Automatic transportation equipment control method, device, equipment, system and storage medium

Abstract

The application provides an automatic transportation equipment control method, device, equipment, system and storage medium. The method comprises the following steps: selecting a first guide transformation module in a guide transformation module; obtaining guide state information corresponding to the first guide transformation module; wherein the guide state information corresponding to the first guide transformation module is used for indicating the current guide state of the first guide transformation module; obtaining guide expectation information corresponding to a first moving module moving to the first guide transformation module; and controlling at least one of the first guide transformation module and the first moving module according to the guide state information corresponding to the first guide transformation module and the guide expectation information corresponding to the first moving module, so that the first guide transformation module is in an expected guide state when the first moving module enters the first guide transformation module. Based on the scheme, the moving efficiency of the moving module can be improved.

Description

Technical Field

[0001] This application relates to the field of industrial conveying technology, and in particular to an automatic conveying equipment control method, device, equipment, system and storage medium. Background Technology

[0002] In related technologies, automated transport equipment can be applied to automated production scenarios. Automated transport equipment includes a moving module and a track module. The moving module carries goods, and the track module consists of multiple track modules. The track module provides a movement path for the moving module and can control the interaction between the moving module and different operating devices according to the execution sequence of multiple operating devices deployed around the track module.

[0003] Based on the need to improve the utilization of physical space, the mechanical mechanism of the automated transport equipment has been improved. A module with guidance transformation function (i.e., guidance transformation module) is connected between the track modules. By controlling the guidance transformation of the guidance transformation module, the moving module can be guided to move from the same moving path to different moving paths, or it can be guided to move from different moving paths to the same moving path, thereby turning the original single moving path into multiple moving paths.

[0004] However, conflicts may occur between the movement control of the movement module and the guidance transformation control of the guidance transformation module, thereby affecting the movement efficiency of the movement module. Summary of the Invention

[0005] This application provides an automatic transportation equipment control method, apparatus, device, system, and storage medium. The method can reduce the conflict between the movement control of the movement module and the guidance change control of the guidance change module, thereby improving the movement efficiency of the movement module.

[0006] In a first aspect, an automatic transportation equipment control method is provided. The automatic transportation equipment includes a track module and multiple moving modules disposed on the track module. The track module includes a track module and a guidance transformation module. The track module and the guidance transformation module are deployed to form multiple moving paths. The guidance transformation module is used to change the guidance relationship between the multiple moving paths. The method includes: Select the first guidance transformation module in the guidance transformation module; Obtain the guidance status information corresponding to the first guidance transformation module; wherein, the guidance status information corresponding to the first guidance transformation module is used to indicate the current guidance status of the first guidance transformation module; Obtain the guidance expectation information corresponding to the first moving module that moves toward the first guidance transformation module; wherein, the guidance expectation information corresponding to the first moving module is used to indicate the expected guidance state of the first guidance transformation module; Based on the guidance state information corresponding to the first guidance transformation module and the guidance expectation information corresponding to the first moving module, at least one of the first guidance transformation module and the first moving module is controlled so that when the first moving module enters the first guidance transformation module, the first guidance transformation module is in the expected guidance state.

[0007] In a second aspect, a control device is provided for controlling an automated transport device. The automated transport device includes a track module and multiple moving modules disposed on the track module. The track module includes a track module and a guide transformation module. The track module and the guide transformation module are deployed to form multiple moving paths. The guide transformation module is used to change the guide relationship between the multiple moving paths. The device includes: The selection unit is used to select the first guiding transformation module in the guiding transformation module; The first acquisition unit is used to acquire the guidance status information corresponding to the first guidance transformation module; wherein, the guidance status information corresponding to the first guidance transformation module is used to indicate the current guidance status of the first guidance transformation module; The second acquisition unit is used to acquire guidance expectation information corresponding to the first moving module that moves toward the first guidance transformation module; wherein, the guidance expectation information corresponding to the first moving module is used to indicate the expected guidance state of the first guidance transformation module; The control unit is used to control at least one of the first guidance transformation module and the first movement module according to the guidance state information corresponding to the first guidance transformation module and the guidance expectation information corresponding to the first movement module, so that when the first movement module enters the first guidance transformation module, the first guidance transformation module is in the expected guidance state.

[0008] Thirdly, an automated transportation device is provided, which includes a control device, a track module, and multiple moving modules disposed on the track module. The track module includes a track module and a guidance transformation module. The track module and the guidance transformation module are deployed to form multiple moving paths. The guidance transformation module is used to change the guidance relationship between the multiple moving paths. The control device includes: Memory, used to store executable program code; A processor is used to call and run executable program code from memory, causing the automated transport equipment to perform any of the automated transport equipment control methods mentioned above.

[0009] Fourthly, an automated production system is provided, characterized in that the automated production system includes an operating device, a control device, a track module, and multiple moving modules disposed on the track module. The track module includes a track module and a guide transformation module. The track module and the guide transformation module are deployed to form multiple moving paths. The guide transformation module is used to change the guiding relationship between the multiple moving paths. An operating device 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 used to call and run executable program code from memory, enabling the automated production system to perform any of the above-mentioned automated transportation equipment control methods.

[0010] Fifthly, a computer-readable storage medium is provided, which stores a computer program that, when executed, implements the automatic transportation equipment control method described above.

[0011] Based on the technical solutions provided in some embodiments of this application, a first guidance transformation module is first selected in the guidance transformation module. Further, guidance state information corresponding to the first guidance transformation module and guidance expectation information corresponding to the first moving module moving towards the first guidance transformation module are obtained. The guidance state information and guidance expectation information are used to determine in advance whether the current guidance state of the first guidance transformation module is compatible with the expected guidance state. At least one of the first guidance transformation module and the first moving module is controlled in this way, ensuring that the first guidance transformation module is in the expected guidance state when the first moving module enters the first guidance transformation module. This reduces the possibility of conflicts between the movement control of the moving module and the guidance transformation control of the guidance transformation module, thereby improving the movement efficiency of the moving module. Attached Figure Description

[0012] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0013] Figure 1 This is a schematic diagram of a single-path transportation scenario provided in this application; Figure 2 This is a schematic diagram of a multi-path transportation scenario provided in this application; Figure 3 This is a schematic diagram of a structure based on overall switching guidance provided in this application; Figure 4This is a schematic diagram of a structure based on overall switching guidance provided in this application; Figure 5 This is a schematic diagram of a structure based on local switching guidance provided in this application; Figure 6 This is a schematic diagram of a structure based on coil energization switching guidance provided in this application; Figure 7 This is a flowchart illustrating an automated transportation equipment control method provided in an embodiment of this application; Figure 8 This is a schematic diagram of a scenario for controlling an automated transportation device according to an embodiment of this application; Figure 9 This is a schematic diagram of a scenario for selecting a first guiding transformation module provided in an embodiment of this application; Figure 10 This is a schematic diagram of a scenario for selecting a first guiding transformation module provided in an embodiment of this application; Figure 11 This is a schematic diagram of a scenario for determining the distance between modules provided in an embodiment of this application; Figure 12 This is a schematic diagram of a scenario for determining desired guidance information provided in an embodiment of this application; Figure 13 This is a schematic diagram of a scenario for determining desired guidance information provided in an embodiment of this application; Figure 14 This is a schematic diagram of a scenario for determining desired guidance information provided in an embodiment of this application; Figure 15 This is a schematic diagram of a scenario for determining desired guidance information provided in an embodiment of this application; Figure 16 This is a schematic diagram of a module control scenario provided in an embodiment of this application; Figure 17 This is a schematic diagram of a module control scenario provided in an embodiment of this application; Figure 18 This is a schematic diagram of a module control scenario provided in an embodiment of this application; Figure 19 This is a schematic diagram of a module control scenario provided in an embodiment of this application; Figure 20 This is a schematic diagram of the structure of a control device provided in an embodiment of this application; Figure 21 This is a schematic diagram of the structure of an automated transportation device provided in an embodiment of this application; Figure 22 This is a schematic diagram of the structure of an automated production system provided in an embodiment of this application. Detailed Implementation

[0014] 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.

[0015] 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.

[0016] 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 technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature.

[0017] The following will provide a detailed description of each example. It should be noted that the order of description of the following embodiments is not intended to limit the preferred order of the embodiments.

[0018] In related technologies, automated transport equipment can be applied to automated production scenarios. Automated transport equipment includes a moving module and a track module. The moving module carries goods, and the track module consists of multiple track modules. The track module provides a movement path for the moving module and can control the interaction between the moving module and different operating devices according to the process execution sequence of multiple operating devices deployed around the track module.

[0019] Please see Figure 1 , Figure 1 This is a schematic diagram of a single-path transportation scenario provided in this application. The moving module Y is mounted on a track module, and the moving path L formed by the track module is a single path. The moving module Y can only move along the moving path L according to the moving direction F or the opposite direction of F.

[0020] Operating devices C1, C2, and C3 are arranged around the track module. Operating devices C1, C2, and C3 can correspond to the same or different processes. When the moving module Y moves along the moving path L in the moving direction F to the vicinity of operating device C1, operating device C1 can interact with the moving module Y to complete the corresponding process. Similarly, when the moving module Y moves along the moving path L in the moving direction F to the vicinity of operating device C2 or operating device C3, operating device C2 or operating device C3 can interact with the moving module Y to complete the corresponding process. For example, the process that the operating devices can interact with the moving module to complete can be a loading process, a processing process, or a unloading process. The loading process refers to the process of placing unprocessed materials onto the moving module; the unloading process refers to the process of removing processed materials from the moving module; and the processing process refers to the process of processing the materials carried by the moving module.

[0021] It should be noted that, Figure 1 Only one mobile module and several operating devices are shown, but in reality, the number of mobile modules and operating devices may be arbitrary.

[0022] based on Figure 1 The single-path structure shown is prone to congestion because different types of processes require varying numbers of moving modules. While increasing the number of track modules can extend the movement path, this single-path extension method suffers from low physical space utilization. To improve physical space utilization, the mechanical mechanism of the automated transport equipment has been modified by integrating a guide-changing module (i.e., a guide-changing module) between the track modules. By controlling the guide-changing module's guidance, moving modules can be guided from the same path to different paths, or vice versa, thus transforming the original single movement path into multiple movement paths.

[0023] Please see Figure 2 , Figure 2This is a schematic diagram of a multi-path transportation scenario provided in this application. The track module includes a track module, guidance transformation modules D11, D12, D21, D22, D31, and D32. The track modules and the aforementioned guidance transformation modules are deployed to form multiple movement paths, including movement paths L1-1, L1-2, L1-3, L1-A, L21, L22, and L23. Guidance transformation module D11 can guide movement module Y into movement path L1-1 or L21, and guidance transformation module D12 can guide movement module Y away from movement path L1-1 or L21. Guidance transformation modules D21, D22, D31, and D32 also have the same or similar guiding functions, which will not be elaborated further here.

[0024] Utilizing the guiding function of the aforementioned guiding transformation module, the moving module Y can move along the movement direction F between multiple movement paths. In some cases, after entering movement path L21, the moving module Y can interact with the operating device C1; after entering movement path L22, it can interact with the operating device C2; ​​and after entering movement path L23, it can interact with the operating device C3. It should be understood that the deployment positions of the operating devices described above are for reference only. In actual applications, the operating devices can be deployed at different locations around the movement paths.

[0025] based on Figure 2 The movement control of the multi-path structure shown may conflict with the guidance control of the guidance transformation module. For example, during the movement of a certain movement module, some guidance transformation modules may fail to guide the movement module in a timely manner, causing the movement module to wait before the guidance transformation module. Or, if multiple movement modules request to pass through the same guidance transformation module, failure to coordinate the control of the movement module and the guidance transformation module may also cause multiple movement modules to have difficulty passing through the guidance transformation module smoothly to enter certain movement paths.

[0026] In short, there may be a conflict between the movement control of the movement module and the guidance transformation control of the guidance transformation module, which may affect the movement efficiency of the movement module.

[0027] To address the aforementioned problems, the solution provided in this application mainly includes: firstly, selecting a first guidance transformation module within the guidance transformation modules; further acquiring guidance state information corresponding to the first guidance transformation module and guidance expectation information corresponding to the first moving module moving towards the first guidance transformation module; and using the guidance state information and guidance expectation information to determine in advance whether the current guidance state of the first guidance transformation module is compatible with the expected guidance state, thereby controlling at least one of the first guidance transformation module and the first moving module so that the first guidance transformation module is in the expected guidance state when the first moving module enters the first guidance transformation module. This reduces the possibility of conflicts between the movement control of the moving module and the guidance transformation control of the guidance transformation module, thereby improving the movement efficiency of the moving module.

[0028] The automatic transportation equipment control method provided in the embodiments of this application will now be described in detail with reference to the accompanying drawings.

[0029] The automated transport equipment includes a track module and multiple moving modules located on the track module. The track module includes a track module and a guidance transformation module. The track module and the guidance transformation module are deployed to form multiple moving paths. The guidance transformation module is used to change the guidance relationship between the multiple moving paths.

