AGV traffic control method and device based on dynamic obstacle avoidance line, equipment and medium

Abstract

The invention provides an AGV traffic control method and device based on a dynamic obstacle avoidance line, electronic equipment and a computer readable storage medium, and the method comprises the steps: calculating a deceleration obstacle avoidance line, a parking obstacle avoidance line and the contour position of the deceleration obstacle avoidance line, the parking obstacle avoidance line and the contour position in real time, judging the intersection relation between the obstacle avoidance lines and between the obstacle avoidance lines and the contour, dynamically generating a deceleration, parking or operation recovery instruction, and achieving the traffic control of the AGV. The method has the advantages that the process is simple, the control strategy is stable, deceleration, parking and operation recovery of the AGV on the operation path can be controlled in real time, the AGV is guided to orderly complete operation tasks in a multi-vehicle operation area without conflicts, and the problems of traffic jam and safety in a multi-AGV operation scene are effectively solved.

Description

Technical Field

[0001] This invention relates to the field of AGV multi-vehicle scheduling technology, and in particular to an AGV traffic control method, device, electronic device and computer-readable storage medium based on dynamic obstacle avoidance lines. Background Technology

[0002] With the development of heavy-duty AGVs and the intelligent logistics industry, AGV scheduling systems have become a critical system in the logistics industry. The ability of AGVs to complete logistics tasks in an orderly and efficient manner in multi-AGV operation scenarios is crucial for the stable operation of the system. Existing AGV scheduling technologies suffer from high single-point failure risk and poor stability; fixed priority strategies result in low system load and utilization; traditional time window methods have low computational efficiency, and when there are many AGVs, they are inefficient at resolving path conflicts, easily leading to traffic congestion and safety issues. Therefore, there is an urgent need to efficiently solve the traffic control problem of multi-AGV scheduling and improve the flexibility and stability of heavy-duty AGV multi-vehicle scheduling. Summary of the Invention

[0003] The present invention aims to provide an AGV traffic control method, device, electronic equipment, and computer-readable storage medium based on dynamic obstacle avoidance lines to overcome or at least partially solve the above-mentioned problems.

[0004] To achieve the above objectives, the technical solution of the present invention is specifically implemented as follows:

[0005] The first aspect of the present invention provides an AGV traffic control method based on dynamic obstacle avoidance lines, comprising:

[0006] S1: Set the length of the AGV obstacle avoidance line, obtain the position information of all AGVs in real time, and calculate the corresponding obstacle avoidance line. The obstacle avoidance line includes: deceleration obstacle avoidance line and parking obstacle avoidance line.

[0007] S2: Set the AGV outline dimensions, and calculate the outline position of each AGV in real time using the AGV position information;

[0008] S3: Real-time determination of whether the deceleration obstacle avoidance line and the parking obstacle avoidance line of each AGV intersect;

[0009] S4: Real-time determination of whether the obstacle avoidance lines of each AGV intersect with the outline lines of other AGVs;

[0010] S5: Generate traffic control instructions based on the judgment results, including: deceleration, stopping, or resumption of operation instructions;

[0011] S6: Issue the traffic control instruction and update the control status of each AGV, and determine in real time whether the conditions for lifting the control are met. If the conditions for lifting the control are met, issue the traffic control lifting instruction.

[0012] Optionally, the length of the deceleration obstacle avoidance line is greater than the length of the parking obstacle avoidance line.

[0013] Optionally, generating traffic control instructions based on the judgment result includes:

[0014] When the obstacle avoidance lines of two AGVs intersect, calculate the distance from each AGV to the intersection point, send a traffic control priority passage instruction to the AGV that is closer, and send a traffic control deceleration instruction or a traffic control stop instruction to the AGV that is farther away, depending on the obstacle avoidance line type.

[0015] Optionally, generating traffic control instructions based on the judgment result includes:

[0016] When the obstacle avoidance line of an AGV intersects with the outline of another AGV, a traffic control deceleration command or a traffic control stop command is generated.

[0017] Optionally, issuing the traffic control release order when the conditions for lifting the control are met includes:

[0018] Once the conditions for lifting the traffic control are met, the AGV under traffic control starts a timer, and after the timer expires, the command to lift the traffic control is issued.

