# US 12,130,609 B2 · Industrial Internet of Things for determining material transportation paths, control methods and media thereof > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,130,609 B2 - Document ID: US12130609B2 - Status: Granted - Kind: B2 - Application number: 18/448,156 - Filed: 2023-08-10 - Published: 2023-11-30 - Granted: 2024-10-29 - Earliest claimed: 2022-08-16 - Assignees: Chengdu Qinchuan Iot Technology Co., Ltd. - Applicants: Chengdu Qinchuan Iot Technology Co., Ltd. - Inventors: Zehua Shao; Bin Liu; Haitang Xiang; Yong Li; Xiaojun Wei - Web page: https://patentgrep.com/patent/US12130609B2 ## CPC - G05B 19/4155: characterised by program execution, i.e. part program or machine function execution, e.g. selection of a program - G05D 1/0217: {in accordance with energy consumption, time reduction or distance reduction criteria} - G05B 2219/40068: Collective, group transport - Y02P 90/60: Electric or hybrid propulsion means for production processes - G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G) - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES - Y02P: CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS ## Abstract The present disclosure discloses an Industrial Internet of Things for determining a material transportation path, a control method and a medium thereof, wherein the management platform in the Industrial Internet of Things includes: an obtaining module configured to generate a first layout directed graph; a material module configured to assign a material requirement to a corresponding material end point and assign a material supply to a corresponding material start point; a reconstruction module configured to reconstruct the first layout directed graph and form a third layout directed graph; a first calculation module configured to calculate a first path; a correction module configured to form an intermediate layout directed graph; and a second calculation module configured to calculate a second path. ## Claims ### Claim 1 An Industrial Internet of Things for determining a material transportation path and for controlling Automated Guided Vehicles (AGVs), comprising a sensor network platform, a management platform and a service platform connected in sequence, wherein the management platform includes: an obtaining module, configured to generate a first layout directed graph according to an AGV circuit layout of a target workshop obtained through the sensor network platform, wherein nodes of the first layout directed graph include AGV circuit intersections, a material start point, and a material end point, an edge of the first layout directed graph is an AGV circuit, and a weight of the edge is a length of the edge; a material module, configured to assign a material requirement of a target process to a corresponding material end point and assign a material supply corresponding to the material requirement to a corresponding material start point; a reconstruction module, configured to reconstruct the first layout directed graph according to the material end point of the first layout directed graph to form a second layout directed graph, and form a third layout directed graph based on the second layout directed graph, wherein each node of the second layout directed graph corresponds to a category of material; a first calculation module, configured to calculate a first path in the third layout directed graph, wherein the first path is a shortest path passing through all nodes corresponding to the same material; a correction module, configured to form an intermediate layout directed graph based on the first path and the second layout directed graph; a second calculation module, configured to calculate a second path in the intermediate layout directed graph, wherein the second path is an optimal path from the material start point to a corresponding node of the start point of the first path; and a merging module, configured to merge the first path and the second path into a final AGV path and to dispatch the AGVs with the final AGV path. ### Claim 2 (depends on 1) The Industrial Internet of Things for determining a material transportation path according to claim 1, wherein the first calculation module is further configured to: process the third layout directed graph to determine a minimum graph, wherein the minimum graph is a sub-graph of the third layout directed graph, including at least all the nodes corresponding to the same material; based on the minimum graph, determine a count of singularities of the nodes in the minimum graph and all the nodes corresponding to the same material, wherein the singularities are nodes or all the nodes corresponding to the same material with an odd count of edges; based on the count of singularities, determine whether an AGV feeding vehicle passes through a same road section at least once in a journey through all the sub-nodes corresponding to the same material; in response to the AGV feeding vehicle not passing through the same road section at least once, determine the first path based on a manner of not passing through the same road section; and in response to the AGV feeding vehicle passing through the same road section at least once, after pairing each two of the singularities based on a pairing condition, determine the first path based on a manner of passing through the same road section. ### Claim 3 (depends on 2) The Industrial Internet of Things for determining a material transportation path according to claim 2, wherein the first