CN110852662B - Flow control method and device - Google Patents
Flow control method and device Download PDFInfo
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- CN110852662B CN110852662B CN201810950795.0A CN201810950795A CN110852662B CN 110852662 B CN110852662 B CN 110852662B CN 201810950795 A CN201810950795 A CN 201810950795A CN 110852662 B CN110852662 B CN 110852662B
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- G06Q10/087—Inventory or stock management, e.g. order filling, procurement or balancing against orders
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Abstract
The disclosure provides a flow control method and a flow control device, and relates to the field of warehouse automation. The method comprises the following steps: responding to a request of an automatic guiding transport vehicle for locking cells in a flow control area, and judging whether the number of the cells currently locked in the flow control area reaches the maximum number of the locked cells or not; under the condition that the maximum number of locked cells is not reached, allowing the requested automatic guided vehicle to lock cells in the flow control area, wherein the number of the cells in the flow control area which is locked at this time is not more than the difference value number, and the difference value number is determined according to the difference value between the maximum number of locked cells and the number of the cells which are currently locked in the flow control area; in the event that the maximum number of locked cells is reached, the requesting automated guided vehicle is allowed to lock furthest to the edge cells outside the flow control zone. Thereby improving the congestion or lock-up condition at the flow control area.
Description
Technical Field
The present disclosure relates to the field of warehouse automation, and in particular, to a flow control method and apparatus.
Background
In the warehouse, automatic guided vehicles (Automated Guided Vehicle, AGVs) are used in a large number, packages borne by the automatic guided vehicles are delivered to a certain bag falling opening of the sorting platform through guidance of navigation two-dimensional codes on the sorting platform, and bags for accommodating the packages are arranged below the bag falling opening.
Sorting decks come in a variety of shapes. Some sorting platforms are shaped like a cross-shaped intersection structure.
Disclosure of Invention
The inventor finds that the space at the intersection structure of the sorting platform is limited, but the traffic is very heavy, and the automatic guiding transport vehicles are mixed at the intersection structure, so that the congestion or the locking is very easy to happen.
In view of this, the present disclosure proposes a flow control scheme that can improve congestion or deadlock conditions at the intersection structure of a sorting deck.
Some embodiments of the present disclosure provide a flow control method, including:
Responding to a request of an automatic guiding transport vehicle for locking cells in a flow control area, and judging whether the number of the cells currently locked in the flow control area reaches the maximum number of locked cells or not;
Under the condition that the maximum number of locked cells is not reached, allowing the requested automatic guided vehicle to lock cells in the flow control area, and allowing the number of cells in the flow control area locked at this time to not exceed a difference number, wherein the difference number is determined according to the difference between the maximum number of locked cells and the number of cells currently locked in the flow control area;
In the event that the maximum number of locked cells is reached, the requesting automated guided vehicle is allowed to lock furthest to the edge cells outside the flow control zone.
Optionally, an annular area is provided in the flow control area, and the travelling directions of the automatic guided vehicles in the annular area are the same.
Optionally, the flow control region is composed of a base flow control region and an extended flow control region formed by extending at the periphery of the base flow control region.
Optionally, each of the extended flow control region and the base flow control region is provided with an annular region, and a traveling direction of the annular region in the extended flow control region and a traveling direction of the annular region in the base flow control region are the same.
Alternatively, for the case where the flow control region is composed of a base flow control region and an extended flow control region, when the flow control region has a specification of 6×6, the lock cell maximum number is 14, 15, or 16.
Optionally, two annular regions with different travelling directions are arranged in the flow control region, wherein the outer annular region consists of the outermost cells in the flow control region, and the inner annular region consists of adjacent cells inside the outer annular region.
Alternatively, for the case where two annular regions different in traveling direction are provided in the flow control region, when the flow control region is 4×4 in specification, the lock cell maximum number is 4.
Optionally, an outer annular region is provided in the flow control region, wherein the outer annular region is composed of cells at the outermost side in the flow control region, and cells at the inner side of the outer annular region are unidirectional channels.
Alternatively, for the case where an outer annular region is provided in the flow control region, when the flow control region has a specification of 4×4, the lock cell maximum number is 8.