[0019] Optionally, the duration of the timer can be set according to the actual operating environment.

[0020] A second aspect of the present invention provides an AGV traffic control device based on a dynamic obstacle avoidance line, comprising:

[0021] The calculation module is used to set the length of the AGV obstacle avoidance line, acquire the position information of all AGVs in real time, and calculate the corresponding obstacle avoidance line. The obstacle avoidance line includes a deceleration obstacle avoidance line and a parking obstacle avoidance line. The module also sets the AGV outline size and calculates the outline position of each AGV in real time using the AGV position information.

[0022] The judgment module is used to determine in real time whether the deceleration obstacle avoidance line and the parking obstacle avoidance line of each AGV intersect; and to determine in real time whether the obstacle avoidance line of each AGV intersects with the outline line of other AGVs.

[0023] The instruction module is used to generate traffic control instructions based on the judgment results, including: deceleration, stopping, or resumption of operation instructions; issue the traffic control instructions and update the control status of each AGV, and determine in real time whether the conditions for lifting control are met, and issue a traffic control lifting instruction if the conditions for lifting control are met.

[0024] Optionally, the instruction module generates traffic control instructions based on the judgment result in the following manner:

[0025] When the obstacle avoidance lines of two AGVs intersect, calculate the distance of each AGV to the intersection point, send a traffic control priority passage instruction to the AGV that is closer, and send a traffic control deceleration instruction or a traffic control stop instruction to the AGV that is farther away, depending on the obstacle avoidance line type; or

[0026] When the obstacle avoidance line of an AGV intersects with the outline of another AGV, a traffic control deceleration command or a traffic control stop command is generated.

[0027] A third aspect of the present invention provides an electronic device, comprising: a processor and a memory;

[0028] The memory is used to store computer programs;

[0029] The processor is used to execute the AGV traffic control method based on dynamic obstacle avoidance lines as described above by invoking the computer program.

[0030] A fourth aspect of the present invention provides a computer-readable storage medium having a computer program stored thereon that, when executed by a processor, implements the AGV traffic control method based on dynamic obstacle avoidance lines as described above.

[0031] Therefore, the AGV traffic control method, device, electronic equipment, and computer-readable storage medium based on dynamic obstacle avoidance lines provided by this invention can dynamically generate deceleration, stopping, or resumption commands by calculating the deceleration and stopping obstacle avoidance lines and their contour positions of the AGV in real time, determining the intersection relationships between obstacle avoidance lines and between obstacle avoidance lines and contours, and having a simple process and stable control strategy. It can control the deceleration, stopping, and resumption of AGV operation on the running path in real time, guide the AGV to complete the work tasks in the multi-vehicle operation domain in an orderly and conflict-free manner, and effectively solve the traffic congestion and safety problems in multi-AGV operation scenarios. Attached Figure Description

[0032] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the following description of the embodiments will be briefly introduced. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0033] Figure 1 A flowchart of an AGV traffic control method based on dynamic obstacle avoidance lines provided in an embodiment of the present invention;

[0034] Figure 2 A schematic diagram illustrating the problem of multiple AGVs chasing and colliding.

[0035] Figure 3 A schematic diagram illustrating conflicts at intersections where multiple AGVs are operating;

[0036] Figure 4 This is a schematic diagram of the real-time calculated parking obstacle avoidance line and deceleration obstacle avoidance line provided in an embodiment of the present invention;

[0037] Figure 5 This is a schematic diagram of a solution to intersection conflict provided in an embodiment of the present invention;

[0038] Figure 6 A schematic diagram illustrating the pursuit conflict resolution method provided in an embodiment of the present invention;

[0039] Figure 7 This is a schematic diagram of the structure of an AGV traffic control device based on a dynamic obstacle avoidance line provided in an embodiment of the present invention;

[0040] Figure 8 A schematic diagram of an electronic device provided in an embodiment of the present invention. Detailed Implementation

[0041] Exemplary embodiments of the present disclosure will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

[0042] Figure 1 A flowchart of the AGV traffic control method based on dynamic obstacle avoidance lines provided in an embodiment of the present invention is shown. See also... Figure 1 The AGV traffic control method based on dynamic obstacle avoidance lines provided in this embodiment of the invention includes:

[0043] S1: Set the length of the AGV obstacle avoidance line, obtain the position information of all AGVs in real time, and calculate the corresponding obstacle avoidance line. The obstacle avoidance line includes: deceleration obstacle avoidance line and parking obstacle avoidance line.