[0030] Specifically, the moving module can be driven by one or more energy conversions, including magnetic, electrical, and mechanical energy, to move along the track module. It is understandable that automated transport equipment may have different names depending on the driving method of the moving module, such as linear motor equipment, electric handling equipment, and mechanical transmission equipment. Correspondingly, the components of automated transport equipment (such as moving modules, track modules, track modules, and guide conversion modules) may also have different names. Taking a linear motor equipment as an example, a linear motor equipment may include a stator module (i.e., a track module) and multiple moving sub-modules (i.e., moving modules). The stator module is composed of non-commutated stator modules (i.e., track modules) and commutated stator modules (i.e., guide conversion modules). One of the moving sub-modules and the stator module includes a magnetic component, and the other includes an excitation component. When the excitation component is energized, it generates a changing magnetic field. The changing magnetic field interacts with the magnetic component, exerting a force on the moving sub-module, thereby driving the moving sub-module to move along the stator module. During the movement, the moving sub-module can be loaded with items, thus realizing the transport of items. By controlling the energizing timing, current direction, and current magnitude of different excitation components, the moving direction, speed, and position of the moving submodule can be controlled.

[0031] For details on the specific implementation of the guidance switching module, please refer to [link / reference]. Figures 3-6 , Figures 3-6The diagram shows movement paths L1_a, L1_b, and L2_a, as well as a guide transformation module for guiding the movement module between movement paths L1_a, L1_b, and L2_a.

[0032] like Figure 3 As shown, the guiding transformation module may include a straight track submodule B11 and an arc track submodule B12, which can be used alternately. In some cases, the straight track submodule B11 can be used to connect movement path L1_a and movement path L1_b, allowing the movement module to enter the straight track submodule B11 from movement path L1_a and then enter movement path L1_b from the straight track submodule B11, guided by the straight track submodule B11. In some cases, the arc track submodule B12 can be used to connect movement path L1_a and movement path L2_a, allowing the movement module to enter the arc track submodule B12 from movement path L1_a and then enter movement path L2_a from the arc track submodule B12, guided by the arc track submodule B12.

[0033] like Figure 4 As shown, the guiding transformation module may include a track submodule B21 and a lifting submodule B22 that can be used together. Specifically, track submodule B21 moves along lifting submodule B22. In some cases, track submodule B21 moves along lifting submodule B22 to a certain position to connect movement path L1_a and movement path L1_b, so that the movement module can enter track submodule B21 from movement path L1_a and enter movement path L1_b from track submodule B21 under the guidance of track submodule B21. In some cases, track submodule B21 moves along lifting submodule B22 to a certain position to connect movement path L1_a and movement path L1_b, so that the moving module can enter track submodule B21 from movement path L1_a under the guidance of track submodule B21; then, track submodule B21 moves along lifting submodule B22 to another position to connect movement path L2_a, so that the moving module can enter movement path L2_a from track submodule B21.

[0034] like Figure 5As shown, the guide transformation module B31 can switch its guide state through its internal guide components. In some cases, the guide transformation module B31 can be controlled to switch to a certain guide state to connect movement path L1_a and movement path L1_b, allowing the movement module to enter guide transformation module B11 from movement path L1_a and then enter movement path L1_b under the guidance of guide transformation module B31. In other cases, the guide transformation module B31 can be controlled to switch to another guide state to connect movement path L1_a and movement path L2_a, allowing the movement module to enter guide transformation module B11 from movement path L1_a and then enter movement path L2_a under the guidance of guide transformation module B31.

[0035] like Figure 6 As shown, the guide conversion module B41 can switch its guide state simply by changing the energization of its internal coils. In some cases, the guide conversion module B41 can be controlled to switch to a certain guide state to connect movement path L1_a and movement path L1_b, allowing the movement module to enter guide conversion module B11 from movement path L1_a and then enter movement path L1_b under the guidance of guide conversion module B41. In other cases, the guide conversion module B41 can be controlled to switch to another guide state to connect movement path L1_a and movement path L2_a, allowing the movement module to enter guide conversion module B11 from movement path L1_a and then enter movement path L2_a under the guidance of guide conversion module B41.

[0036] It should be noted that, Figures 3-6 This only shows the implementation of the mobile module moving from the same movement path to a different movement path under the guidance of the guidance transformation module. Based on the same principle, the implementation of the mobile module moving from different movement paths to the same movement path under the guidance of the guidance transformation module can be generalized, and will not be elaborated further.

[0037] Please see Figure 7 This is a flowchart illustrating an automatic transportation equipment control method provided in an embodiment of this application. The method in this embodiment may include the following steps S101-S104.

[0038] S101, Select the first guide transformation module in the guide transformation module.

[0039] Specifically, the automated transport equipment involved in this application includes a track module and multiple moving modules disposed on the track module. The track module refers to a physical structure consisting of interconnected track modules and guide conversion modules, which provides a moving path for the moving modules. The moving modules refer to physical structures that can move along the track module and are used to carry materials. The track module includes track modules and guide conversion modules. The track module refers to a physical structure that provides a fixed moving direction, and the guide conversion module refers to a physical structure that can change its connection state or internal state, thereby switching the moving path that the moving modules can select when passing through.

[0040] The deployment of track modules and guidance transformation modules to form multiple movement paths refers to the interconnection of multiple track modules and multiple guidance transformation modules in a specific topology to form a path network that includes at least one of the relationships of bifurcation, merging, or intersection.

[0041] The guidance transformation module is used to change the guidance relationship between multiple movement paths. This means that by changing the guidance state of the guidance transformation module, the movement module can be dynamically controlled to enter different movement paths.

[0042] To achieve targeted control of a specific guidance transformation module, the first guidance transformation module needs to be selected. The first guidance transformation module refers to the guidance transformation module that needs to be monitored or controlled.

[0043] Regarding this step, in some possible implementations, the first guiding transformation module can be determined from the guiding transformation module according to relevant instructions; or, the first guiding transformation module can be determined from the guiding transformation module according to the spatial relationship between the moving module and the guiding transformation module.

[0044] S102, obtain the guidance status information corresponding to the first guidance transformation module; wherein, the guidance status information corresponding to the first guidance transformation module is used to indicate the current guidance status of the first guidance transformation module.

[0045] Specifically, the current guidance state of the guidance transformation module indicates the current connection state of the guidance transformation module and / or the guidance program configuration of the guidance transformation module. Based on the guidance state information of the guidance transformation module, two movement paths with a current guidance relationship can be determined, thereby determining the movement path that the movement module can enter through the guidance transformation module. For example, the guidance state information MA of the guidance transformation module indicates that there is a guidance relationship between movement path LA and movement path LB, and the movement module located on movement path LA can enter movement path LB through the guidance transformation module. The guidance state information MB of the guidance transformation module indicates that there is a guidance relationship between movement path LA and movement path LC, and the movement module located on movement path LA can enter movement path LC through the first guidance transformation module.

[0046] To determine whether the current state of the first guidance transformation module meets the passage requirements of the mobile module, it is necessary to further obtain the guidance state information corresponding to the first guidance transformation module. Based on the guidance state information corresponding to the first guidance transformation module, the current guidance state of the first guidance transformation module can be determined, and the current guidance state of the first guidance transformation module determines the movement path that the mobile module can enter when passing through the first guidance transformation module.

[0047] In some possible implementations, the guidance status information corresponding to the first guidance transformation module can be obtained by querying the relevant memory, which is used to store and update the guidance status information corresponding to the first guidance transformation module in real time; or, sensing data about the first guidance transformation module can be collected by relevant sensors, and the guidance status information corresponding to the first guidance transformation module can be determined based on the sensing data.

[0048] S103, obtain the guidance expectation information corresponding to the first moving module that moves toward the first guidance transformation module; wherein, the guidance expectation information corresponding to the first moving module is used to indicate the expected guidance state of the first guidance transformation module.

[0049] Specifically, to determine the desired state of the first guidance transformation module for the first moving module to facilitate its passage, it is necessary to further obtain the guidance expectation information corresponding to the first moving module moving towards the first guidance transformation module. Here, the first moving module refers to the moving module currently moving and expected to pass through the first guidance transformation module; the guidance expectation information corresponding to the first moving module refers to the desired guidance state of the first guidance transformation module, determined based on its scheduling task or moving target. The moving target of the first moving module may manifest as a specific moving path, location, or other types of entity or virtual object.

[0050] In some possible implementations, the guidance expectation information corresponding to the first mobile module can be determined based on the scheduling task information of the first mobile module; or, the movement target of the first mobile module can be determined, and the guidance expectation information corresponding to the first mobile module can be determined based on the movement target; or the guidance expectation information corresponding to the first mobile module can be determined based on relevant input instructions.

[0051] S104, based on the guidance state information corresponding to the first guidance transformation module and the guidance expectation information corresponding to the first moving module, control at least one of the first guidance transformation module and the first moving module so that when the first moving module enters the first guidance transformation module, the first guidance transformation module is in the expected guidance state.

[0052] Specifically, since the guidance status information and guidance expectation information represent the actual situation and expected situation of the guidance status of the first guidance transformation module, respectively, after obtaining the guidance status information corresponding to the first guidance transformation module and the guidance expectation information corresponding to the first moving module, in order to ensure that the first moving module can smoothly pass through the first guidance transformation module and enter its expected moving path, it is possible to determine whether the current guidance status of the first guidance transformation module matches the expected guidance status of the first moving module based on the guidance status information corresponding to the first guidance transformation module and the guidance expectation information corresponding to the first moving module, thereby controlling at least one of the first guidance transformation module and the first moving module according to different situations.

[0053] In some cases, if the guidance state information corresponding to the first guidance transformation module and the guidance expectation information corresponding to the first moving module can be used to determine that the first guidance transformation module is already in the expected guidance state, then without considering other factors that need to change the guidance state of the first guidance transformation module, only the first moving module needs to be controlled. This allows the first moving module to enter the expected movement path when it enters the first guidance transformation module, since the first guidance transformation module is in the expected guidance state.

[0054] In some cases, if it can be determined that the first guidance transformation module is not in the expected guidance state based on the guidance state information corresponding to the first guidance transformation module and the guidance expectation information corresponding to the first moving module, then it is necessary to control the first moving module and simultaneously control the first guidance transformation module to change its guidance state. This ensures that when the first moving module enters the first guidance transformation module, the first guidance transformation module is in the expected guidance state, thereby ensuring that the first moving module can enter the expected moving path.

[0055] For a better understanding of the embodiments of this application, please refer to [link / reference]. Figure 8 , Figure 8 This is a schematic diagram of an automated transportation equipment control scenario provided in an embodiment of this application. The guidance transformation module D11 can guide the mobile module located on the movement path L11 to the movement path L12 or L21; the guidance transformation module D12 can guide the mobile module located on the movement path L12 or L21 to the movement path L13; the operating device is deployed near the movement path L21 and can interact with the mobile module located on the movement path L21.

[0056] Assume that the guidance transformation module D11 is the first guidance transformation module; the first moving module moving towards the guidance transformation module D11 is moving module Y; and moving module Y is located on the moving path L11. Based on the above, the following situations are possible: If the guidance status information corresponding to the guidance transformation module D11 indicates that the guidance transformation module D11 is currently forming a guidance relationship between movement path L11 and movement path L12, and the guidance expectation information corresponding to the first movement module indicates that the first movement module expects the guidance transformation module D11 to form a guidance relationship between movement path L11 and movement path L12, then according to the guidance status information and the guidance expectation information corresponding to the first movement module, the first movement module is controlled to enter the guidance transformation module D11. Since the guidance transformation module D11 is in the expected guidance state when the first movement module enters the guidance transformation module D11, the first movement module enters the expected movement path L12.

[0057] If the guidance status information corresponding to the guidance transformation module D11 indicates that the guidance transformation module D11 is currently forming a guidance relationship between movement path L11 and movement path L12, and the guidance expectation information corresponding to the first movement module indicates that the first movement module expects the guidance transformation module D11 to form a guidance relationship between movement path L11 and movement path L21, then according to the guidance status information and the guidance expectation information corresponding to the first guidance transformation module, the guidance transformation module D11 is controlled to change its guidance status to form a guidance relationship between movement path L11 and movement path L21. After the guidance transformation module D11 changes to the expected guidance status, the first movement module is controlled to enter the guidance transformation module D11, so that when the first movement module enters the guidance transformation module D11, the guidance transformation module D11 is in the expected guidance status, thereby ensuring that the first movement module can enter the expected movement path L21.

[0058] It should be noted that, in conjunction with the above... Figure 8 Other situations may arise in practical applications, which will not be elaborated here. By adjusting the control method based on a similar control principle, the first guiding transformation module can be positioned in the expected guiding state when the first moving module enters the first guiding transformation module under various circumstances.

[0059] In this embodiment, a first guidance transformation module is first selected from the guidance transformation modules. Further, guidance state information corresponding to the first guidance transformation module and guidance expectation information corresponding to the first moving module moving towards the first guidance transformation module are obtained. By utilizing the guidance state information and guidance expectation information, it is determined in advance whether the current guidance state of the first guidance transformation module is compatible with the expected guidance state. Based on this, at least one of the first guidance transformation module and the first moving module is controlled, ensuring that the first guidance transformation module is in the expected guidance state when the first moving module enters the first guidance transformation module. This reduces the possibility of conflicts between the movement control of the moving module and the guidance transformation control of the guidance transformation module, thereby improving the movement efficiency of the moving module.

