CN114115281A - Regional automatic traffic control method - Google Patents
Regional automatic traffic control method Download PDFInfo
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- CN114115281A CN114115281A CN202111440752.6A CN202111440752A CN114115281A CN 114115281 A CN114115281 A CN 114115281A CN 202111440752 A CN202111440752 A CN 202111440752A CN 114115281 A CN114115281 A CN 114115281A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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Abstract
The invention provides a regional automatic traffic control method, which comprises the following steps: robot AnA branch entering the junction region; robot AnMoving to an end point type area of the intersection area; robot A is judged to dispatch systemn+1Whether the robot needs to enter the middle part of the end point type area or not, if not, the standby robot AnPassing through the junction point of the junction area, the robot A is releasedn+1Move to the target branch, otherwise, stand by robot AnLeave the intersection area and let go robot An+1Moving towards the target branch. According to the area automatic traffic control method, the mobile robot in the intersection area is prevented from occupying the branch which cannot enter by increasing the end point type area, so that the waiting time of other mobile robots which are not in the same path point with the mobile robot is shortened.
Description
Technical Field
The invention relates to the field of traffic control methods for mobile robots, in particular to a regional automatic traffic control method.
Background
In order to avoid collision when the mobile robots move on the rails, a traffic control scheme needs to be set in a specific area (where the running routes interfere and the intersection area) of the system to determine the sequence of all the mobile robots entering and exiting a certain area, especially for the intersection area, in order to save the cost of laying the rails, two crossed rails are laid on the intersection area, and a single rail is set as a passage of a bidirectional path (one rail allows vehicles to enter from any end), because the mobile robots do not have other routes which can be bypassed after entering one branch of the intersection area, the traffic control scheme needs to be executed on the other three branches of the intersection area to ensure that the mobile robots in the intersection area normally pass through, specifically, all other mobile robots near the intersection area are controlled to stop and wait until the mobile robots in the intersection area leave the intersection area (an occupied traffic control method), the next mobile robot is released, in the traffic pipe mode, the traffic state of the mobile robot in the intersection area influences the traffic duration of other mobile robots, so that the working efficiency of the whole transportation system is reduced.
Disclosure of Invention
The invention aims to overcome the problem that when a robot is stored in a junction area in the existing mobile robot traffic control method, the traffic control needs to be simultaneously executed on other three intersections in the junction area to influence the normal traffic of other mobile robots, and provides an area automatic traffic control method.
In order to achieve the purpose, the invention adopts the following technical scheme:
a regional automatic traffic control method comprises the following steps:
robot AnA branch entering the junction region;
robot AnMoving to an end point type area of the intersection area;
robot A is judged to dispatch systemn+1Whether the robot needs to enter the middle part of the end point type area or not, if not, the standby robot AnPassing through the junction point of the junction area, the robot A is releasedn+1Move to the target branch, otherwise, stand by robot AnLeave the intersection area and let go robot An+1Moving towards the target branch.
Compared with the prior art, the hair conditionerA method for controlling the automatic traffic control of robot AnIncreasing an end point type region from a case where one branch of the intersection region moves to the end point type region of the intersection region, wherein the end point type region is set as the robot AnEnter the area and robot An+1Only in this area will the occupation of the intersection be added if robot an+1The target branch is not in the area, and the occupation control of the intersection area is not needed, so that whether a robot exists in the intersection area or not is not needed to be considered, but only needs to consider whether any robot has influence on the operation of other robots because of being positioned in the endpoint type area, when the robot is positioned in the end point type area, other robots can be directly released, traffic pipes on a single track arranged in a bidirectional path are reduced, and reduces the waiting time of the robot passing through the intersection area, satisfies the requirement of management and control when the management and control are needed, directly releases the robot when the management and control are not needed, can avoid traffic jam and shorten the waiting time of the robot, thereby promote whole conveying system's operating efficiency, in addition, the regional setting of finish point type can adjust the division according to actual need, and the flexibility is high to can effectively subdivide and manage and control the traffic conditions of difference.
Preferably, robot AnWhen entering a branch of the intersection area, the dispatching system judges that the robot A is in the intersection arean+1Whether it needs to move to robot anIn the branch or robot AnTarget branch, if not, robot An+1Enter a branch of the junction and wait, otherwise, robot An+1Does not enter the junction area.
The arrangement mode can avoid moving to the robot AnThe branch and the robot AnRobot A of target branchn+1Entering in advance will not interfere with robot AnBranch of (A) is shortenedn+1The waiting time of (c).
Preferably, robot AnWhen entering a branch of the intersection area, the dispatching system judges that the robot A is in the intersection arean+1And robot AnWhether the vehicle is running in the same direction or not, if so, waiting for AnMove to handEnd point type area of sink area, An+1Entering a junction area, otherwise, judging the robot A by the dispatching systemn+1Whether it needs to move to robot anIn the branch or robot AnTarget branch, if not, robot An+1Enter a branch of the junction and wait, otherwise, robot An+1Does not enter the junction area.