Optionally, the maximum number of locking cells is estimated based on the number of cells needed to form a loop in the flow control area, and the size of the cells is determined based on the size of the space occupied by the automated guided vehicle.
Some embodiments of the present disclosure provide a flow control device comprising:
The judging module is used for responding to a request of the automatic guided transport vehicle for locking the cells in the flow control area and judging whether the number of the cells currently locked in the flow control area reaches the maximum number of the locked cells or not;
The flow control module is used for allowing the requested automatic guided vehicle to lock the cells in the flow control area under the condition that the maximum number of locked cells is not reached, and allowing the number of the cells in the flow control area locked at this time to not exceed a difference number, wherein the difference number is determined according to the difference between the maximum number of locked cells and the number of the cells currently locked in the flow control area, and allowing the requested automatic guided vehicle to be furthest locked to the edge cells outside the flow control area under the condition that the maximum number of locked cells is reached.
Some embodiments of the present disclosure provide a flow control device comprising:
A memory; and a processor coupled to the memory, the processor configured to implement any of the foregoing flow control methods based on instructions stored in the memory.
Some embodiments of the present disclosure propose a computer-readable storage medium, on which a computer program is stored, which when executed by a processor implements the steps of any of the aforementioned flow control methods.
The flow control area (such as the intersection structure of the sorting deck) is flow controlled according to the maximum number of locking cells, so that the congestion or locking condition at the flow control area is improved.
Drawings
The drawings that are required for use in the description of the embodiments or the related art will be briefly described below. The present disclosure will be more clearly understood from the following detailed description taken in conjunction with the accompanying drawings,
It will be apparent to those of ordinary skill in the art that the drawings in the following description are merely examples of the disclosure and that other drawings may be derived from them without inventive faculty.
Fig. 1 is a schematic layout of some embodiments of a sorting deck.
Figure 2 is a schematic shape of some embodiments of sorting decks.
Fig. 3 is a flow diagram of some embodiments of the disclosed flow control method.
Fig. 4 is a schematic view of one arrangement of the annular region of the present disclosure.
Fig. 5 is a schematic view of another arrangement of the annular region of the present disclosure.
Fig. 6 is a schematic view of yet another arrangement of the annular region of the present disclosure.
Fig. 7 is a schematic diagram of some embodiments of a flow control device of the present disclosure.
Fig. 8 is a schematic structural view of some embodiments of the flow control device of the present disclosure.
Detailed Description
The technical solutions in the embodiments of the present disclosure will be clearly and completely described below with reference to the drawings in the embodiments of the present disclosure.
Fig. 1 is a schematic layout of some embodiments of a sorting deck.
As shown in fig. 1, the size of the sorting deck is for example an integer multiple of the size of a cell d, which is determined according to the size of the space occupied by the automated guided vehicle c, one cell being able to accommodate the next automated guided vehicle. Some cells are provided with a bag falling opening a, and a bag for accommodating and wrapping is arranged below the bag falling opening. The cell for vehicle passing is stuck with a navigation two-dimensional code b. The automatic guiding transport vehicle c is guided by the navigation two-dimensional code b on the sorting platform, packages carried by the automatic guiding transport vehicle c are delivered to a certain bag falling opening a of the sorting platform, and then the packages fall into bags below the bag falling opening a to be accommodated.
Figure 2 is a schematic shape of some embodiments of sorting decks.
Sorting decks come in a variety of shapes. As shown in fig. 2, some sorting decks are shaped like a cross-shaped intersection structure e, shown by a thick line frame. The space at the crossing structure is limited, but the traffic is heavier, and the traffic jam or locking is more likely to happen.
In view of this, the present disclosure proposes a flow control scheme that can improve congestion or deadlock conditions at the intersection structure of a sortation platform. The flow control scheme is described in detail below.
Fig. 3 is a flow diagram of some embodiments of the disclosed flow control method. The flow control method may be performed, for example, by a flow control device. The flow control device may be disposed in a management system capable of controlling each automated guided vehicle in a centralized manner, or may be disposed in each automated guided vehicle.