[0060] In some embodiments of this application, the step of "selecting the first guide transformation module in the guide transformation module" is further refined, and may specifically include at least one of the following steps: SA11, after recognizing the scheduling operation, selects the first guiding transformation module in the guiding transformation module based on the scheduling operation; wherein, the scheduling operation is used to control the specified moving module to go to the specified moving path or to the specified work point, and the work point is set on the moving path; SA12, after recognizing that the moving module has moved to a position close to the guide transformation module, selects the guide transformation module that is close to the moving module as the first guide transformation module.

[0061] Specifically, in order to achieve efficient control of the path scheduling of the mobile module and ensure that the selection logic of the guidance transformation module is closely related to the actual operating state of the mobile module or external scheduling instructions, the embodiments of this application propose the above two selection mechanisms for the first guidance transformation module.

[0062] Regarding the statement "After recognizing a scheduling operation, select the first guiding transformation module from the guiding transformation modules based on the scheduling operation," the scheduling operation refers to an operation issued by a relevant user or host computer, which can exist in the form of a command, used to control a specified mobile module to move to a specified mobile path or to a specified work point. The work point is set on the mobile path, specifically referring to a predefined location on the mobile path used to provide a place for the mobile module to stop and interact with the operating equipment.

[0063] Regarding this step, in some possible implementations, a scheduling operation containing a specified movement path identifier or a specified work point identifier can be received, the scheduling operation can be parsed to determine the movement path or work point that the specified movement module needs to reach, and then, based on the pre-stored path topology relationship, the guide transformation module connected to or associated with the specified movement path or the specified work point can be determined, and the guide transformation module can be selected as the first guide transformation module.

[0064] Regarding the statement "After identifying that the moving module has moved to a position close to the guidance transformation module, the guidance transformation module that is close to the moving module will be selected as the first guidance transformation module", the "close to" refers to the moving module and a certain guidance transformation module being spatially close and reaching a certain degree.

[0065] Regarding this step, in some possible implementations, the relative positional relationship between the moving module and each guiding transformation module can be monitored; when it is determined that the distance between a certain moving module and a certain guiding transformation module is less than a certain level, it is identified that the moving module has moved to be close to the guiding transformation module, and then the guiding transformation module is selected as the first guiding transformation module.

[0066] In this embodiment, two methods are provided for selecting the first guidance transformation module: First, after identifying a scheduling operation used to control a specified mobile module to move to a specified movement path or work point, the first guidance transformation module is selected from the guidance transformation modules based on this scheduling operation; second, after identifying that a mobile module has moved to a position close to a guidance transformation module, the guidance transformation module adjacent to the mobile module is directly selected as the first guidance transformation module. The first method allows for the determination of the target guidance module based on external instructions, improving the directness and clarity of scheduling control. The second method allows for the triggering of the selection operation in response to the actual position state of the mobile module, improving the real-time performance and adaptability of scheduling control. These two methods can be used individually or in combination, supporting both active scheduling and passive sensing, enabling flexible selection of the first guidance transformation module.

[0067] In some embodiments of this application, based on the guidance relationship of multiple movement paths, the multiple movement paths may include a main path and multiple branch paths, with a corresponding relationship between the main path and the multiple branch paths. The main path provides a unique movement path for multiple movement modules, and at least one end of the main path connects to multiple branch paths. The multiple branch paths are arranged side by side, with at least two branch paths converging on the same main path. The correspondence between the main path and the multiple branch paths means that, based on the movement direction of the movement modules, the main path and branch paths can form a guidance relationship through the same guidance transformation module. Thus, multiple movement modules may enter different branch paths from the main path, and multiple movement modules may merge into the same main path from different branch paths.

[0068] The step of "selecting the first guidance transformation module in the guidance transformation module based on the guidance transformation module after the scheduling operation is identified" can be further refined and may specifically include at least one of the following steps: SA21, after identifying that a specified mobile module is scheduled to go to a specified branch path on the main path, selects the guidance transformation module to which the specified mobile module is to enter as the first guidance transformation module, or selects the guidance transformation module corresponding to the specified branch path and to which the specified mobile module is to enter as the first guidance transformation module. SA22, after identifying that a specified mobile module is scheduled to go to the trunk path in the branch path, selects the guidance transformation module to which the specified mobile module is to enter as the first guidance transformation module, or selects the guidance transformation module to which the specified mobile module is to enter in the trunk path as the first guidance transformation module. SA23, after identifying that a specified mobile module is scheduled to go to a specified work point on the main path, selects the guidance transformation module to which the specified mobile module is to enter as the first guidance transformation module, or selects the guidance transformation module corresponding to the specified work point and to which the specified mobile module is to enter as the first guidance transformation module. SA24, after recognizing that a specified mobile module is scheduled to go to a specified work point on the main path in the branch path, selects the guidance transformation module to which the specified mobile module is to enter as the first guidance transformation module, or selects the guidance transformation module corresponding to the specified work point and to which the specified mobile module is to enter as the first guidance transformation module.

[0069] Specifically, in order to improve the accuracy and efficiency of scheduling control and to ensure that the selection of the guidance transformation module is closely related to the scheduling target of the moving module, the embodiments of this application propose the above four selection mechanisms for the first guidance transformation module.

[0070] For a better understanding of the embodiments of this application, please refer to [link / reference]. Figure 9 and Figure 10 .

[0071] like Figure 9 As shown, the mobile module Y is located on the movement path L13. Along the movement direction F of the mobile module Y, guidance transformation modules D41, D42, D51, and D52 are distributed sequentially. Guidance transformation module D41 guides the mobile module Y from movement path L13 to movement path L24 or L14; guidance transformation module D42 guides the mobile module Y from movement path L24 or L14 to movement path L15; guidance transformation module D51 guides the mobile module Y from movement path L15 to movement path L25 or L16; and guidance transformation module D52 guides the mobile module Y from movement path L25 or L16 to movement path L17. Based on the guidance relationship from movement path L13 to movement path L17, movement paths L13, L15, and L17 are the main paths, while movement paths L14, L24, L16, and L25 are branch paths. Based on the direction of movement F, there is a corresponding relationship between movement path L13 and movement path L14, and movement path L24; and there is a corresponding relationship between movement path L15 and movement path L25, and movement path L16.

[0072] The movement path L25 is equipped with a work point G5. The operating device C5 deployed near the movement path L25 can interact with the movement module located at work point G5. The movement path L15 is equipped with a work point G0. The operating device C0 deployed near the movement path L15 can interact with the movement module located at work point G0.

[0073] Figure 10 The content shown is the same as Figure 9 The content shown corresponds, the difference lies in Figure 10 The mobile module Y is located on the mobile path L24.

[0074] Regarding the statement "After identifying that a specified mobile module is scheduled to go to a specified branch path on the main path, the guidance transformation module to which the specified mobile module is to enter is selected as the first guidance transformation module, or the guidance transformation module corresponding to the specified branch path and to which the specified mobile module is to enter is selected as the first guidance transformation module", the correspondence between the branch path and the guidance transformation module refers to the fact that in the topology of the path network, a specific branch path is connected to the main path through a specific guidance transformation module, and this specific guidance transformation module is the guidance transformation module corresponding to that specific branch path.

[0075] Regarding this step, in some possible implementations, a scheduling operation containing a specified branch path identifier can be received, the scheduling operation can be parsed to determine the specified branch path that the specified mobile module needs to reach, and then, based on the pre-stored path topology, the guiding transformation module connected to the specified branch path can be determined, and the guiding transformation module can be selected as the first guiding transformation module.

[0076] For example, combined Figure 9 Movement path L13 is the main path, and movement path L24 is a branch path. Assuming that movement module Y located on movement path L13 is dispatched to movement path L24, then movement module Y is the designated movement module, and movement path L24 is the designated branch path. Further, the guidance transformation module that movement module Y needs to enter is guidance transformation module D41, therefore guidance transformation module D41 can be selected as the first guidance transformation module; alternatively, the guidance transformation modules corresponding to movement path L24 include guidance transformation modules D41 and D42, therefore, guidance transformation module D41 that movement module Y needs to enter can be selected as the first guidance transformation module.

[0077] Regarding the statement "After identifying that a specified mobile module is scheduled to go to the main path on a branch path, the guidance transformation module to which the specified mobile module is to enter is selected as the first guidance transformation module, or the guidance transformation module corresponding to the main path and to which the specified mobile module is to enter is selected as the first guidance transformation module," the correspondence between the main path and the guidance transformation module refers to the fact that in the topology of the path network, a specific main path is connected to a branch path through a specific guidance transformation module, and this specific guidance transformation module is the guidance transformation module corresponding to that specific main path.

[0078] Regarding this step, in some possible implementations, a scheduling operation containing a specified trunk path identifier can be received, the scheduling operation can be parsed to determine the specified trunk path that the specified mobile module needs to reach, and then, based on the pre-stored path topology, the guidance transformation module connected to the specified trunk path can be determined, and the guidance transformation module can be selected as the first guidance transformation module.

[0079] For example, combined Figure 10 Mobile path L15 is the main path, and mobile paths L14 and L24 are branch paths. Assuming that mobile module Y located on mobile path L24 is identified as being scheduled to move to mobile path L15, then mobile module Y is the designated mobile module, and mobile path L15 is the main path to which it needs to be scheduled. Further, the guidance transformation module that mobile module Y needs to enter is guidance transformation module D42, therefore guidance transformation module D42 can be selected as the first guidance transformation module; alternatively, the guidance transformation modules corresponding to mobile path L15 include guidance transformation modules D42 and D51, therefore, guidance transformation module D42 that mobile module Y needs to enter can be selected as the first guidance transformation module.

[0080] The clause "After identifying that a specified mobile module is scheduled to go to a specified work point on a branch path on the main path, the guide transformation module to which the specified mobile module is to enter is selected as the first guide transformation module, or the guide transformation module corresponding to the specified work point and to which the specified mobile module is to enter is selected as the first guide transformation module" refers to the correspondence between work points and guide transformation modules, which refers to the predefined mapping relationship between specific work points and specific guide transformation modules.

[0081] Regarding this step, in some possible implementations, a scheduling operation containing a specified work site identifier can be received, the scheduling operation can be parsed to determine the specified work site that the specified mobile module needs to reach, and then the guiding transformation module corresponding to the specified work site can be determined according to the pre-stored mapping relationship between work sites and guiding transformation modules, and the guiding transformation module can be selected as the first guiding transformation module.

[0082] For example, combined Figure 10Movement path L15 is the main path, and movement paths L14, L24, and L25 are branch paths. Assuming that movement module Y located on movement path L24 is dispatched to work station G5 on movement path L25, then movement module Y is the designated movement module, and work station G5 is the designated work station. Further, the guidance transformation modules that movement module Y needs to enter are guidance transformation modules D42 and D51, therefore guidance transformation module D51 can be selected as the first guidance transformation module; or, according to the pre-stored mapping relationship, the guidance transformation modules corresponding to work station G5 include guidance transformation modules D42 and D51 that movement module Y needs to enter, therefore guidance transformation modules D42 and D51 can be selected as the first guidance transformation modules.

[0083] The clause "After identifying that a specified mobile module is scheduled to go to a specified work point on the main path, the guide transformation module to which the specified mobile module is to enter is selected as the first guide transformation module, or the guide transformation module corresponding to the specified work point and to which the specified mobile module is to enter is selected as the first guide transformation module" refers to the predefined mapping relationship between a specific work point and a specific guide transformation module.

[0084] Regarding this step, in some possible implementations, a scheduling operation containing a specified work site identifier can be received, the scheduling operation can be parsed to determine the specified work site that the specified mobile module needs to reach, and then the guiding transformation module corresponding to the specified work site can be determined according to the pre-stored mapping relationship between work sites and guiding transformation modules, and the guiding transformation module can be selected as the first guiding transformation module.

[0085] For example, combined Figure 10 Movement path L15 is the main path, and movement paths L14, L24, and L25 are branch paths. Assuming that movement module Y located on movement path L24 is dispatched to work station G0 on movement path L15, then movement module Y is the designated movement module, and work station G0 is the designated work station. Further, the guidance transformation module that movement module Y needs to enter is guidance transformation module D42, therefore guidance transformation module D42 can be selected as the first guidance transformation module; or, according to the pre-stored mapping relationship, the guidance transformation module corresponding to work station G0 includes guidance transformation module D42 that movement module Y needs to enter, therefore guidance transformation module D42 can be selected as the first guidance transformation module.

[0086] In this embodiment, by providing a specific method for selecting the first guidance conversion module based on scheduling operations, firstly, after identifying that a specified mobile module is scheduled to go to a specified branch path on the main path, two path selection options are provided; secondly, after identifying that a specified mobile module is scheduled to go to the main path on the branch path, two corresponding selection methods are also provided; furthermore, after identifying that a specified mobile module is scheduled to go to a specified workstation located on the branch path on the main path, two selection logics are also provided; finally, after identifying that a specified mobile module is scheduled to go to a specified workstation located on the main path on the branch path, two selection schemes are also provided. Through the above selection steps, it can be ensured that the selection of the first guidance conversion module matches the scheduling intention of the mobile module, avoiding path conflicts or waiting delays caused by improper selection of the guidance conversion module, thereby improving the overall transportation efficiency.

[0087] In some embodiments of this application, the step of "identifying that the moving module has moved to a position close to the guidance transformation module" is further refined, and may specifically include the following steps: SA31, according to the moving direction of the moving module, when it is detected that the distance between the moving module and the guidance transformation module does not exceed the preset distance threshold, it determines that the moving module moves to be close to the guidance transformation module; wherein, the moving path where the moving module is located is the main path or the branch path.