The arrangement mode can avoid moving to the robot AnThe branch and the robot AnTarget branch, and robot AnRobot A running in the same directionn+1Entering in advance will not interfere with robot AnMoving area, shortening An+1The waiting time of (c).
Another objective of the present invention is to provide another method for controlling regional automated traffic control, comprising the following steps:
robot AnEntering an end point type area of the intersection area;
robot A is judged to dispatch systemn+1Whether the robot needs to enter the middle part of the end point type area or not, if not, the standby robot AnPassing through the junction point of the junction area, the robot A is releasedn+1Move to the target branch, otherwise, stand by robot AnLeave the intersection area and let go robot An+1Moving to a target branch;
robot AnAnd moving to the target branch.
Compared with the prior art, the area automatic traffic control method provided by the invention is used for the robot AnThe condition that the robot directly enters the end point type area of the intersection area can avoid the robot entering the middle of the end point type area from occupying a branch which cannot enter, thereby facilitating other robots to directly pass through the branch which cannot enter the robot, shortening the waiting time of other mobile robots which are not in the same path with the mobile robot, and reducing traffic pipes on a monorail which is set to be a bidirectional path.
Preferably, robot An+1When entering the end point type area of the intersection area, the dispatching system judges the robot An+1Whether it needs to move to robot anIn the branch or machineRobot AnTarget branch, if not, robot An+1Enter a branch of the junction and wait, otherwise, robot An+1Does not enter the junction area.
The arrangement mode can avoid moving to the robot AnThe branch and the robot AnRobot A of target branchn+1Entering in advance will not interfere with robot AnOn the branch of (A), shortenn+1The waiting time of (c).
Preferably, the end point type area is arranged at an intersection point from a branch to an intersection area, and the area occupied by the end point type area is smaller, so that resources are saved, and the flexibility of the arrangement is improved.
Preferably, the branch of the junction area is a bidirectional driving passage.
Preferably, there are at least three branches of the junction area.
Drawings
FIG. 1 is a flow chart of a first embodiment;
FIG. 2 is a schematic diagram of a junction area of a transport system employing the area automated traffic control method of the present invention;
FIG. 3 is a first state diagram of a first case of the first embodiment;
FIG. 4 is a diagram showing a second state in the first case of the first embodiment;
FIG. 5 is a schematic view showing a third state in the first case of the first embodiment;
FIG. 6 is a diagram showing a first state in a second case of the first embodiment;
FIG. 7 is a second state diagram of a second case of the first embodiment;
FIG. 8 is a third state diagram of the second case of the first embodiment;
FIG. 9 is a first state diagram of a third case of the first embodiment;
FIG. 10 is a diagram showing a second state in a third case of the first embodiment;
FIG. 11 is a third state diagram showing a third case of the first embodiment;
FIG. 12 is a flowchart of the second embodiment;
FIG. 13 is a diagram showing a first state in a case of the second embodiment;
FIG. 14 is a second state diagram of a case of the second embodiment;
FIG. 15 is a schematic view of a third state in a case of the second embodiment;
FIG. 16 is a flowchart of a third embodiment;
FIG. 17 is a first state diagram in the first case of the third embodiment;
FIG. 18 is a schematic view showing a second state in the first case of the third embodiment;
FIG. 19 is a schematic view showing a third state in the first case of the third embodiment;
FIG. 20 is a schematic view showing a first state in a second case of the third embodiment;
FIG. 21 is a second state diagram in the second case of the third embodiment;
FIG. 22 is a schematic diagram of a third state in the second case of the third embodiment;
FIG. 23 is a schematic view showing a first state in a third case of the third embodiment;
FIG. 24 is a schematic view showing a second state in a third case of the third embodiment;
FIG. 25 is a third state diagram showing a third case of the third embodiment.
Detailed Description
Embodiments of the present invention are described below with reference to the accompanying drawings:
example one
Referring to fig. 1, the method for controlling regional automated traffic control according to this embodiment is suitable for a robot anThe case of moving from one branch of the junction area to an end point type area of the junction area includes the steps of:
robot AnA branch entering the junction region;
robot AnMoving to an end point type area of the intersection area;
robot A is judged to dispatch systemn+1Whether the robot needs to enter the middle part of the end point type area or not, if not, the standby robot AnThrough a crossRendezvous point of rendezvous area, release robot An+1Move to the target branch, otherwise, stand by robot AnLeave the intersection area and let go robot An+1Moving towards the target branch.