As shown in fig. 3, the flow control method of this embodiment includes steps 310 to 330.
In step 310, in response to a request to automatically steer the transporter to lock a cell within the flow control zone, a determination is made as to whether the number of currently locked cells within the flow control zone reaches the maximum number of locked cells.
Automated guided vehicles typically pre-lock a plurality of cells in front of the run. The cell locked by the automatic guiding transport vehicle only allows the automatic guiding transport vehicle to pass through, and the same cell is not allowed to be simultaneously locked by different automatic guiding transport vehicles, so that collision of each automatic guiding transport vehicle is prevented.
Areas where congestion or lock-up is likely to occur are typically set as flow control areas. For example, the area of the sorting deck where the intersection structure e is located may be set as a flow control area.
The value of the maximum number of lockout cells for the flow control region may be preset. Setting the value of the maximum number of locking cells reasonably can improve the throughput efficiency of the automated guided vehicle. For example, the average passing efficiency of each automatic guided vehicle corresponding to the maximum number of the locking cells is determined through simulation, and the value of the maximum number of the locking cells corresponding to the maximum average passing efficiency is selected.
In step 320, in the event that the maximum number of locked cells is not reached, the requesting automated guided vehicle is allowed to lock cells within the flow control area, and the number of cells within the flow control area that are allowed to be locked at this time does not exceed a differential number, which is determined based on the difference between the maximum number of locked cells and the number of cells currently locked within the flow control area.
In step 330, in the event that the maximum number of locked cells is reached, the requesting automated guided vehicle is allowed to lock furthest to the edge cells outside the flow control zone.
Furthermore, if the automated guided vehicle is traveling to an edge cell outside of the flow control area, it is not allowed to lock cells within the flow control area, then queuing at the edge cell waits until it is allowed to lock cells within the flow control area.
And controlling the flow of the flow control area (such as the intersection structure of the sorting platform) according to the maximum number of the locking cells, so that the congestion or locking condition of the flow control area is improved, and the average passing efficiency of each automatic guided vehicle is improved.
To further improve the congestion or lock-up condition at the flow control area, the present disclosure provides an annular area in the flow control area where the direction of travel of the automated guided vehicles is the same. The direction of travel of the automated guided vehicle in the annular region may be counter-clockwise or clockwise.
The annular region is provided in different arrangements. Different annular zone arrangements may correspond to different numbers of lock cells for the flow control zone. The maximum number of locked cells can be estimated according to the number of cells required to form a loop in the flow control area, and then a value of the maximum number of locked cells corresponding to the maximum average passing efficiency is selected through the aforementioned simulation method.
Fig. 4 is a schematic view of one arrangement of the annular region of the present disclosure. The direction in which the arrow in a cell points indicates the direction of travel allowed by that cell.
As shown in fig. 4, the flow control region 400 is composed of a base flow control region 410 and an extended flow control region 420, and the extended flow control region 420 is formed by extending at the periphery of the base flow control region 410. Therefore, the area of the flow control area is enlarged, so that the automatic guided vehicles can more easily pass through the flow control area, the congestion or locking condition of the flow control area is further improved, and the average passing efficiency of each automatic guided vehicle is further improved.
As shown in fig. 4, the annular region is provided in each of the expanded flow control region and the base flow control region, and the traveling direction of the annular region 421 in the expanded flow control region 420 and the traveling direction of the annular region 411 in the base flow control region 410 are the same. The annular area 421 is an area formed by the outermost ring of cells in the flow control area 400. The annular region 411 is the region of the outermost ring of cells within the base flow control region 410. The travel directions of the annular region 421 and the annular region 411 shown in fig. 4 are both counterclockwise.
As shown in fig. 4, when the flow control area is 6×6 in size (i.e., 6 cells in each row in the lateral direction and 6 cells in each row in the longitudinal direction), the lock cell maximum number may be, for example, 14, 15, or 16.
An exemplary method for determining the maximum number of locked cells is: the number of the cells needed for forming the loop in the flow control area is 12, 14, 16 and 18, the maximum number of the locking cells is in the range of 12-18, then the average passing efficiency of each automatic guided vehicle corresponding to the different maximum number of the locking cells (the value in the range of 12-18) is determined through simulation, and the value of the maximum number of the locking cells corresponding to the larger average passing efficiency is selected to be 14, 15 or 16.