[0088] Specifically, the preset distance threshold refers to a pre-set distance value or range used to determine whether the moving module and the guiding transformation module are close to each other; the distance between the moving module and the guiding transformation module refers to the spatial interval between them; in some cases, this distance can be expressed as the actual moving distance of the moving module along the moving path to the guiding transformation module, specifically, the actual moving distance is the path length required for the moving module to move to the guiding transformation module; in some cases, this distance can be expressed as the absolute spatial distance between the moving module and the guiding transformation module, specifically, the absolute spatial distance is the straight-line distance between them; in some cases, this distance can be expressed as the projected distance between the moving module and the guiding transformation module, specifically, using the position points of the moving module and the guiding transformation module as references, parallel projection lines are drawn along a specified projection direction (e.g., a projection direction perpendicular to the moving direction), and the perpendicular distance between these two parallel projection lines is the projected distance.

[0089] To accurately determine whether the moving module is close to the guide transformation module, the distance between the moving module and the guide transformation module can be calculated according to the moving direction of the moving module.

[0090] When it is detected that the distance between the moving module and the guidance transformation module exceeds the preset distance threshold, it indicates that the moving module has not yet moved to be close to the guidance transformation module, so it is uncertain whether the moving module has moved to be close to the guidance transformation module.

[0091] When it is detected that the distance between the moving module and the guidance transformation module does not exceed the preset distance threshold, it indicates that the moving module has moved to be close to the guidance transformation module, and it can be determined that the moving module has moved to be close to the guidance transformation module.

[0092] For a better understanding of the embodiments of this application, please refer to [link / reference]. Figure 11 In this system, movement path L13 is the main path, while movement paths L12 and L21 are branch paths. Movement module Y is located on movement path L21, and guidance module D12 can guide movement modules located on movement paths L12 or L21 to movement path L13. The distance between movement module Y and guidance module D12 is determined as follows: In some cases, a path segment with the moving module Y and the guiding transformation module D12 as endpoints can be determined in the moving path L21, the equivalent straight line length of the path segment can be determined, and then the actual moving distance d1 of the moving module Y to the guiding transformation module D12 along the moving path can be determined based on the equivalent straight line length.

[0093] In some cases, the absolute spatial distance d2 between the moving module Y and the guiding transformation module D12 can be obtained by determining the straight-line distance between the center point of the moving module Y and the center point of the guiding transformation module D12.

[0094] In some cases, the projection distance d3 between the moving module Y and the guiding transformation module D12 can be obtained by taking the position points of the moving module Y and the guiding transformation module D12 as references, drawing parallel projection lines along the projection direction perpendicular to the moving direction F of the moving module Y, and determining the vertical distance between these two parallel projection lines.

[0095] After determining any one of the above actual movement distance d1, absolute spatial distance d2, and projection distance d3, any one of the actual movement distance d1, absolute spatial distance d2, and projection distance d3 can be further compared with a preset distance threshold. Then, based on the comparison result, it can be determined whether the moving module Y has moved to be close to the guiding transformation module D12.

[0096] In this embodiment, by following the movement direction of the moving module, when it is determined that the distance between the moving module and the guidance transformation module does not exceed a preset distance threshold, the moving module is moved to a position close to the guidance transformation module, wherein the movement path of the moving module is a main path or a branch path; thus, by combining the movement direction with the preset distance threshold for proximity judgment, a basis is provided for the accurate selection of the first guidance transformation module in the future.

[0097] In some embodiments of this application, the step of "obtaining the guidance expectation information corresponding to the first moving module moving towards the first guidance transformation module" is further refined, and may specifically include at least one of the following steps: SA41, based on the expected path information of the first moving module moving towards the first guidance transformation module and the corresponding moving path information of the first guidance transformation module, determine the guidance expectation information corresponding to the first moving module; SA42 determines the guidance expectation information corresponding to the first moving module based on the expected position information of the first moving module moving towards the first guidance transformation module and the movement path information corresponding to the first guidance transformation module.

[0098] Specifically, the movement path information corresponding to the first guidance transformation module involved in this application embodiment is used to characterize all movement paths that the first guidance transformation module may guide. It is understood that the movement path corresponding to the expected path information of the first movement module moving towards the first guidance transformation module, or the position corresponding to the expected position information, may intersect with the movement paths that the first guidance transformation module may guide in some cases, and may not intersect with the movement paths that the first guidance transformation module may guide in others. If there is no intersection, it indicates that the first guidance transformation module is a guidance transformation module that the first movement module passes through to reach a certain movement path or position.

[0099] Regarding the phrase "determining the guidance expectation information corresponding to the first mobile module based on the expected path information of the first mobile module moving towards the first guidance transformation module and the corresponding mobile path information of the first guidance transformation module," the expected path information of the first mobile module moving towards the first guidance transformation module refers to the identifier of the target mobile path that the first mobile module expects to reach. In some cases, the mobile path corresponding to the expected path information may be the mobile path where the target work point assigned to the first mobile module is located. In other cases, the mobile path corresponding to the expected path information may be the mobile path determined for the first mobile module based on a first input instruction. The first input instruction refers to a control instruction issued by the user or host computer to instruct the first mobile module to proceed to the specified mobile path.

[0100] Regarding this step, in some possible implementations, the desired path information of the first moving module can be parsed to determine its target moving path. Then, based on the pre-stored path topology, the correlation between the target moving path and the moving path situation corresponding to the first guidance transformation module can be determined. If the target moving path belongs to one of the moving paths corresponding to the first guidance transformation module, the guidance expectation information corresponding to the first moving module is set to instruct the first guidance transformation module to form a guidance state leading to the target moving path. If the target moving path does not belong to any of the moving paths corresponding to the first guidance transformation module, the guidance expectation information corresponding to the first moving module is set according to the correlation between the moving path currently occupied by the first moving module and the moving path situation corresponding to the first guidance transformation module.

[0101] Regarding the phrase "determining the guidance expectation information corresponding to the first mobile module based on the expected position information of the first mobile module moving towards the first guidance transformation module and the corresponding movement path of the first guidance transformation module," the expected position information of the first mobile module moving towards the first guidance transformation module refers to the coordinates or identifier of the target position that the first mobile module expects to reach. In some cases, the position corresponding to the expected position information may be the location of the target work point assigned to the first mobile module. In other cases, the position corresponding to the expected position information may be the position determined for the first mobile module based on the second input instruction, whereby the second input instruction refers to the control instruction issued by the user or host computer to instruct the first mobile module to move to the specified position.

[0102] Regarding this step, in some possible implementations, the desired position information of the first moving module can be parsed to determine its target position. Then, based on the pre-stored mapping relationship between position and moving path, the moving path to which the target position belongs can be determined. Subsequently, based on the correlation between the assigned moving path and the moving path situation corresponding to the first guidance transformation module, if the assigned moving path belongs to one of the moving paths corresponding to the first guidance transformation module, the guidance expectation information corresponding to the first moving module is set to instruct the first guidance transformation module to form a guidance state leading to the assigned moving path. If the assigned moving path does not belong to any of the moving paths corresponding to the first guidance transformation module, the guidance expectation information corresponding to the first moving module is set based on the correlation between the moving path currently occupied by the first moving module and the moving path situation corresponding to the first guidance transformation module.

[0103] In this embodiment, two methods are provided for determining the guidance expectation information corresponding to the first moving module: the first method determines the guidance expectation information corresponding to the first moving module based on the expected path information of the first moving module moving towards the first guidance transformation module and the corresponding moving path of the first guidance transformation module; the second method determines the guidance expectation information corresponding to the first moving module based on the expected position information of the first moving module moving towards the first guidance transformation module and the corresponding moving path of the first guidance transformation module. Both methods combine the scheduling intention of the first moving module with the path constraints of the first guidance transformation module to determine the guidance expectation information, thereby ensuring the accuracy of the guidance expectation information.

[0104] In some embodiments of this application, multiple movement paths include a main path and multiple branch paths; the step of "determining the guidance expectation information corresponding to the first movement module based on the expected path information of the first movement module moving towards the first guidance transformation module and the movement path situation corresponding to the first guidance transformation module" is further refined, and may specifically include at least one of the following steps: SA51, when the desired path information of the first moving module moving towards the first guidance transformation module matches a moving path corresponding to the first guidance transformation module, the guidance desired information corresponding to the first moving module is set according to the guidance state of the first guidance transformation module that matches the moving path that the first moving module is expected to reach. SA52, when the expected path information of the first moving module moving towards the first guidance transformation module does not match the moving path corresponding to the first guidance transformation module, and the moving path where the first moving module is located is the main path, the guidance expected information corresponding to the first moving module is set according to the current guidance state of the first guidance transformation module. SA53: When the expected path information of the first moving module moving towards the first guidance transformation module does not match the moving path corresponding to the first guidance transformation module, and the moving path where the first moving module is located is a branch path, the guidance expected information corresponding to the first moving module is set according to the guidance state of the first guidance transformation module that matches the moving path where the first moving module is located.

[0105] Specifically, to accurately determine the guidance expectation information corresponding to the first moving module, it is first necessary to determine whether the expected path information of the first moving module moving towards the first guidance transformation module matches a moving path corresponding to the first guidance transformation module. Specifically, the aforementioned "match" means that the moving path the first moving module expects to reach belongs to the set of moving paths that the first guidance transformation module can guide into. Depending on the different matching results, there are the following three executable steps: If the desired path information of a first moving module moving towards a first guidance transformation module matches a corresponding moving path of the first guidance transformation module, it indicates that the first moving module needs to enter its desired moving path through the first guidance transformation module. At this time, guidance expectation information corresponding to the first moving module can be set according to the guidance state of the first guidance transformation module that matches the desired moving path of the first moving module. Specifically, the guidance expectation information is set to instruct the first guidance transformation module to form a guidance state leading to the desired moving path.

[0106] If the desired path information of the first moving module moving towards the first guidance transformation module does not match the moving path corresponding to the first guidance transformation module, and the moving path where the first moving module is located is the main path, it indicates that the first moving module only needs to continue moving along the main path through the first guidance transformation module, and no path switching is required. At this time, guidance expectation information corresponding to the first moving module can be set according to the current guidance state of the first guidance transformation module. Specifically, the guidance expectation information is set to instruct the first guidance transformation module to maintain its current guidance state.

[0107] If the desired path information of the first moving module moving towards the first guidance transformation module does not match the moving path corresponding to the first guidance transformation module, and the moving path where the first moving module is located is a branch path, it indicates that the first moving module needs to return from the branch path to the main path. At this time, the guidance expectation information corresponding to the first moving module can be set according to the guidance state of the first guidance transformation module that matches the moving path where the first moving module is located. Specifically, the guidance expectation information is set to instruct the first guidance transformation module to form a guidance state leading to the main path.

[0108] For a better understanding of the embodiments of this application, please refer to [link / reference]. Figure 12 and Figure 13 Among them, movement paths L11, L13, and L15 are the main paths distributed along the movement direction F; movement paths L21, L12, L24, and L14 are the branch paths. Guiding module D11 can guide the moving module located on movement path L11 to movement path L12 or L21; guiding module D12 can guide the moving module located on movement path L12 or L21 to movement path L13; guiding module D31 can guide the moving module located on movement path L14 to movement path L15 or L24; and guiding module D32 can guide the moving module located on movement path L15 or L24 to movement path L16.

[0109] like Figure 12As shown: the guide transformation module D11 is the first guide transformation module, and the first moving module moving towards the guide transformation module D11 is the moving module Y, which is located on the moving path L11.

[0110] Assuming the desired path information for mobile module Y corresponds to mobile path L21, and the mobile path information for guidance module D11 indicates that the set of mobile paths it can be guided into includes mobile paths L12 and L21, then it can be known that one of the mobile paths corresponding to guidance module D11 is mobile path L21. At this point, the guidance expectation information corresponding to mobile module Y can be set according to the guidance state of the first guidance module matching the desired mobile path L21. Specifically, the guidance expectation information is set to instruct guidance module D11 to form a guidance state leading to mobile path L21.

[0111] Assuming the desired path information for mobile module Y corresponds to mobile path L24, and the path information for guidance module D11 indicates that the set of mobile paths it can be guided into includes mobile paths L12 and L21, then it can be concluded that the mobile path corresponding to guidance module D11 does not include mobile path L24. Furthermore, since mobile module Y is located on mobile path L11, which is the main path, the current guidance state of guidance module D11 does not affect the normal movement of mobile module Y. At this point, the guidance expectation information for mobile module Y can be set according to the current guidance state of guidance module D11. Specifically, the guidance expectation information is set to instruct guidance module D11 to maintain its current guidance state.

[0112] like Figure 13 As shown: the guide transformation module D12 is the first guide transformation module, and the first moving module moving towards the guide transformation module D12 is the moving module Y, which is located on the moving path L21.

[0113] Assuming the desired path information for mobile module Y corresponds to mobile path L13, and the mobile path information for guidance module D12 indicates that the set of mobile paths it can be guided into includes mobile paths L12 and L13, then it can be known that one of the mobile paths corresponding to guidance module D12 is mobile path L13. At this point, the guidance expectation information corresponding to mobile module Y can be set according to the guidance state of the first guidance module that matches the desired mobile path L13. Specifically, the guidance expectation information is set to instruct guidance module D12 to form a guidance state leading to mobile path L13.

