the merging route includes at least one of the following: When the first position measurement information of the transport component is less than or equal to a preset position threshold, it is determined that a transport component has entered the observation range; wherein, the first position measurement information is used to represent the relative length between the transport component and the first observation point, and the first observation point is set along the merging route; When the second position measurement information of the transport component is less than or equal to a preset position threshold, it is determined that a transport component has entered the observation range; wherein, the second position measurement information is used to represent the relative distance between the transport component and the second observation point, and the second observation point is set around the merging route; When the third position measurement information of the transport component is obtained, it is determined that a transport component has entered the observation range; wherein, the second position measurement information is triggered to be generated when the transport component runs to the third observation point, and the second observation point is set to correspond to the branching route.

4. The method according to claim 3, characterized in that, Before determining, based on the location measurement information of the transport component, that a transport component has entered the observation range of the branching route corresponding to the merging route, the method further includes at least one of the following: The real-time position of the transport component in the branching route corresponding to the merging route and the position of the first observation point of the first observation point are equivalently located using the same reference object. Based on the equivalent position information of the transport component obtained by the position equivalence and the equivalent position information of the first observation point, the first position measurement information of the transport component is determined. If the bifurcation route corresponding to the merging route does not share the same boundary value with the merging route, the first position measurement information is determined based on the real-time position of the transport component in the bifurcation route corresponding to the merging route, the length of the bifurcation route corresponding to the merging route, and the length from the first observation point to the end of the bifurcation route. If the branching route corresponding to the merging route shares the same boundary value as the merging route, the first position measurement information is determined based on the real-time position of the transport component in the branching route corresponding to the merging route and the position of the first observation point.

5. The method according to claim 4, characterized in that, The step of equivalencing the real-time position of the transport component in the branching route corresponding to the merging route with the position of the first observation point of the first observation point using the same reference object includes any one of the following: When a branching route corresponding to the merging route is selected as the reference object, the real-time position of the transport component in the branching route that is not selected as the reference object and the position of the first observation point of the first observation point are equivalent based on the position value range of the branching route selected as the reference object. When the merging route is selected as the reference object, an equivalent coordinate system is constructed along at least one corresponding branching route based on the first observation point corresponding to the merging route, and the real-time position of the transportation component in at least one branching route is positionally equivalent to the position of the first observation point.

6. The method according to claim 5, characterized in that, The construction of an equivalent coordinate system based on the first observation point corresponding to the merging route and along at least one corresponding bifurcation route includes: Determine the compensation length from the first observation point to the end of the bifurcation route; Based on the compensation length, an equivalent coordinate system is constructed along at least one branching route corresponding to the merging route.

7. The method according to claim 5, characterized in that, The junctions of multiple branching routes and the same merging route are provided with docking points; the positional equivalence of the real-time position of the transport component in a branching route not selected as the reference object and the position of the first observation point, based on the positional value range of the branching route selected as the reference object, includes: Based on a preset mapping relationship, a transport component on a branching route that is not selected as the reference object is mapped to an equivalent route corresponding to the branching route, so as to determine the position measurement information by the position of the transport component in the equivalent route; wherein, the mapping relationship is obtained by aligning the branching route that is not selected as the reference object and the equivalent route with the docking point, and the position value range of the equivalent route is the entire set or a subset of the position value range of the branching route that is selected as the reference object.

8. The method according to claim 5, characterized in that, Before performing positional equivalence calculations on the real-time positions of transport components located on bifurcation routes not selected as reference objects, based on the position value range of the bifurcation route selected as the reference object, any one of the following is included: In the bifurcation routes that were not selected as the reference object, it was determined that there were transport components close to the merging route; In the bifurcation route that is not selected as the reference object, it is determined that there is an equivalent trigger point through which the transport component passes; wherein the equivalent trigger point is set on the bifurcation route that is not selected as the reference object, and according to the direction of movement of the transport component, the length of the equivalent trigger point along the bifurcation route that is not set as the reference object to the end of the bifurcation route is not greater than the shorter of the bifurcation route that is set as the reference object and the bifurcation route that is not set as the reference object.

9. The method according to claim 2, characterized in that, Before determining, based on the location measurement information of the transport components, that a transport component has entered the observation range of the branching route corresponding to the merging route, the method further includes: Based on the safe merging threshold, the observation boundary position of each observation range on the corresponding bifurcation route is determined, so that the length of the route area covered by the multiple bifurcation routes is not less than the safe merging threshold; wherein, the safe merging threshold is determined according to the size of the transport component.

10. The method according to claim 1, characterized in that, Before equipping the real-time positions of the transport components in the branching routes corresponding to the merging routes with the first observation point positions of the first observation points using the same reference object, it also includes any one of the following: Among the at least two branching routes corresponding to the merging route, the longest branching route is selected as the reference object; Among the at least two branching routes corresponding to the merging route, the branching route with the shortest length is selected as the reference object; Among the at least two branching routes corresponding to the merging route, one branching route that shares the same boundary value with the merging route is selected as the reference object; Among the at least two branching routes corresponding to the merging route, the branching route with the largest number of transport components is selected as the reference object.

11. The method according to claim 1, characterized in that, After controlling the transport components of the multiple branch routes to sequentially enter the merging route according to the order in which the transport components are observed as indicated by the observation record information, the method further includes: After detecting that a transport component has entered the merging route, the observation record information is updated. Based on the order in which each transport component is observed as indicated by the updated observation record information, the transport components of multiple branch routes are controlled to enter the merging route in sequence.

12. The method according to claim 2, characterized in that, Also includes: When it is detected that a transport component is preparing to enter the merging route from a branching route, collision avoidance monitoring is performed on the transport components around the merging component that are not preparing to enter the merging route.

13. A control device for an automated transport system, characterized in that, The control device is used to control the transport component and the transport line, the transport line being used to provide multiple transport routes for the transport component, the multiple transport routes including branching routes and merging routes, wherein at least two of the branching routes are used to connect with the same merging route, and the control device includes: An observation unit is used to update observation record information when a transport component is observed on a branch route corresponding to the merging route; wherein, the observation record information is used to record transport components observed on the branch route that have not entered the merging route; A control unit is configured to, when multiple branch routes have transport components approaching the merging route, control the transport components of the multiple branch routes to sequentially enter the merging route according to the order in which the transport components are observed, as indicated by the observation record information.

14. An automated transport device, characterized in that, The automated transport equipment includes a transport component, a transport line, and a control device. The transport line is used to provide multiple transport routes for the transport component. The multiple transport routes include branching routes and merging routes, wherein at least two of the branching routes are used to connect with the same merging route. The control device includes: Memory, used to store executable program code; A processor is configured to call and run the executable program code from the memory, causing the automated transport device to perform the method as described in any one of claims 1 to 12.

15. An automated production system, characterized in that, The automated production system includes a transport component, a transport line, a control device, and operating equipment. The transport line provides multiple transport routes for the transport component. The multiple transport routes include branching routes and merging routes. At least two of the branching routes are used to connect with the same merging route. The operating equipment is used to perform at least one type of process among loading, unloading, and processing. The control device includes: Memory, used to store executable program code; A processor is configured to call and run the executable program code from the memory, causing the automated transport device to perform the method as described in any one of claims 1 to 12.

16. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed, implements the method as described in any one of claims 1 to 12.

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