Preferably, robot AnWhen entering a branch of the intersection area, the dispatching system judges that the robot A is in the intersection arean+1Whether it needs to move to robot anIn the branch or robot AnTarget branch, if not, robot An+1Enter a branch of the junction and wait, otherwise, robot An+1Does not enter the junction area.
The arrangement mode can avoid moving to the robot AnThe branch and the robot AnRobot A of target branchn+1Entering in advance will not interfere with robot AnBranch of (A) is shortenedn+1The waiting time of (c).
Preferably, the end point type area is arranged at an intersection point from a branch to an intersection area, and the area occupied by the end point type area is smaller, so that resources are saved, and the flexibility of the arrangement is improved.
Preferably, the branch of the junction area is a bidirectional driving passage.
Preferably, there are at least three branches of the junction area.
An embodiment applicable to the present invention is described below with reference to the drawings, and for convenience of understanding, four branches are provided in the intersection region of the following embodiments.
Referring to fig. 2, the intersection area range: a region enclosed by a1, a2, A3 and a 4; end-point type region range: b1, B2, B3 and B4; the four branches are respectively provided with marking points C1, C2, C3 and C4 and an intersection point D of an intersection area; the end-spot type area range covers D to C3.
Referring to FIGS. 3 to 5, AnFrom C1 to C3, An+1From C4 to C3 due to An+1Target path of (A)nTarget path (A)n+1Need to move to robot anTarget branch) coincide, thus, an+1Need to wait for AnAnd the fiber is released into the junction area after leaving the junction area.
Referring to FIGS. 6 to 8, AnFrom C1 to C3, An+1From C4 to C1 due to An+1Target path of (A)nAre coincident, thus, An+1Need to wait for AnAnd the fiber is released into the junction area after leaving the junction area.
Referring to FIGS. 9 to 11, AnFrom C1 to C3, An+1From C4 to C2 due to An+1Target path of (A)nDoes not coincide with the target path, therefore, An+1Wait for AnThe junction point leaving the junction area can be released into the junction area, and the waiting time is shortened.
Compared with the prior art, the area automatic traffic control method provided by the invention has the advantages that the end point type area is added, and the end point type area is set as the robot AnEnter the area and robot An+1Only in this area will the occupation of the intersection be added if robot an+1The target branch is not in the area, and the occupation control of the intersection area is not needed, so that whether a robot exists in the intersection area or not is not needed to be considered, but only needs to consider whether any robot has influence on the operation of other robots because of being positioned in the endpoint type area, when the robot is positioned in the end point type area, other robots can be directly released, traffic pipes on a single track arranged in a bidirectional path are reduced, and reduces the waiting time of the robot passing through the intersection area, satisfies the requirement of management and control when the management and control are needed, directly releases the robot when the management and control are not needed, can avoid traffic jam and shorten the waiting time of the robot, thereby promote whole conveying system's operating efficiency, in addition, the regional setting of finish point type can adjust the division according to actual need, and the flexibility is high to can effectively subdivide and manage and control the traffic conditions of difference.
Example two
Referring to fig. 12, the present embodiment is a modified version of the first embodiment: on the basis of the first embodiment, the appearance and the robot A are addednRobot A running in the same directionn+1Determination of the condition (2):
robot AnWhen entering a branch of the intersection area, the dispatching system judges that the robot A is in the intersection arean+1And robot AnWhether the vehicle is running in the same direction or not, if so, waiting for AnMove to the end point type region of the junction region, An+1Entering a junction area, otherwise, judging the robot A by the dispatching systemn+1Whether it needs to move to robot anIn the branch or robot AnTarget branch, if not, robot An+1Enter a branch of the junction and wait, otherwise, robot An+1Does not enter the junction area.
An embodiment suitable for use in the present invention, except for the embodiments shown in fig. 2 to 11, is described below with reference to the accompanying drawings:
referring to FIGS. 13 to 15, AnFrom C1 to C3, An+1From C1 to C2 or C3 or C4 due to An+1And AnIn the same direction (as long as control A)n+1Moving speed, i.e. A is ensuredn+1And AnNo collision occurs), therefore, an+1Wait for AnThe junction point leaving the junction area can be released into the junction area, and the waiting time is shortened.
The arrangement mode can avoid moving to the robot AnThe branch and the robot AnTarget branch, and robot AnRobot A running in the same directionn+1Entering in advance will not interfere with robot AnMoving area, shortening An+1The waiting time of (c).
EXAMPLE III
Referring to fig. 16, the method for controlling regional automated traffic control according to the embodiment is applied to a robot anThe case of directly entering the end point type area of the junction area comprises the following steps:
robot AnEntering an end point type area of the intersection area;
robot A is judged to dispatch systemn+1Whether the robot needs to enter the middle part of the end point type area or not, if not, the standby robot AnPassing through the junction point of the junction area, the robot A is releasedn+1Move to the target branch, otherwise, stand by robot AnLeave the intersection area and let go robot An+1Moving to a target branch;
robot AnAnd moving to the target branch.