[0114] Assuming the desired path information for mobile module Y corresponds to mobile path L24, and the path information for guidance module D12 indicates that the set of mobile paths it can be guided into includes mobile paths L12 and L13, then it can be concluded that the mobile path corresponding to guidance module D12 does not include mobile path L24. Simultaneously, since mobile module Y is located on mobile path L21, which is a branch path, the current guidance state of guidance module D12 will affect the normal movement of mobile module Y. At this time, the guidance expectation information corresponding to mobile module Y can be set according to the guidance state of the first guidance module matching mobile path L21. Specifically, the guidance expectation information is set to instruct guidance module D12 to form a guidance state leading to mobile path L13.

[0115] In this embodiment, three scenarios are provided for determining the guidance expectation information of the first moving module: when the expected path information of the first moving module moving towards the first guidance transformation module matches a moving path corresponding to the first guidance transformation module, the guidance expectation information is set according to the guidance state of the first guidance transformation module that matches the moving path the first moving module expects to reach; when the expected path information does not match and the moving path where the first moving module is located is a main path, the guidance expectation information is set according to the current guidance state of the first guidance transformation module; when the expected path information does not match and the moving path where the first moving module is located is a branch path, the guidance expectation information is set according to the guidance state of the first guidance transformation module that matches the moving path where the first moving module is located. Thus, by distinguishing different path matching states and moving module positions, and setting the guidance expectation information of the first moving module accordingly, it helps to reduce the waiting time of the first moving module, while avoiding path conflicts and improving overall movement efficiency.

[0116] In some embodiments of this application, the step of "determining the guidance expectation information corresponding to the first moving module based on the expected position information of the first moving module moving towards the first guidance transformation module and the movement path corresponding to the first guidance transformation module" is further refined, and may specifically include at least one of the following steps: SA61, when the expected position information of the first moving module moving towards the first guiding transformation module matches the guiding state of the first guiding transformation module based on the correspondence between the guiding state and the position sequence of the first guiding transformation module, sets the guiding expected information corresponding to the first moving module based on the guiding state that matches the expected position information. SA62, when it is determined that the expected position information of the first moving module moving towards the first guiding transformation module does not match the guiding state of the first guiding transformation module according to the correspondence between the guiding state and position sequence of the first guiding transformation module, and the moving path where the first moving module is located is the main path, sets the guiding expected information corresponding to the first moving module according to the current guiding state of the first guiding transformation module. If, based on the correspondence between the guidance state and position sequence of the first guidance transformation module, it is determined that the expected position information of the first moving module moving towards the first guidance transformation module does not match the guidance state of the first guidance transformation module, and the moving path where the first moving module is located is a branch path, then the guidance expectation information corresponding to the first moving module is set according to the guidance state of the first guidance transformation module that matches the moving path where the first moving module is located.

[0117] Specifically, to accurately determine the desired guidance information corresponding to the first moving module, it is first necessary to determine whether the desired position information of the first moving module moving towards the first guidance transformation module matches the guidance state of the first guidance transformation module, based on the correspondence between the guidance state and position sequence of the first guidance transformation module. Here, the guidance state of the first guidance transformation module refers to the specific configuration state that the first guidance transformation module can form to connect different moving paths; the position sequence of the first guidance transformation module refers to the ordered set of one or more position points located on its downstream moving path, each associated with a different guidance state of the first guidance transformation module; the correspondence between the guidance state and position sequence of the first guidance transformation module refers to a predefined mapping relationship, which indicates the downstream position sequence that the moving module is allowed to reach under each guidance state of the first guidance transformation module.

[0118] Specifically, the aforementioned "matching" means that the target position indicated by the desired position information of the first moving module belongs to the position sequence corresponding to the first guidance transformation module in the current guidance state, or belongs to the position sequence corresponding to the first guidance transformation module in other guidance states. Depending on the matching result, there are three executable steps: If, based on the correspondence between the guidance states and position sequences of the first guidance transformation module, it is determined that the desired position information of the first moving module moving towards the first guidance transformation module matches the guidance state of the first guidance transformation module, it indicates that the target position the first moving module expects to reach requires switching to a specific guidance state through the first guidance transformation module. At this point, guidance expectation information corresponding to the first moving module can be set according to the guidance state matching the desired position information. Specifically, the guidance expectation information is set to instruct the first guidance transformation module to form a guidance state that leads to the target position.

[0119] If, based on the correspondence between the guidance state and position sequence of the first guidance transformation module, it is determined that the desired position information of the first moving module moving towards the first guidance transformation module does not match the guidance state of the first guidance transformation module, and the moving path of the first moving module is a main path, it indicates that the target position that the first moving module expects to reach can be reached without switching the guidance state through the first guidance transformation module. At this time, the guidance expectation information corresponding to the first moving module can be set according to the current guidance state of the first guidance transformation module. Specifically, the guidance expectation information is set to instruct the first guidance transformation module to maintain its current guidance state.

[0120] If, based on the correspondence between the guidance state and position sequence of the first guidance transformation module, it is determined that the desired position information of the first moving module moving towards the first guidance transformation module does not match the guidance state of the first guidance transformation module, and the moving path where the first moving module is located is a branch path, it indicates that the first moving module needs to return from the branch path to the main path to continue to its target position. At this time, guidance expectation information corresponding to the first moving module can be set according to the guidance state of the first guidance transformation module that matches the moving path where the first moving module is located. Specifically, the guidance expectation information is set to instruct the first guidance transformation module to form a guidance state leading to the main path.

[0121] For a better understanding of the embodiments of this application, please refer to [link / reference]. Figure 14 and Figure 15 The movement paths L11, L13, and L15 are the main paths distributed along the movement direction F; movement paths L21, L12, L24, and L14 are the branch paths. Guiding module D11 can guide the moving module located on movement path L11 to movement path L12 or L21; guiding module D12 can guide the moving module located on movement path L12 or L21 to movement path L13; guiding module D31 can guide the moving module located on movement path L14 to movement path L15 or L24; and guiding module D32 can guide the moving module located on movement path L15 or L24 to movement path L16. Position M1 is located on movement path L21, position M2 is located on movement path L13, and position M3 is located on movement path L24.

[0122] like Figure 14 As shown: the guide transformation module D11 is the first guide transformation module, and the first moving module moving towards the guide transformation module D11 is the moving module Y, which is located on the moving path L11.

[0123] Assume the desired position information for the mobile module Y corresponds to position M1. Based on the pre-stored correspondence between the guidance states and position sequences of the first guidance transformation module D11, position M1 belongs to the position sequence corresponding to when the first guidance transformation module D11 forms a guidance state leading to the mobile path L21. At this point, the guidance expectation information corresponding to the mobile module Y can be set according to the guidance state matched by the desired position information. Specifically, the guidance expectation information is set to instruct the guidance transformation module D11 to form a guidance state leading to the mobile path L21.

[0124] Assume the desired location of the mobile module Y corresponds to location M3. According to the pre-stored correspondence between the guidance states and position sequences of the first guidance transformation module D11, location M3 does not belong to any position sequence corresponding to any guidance state of the first guidance transformation module D11. Furthermore, since the mobile module Y is located on the main path L11, the current guidance state of the guidance transformation module D11 does not affect the continued movement of the mobile module Y to eventually reach location M3. At this point, the desired guidance information for the mobile module Y can be set based on the current guidance state of the guidance transformation module D11. Specifically, the desired guidance information is set to instruct the guidance transformation module D11 to maintain its current guidance state.

[0125] like Figure 15 As shown: the guide transformation module D12 is the first guide transformation module, and the first moving module moving towards the guide transformation module D12 is the moving module Y, which is located on the moving path L21.

[0126] Assume the desired position information for the mobile module Y corresponds to position M2. Based on the pre-stored correspondence between the guidance states and position sequences of the first guidance transformation module D12, position M2 belongs to the position sequence corresponding to when the first guidance transformation module D12 forms a guidance state leading to the mobile path L13. At this point, the guidance expectation information corresponding to the mobile module Y can be set according to the guidance state matched by the desired position information. Specifically, the guidance expectation information is set to instruct the guidance transformation module D12 to form a guidance state leading to the mobile path L13.

[0127] Assume the desired location information for mobile module Y corresponds to location M3. However, according to the pre-stored correspondence between the guidance states and location sequences of the first guidance transformation module D12, location M3 does not belong to any location sequence corresponding to any guidance state of the first guidance transformation module D12. Furthermore, since the mobile path L21 where mobile module Y is located is a branch path, mobile module Y needs to return to the main path to continue to location M3. At this point, the desired guidance information for mobile module Y can be set according to the guidance state of the first guidance transformation module matching the mobile path L21 where mobile module Y is located. Specifically, the desired guidance information is set to instruct the guidance transformation module D12 to form a guidance state leading to the mobile path L13.

[0128] In this embodiment, the system first determines whether the desired location information matches the guidance state based on the correspondence between the guidance state and the position sequence of the first guidance transformation module. If they match, the desired guidance information is set according to the matching guidance state. If they do not match and the first moving module is located on the main path, the desired guidance information is set according to the current guidance state. If they do not match and the first moving module is located on a branch path, the desired guidance information is set according to the guidance state that matches the moving path. Thus, by establishing a mapping relationship between position and guidance state, and employing differentiated setting strategies for different path states and matching situations, it is possible to ensure that the state settings of the guidance transformation module are consistent with the expected path of the moving module, thereby reducing guidance state switching and improving the accuracy of path planning and transportation efficiency.

[0129] In some embodiments of this application, when there is no second moving module moving towards the first guiding transformation module between the first moving module and the first guiding transformation module, the step of "controlling at least one of the first guiding transformation module and the first moving module according to the guiding state information corresponding to the first guiding transformation module and the guiding expectation information corresponding to the first moving module" is further refined, and may specifically include at least the following steps: SA71, if the guidance status information corresponding to the first guidance transformation module matches the guidance expectation information corresponding to the first moving module, then control the first moving module to enter the first guidance transformation module; SA72, if the guidance state information corresponding to the first guidance transformation module does not match the guidance expectation information corresponding to the first moving module, then control the first guidance transformation module to change to the expected guidance state, and control the first moving module to enter the first guidance transformation module after the first guidance transformation module changes to the expected guidance state.

[0130] Specifically, in this embodiment of the application, considering the case where there is no second moving module moving towards the first guiding transformation module between the first moving module and the first guiding transformation module, in order to ensure that the first moving module can smoothly pass through the first guiding transformation module and enter its expected moving path, it is first necessary to determine whether the guiding state information corresponding to the first guiding transformation module matches the guiding expectation information corresponding to the first moving module. This process can be expressed as: determining whether the current guiding state of the first guiding transformation module is consistent with the guiding state that the first moving module expects the first guiding transformation module to have.

[0131] Based on the possible matching results, the following steps can be performed: If the guidance state information corresponding to the first guidance transformation module matches the guidance expectation information corresponding to the first moving module, it indicates that the first guidance transformation module is already in the guidance state expected by the first moving module. At this time, the first moving module can be controlled to enter the first guidance transformation module. Specifically, a movement command is generated to control the first moving module, and the first moving module is controlled to continue moving along the current movement path and enter the first guidance transformation module according to the movement command.

[0132] If the guidance state information corresponding to the first guidance transformation module does not match the guidance expectation information corresponding to the first moving module, it indicates that the first guidance transformation module is not yet in the guidance state expected by the first moving module. In this case, the first guidance transformation module can be controlled to change to the expected guidance state, and the first moving module can be controlled to enter the first guidance transformation module after the first guidance transformation module has changed to the expected guidance state. Specifically, a state switching instruction for controlling the first guidance transformation module is generated, and the first guidance transformation module is controlled to switch from the current guidance state to the expected guidance state according to the state switching instruction; after confirming that the first guidance transformation module has completed the state switching, a moving instruction for controlling the first moving module is generated, and the first moving module is controlled to enter the first guidance transformation module according to the moving instruction.

[0133] For a better understanding of the embodiments of this application, please refer to [link / reference]. Figure 16 and Figure 17 Among them, the moving module Y1 is the first moving module; the guiding transformation module D11 is the first guiding transformation module; the guiding transformation module D11 can guide the moving module located in the moving path L11 to the moving path L12 or the moving path L21.

[0134] like Figure 16 As shown, the moving module Y1 is located on the moving path L11, and the guidance status information corresponding to the guidance transformation module D11 indicates that the guidance transformation module D11 has currently formed a guidance relationship between the moving path L11 and the moving path L21: If the guidance expectation information corresponding to the moving module Y1 indicates that the guidance transformation module D11 is expected to form a guidance relationship between the moving path L11 and the moving path L21, then the guidance status information corresponding to the first guidance transformation module and the guidance expectation information corresponding to the first moving module are matched, a moving command is generated, and the moving module Y1 is controlled to enter the guidance transformation module D11 according to the moving command.

[0135] If the guidance expectation information corresponding to the moving module Y1 indicates that the guidance transformation module D11 is expected to form a guidance relationship between moving path L11 and moving path L12, then the guidance state information corresponding to the first guidance transformation module and the guidance expectation information corresponding to the first moving module do not match. A state switching command is generated, and the guidance transformation module D11 is controlled to change to the guidance state that forms the relationship between moving path L11 and moving path L12 according to the state switching command. After the transformation is completed, a movement command is generated, and the moving module Y1 is controlled to enter the guidance transformation module D11 according to the movement command.