[0044] Specifically, the present invention can prevent such as Figure 2 and Figure 3 When multiple AGVs operate simultaneously, collisions can occur. The system monitors and controls the movement status of all AGVs in the system to prevent AGV chasing collisions and intersection collisions.

[0045] like Figure 4 As shown, this invention sets the lengths of the deceleration and parking obstacle avoidance lines for each AGV based on factors such as AGV operating speed and AGV braking performance. This invention also calculates the parking and deceleration obstacle avoidance lines of the AGVs in real time based on the AGV's task route. When the AGV route involves turns, the obstacle avoidance line for the turn is obtained based on the obstacle avoidance line length.

[0046] As an optional embodiment of the present invention, the length of the deceleration obstacle avoidance line is greater than the length of the parking obstacle avoidance line.

[0047] S2: Set the AGV outline dimensions and calculate the outline position of each AGV in real time using the AGV position information.

[0048] Specifically, this invention allows setting the length and width dimensions of the AGV outline and calculating the AGV outline position in real time using AGV position data. For example, this invention can calculate the rectangular outline of the AGV in real time based on the coordinate information transmitted back by the AGV and its actual dimensions.

[0049] S3: Real-time determination of whether the deceleration obstacle avoidance line and the parking obstacle avoidance line of each AGV intersect.

[0050] Specifically, the present invention can calculate in real time whether the deceleration obstacle avoidance lines and parking obstacle avoidance lines of each AGV intersect.

[0051] S4: Real-time determination of whether the obstacle avoidance lines of each AGV intersect with the outline lines of other AGVs.

[0052] Specifically, the present invention can calculate in real time whether the deceleration obstacle avoidance lines and parking obstacle avoidance lines of each AGV intersect with the AGV outline.

[0053] S5: Generate traffic control instructions based on the judgment results, including instructions to slow down, stop, or resume operation.

[0054] As an optional implementation of this invention, the step of generating traffic control instructions based on the judgment result includes: when the obstacle avoidance lines of two AGVs intersect, calculating the distance from each AGV to the intersection point, sending a traffic control priority passage instruction to the AGV that is closer, and sending a traffic control deceleration instruction or a traffic control stop instruction to the AGV that is farther away, depending on the obstacle avoidance line type.

[0055] Specifically, if two AGV obstacle avoidance lines intersect, it is determined that there is a conflict between the AGVs at the intersection. The distance from the AGV at the intersection to the intersection point is calculated, and the AGV closer to the intersection has priority. That is, if the obstacle avoidance lines intersect, the distance from the AGV to the intersection point is calculated, and the AGV closer to the intersection has priority to pass through the intersection, while the AGV farther from the intersection responds by stopping, waiting, or slowing down according to the type of obstacle avoidance line.

[0056] like Figure 5As shown, AGV1 and AGV2 encounter a road intersection conflict. The system detects the conflict based on the intersection of the deceleration and obstacle avoidance lines of AGV1 and AGV2. Then, it calculates the distance between the intersection points of the obstacle avoidance lines of AGV1 and AGV2, determining that AGV1 is closer to the intersection. AGV2 is then the first to enter the conflict intersection, triggering a deceleration command for AGV1. AGV1 slows down, and after the obstacle avoidance lines of AGV1 intersect, a stop command is triggered for AGV1, causing AGV1 to stop and wait.

[0057] As an optional implementation of this invention, generating traffic control instructions based on the judgment result includes: when the AGV obstacle avoidance line intersects with the contours of other AGVs, generating a traffic control deceleration instruction or a traffic control stop instruction.

[0058] Specifically, it determines whether the AGV obstacle avoidance line intersects with the contours of other AGVs. If an intersection exists, a traffic control deceleration command or a traffic control stop command is generated. That is, it calculates in real time whether the AGV obstacle avoidance line intersects with the contours of other AGVs, and generates AGV deceleration or stop commands and AGV response commands when an intersection occurs.