Fig. 5 is a schematic view of another arrangement of the annular region of the present disclosure. The direction in which the arrow in a cell points indicates the direction of travel allowed by that cell.
As shown in fig. 5, two annular regions 510,520 having different traveling directions are provided in the flow control region 500, wherein the outer annular region 520 is composed of the outermost cells in the flow control region 500, and wherein the inner annular region 510 is composed of adjacent cells inside the outer annular region 520.
As shown in fig. 5, when the flow control area is of a size of 4×4 (i.e., 4 cells in each row in the lateral direction and 4 cells in each row in the longitudinal direction), the lock cell maximum number may be, for example, 4.
An exemplary method for determining the maximum number of locked cells is: the minimum number of cells needed to form a loop in the flow control region is 4, then the lock cell maximum number is directly determined to be 4. Or estimating the maximum number of the locking cells within a range taking 4 as a center, determining the average passing efficiency of each automatic guided vehicle corresponding to the different maximum number of the locking cells (taking the value within the range of 2-6) through simulation, and selecting the value of the maximum number of the locking cells corresponding to the larger average passing efficiency as 4.
Fig. 6 is a schematic view of yet another arrangement of the annular region of the present disclosure. The direction in which the arrow in a cell points indicates the direction of travel allowed by that cell.
As shown in fig. 6, an outer annular region 610 is provided in the flow control region 600, wherein the outer annular region 610 is composed of outermost cells in the flow control region, and cells inside the outer annular region are unidirectional channels.
As shown in fig. 6, when the flow control area is of a size of 4×4 (i.e., 4 cells in each row in the lateral direction and 4 cells in each row in the longitudinal direction), the lock cell maximum number may be 8, for example.
An exemplary method for determining the maximum number of locked cells is: the minimum number of cells needed to form a loop in the flow control region is 8, then the lock cell maximum number is directly determined to be 8. Or estimating the maximum number of the locking cells within a range taking 8 as a center, determining the average passing efficiency of each automatic guided vehicle corresponding to the different maximum number of the locking cells (taking values within a range of 6-10) through simulation, and selecting the value of the maximum number of the locking cells corresponding to the larger average passing efficiency as 8.
Assume that: the flow control area has four directions, 4 lanes in each direction, two lanes into the flow control area, and two lanes out of the flow control area, each lane having 18 cells. In the 4 lanes in each direction, the far ends of the two lanes entering the flow control area correspond to one vehicle outlet point respectively, and the far ends of the two lanes leaving the flow control area correspond to one terminal point respectively. An AGV was set to start every departure point every 5.5 seconds, randomly going to one of the other three directions. The AGV maximum speed was set at 2 meters/second and the turn time was set at 1 second/90 degrees. Under the experimental conditions assumed in the foregoing, the measured results were: the scheme of fig. 4 is shown with an average time of 24.15 seconds for each AGV from start to end when the maximum number of locked cells is 15, and the scheme of fig. 5 is shown with a maximum number of locked cells of 4, the average time from start to end for each AGV is 41.61 seconds, and the scheme shown in FIG. 6 is 37.68 seconds when the maximum number of locked cells is 8.
Fig. 7 is a schematic diagram of some embodiments of a flow control device of the present disclosure.
As shown in fig. 7, the flow control device 700 includes: modules 710-720.
A determining module 710, configured to determine, in response to a request to lock cells in the flow control area by the automated guided vehicle, whether a number of currently locked cells in the flow control area reaches a maximum number of locked cells.
The flow control module 720 is configured to allow the requested automated guided vehicle to lock cells in the flow control area if the maximum number of locked cells is not reached, and allow the number of cells in the flow control area that is currently locked to not exceed a difference number, where the difference number is determined according to a difference between the maximum number of locked cells and the number of cells currently locked in the flow control area, and allow the requested automated guided vehicle to lock furthest to an edge cell outside the flow control area if the maximum number of locked cells is reached.