[0136] like Figure 17 As shown: the moving module Y1 is located on the moving path L11, and the guidance status information corresponding to the guidance transformation module D11 indicates that the guidance transformation module D11 has currently formed a guidance relationship between the moving path L11 and the moving path L12. If the guidance expectation information corresponding to the moving module Y1 indicates that the guidance transformation module D11 is expected to form a guidance relationship between the moving path L11 and the moving path L12, then the guidance status information corresponding to the first guidance transformation module and the guidance expectation information corresponding to the first moving module are matched, a moving command is generated, and the moving module Y1 is controlled to enter the guidance transformation module D11 according to the moving command.

[0137] If the guidance expectation information corresponding to the moving module Y1 indicates that the guidance transformation module D11 is expected to form a guidance relationship between moving path L11 and moving path L21, then the guidance state information corresponding to the first guidance transformation module and the guidance expectation information corresponding to the first moving module do not match. A state switching instruction is generated, and the guidance transformation module D11 is controlled to change to the guidance state that forms a relationship between moving path L11 and moving path L21 according to the state switching instruction. After the change is completed, a movement instruction is generated, and the moving module Y1 is controlled to enter the guidance transformation module D11 according to the movement instruction.

[0138] In this embodiment, by determining whether the guidance state information corresponding to the first guidance transformation module matches the guidance expectation information corresponding to the first moving module, the first moving module is controlled to enter the first guidance transformation module when they match; otherwise, the first guidance transformation module is controlled to change to the expected guidance state, and then the first moving module is controlled to enter the first guidance transformation module. This method ensures that the first guidance transformation module is in the expected guidance state when the first moving module enters, avoiding passage interruptions or delays caused by mismatch between the states of the moving module and the guidance transformation module, thus improving overall transportation efficiency.

[0139] In some embodiments of this application, when a second moving module that moves toward the first guiding transformation module exists between the first moving module and the first guiding transformation module, the step of "controlling at least one of the first guiding transformation module and the first moving module according to the guiding state information corresponding to the first guiding transformation module and the guiding expectation information corresponding to the first moving module" is further refined, and may specifically include at least the following steps: SA81, if the guidance state information corresponding to the first guidance transformation module matches the guidance expectation information corresponding to the first moving module, and the guidance state information corresponding to the first guidance transformation module matches the guidance expectation information corresponding to the second moving module, then control the second moving module and the first moving module to enter the first guidance transformation module in sequence. SA82, if the guidance state information corresponding to the first guidance transformation module matches the guidance expectation information corresponding to the first moving module, and the guidance state information corresponding to the first guidance transformation module does not match the guidance expectation information corresponding to the second moving module, then control the first guidance transformation module to transform to a guidance state that matches the guidance expectation information corresponding to the second moving module, and control the second moving module to enter the first guidance transformation module after the first guidance transformation module transforms to a guidance state that matches the guidance expectation information corresponding to the second moving module, control the first guidance transformation module to transform to the expected guidance state after the second moving module leaves the first guidance transformation module, and control the first moving module to enter the first guidance transformation module after the first guidance transformation module transforms to the expected guidance state; SA83, if the guidance state information corresponding to the first guidance transformation module does not match the guidance expectation information corresponding to the first moving module, and the guidance state information corresponding to the first guidance transformation module matches the guidance expectation information corresponding to the second moving module, then control the second moving module to enter the first guidance transformation module, control the first guidance transformation module to change to the expected guidance state after the second moving module leaves the first guidance transformation module, and control the first moving module to enter the first guidance transformation module after the first guidance transformation module changes to the expected guidance state; SA84, if the guidance state information corresponding to the first guidance transformation module does not match the guidance expectation information corresponding to the first moving module, and the guidance state information corresponding to the first guidance transformation module does not match the guidance expectation information corresponding to the second moving module, then control the first guidance transformation module to transform to a guidance state that matches the guidance expectation information corresponding to the second moving module, and control the second moving module to enter the first guidance transformation module after the first guidance transformation module transforms to a guidance state that matches the guidance expectation information corresponding to the second moving module, control the first guidance transformation module to transform to the expected guidance state after the second moving module leaves the first guidance transformation module, and control the first moving module to enter the first guidance transformation module after the first guidance transformation module transforms to the expected guidance state.

[0140] Specifically, in this embodiment of the application, considering the situation where there is a second moving module moving towards the first guiding transformation module between the first moving module and the first guiding transformation module, in order to coordinate the use of the first guiding transformation module by multiple moving modules and ensure the passage order, it is first necessary to determine whether the guiding state information corresponding to the first guiding transformation module matches the guiding expectation information corresponding to the first moving module, and whether the guiding state information corresponding to the first guiding transformation module matches the guiding expectation information corresponding to the second moving module. This process can be expressed as: determining whether the current guiding state of the first guiding transformation module is consistent with the guiding state that the first moving module expects the first guiding transformation module to have, and determining whether the current guiding state of the first guiding transformation module is consistent with the guiding state that the second moving module expects the first guiding transformation module to have.

[0141] Based on the possible matching results, the following steps can be performed: If the guidance status information corresponding to the first guidance transformation module matches the guidance expectation information corresponding to the first moving module, and the guidance status information corresponding to the first guidance transformation module matches the guidance expectation information corresponding to the second moving module, then it indicates that the current guidance status of the first guidance transformation module simultaneously meets the passage requirements of both the first and second moving modules. In this case, the second and first moving modules can be controlled to enter the first guidance transformation module sequentially.

[0142] Specifically, a movement command is generated to control the second moving module, and the second moving module is controlled to enter the first guiding transformation module according to the movement command; after confirming that the second moving module has left the first guiding transformation module, a movement command is generated to control the first moving module, and the first moving module is controlled to enter the first guiding transformation module according to the movement command.

[0143] If the guidance state information corresponding to the first guidance transformation module matches the guidance expectation information corresponding to the first moving module, but the guidance state information corresponding to the first guidance transformation module does not match the guidance expectation information corresponding to the second moving module, then it indicates that the current guidance state of the first guidance transformation module meets the passage requirements of the first moving module but does not meet the passage requirements of the second moving module. In this case, the first guidance transformation module can be controlled to transform into a guidance state that matches the guidance expectation information corresponding to the second moving module; the second moving module can be controlled to enter the first guidance transformation module after the first guidance transformation module transforms into a guidance state that matches the guidance expectation information corresponding to the second moving module; the first guidance transformation module can be controlled to transform into the expected guidance state after the second moving module leaves the first guidance transformation module; and the first moving module can be controlled to enter the first guidance transformation module after the first guidance transformation module transforms into the expected guidance state.

[0144] Specifically, a state switching instruction for controlling the first guidance transformation module is generated, and the first guidance transformation module is controlled to switch from the current guidance state to a guidance state that matches the guidance expectation information corresponding to the second movement module according to the state switching instruction; after confirming that the first guidance transformation module has completed the state switching, a movement instruction for controlling the second movement module is generated, and the second movement module is controlled to enter the first guidance transformation module according to the movement instruction; after confirming that the second movement module has left the first guidance transformation module, a state switching instruction for controlling the first guidance transformation module is generated, and the first guidance transformation module is controlled to switch from the current guidance state to the expected guidance state according to the state switching instruction; after confirming that the first guidance transformation module has completed the state switching, a movement instruction for controlling the first movement module is generated, and the first movement module is controlled to enter the first guidance transformation module according to the movement instruction.

[0145] If the guidance state information corresponding to the first guidance transformation module does not match the guidance expectation information corresponding to the first moving module, but the guidance state information corresponding to the first guidance transformation module matches the guidance expectation information corresponding to the second moving module, then it indicates that the current guidance state of the first guidance transformation module meets the passage requirements of the second moving module but does not meet the passage requirements of the first moving module. In this case, the second moving module can be controlled to enter the first guidance transformation module; after the second moving module leaves the first guidance transformation module, the first guidance transformation module can be controlled to change to the expected guidance state; and the first moving module can be controlled to enter the first guidance transformation module after the first guidance transformation module changes to the expected guidance state.

[0146] Specifically, a movement command is generated to control the second movement module, and the second movement module is controlled to enter the first guidance transformation module according to the movement command; after confirming that the second movement module has left the first guidance transformation module, a state switching command is generated to control the first guidance transformation module, and the first guidance transformation module is controlled to switch from the current guidance state to the expected guidance state according to the state switching command; after confirming that the first guidance transformation module has completed the state switching, a movement command is generated to control the first movement module, and the first movement module is controlled to enter the first guidance transformation module according to the movement command.

[0147] If the guidance state information corresponding to the first guidance transformation module does not match the guidance expectation information corresponding to the first moving module, and the guidance state information corresponding to the first guidance transformation module does not match the guidance expectation information corresponding to the second moving module, then it indicates that the current guidance state of the first guidance transformation module does not meet the passage requirements of either the first or second moving module. In this case, the first guidance transformation module can be controlled to change to a guidance state that matches the guidance expectation information corresponding to the second moving module; the second moving module can be controlled to enter the first guidance transformation module after the first guidance transformation module changes to a guidance state that matches its guidance expectation information; the first guidance transformation module can be controlled to change to the expected guidance state after the second moving module leaves the first guidance transformation module; and the first moving module can be controlled to enter the first guidance transformation module after the first guidance transformation module changes to the expected guidance state.

[0148] Specifically, a state switching instruction for controlling the first guidance transformation module is generated, and the first guidance transformation module is controlled to switch from the current guidance state to a guidance state that matches the guidance expectation information corresponding to the second movement module according to the state switching instruction; after confirming that the first guidance transformation module has completed the state switching, a movement instruction for controlling the second movement module is generated, and the second movement module is controlled to enter the first guidance transformation module according to the movement instruction; after confirming that the second movement module has left the first guidance transformation module, a state switching instruction for controlling the first guidance transformation module is generated, and the first guidance transformation module is controlled to switch from the current guidance state to the expected guidance state according to the state switching instruction; after confirming that the first guidance transformation module has completed the state switching, a movement instruction for controlling the first movement module is generated, and the first movement module is controlled to enter the first guidance transformation module according to the movement instruction.

[0149] For a better understanding of the embodiments of this application, please refer to [link / reference]. Figure 18 and Figure 19The system includes two moving modules, Y1 and Y2, arranged sequentially along the direction of movement, both located on movement path L11. Y1 is the first moving module, and Y2 is the second moving module. A guiding transformation module D11 is the first guiding transformation module, capable of guiding the moving modules on movement path L11 to movement path L12 or L21. It should be noted that moving module Y2 is located between moving module Y1 and guiding transformation module D11.

[0150] like Figure 18 As shown, the guidance status information corresponding to the guidance transformation module D11 indicates the guidance relationship currently formed between the movement path L11 and the movement path L21 by the guidance transformation module D11: If the guidance expectation information corresponding to the mobile module Y1 indicates that the guidance transformation module D11 is expected to form a guidance relationship between the mobile path L11 and the mobile path L21, and the guidance expectation information corresponding to the mobile module Y2 indicates that the guidance transformation module D11 is expected to form a guidance relationship between the mobile path L11 and the mobile path L21, then the mobile module Y2 and the mobile module Y1 are controlled to enter the guidance transformation module D11 in sequence. If the guidance expectation information corresponding to the mobile module Y1 indicates that the guidance transformation module D11 is expected to form a guidance relationship between the mobile path L11 and the mobile path L21, and the guidance expectation information corresponding to the mobile module Y2 indicates that the guidance transformation module D11 is expected to form a guidance relationship between the mobile path L11 and the mobile path L12, then the guidance transformation module D11 is controlled to change to the guidance state that forms the guidance relationship between the mobile path L11 and the mobile path L12. After the guidance transformation module D11 changes to the guidance state that forms the guidance relationship between the mobile path L11 and the mobile path L12, the mobile module Y2 enters the guidance transformation module D11. After the mobile module Y2 leaves the guidance transformation module D11, the guidance transformation module D11 is controlled to change to the guidance state that forms the guidance relationship between the mobile path L11 and the mobile path L21. After the guidance transformation module D11 changes to the guidance state that forms the guidance relationship between the mobile path L11 and the mobile path L21, the mobile module Y1 enters the guidance transformation module D11. If the guidance expectation information corresponding to the mobile module Y1 indicates that the guidance transformation module D11 is expected to form a guidance relationship between the mobile path L11 and the mobile path L12, and the guidance expectation information corresponding to the mobile module Y2 indicates that the guidance transformation module D11 is expected to form a guidance relationship between the mobile path L11 and the mobile path L21, then the mobile module Y2 is controlled to enter the guidance transformation module D11. After the mobile module Y2 leaves the guidance transformation module D11, the guidance transformation module D11 is controlled to change to the guidance state that forms the guidance relationship between the mobile path L11 and the mobile path L12. After the guidance transformation module D11 changes to the guidance state that forms the guidance relationship between the mobile path L11 and the mobile path L12, the mobile module Y1 is controlled to enter the guidance transformation module D11. If the guidance expectation information corresponding to mobile module Y1 indicates that the guidance transformation module D11 is expected to form a guidance relationship between mobile path L11 and mobile path L12, and the guidance expectation information corresponding to mobile module Y2 indicates that the guidance transformation module D11 is expected to form a guidance relationship between mobile path L11 and mobile path L12, then the guidance transformation module D11 is controlled to change to the guidance state of forming a guidance relationship between mobile path L11 and mobile path L12. After the guidance transformation module D11 changes to the guidance state of forming a guidance relationship between mobile path L11 and mobile path L12, mobile module Y2 enters the guidance transformation module D11. After mobile module Y2 leaves the guidance transformation module D11, the guidance transformation module D11 is controlled to maintain the guidance state of forming a guidance relationship between mobile path L11 and mobile path L12. After the guidance transformation module D11 maintains the guidance state of forming a guidance relationship between mobile path L11 and mobile path L12, mobile module Y1 enters the guidance transformation module D11.