[0059] like Figure 6 As shown, the calculation shows that the obstacle avoidance line of AGV1 intersects with the contour of AGV2, indicating that there is a pursuit conflict between AGV1 and AGV2. When the obstacle avoidance line of AGV1 intersects with AGV2, AGV1 generates a deceleration command and decelerates. When the obstacle avoidance line of AGV1 intersects with AGV2, AGV1 stops and waits.

[0060] S6: Issue the traffic control instruction and update the control status of each AGV, and determine in real time whether the conditions for lifting the control are met. If the conditions for lifting the control are met, issue the traffic control lifting instruction.

[0061] Specifically, the present invention calculates whether there is a conflict with the AGV based on the AGV status. When there is no conflict, the AGV is in a traffic control stop or traffic control deceleration turntable. The present invention can send a command to the AGV to release the traffic control stop or traffic control deceleration, and the AGV will resume operation and continue to perform the current work task.

[0062] As an optional implementation of this invention, issuing the traffic control release command when the control conditions are met includes: after the AGV in control status meets the release conditions, it starts a timer, and after the timer expires, it issues the traffic control release command. Optionally, the duration of the timer is set according to the actual operating environment.

[0063] Specifically, when there is no conflict with the AGV, the AGV is in a traffic control stop or traffic control deceleration turntable. The corresponding AGV generation timer is set to, for example, 5 seconds (set according to the actual situation). After 5 seconds, the AGV is sent with the command to release the traffic control stop and traffic control deceleration.

[0064] Therefore, the AGV traffic control method based on dynamic obstacle avoidance lines provided by this invention calculates the deceleration and parking obstacle avoidance lines and their contour positions of the AGV in real time, determines the intersection relationship between obstacle avoidance lines and between obstacle avoidance lines and contours, and dynamically generates deceleration, parking or resumption commands. It has the advantages of simple process and stable control strategy. It can control the deceleration, parking and resumption of AGV on the running path in real time, guide AGV to complete the work tasks in the multi-vehicle operation area in an orderly and conflict-free manner, and effectively solve the traffic congestion and safety problems in multi-AGV operation scenarios.

[0065] Figure 7 This diagram illustrates the structure of an AGV traffic control device based on a dynamic obstacle avoidance line according to an embodiment of the present invention. This AGV traffic control device applies the aforementioned method. The following is only a brief description of the structure of the AGV traffic control device based on a dynamic obstacle avoidance line. For other matters not covered herein, please refer to the relevant descriptions in the aforementioned AGV traffic control method based on a dynamic obstacle avoidance line. Figure 7 The AGV traffic control device based on dynamic obstacle avoidance lines provided in this embodiment of the invention includes:

[0066] The calculation module is used to set the length of the AGV obstacle avoidance line, acquire the position information of all AGVs in real time, and calculate the corresponding obstacle avoidance line. The obstacle avoidance line includes a deceleration obstacle avoidance line and a parking obstacle avoidance line. The module also sets the AGV outline size and calculates the outline position of each AGV in real time using the AGV position information.

[0067] The judgment module is used to determine in real time whether the deceleration obstacle avoidance line and the parking obstacle avoidance line of each AGV intersect; and to determine in real time whether the obstacle avoidance line of each AGV intersects with the outline line of other AGVs.

[0068] The instruction module is used to generate traffic control instructions based on the judgment results, including: deceleration, stopping, or resumption of operation instructions; issue the traffic control instructions and update the control status of each AGV, and determine in real time whether the conditions for lifting control are met, and issue a traffic control lifting instruction if the conditions for lifting control are met.

[0069] As an optional implementation of this invention, the instruction module generates traffic control instructions based on the judgment result in the following manner:

[0070] When the obstacle avoidance lines of two AGVs intersect, calculate the distance of each AGV to the intersection point, send a traffic control priority passage instruction to the AGV that is closer, and send a traffic control deceleration instruction or a traffic control stop instruction to the AGV that is farther away, depending on the obstacle avoidance line type; or

[0071] When the obstacle avoidance line of an AGV intersects with the outline of another AGV, a traffic control deceleration command or a traffic control stop command is generated.