Preferably, robot An+1When entering the end point type area of the intersection area, the dispatching system judges the robot An+1Whether it needs to move to robot anIn the branch or robot AnTarget branch, if not, robot An+1Enter a branch of the junction and wait, otherwise, robot An+1Does not enter the junction area.
The arrangement mode can avoid moving to the robot AnThe branch and the robot AnRobot A of target branchn+1Entering in advance will not interfere with robot AnOn the branch of (A), shortenn+1The waiting time of (c).
Preferably, the ending point type region is arranged at an intersection point from a branch to the intersection region.
Preferably, the branch of the junction area is a bidirectional driving passage.
Preferably, there are at least three branches of the junction area.
An embodiment of the invention is described below with reference to the accompanying drawings, based on the transport system of fig. 2;
see fig. 17-19, anFrom C3 to C1, An+1From C4 to C3 due to An+1Target path of (A)nAre coincident, thus, An+1Need to wait for AnAnd the fiber is released into the junction area after leaving the junction area.
Referring to FIGS. 20 to 22, AnFrom C3 to C1, An+1From C4 to C1 due to An+1Target path of (A)nTarget path (A)n+1Need to move to robot anTarget branch) coincide, thus, an+1Need to wait for AnAnd the fiber is released into the junction area after leaving the junction area.
Referring to FIGS. 23 to 25, AnFrom C3 to C1, An+1From C4 to C2 due to An+1Target road ofDiameter and AnDoes not coincide with the target path, therefore, An+1Wait for AnThe junction point leaving the junction area can be released into the junction area, and the waiting time is shortened.
Compared with the prior art, the area automatic traffic control method can prevent the robot entering the middle part of the end point type area from occupying the branch which cannot enter, thereby facilitating other robots to directly pass through the branch which cannot enter, shortening the waiting time of other mobile robots which are not in the same path point with the mobile robot, and reducing traffic on a single track which is set to be a bidirectional path.
Variations and modifications to the above-described embodiments may occur to those skilled in the art, which fall within the scope and spirit of the above description. Therefore, the present invention is not limited to the specific embodiments disclosed and described above, and some modifications and variations of the present invention should fall within the scope of the claims of the present invention. Furthermore, although specific terms are employed herein, they are used in a generic and descriptive sense only and not for purposes of limitation.
Claims (8)
1. A regional automatic traffic control method comprises the following steps:
robot AnA branch entering the junction region;
robot AnMoving to an end point type area of the intersection area;
robot A is judged to dispatch systemn+1Whether the robot needs to enter the middle part of the end point type area or not, if not, the standby robot AnPassing through the junction point of the junction area, the robot A is releasedn+1Move to the target branch, otherwise, stand by robot AnLeave the intersection area and let go robot An+1Moving towards the target branch.
2. The method of claim 1, wherein the robot A performs automatic traffic controlnWhen entering a branch of the intersection area, the dispatching system judges the robotAn+1Whether it needs to move to robot anIn the branch or robot AnTarget branch, if not, robot An+1Enter a branch of the junction and wait, otherwise, robot An+1Does not enter the junction area.
3. The method of claim 1, wherein the robot A performs automatic traffic controlnWhen entering a branch of the intersection area, the dispatching system judges that the robot A is in the intersection arean+1And robot AnWhether the vehicle is running in the same direction or not, if so, waiting for AnMove to the end point type region of the junction region, An+1Entering a junction area, otherwise, judging the robot A by the dispatching systemn+1Whether it needs to move to robot anIn the branch or robot AnTarget branch, if not, robot An+1Enter a branch of the junction and wait, otherwise, robot An+1Does not enter the junction area.
4. A regional automatic traffic control method comprises the following steps:
robot AnEntering an end point type area of the intersection area;
robot A is judged to dispatch systemn+1Whether the robot needs to enter the middle part of the end point type area or not, if not, the standby robot AnPassing through the junction point of the junction area, the robot A is releasedn+1Move to the target branch, otherwise, stand by robot AnLeave the intersection area and let go robot An+1Moving to a target branch;
robot AnAnd moving to the target branch.
5. The method of claim 4, wherein the robot A performs the traffic control according to the area automationn+1When entering the end point type area of the intersection area, the dispatching system judges the robot An+1Whether it needs to move to robot anIn the branch or robot AnTarget branch, if not, robot An+1Enters a branch of the junction area and waits,otherwise, robot An+1Does not enter the junction area.
6. The method according to any one of claims 1 to 5, wherein the end point type area is provided at an intersection of a branch to an intersection.
7. The method according to any one of claims 1 to 5, wherein the branch of the junction area is a bidirectional travel path.
8. The method according to any one of claims 1 to 5, wherein there are at least three branches of the junction area.
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