[0151] like Figure 19 As shown: The guidance status information corresponding to the guidance transformation module D11 indicates the guidance relationship currently formed between the movement path L11 and the movement path L12 by the guidance transformation module D11. If the guidance expectation information corresponding to the mobile module Y1 indicates that the guidance transformation module D11 is expected to form a guidance relationship between the mobile path L11 and the mobile path L12, and the guidance expectation information corresponding to the mobile module Y2 indicates that the guidance transformation module D11 is expected to form a guidance relationship between the mobile path L11 and the mobile path L12, then the mobile module Y2 and the mobile module Y1 are controlled to enter the guidance transformation module D11 in sequence. If the guidance expectation information corresponding to the mobile module Y1 indicates that the guidance transformation module D11 is expected to form a guidance relationship between mobile path L11 and mobile path L12, and the guidance expectation information corresponding to the mobile module Y2 indicates that the guidance transformation module D11 is expected to form a guidance relationship between mobile path L11 and mobile path L21, then the guidance transformation module D11 is controlled to change to the guidance state that forms the guidance relationship between mobile path L11 and mobile path L21. After the guidance transformation module D11 changes to the guidance state that forms the guidance relationship between mobile path L11 and mobile path L21, the mobile module Y2 is controlled to enter the guidance transformation module D11. After the mobile module Y2 leaves the guidance transformation module D11, the guidance transformation module D11 is controlled to change to the guidance state that forms the guidance relationship between mobile path L11 and mobile path L12. After the guidance transformation module D11 changes to the guidance state that forms the guidance relationship between mobile path L11 and mobile path L12, the mobile module Y1 is controlled to enter the guidance transformation module D11. If the guidance expectation information corresponding to the mobile module Y1 indicates that the guidance transformation module D11 is expected to form a guidance relationship between the mobile path L11 and the mobile path L21, and the guidance expectation information corresponding to the mobile module Y2 indicates that the guidance transformation module D11 is expected to form a guidance relationship between the mobile path L11 and the mobile path L12, then the mobile module Y2 is controlled to enter the guidance transformation module D11. After the mobile module Y2 leaves the guidance transformation module D11, the guidance transformation module D11 is controlled to change to the guidance state that forms the guidance relationship between the mobile path L11 and the mobile path L21. After the guidance transformation module D11 changes to the guidance state that forms the guidance relationship between the mobile path L11 and the mobile path L21, the mobile module Y1 is controlled to enter the guidance transformation module D11. If the guidance expectation information corresponding to mobile module Y1 indicates that the guidance transformation module D11 is expected to form a guidance relationship between mobile path L11 and mobile path L21, and the guidance expectation information corresponding to mobile module Y2 indicates that the guidance transformation module D11 is expected to form a guidance relationship between mobile path L11 and mobile path L21, then the guidance transformation module D11 is controlled to change to the guidance state that forms the guidance relationship between mobile path L11 and mobile path L21. After the guidance transformation module D11 changes to the guidance state that forms the guidance relationship between mobile path L11 and mobile path L21, mobile module Y2 enters the guidance transformation module D11. After mobile module Y2 leaves the guidance transformation module D11, the guidance transformation module D11 is controlled to maintain the guidance state that forms the guidance relationship between mobile path L11 and mobile path L21. After the guidance transformation module D11 maintains the guidance state that forms the guidance relationship between mobile path L11 and mobile path L21, mobile module Y1 enters the guidance transformation module D11.

[0152] In this embodiment, when a second moving module exists between the first moving module and the first guidance conversion module, a differentiated control strategy is adopted based on the matching of the guidance state information corresponding to the first guidance conversion module with the guidance expectation information corresponding to the first and second moving modules: when both match, the two moving modules are controlled to pass sequentially; when only the first moving module matches, the guidance state is first adjusted to meet the needs of the second moving module and then restored to the state required by the first moving module after it passes; when only the second moving module matches, it is allowed to pass first and then its state is adjusted to meet the needs of the first moving module; when neither matches, the state is first adjusted to meet the needs of the second moving module and then adjusted back to the state required by the first moving module after it passes. This control method enables multiple moving modules to pass through the guidance conversion module in an orderly manner, reducing waiting time and the number of state switching operations of the guidance conversion module, thus improving overall transportation efficiency.

[0153] In some embodiments of this application, the step of "controlling at least one of the first guidance transformation module and the first movement module according to the guidance state information corresponding to the first guidance transformation module and the guidance expectation information corresponding to the first movement module" is further refined, and may specifically include the following steps: SA91, when it is determined that the first guidance transformation module is to transform, sets the first moving module to enter the target motion state of the first guidance transformation module based on at least one of the current motion state information of the first moving module, the guidance transformation duration information of the first guidance transformation module, and the position measurement information of the first moving module.

[0154] Specifically, considering that the time required for the first guidance transformation module to perform a guidance state transition may affect the movement control of the first moving module, this application proposes to set the target motion state of the first moving module by integrating relevant information to coordinate the movement of the first moving module and the state transition of the first guidance transformation module. The current motion state information of the first moving module refers to information indicating the motion parameters of the first moving module at the current moment, such as at least one of the first moving module's current velocity and current acceleration; the guidance transformation duration information of the first guidance transformation module refers to information indicating the time required for the first guidance transformation module to transition from the current guidance state to the expected guidance state; the position measurement information of the first moving module refers to information indicating the position of the first moving module relative to the first guidance transformation module; and the target motion state of the first moving module entering the first guidance transformation module refers to information indicating the motion parameters that the first moving module should achieve when entering the first guidance transformation module, such as at least one of the first moving module's target velocity and target acceleration.

[0155] If the first guiding transformation module is determined to undergo transformation, the motion state of the first moving module can be accurately controlled based on any of the following possible schemes.

[0156] In one possible approach, based on the position measurement information of the first moving module, a target motion state is set for the first moving module to enter the first guidance transformation module. Specifically, based on the distance between the first moving module and the first guidance transformation module indicated by the position measurement information of the first moving module, the time required for the first moving module to move to the first guidance transformation module at a constant speed or a preset acceleration is calculated. Then, based on the matching of this time with the guidance transformation duration information of the first guidance transformation module, the target motion state for the first moving module to enter the first guidance transformation module is set.

[0157] In one possible approach, based on the position measurement information and current motion state information of the first moving module, a target motion state for the first moving module to enter the first guidance transformation module is set. Specifically, based on the distance between the first moving module and the first guidance transformation module indicated by the position measurement information of the first moving module, and the current velocity and current acceleration of the first moving module indicated by the current motion state information of the first moving module, the time required for the first moving module to move to the first guidance transformation module in its current motion state is predicted. Then, based on the matching of this time with the guidance transformation duration information of the first guidance transformation module, the target motion state for the first moving module to enter the first guidance transformation module is set.

[0158] In one possible approach, based on the position measurement information of the first moving module and the guidance transformation duration information of the first guidance transformation module, a target motion state for the first moving module to enter the first guidance transformation module is set. Specifically, based on the distance between the first moving module and the first guidance transformation module indicated by the position measurement information of the first moving module, and the time required for the first guidance transformation module to complete the guidance state transformation as indicated by the guidance transformation duration information of the first guidance transformation module, the timing and motion state in which the first moving module should move are calculated so that the first guidance transformation module completes the guidance state transformation precisely when the first moving module arrives at the first guidance transformation module, and the target motion state for the first moving module to enter the first guidance transformation module is set according to the calculation results.

[0159] In one possible approach, based on the position measurement information of the first moving module, the current motion state information of the first moving module, and the guidance transformation duration information of the first guidance transformation module, a target motion state for the first moving module to enter the first guidance transformation module is set. Specifically, based on the distance between the first moving module and the first guidance transformation module indicated by the position measurement information of the first moving module, the current velocity and current acceleration of the first moving module indicated by the current motion state information of the first moving module, and the time required for the first guidance transformation module to complete the guidance state transformation indicated by the guidance transformation duration information of the first guidance transformation module, it is calculated when and in what motion state the first moving module should move, so that the first guidance transformation module completes the guidance state transformation exactly when the first moving module arrives at the first guidance transformation module, and the target motion state for the first moving module to enter the first guidance transformation module is set according to the calculation results.

[0160] In addition to the four possible solutions mentioned above, there may be other solutions for setting the target motion state of the first moving module to enter the first guiding transformation module, which will not be listed here.

[0161] In this embodiment, by setting the target motion state of the first moving module to enter the first guiding transformation module based on at least one of the current motion state information of the first moving module, the guiding transformation duration information of the first guiding transformation module, and the position measurement information of the first moving module, the timing of the first moving module's movement and the state transformation process of the first guiding transformation module can be accurately coordinated, ensuring that the first guiding transformation module is already in the expected guiding state when the first moving module enters the first guiding transformation module, thereby reducing the waiting time of the first moving module and improving the overall transportation efficiency.

[0162] The following will combine Figure 20 The control device provided in the embodiments of this application will be described in detail. It should be noted that... Figure 20 The control device in the document is used to execute the method of the embodiments of this application. 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 relevant embodiments described above. Specifically, Figure 20 The control device 700 is used to control the automatic transport equipment. The automatic transport equipment includes a track module and multiple moving modules disposed on the track module. The track module includes a track module and a guide transformation module. The track module and the guide transformation module are deployed to form multiple moving paths. The guide transformation module is used to change the guide relationship between the multiple moving paths.

[0163] like Figure 20 As shown, the control device 700 may include a selection unit 701, a first acquisition unit 702, a second acquisition unit 703, and a control unit 704, as detailed below: Selection unit 701 is used to select the first guide transformation module in the guide transformation module; The first acquisition unit 702 is used to acquire the guidance status information corresponding to the first guidance transformation module; wherein, the guidance status information corresponding to the first guidance transformation module is used to indicate the current guidance status of the first guidance transformation module; The second acquisition unit 703 is used to acquire guidance expectation information corresponding to the first moving module that moves toward the first guidance transformation module; wherein, the guidance expectation information corresponding to the first moving module is used to indicate the expected guidance state of the first guidance transformation module; The control unit 704 is used to control at least one of the first guidance transformation module and the first movement module according to the guidance state information corresponding to the first guidance transformation module and the guidance expectation information corresponding to the first movement module, so that when the first movement module enters the first guidance transformation module, the first guidance transformation module is in the expected guidance state.

[0164] Optionally, in some embodiments of this application, the specific execution steps of the selection unit 701, the first acquisition unit 702, the second acquisition unit 703, and the control unit 704 can be referred to the above method embodiments, and will not be repeated here.

[0165] For the effects achievable by the embodiments of this application, please refer to the relevant embodiments of the above-mentioned automatic transportation equipment control method, which will not be repeated here.

[0166] This application also provides an automated transportation device. Please refer to [link to relevant documentation]. Figure 21 , Figure 21 This is a schematic diagram of the structure of an automated transport device provided in an embodiment of this application. The automated transport device 800 includes a control device 801, a track module 802, and multiple moving modules 803 disposed on the track module 802. The track module 802 includes a track module 8021 and a guidance transformation module 8022. The track module 8021 and the guidance transformation module 8022 are deployed to form multiple moving paths. The guidance transformation module 8022 is used to change the guidance relationship between the multiple moving paths. The control device 801 includes a processor 8011 and a memory 8012. The processor 8011 and the memory 8012 are electrically connected.

[0167] The processor 8011 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 8012 and calling data stored in the memory 8012, it executes various functions of the automated transport equipment 800 and processes data, thereby performing overall monitoring of the automated transport equipment 800.

[0168] The memory 8012 can be used to store software programs and modules. The processor 8011 executes various functional applications and controls the mobile module 803 by running the computer programs and modules stored in the memory 8012. The memory 8012 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.

[0169] Furthermore, memory 8012 may include high-speed random access memory, and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other volatile solid-state storage device. Accordingly, memory 8012 may also include a memory controller to provide processor 8011 with access to memory 8012.

[0170] In this embodiment, the processor 8011 loads the instructions corresponding to the processes of one or more computer programs into the memory 8012 according to the following steps, and the processor 8011 runs the computer programs stored in the memory 8012 to realize the automatic transportation equipment control method provided in the above embodiment.

[0171] For the effects achievable by the embodiments of this application, please refer to the relevant embodiments of the above-mentioned automatic transportation equipment control method, which will not be repeated here.

[0172] This application also provides an automated production system 900. Please refer to... Figure 22 , Figure 22 This is a schematic diagram of the structure of an automated production system 900 provided in an embodiment of this application. The automated production system 900 includes an operating device 901, a control device 902, a track module 903, and multiple moving modules 904 disposed on the track module 903. The track module 903 includes a track module 9031 and a guide transformation module 9032. The track module 9031 and the guide transformation module 9032 are deployed to form multiple moving paths. The guide transformation module 9032 is used to change the guiding relationship between the multiple moving paths. An operating device 901 is used to perform at least one type of process among loading, unloading, and processing. The control device 902 includes a processor 9021 and a memory 9022. The processor 9021 and the memory 9022 are electrically connected.