[0072] As an optional implementation of this invention, the instruction module issues a traffic control release command when the release conditions are met in the following manner: After the AGV in control mode meets the release conditions, it starts a timer, and after the timer expires, it issues the traffic control release command. The duration of the timer is set according to the actual operating environment.

[0073] Therefore, the AGV traffic control device based on dynamic obstacle avoidance lines provided by this invention calculates the deceleration and parking obstacle avoidance lines and their outline positions of the AGV in real time, determines the intersection relationship between obstacle avoidance lines and between obstacle avoidance lines and outlines, and dynamically generates deceleration, parking or resumption commands. It has the advantages of simple process and stable control strategy. It can control the deceleration, parking and resumption of AGV on the running path in real time, guide AGV to complete the work tasks in the multi-vehicle operation area in an orderly and conflict-free manner, and effectively solve the traffic congestion and safety problems in multi-AGV operation scenarios.

[0074] Figure 8 A schematic diagram of an electronic device provided in an embodiment of the present invention, see below. Figure 8 The electronic device provided in this embodiment of the invention includes: a processor and a memory; The memory is used to store computer programs; The processor is used to execute the AGV traffic control method based on dynamic obstacle avoidance lines as described above by invoking the computer program.

[0075] The memory is used to store computer programs;

[0076] The processor is used to execute the AGV traffic control method based on dynamic obstacle avoidance lines as described above by invoking the computer program.

[0077] Electronic device 8 can be a desktop computer, laptop, handheld computer, cloud server, or other electronic device. Electronic device 8 may include, but is not limited to, processor 801 and memory 802. Those skilled in the art will understand that... Figure 8 This is merely an example of electronic device 8 and does not constitute a limitation on electronic device 8. It may include more or fewer components than shown, or different components.

[0078] The processor 801 can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. In this embodiment of the invention, the processor can be the controller described in the above embodiments.

[0079] The memory 802 can be an internal storage unit of the electronic device 8, such as a hard disk or RAM of the electronic device 8. The memory 802 can also be an external storage device of the electronic device 8, such as a plug-in hard disk, SmartMedia Card (SMC), Secure Digital (SD) card, or Flash Card. The memory 802 can also include both internal and external storage units of the electronic device 8. The memory 802 is used to store the computer program 803 and other programs and data required by the electronic device 8.

[0080] Therefore, the electronic device provided by this invention calculates the deceleration and obstacle avoidance lines, stopping and obstacle avoidance lines and their contour positions of the AGV in real time, determines the intersection relationship between obstacle avoidance lines and between obstacle avoidance lines and contours, and dynamically generates deceleration, stopping or resumption of operation commands. It has the advantages of simple process and stable control strategy. It can control the deceleration, stopping and resumption of operation of AGV in real time on the operation path, guide AGV to complete the operation tasks in the multi-vehicle operation area in an orderly and conflict-free manner, and effectively solve the traffic congestion and safety problems in multi-AGV operation scenarios.

[0081] The present invention also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the AGV traffic control method based on dynamic obstacle avoidance lines as described above.

[0082] Therefore, the computer-readable storage medium provided by this invention calculates the deceleration and obstacle avoidance lines, stopping and obstacle avoidance lines and their contour positions of the AGV in real time, determines the intersection relationship between obstacle avoidance lines and between obstacle avoidance lines and contours, and dynamically generates deceleration, stopping or resumption of operation commands. It has the advantages of simple process and stable control strategy. It can control the deceleration, stopping and resumption of operation of AGV on the running path in real time, guide AGV to complete the operation tasks in the multi-vehicle operation domain in an orderly and conflict-free manner, and effectively solve the traffic congestion and safety problems in multi-AGV operation scenarios.

[0083] In summary, compared with the prior art, the present invention has the following beneficial effects:

[0084] (1) This invention provides an AGV traffic control scheme based on dynamic obstacle avoidance lines, which improves the operating efficiency and automation of multi-AGV systems.

[0085] (2) The present invention effectively solves the deadlock problem caused by path interference during the operation of a multi-AGV system.

[0086] (3) This invention improves the operating efficiency of multi-AGV systems and enhances the safety and stability of system operation.