In some embodiments, an annular region is provided in the flow control region, the direction of travel of the automated guided vehicles in the annular region being the same.
In some embodiments, the flow control region is composed of a base flow control region and an extended flow control region, the extended flow control region is formed by extending at the periphery of the base flow control region, each of the extended flow control region and the base flow control region is provided with an annular region, and the traveling direction of the annular region in the extended flow control region and the traveling direction of the annular region in the base flow control region are the same.
In some embodiments, for the case where the flow control region consists of a base flow control region and an extended flow control region, the maximum number of locked cells is 14, 15, or 16 when the flow control region is 6 x 6 in size.
In some embodiments, two annular regions of different directions of travel are provided in the flow control region, wherein the outer annular region is comprised of the outermost cells in the flow control region and wherein the inner annular region is comprised of adjacent cells inside the outer annular region.
In some embodiments, for the case where two annular regions of different traveling directions are provided in the flow control region, when the specification of the flow control region is 4×4, the lock cell maximum number is 4.
In some embodiments, an outer annular region is provided in the flow control region, wherein the outer annular region is comprised of outermost cells in the flow control region, and cells inside the outer annular region are unidirectional channels.
In some embodiments, for the case where an outer annular region is provided in the flow control region, the maximum number of lock cells is 8 when the flow control region is 4×4 in specification.
In some embodiments, the maximum number of locked cells is estimated based on the number of cells needed to form a loop in the flow control region.
Fig. 8 is a schematic structural view of some embodiments of the flow control device of the present disclosure.
As shown in fig. 8, the flow rate control device 800 includes: a memory 810 and a processor 820 coupled to the memory 810, the processor 820 being configured to perform the flow control method of any of the foregoing embodiments based on instructions stored in the memory 810.
The memory 810 may include, for example, system memory, fixed nonvolatile storage media, and so forth. The system memory stores, for example, an operating system, application programs, boot Loader (Boot Loader), and other programs.
The flow control device 800 may also include an input-output interface 830, a network interface 840, a storage interface 850, and the like. These interfaces 830, 840, 850 and the memory 810 and processor 820 may be connected by, for example, a bus 860. The input/output interface 830 provides a connection interface for input/output devices such as a display, a mouse, a keyboard, a touch screen, and the like. The network interface 840 provides a connection interface for various networking devices. Storage interface 850 provides a connection interface for external storage devices such as SD cards, U-discs, and the like.
The present disclosure also proposes a computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the flow control method in any of the foregoing embodiments.
It will be appreciated by those skilled in the art that embodiments of the present disclosure may be provided as a method, system, or computer program product. Accordingly, the present disclosure may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present disclosure may take the form of a computer program product embodied on one or more computer-usable non-transitory storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.
The present disclosure is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the disclosure. It will be understood that each flowchart and/or block of the flowchart illustrations and/or block diagrams, and combinations of flowcharts and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The foregoing description of the preferred embodiments of the present disclosure is not intended to limit the disclosure, but rather to enable any modification, equivalent replacement, improvement or the like, which fall within the spirit and principles of the present disclosure.
Claims (17)
1. A flow control method, comprising:
Responding to a request of an automatic guiding transport vehicle for locking cells in a flow control area, judging whether the number of the cells currently locked in the flow control area reaches the maximum number of locked cells, wherein the automatic guiding transport vehicle can lock the cells in front of operation in advance, the cells locked by the automatic guiding transport vehicle only allow the automatic guiding transport vehicle to pass, and the same cell is not allowed to be simultaneously locked by different automatic guiding transport vehicles;
Under the condition that the maximum number of locked cells is not reached, allowing the requested automatic guided vehicle to lock cells in the flow control area, and allowing the number of cells in the flow control area locked at this time to not exceed a difference number, wherein the difference number is determined according to the difference between the maximum number of locked cells and the number of cells currently locked in the flow control area;
In the event that the maximum number of locked cells is reached, the requesting automated guided vehicle is allowed to lock furthest to the edge cells outside the flow control zone.
2. The method of claim 1, wherein an annular region is provided in the flow control region, the direction of travel of the automated guided vehicles in the annular region being the same.