[0173] The processor 9021 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 9022 and calling data stored in the memory 9022, it executes various functions of the automated production system 900 and processes data, thereby monitoring the automated production system 900 as a whole.

[0174] The memory 9022 can be used to store software programs and modules. The processor 9021 executes various functional applications and controls the mobile module 904 by running the computer programs and modules stored in the memory 9022. The memory 9022 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.

[0175] Furthermore, memory 9022 may include high-speed random access memory, and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other volatile solid-state storage device. Accordingly, memory 9022 may also include a memory controller to provide processor 9021 with access to memory 9022.

[0176] In this embodiment, the processor 9021 loads the instructions corresponding to the processes of one or more computer programs into the memory 9022 according to the following steps, and the processor 9021 runs the computer programs stored in the memory 9022 to realize the automatic transportation equipment control method provided in the above embodiment.

[0177] For the effects achievable by the embodiments of this application, please refer to the relevant embodiments of the above-mentioned automatic transportation equipment control method, which will not be repeated here.

[0178] 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 automatic transportation equipment control method provided in the above embodiments.

[0179] The storage medium may include: read-only memory (ROM), random access memory (RAM), disk or optical disk, etc.

[0180] Since the instructions stored in the storage medium can execute the steps in any of the automatic transportation equipment control methods provided in the embodiments of this application, the beneficial effects that any of the automatic transportation equipment 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.

[0181] 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.

[0182] 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.

[0183] The above provides a detailed description of the automatic transportation equipment control method, apparatus, device, system, and storage medium provided in the embodiments of this application. Specific examples have been used to illustrate the principles and implementation methods of this application. The above embodiments are merely for the purpose of helping to understand the methods and core ideas of this application; furthermore, 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 automated transport equipment, characterized in that, The automated transport equipment includes a track module and multiple moving modules disposed on the track module. The track module includes a track module and a guidance transformation module. The track module and the guidance transformation module are deployed to form multiple moving paths. The guidance transformation module is used to change the guidance relationship between the multiple moving paths. The method includes: Select the first guidance transformation module from the guidance transformation modules; Obtain the guidance status information corresponding to the first guidance transformation module; wherein, the guidance status information corresponding to the first guidance transformation module is used to indicate the current guidance status of the first guidance transformation module; Obtain guidance expectation information corresponding to the first moving module that moves toward the first guidance transformation module; wherein, the guidance expectation information corresponding to the first moving module is used to indicate the expected guidance state of the first guidance transformation module; Based on the guidance status information corresponding to the first guidance transformation module and the guidance expectation information corresponding to the first moving module, at least one of the first guidance transformation module and the first moving module is controlled so that when the first moving module enters the first guidance transformation module, the first guidance transformation module is in the expected guidance state.

2. The method according to claim 1, characterized in that, The selection of a first guide transformation module in the guide transformation module includes at least one of the following: After a scheduling operation is detected, the first guidance transformation module is selected from the guidance transformation modules based on the scheduling operation; wherein, the scheduling operation is used to control the specified mobile module to go to the specified mobile path or to the specified work point, and the work point is set on the mobile path; After it is detected that the moving module has moved to a position close to the guiding transformation module, the guiding transformation module that is close to the moving module is selected as the first guiding transformation module.

3. The method according to claim 2, characterized in that, The multiple movement paths include a main path and multiple branch paths, and there is a correspondence between the main path and the multiple branch paths; after identifying the scheduling operation, the first guidance transformation module is selected from the guidance transformation modules based on the scheduling operation, including at least one of the following: After identifying that a specified mobile module is scheduled to go to a specified branch path on the main path, the guide transformation module to which the specified mobile module is to enter is selected as the first guide transformation module; or, the guide transformation module corresponding to the specified branch path and to which the specified mobile module is to enter is selected as the first guide transformation module. After identifying that a designated mobile module is scheduled to go to the main path in the branch path, the guide transformation module to which the designated mobile module is to enter is selected as the first guide transformation module; or, the guide transformation module corresponding to the main path and to which the designated mobile module is to enter is selected as the first guide transformation module. After identifying that a specified mobile module is scheduled to go to a specified work point on a branch path in the main path, the guide transformation module to which the specified mobile module is to enter is selected as the first guide transformation module, or the guide transformation module corresponding to the specified work point and to which the specified mobile module is to enter is selected as the first guide transformation module. After identifying that a designated mobile module is scheduled to go to a designated work point on the main path, the guide transformation module to which the designated mobile module is to enter is selected as the first guide transformation module, or the guide transformation module corresponding to the designated work point and to which the designated mobile module is to enter is selected as the first guide transformation module.

4. The method according to claim 2, characterized in that, The process of identifying that the moving module has moved to a position close to the guiding transformation module includes: According to the moving direction of the moving module, when it is detected that the distance between the moving module and the guiding transformation module does not exceed a preset distance threshold, it is determined that the moving module moves to be close to the guiding transformation module; wherein, the moving path of the moving module is a main path or a branch path.

5. The method according to claim 1, characterized in that, The step of obtaining the guidance expectation information corresponding to the first moving module that moves toward the first guidance transformation module includes at least one of the following: Based on the expected path information of the first moving module moving toward the first guidance transformation module and the moving path information corresponding to the first guidance transformation module, the guidance expectation information corresponding to the first moving module is determined. Based on the desired position information of the first moving module moving towards the first guidance transformation module and the movement path information corresponding to the first guidance transformation module, the guidance expectation information corresponding to the first moving module is determined.

6. The method according to claim 5, characterized in that, The multiple movement paths include a main path and multiple branch paths; the determination of the guidance expectation information corresponding to the first movement module based on the expected path information of the first movement module moving towards the first guidance transformation module and the movement path information corresponding to the first guidance transformation module includes at least one of the following: If the desired path information of the first moving module moving toward the first guidance transformation module matches a moving path corresponding to the first guidance transformation module, the guidance expectation information corresponding to the first moving module is set according to the guidance state of the first guidance transformation module that matches the moving path that the first moving module expects to reach. If the desired path information of the first moving module moving toward the first guidance transformation module does not match the moving path corresponding to the first guidance transformation module, and the moving path where the first moving module is located is the main path, the guidance desired information corresponding to the first moving module is set according to the current guidance state of the first guidance transformation module. If the desired path information of the first moving module moving toward the first guidance transformation module does not match the moving path corresponding to the first guidance transformation module, and the moving path where the first moving module is located is the branch path, the guidance desired information corresponding to the first moving module is set according to the guidance state of the first guidance transformation module that matches the moving path where the first moving module is located.

7. The method according to claim 5, characterized in that, The step of determining the guidance expectation information corresponding to the first moving module based on the expected position information of the first moving module moving towards the first guidance transformation module and the movement path information corresponding to the first guidance transformation module includes at least one of the following: If, based on the correspondence between the guidance state and position sequence of the first guidance transformation module, it is determined that the expected position information of the first moving module moving towards the first guidance transformation module matches the guidance state of the first guidance transformation module, then, based on the guidance state that matches the expected position information, the guidance expectation information corresponding to the first moving module is set. If, based on the correspondence between the guidance state and position sequence of the first guidance transformation module, it is determined that the expected position information of the first moving module moving towards the first guidance transformation module does not match the guidance state of the first guidance transformation module, and the moving path where the first moving module is located is a main path, then the guidance expectation information corresponding to the first moving module is set according to the current guidance state of the first guidance transformation module. If, based on the correspondence between the guidance state and position sequence of the first guidance transformation module, it is determined that the expected position information of the first moving module moving towards the first guidance transformation module does not match the guidance state of the first guidance transformation module, and the moving path where the first moving module is located is a branch path, then the guidance expectation information corresponding to the first moving module is set according to the guidance state of the first guidance transformation module that matches the moving path where the first moving module is located.

8. The method according to claim 1, characterized in that, When there is no second moving module moving towards the first guiding transformation module between the first moving module and the first guiding transformation module, controlling at least one of the first guiding transformation module and the first moving module based on the guiding state information corresponding to the first guiding transformation module and the guiding expectation information corresponding to the first moving module includes at least one of the following: If the guidance status information corresponding to the first guidance transformation module matches the guidance expectation information corresponding to the first movement module, then control the first movement module to enter the first guidance transformation module; If the guidance state information corresponding to the first guidance transformation module does not match the guidance expectation information corresponding to the first moving module, then the first guidance transformation module is controlled to transform to the expected guidance state, and the first moving module is controlled to enter the first guidance transformation module after the first guidance transformation module transforms to the expected guidance state.

9. The method according to claim 1, characterized in that, In the case where a second moving module moves toward the first guiding transformation module between the first moving module and the first guiding transformation module, controlling at least one of the first guiding transformation module and the first moving module based on the guiding state information corresponding to the first guiding transformation module and the guiding expectation information corresponding to the first moving module includes at least one of the following: If the guidance status information corresponding to the first guidance transformation module matches the guidance expectation information corresponding to the first moving module, and the guidance status information corresponding to the first guidance transformation module matches the guidance expectation information corresponding to the second moving module, then the second moving module and the first moving module are controlled to enter the first guidance transformation module in sequence. If the guidance state information corresponding to the first guidance transformation module matches the guidance expectation information corresponding to the first moving module, and the guidance state information corresponding to the first guidance transformation module does not match the guidance expectation information corresponding to the second moving module, then the first guidance transformation module is controlled to transform to a guidance state that matches the guidance expectation information corresponding to the second moving module, and the second moving module is controlled to enter the first guidance transformation module after the first guidance transformation module transforms to a guidance state that matches the guidance expectation information corresponding to the second moving module, and the first guidance transformation module is controlled to transform to the expected guidance state after the second moving module leaves the first guidance transformation module, and the first moving module is controlled to enter the first guidance transformation module after the first guidance transformation module transforms to the expected guidance state; If the guidance state information corresponding to the first guidance transformation module does not match the guidance expectation information corresponding to the first moving module, and the guidance state information corresponding to the first guidance transformation module matches the guidance expectation information corresponding to the second moving module, then the second moving module is controlled to enter the first guidance transformation module. After the second moving module leaves the first guidance transformation module, the first guidance transformation module is controlled to transform to the expected guidance state. After the first guidance transformation module transforms to the expected guidance state, the first moving module is controlled to enter the first guidance transformation module. If the guidance state information corresponding to the first guidance transformation module does not match the guidance expectation information corresponding to the first moving module, and the guidance state information corresponding to the first guidance transformation module does not match the guidance expectation information corresponding to the second moving module, then the first guidance transformation module is controlled to transform to a guidance state that matches the guidance expectation information corresponding to the second moving module, and the second moving module is controlled to enter the first guidance transformation module after the first guidance transformation module transforms to a guidance state that matches the guidance expectation information corresponding to the second moving module, and after the second moving module leaves the first guidance transformation module, the first guidance transformation module is controlled to transform to the expected guidance state, and the first moving module is controlled to enter the first guidance transformation module after the first guidance transformation module transforms to the expected guidance state.

10. The method according to claim 1, characterized in that, The step of controlling at least one of the first guidance transformation module and the first movement module based on the guidance state information corresponding to the first guidance transformation module and the guidance expectation information corresponding to the first movement module includes: When it is determined that the first guidance transformation module is to transform, the first mobile module is set to enter the target motion state of the first guidance transformation module based on at least one of the current motion state information of the first mobile module, the guidance transformation duration information of the first guidance transformation module, and the position measurement information of the first mobile module.

11. A control device, characterized in that, The control device is used to control the automated transport equipment. The automated transport equipment includes a track module and multiple moving modules disposed on the track module. The track module includes a track module and a guidance transformation module. The track module and the guidance transformation module are deployed to form multiple moving paths. The guidance transformation module is used to change the guidance relationship between the multiple moving paths. The device includes: A selection unit is used to select a first guide transformation module from the guide transformation modules; The first acquisition unit is used to acquire the guidance status information corresponding to the first guidance transformation module; wherein, the guidance status information corresponding to the first guidance transformation module is used to indicate the current guidance status of the first guidance transformation module; The second acquisition unit is used to acquire guidance expectation information corresponding to the first moving module that moves toward the first guidance transformation module; wherein, the guidance expectation information corresponding to the first moving module is used to indicate the expected guidance state of the first guidance transformation module. The control unit is configured to control at least one of the first guidance transformation module and the first movement module according to the guidance state information corresponding to the first guidance transformation module and the guidance expectation information corresponding to the first movement module, so that when the first movement module enters the first guidance transformation module, the first guidance transformation module is in the expected guidance state.

12. An automated transport device, characterized in that, The automated transport equipment includes a control device, a track module, and multiple moving modules disposed on the track module. The track module includes a track module and a guidance transformation module. The track module and the guidance transformation module are deployed to form multiple moving paths. The guidance transformation module is used to change the guidance relationship between the multiple moving paths. 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 10.

13. An automated production system, characterized in that, The automated production system includes operating equipment, control device, track module, and multiple moving modules disposed on the track module. The track module includes a track module and a guide transformation module. The track module and the guide transformation module are deployed to form multiple moving paths. The guide transformation module is used to change the guiding relationship between the multiple moving paths. One of the operating devices 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 for calling and running the executable program code from the memory, causing the automated production system to perform the method as described in any one of claims 1 to 10.

14. 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 10.

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