[0087] (4) The present invention can realize that in a multi-AGV system, AGVs can carry out production operations in an orderly manner, reduce the total space occupied by AGVs, and increase the utilization rate of production operation land.

[0088] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is merely an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0089] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. An AGV traffic control method based on dynamic obstacle avoidance lines, characterized in that, include: S1: Set the length of the AGV obstacle avoidance line, obtain the position information of all AGVs in real time, and calculate the corresponding obstacle avoidance line. The obstacle avoidance line includes: deceleration obstacle avoidance line and parking obstacle avoidance line. S2: Set the AGV outline dimensions, and calculate the outline position of each AGV in real time using the AGV position information; S3: Real-time determination of whether the deceleration obstacle avoidance line and the parking obstacle avoidance line of each AGV intersect; S4: Real-time determination of whether the obstacle avoidance lines of each AGV intersect with the outline lines of other AGVs; S5: Generate traffic control instructions based on the judgment results, including: deceleration, stopping, or resumption of operation instructions; S6: Issue the traffic control instruction and update the control status of each AGV, and determine in real time whether the conditions for lifting the control are met. If the conditions for lifting the control are met, issue the traffic control lifting instruction.

2. The method according to claim 1, characterized in that, The length of the deceleration obstacle avoidance line is greater than the length of the parking obstacle avoidance line.

3. The method according to claim 1, characterized in that, The process of generating traffic control instructions based on the judgment result includes: When the obstacle avoidance lines of two AGVs intersect, calculate the distance from each AGV to the intersection point, send a traffic control priority passage instruction to the AGV that is closer, and send a traffic control deceleration instruction or a traffic control stop instruction to the AGV that is farther away, depending on the obstacle avoidance line type.

4. The method according to claim 1, characterized in that, The process of generating traffic control instructions based on the judgment result includes: When the obstacle avoidance line of an AGV intersects with the outline of another AGV, a traffic control deceleration command or a traffic control stop command is generated.

5. The method according to claim 1, characterized in that, The issuance of the traffic control release order when the conditions for lifting the control are met includes: Once the conditions for lifting the traffic control are met, the AGV under traffic control starts a timer, and after the timer expires, the command to lift the traffic control is issued.

6. The method according to claim 5, characterized in that, The duration of the timer is set according to the actual operating environment.

7. An AGV traffic control device based on dynamic obstacle avoidance lines, characterized in that, include: The calculation module is used to set the length of the AGV obstacle avoidance line, acquire the position information of all AGVs in real time, and calculate the corresponding obstacle avoidance line. The obstacle avoidance line includes a deceleration obstacle avoidance line and a parking obstacle avoidance line. The module also sets the AGV outline size and calculates the outline position of each AGV in real time using the AGV position information. The judgment module is used to determine in real time whether the deceleration obstacle avoidance line and the parking obstacle avoidance line of each AGV intersect; and to determine in real time whether the obstacle avoidance line of each AGV intersects with the outline line of other AGVs. The instruction module is used to generate traffic control instructions based on the judgment results, including: deceleration, stopping, or resumption of operation instructions; issue the traffic control instructions and update the control status of each AGV, and determine in real time whether the conditions for lifting control are met, and issue a traffic control lifting instruction if the conditions for lifting control are met.

8. The apparatus according to claim 7, characterized in that, The instruction module generates traffic control instructions based on the judgment result in the following manner: When the obstacle avoidance lines of two AGVs intersect, calculate the distance of each AGV to the intersection point, send a traffic control priority passage instruction to the AGV that is closer, and send a traffic control deceleration instruction or a traffic control stop instruction to the AGV that is farther away, depending on the obstacle avoidance line type; or When the obstacle avoidance line of an AGV intersects with the outline of another AGV, a traffic control deceleration command or a traffic control stop command is generated.

9. An electronic device, characterized in that, include: Processor, memory; The memory is used to store computer programs; The processor is configured to execute the AGV traffic control method based on dynamic obstacle avoidance lines as described in any one of claims 1 to 6 by invoking the computer program.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When executed by a processor, the program implements the AGV traffic control method based on dynamic obstacle avoidance lines as described in any one of claims 1 to 6.

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