3. The method of claim 2, wherein the flow control region consists of a base flow control region and an extended flow control region formed by extension at a periphery of the base flow control region.
4. A method according to claim 3, wherein each of the expanded flow control region and the base flow control region is provided with an annular region, and the direction of travel of the annular region in the expanded flow control region and the direction of travel of the annular region in the base flow control region are the same.
5. The method of claim 3 or 4, wherein the maximum number of locked cells is 14, 15 or 16 when the flow control area is 6 x 6 in size.
6. The method of claim 2, wherein two annular regions of differing travel directions are provided in the flow control region, wherein an outer annular region is comprised of outermost cells in the flow control region and wherein an inner annular region is comprised of adjacent cells inside the outer annular region.
7. The method of claim 6, wherein the maximum number of locked cells is 4 when the flow control area is 4 x4 in size.
8. The method of claim 2, wherein an outer annular region is disposed in the flow control region, wherein the outer annular region is comprised of outermost cells in the flow control region, and cells inside the outer annular region are unidirectional channels.
9. The method of claim 8, wherein the maximum number of locked cells is 8 when the flow control area is 4 x4 in size.
10. The method of claim 2, wherein the maximum number of locked cells is estimated based on the number of cells needed to form a loop in the flow control area, the size of a cell being determined based on the size of an automated guided vehicle footprint.
11. A flow control device, comprising:
The judging module is used for responding to a request of the automatic guiding transport vehicle for locking the cells in the flow control area and judging whether the number of the cells currently locked in the flow control area reaches the maximum number of the locked cells, wherein the automatic guiding transport vehicle can lock the cells in front of operation in advance, the cells locked by the automatic guiding transport vehicle only allow the automatic guiding transport vehicle to pass, and the same cell is not allowed to be locked by different automatic guiding transport vehicles at the same time;
The flow control module is used for allowing the requested automatic guided vehicle to lock the cells in the flow control area under the condition that the maximum number of locked cells is not reached, and allowing the number of the cells in the flow control area locked at this time to not exceed a difference number, wherein the difference number is determined according to the difference between the maximum number of locked cells and the number of the cells currently locked in the flow control area, and allowing the requested automatic guided vehicle to be furthest locked to the edge cells outside the flow control area under the condition that the maximum number of locked cells is reached.
12. The apparatus of claim 11, wherein an annular region is provided in the flow control region, and wherein the traveling directions of the automated guided vehicles in the annular region are the same.
13. The apparatus of claim 12, wherein,
The flow control area consists of a basic flow control area and an expansion flow control area, the expansion flow control area is formed by expanding at the periphery of the basic flow control area, annular areas are respectively arranged in the expansion flow control area and the basic flow control area, and the advancing direction of the annular areas in the expansion flow control area is the same as the advancing direction of the annular areas in the basic flow control area;
Or two annular areas with different travelling directions are arranged in the flow control area, wherein the outer annular area consists of the outermost cells in the flow control area, and the inner annular area consists of the adjacent cells inside the outer annular area;
Or an outer annular area is arranged in the flow control area, wherein the outer annular area consists of cells at the outermost side in the flow control area, and cells at the inner side of the outer annular area are unidirectional channels.
14. The apparatus of claim 13, wherein,
For the case where the flow control region is composed of a base flow control region and an extended flow control region, when the flow control region has a specification of 6×6, the maximum number of lock cells is 14, 15, or 16;
For the case where two annular regions having different traveling directions are provided in the flow control region, when the flow control region has a specification of 4×4, the maximum number of lock cells is 4;
for the case where an outer annular region is provided in the flow control region, when the flow control region has a specification of 4×4, the maximum number of lock cells is 8.
15. The apparatus of claim 12, wherein the maximum number of locking cells is estimated based on the number of cells needed to form a loop in the flow control area, the size of a cell being determined based on the size of an automated guided vehicle footprint.
16. A flow control device, comprising:
a memory; and
A processor coupled to the memory, the processor configured to perform the flow control method of any of claims 1-10 based on instructions stored in the memory.
17. A computer readable storage medium having stored thereon a computer program which when executed by a processor performs the steps of the flow control method of any of claims 1-10.
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