calculation module is further configured to: determine a minimum spanning tree based on the third layout directed graph; based on the minimum spanning tree, determine at least one irrelevant node of the minimum spanning tree and at least one edge corresponding to the at least one irrelevant node; and determine the minimum graph by deleting the at least one irrelevant node and the at least one edge. ### Claim 4 (depends on 2) The Industrial Internet of Things for determining a material transportation path according to claim 2, wherein the pairing condition includes a sum of path connections between each two of the singularities is smallest. ### Claim 5 (depends on 2) The Industrial Internet of Things for determining a material transportation path according to claim 2, wherein the manner of not passing through the same road section includes: selecting a node in the minimum graph as a start point; based on the start point, determining the first path based on a first path weight, wherein the first path weight is related to a length of the path and a material requirement of the sub-node corresponding to an end point of the path. ### Claim 6 (depends on 1) The Industrial Internet of Things for determining a material transportation path according to claim 1, wherein the second calculation module is further configured to: obtain heats of the AGV circuit intersections, wherein the heats of the AGV circuit intersections is frequency at which the AGV circuit intersections are visited by an AGV feeding vehicle within a preset time; and based on the material start point, the heats of the AGV circuit intersections, and the intermediate layout directed graph, determine the second path based on a shortest path algorithm. ### Claim 7 (depends on 1) The Industrial Internet of Things for determining a material transportation path according to claim 1, wherein the management platform further includes: a decomposition module; wherein the decomposition module is configured to divide each material end point into a plurality of sub-nodes according to a material requirement category of the material end point, and each sub-node corresponding to a category of material; and the reconstruction module is configured to reconstruct the first layout directed graph according to all sub-nodes to form the second layout directed graph, and extract sub-nodes corresponding to a same material to form the third layout directed graph. ### Claim 8 (depends on 1) The Industrial Internet of Things for determining a material transportation path according to claim 1, wherein the correction module is configured to: select an intermediate node from the first path, and delete the intermediate node from the second layout directed graph to form the intermediate layout directed graph, wherein the intermediate node is a sub-node that is not the start point of the first path. ### Claim 9 (depends on 1) The Industrial Internet of Things for determining a material transportation path according to claim 1, wherein the sensor network platform comprises a general sensor network platform and at least two sensor network sub-platforms; the general sensor network platform uniformly receives the data of the target workshop, and transmits different categories of data to the management platform through different sensor network sub-platforms; the management platform uniformly processes received data and then uniformly sends it to the service platform; and the service platform includes a general service platform and at least two service sub-platforms, the general service platform receives the data sent by the management platform and sends the different categories of data to the user platform through the service sub-platforms to the user platform to display to the user. ### Claim 10 (depends on 1) The Industrial Internet of Things for determining a material transportation path according to claim 1, wherein the management platform further includes a communication module configured to send the final AGV path to a user platform through the service platform to display to a user. ### Claim 11 A control method for an Industrial Internet of Things for determining a material transportation path and for controlling Automated Guided Vehicles (AGVs), comprising a sensor network platform, a management platform and a service platform connected in sequence, wherein the control method is executed by the management platform; and the control method includes: generating a first layout directed graph according to an AGV circuit layout of a target workshop obtained through the sensor network platform, wherein nodes of the first layout directed graph include AGV circuit intersections, a material start point, and a material end point, an edge of the first layout directed graph is an AGV circuit, and a weight of the edge is a length of the edge; assigning a material requirement of a target process to a corresponding material end point, and assigning a material supply corresponding to the material requirement to a corresponding material start point; reconstructing the first layout directed graph according to the material end point of the first layout directed graph to form a second layout directed graph, and forming a third layout directed graph based on the second layout directed graph, wherein each node of the second layout directed graph corresponds to a category of material; calculating a first path in the third layout directed graph, wherein the first path is a shortest path passing through all nodes corresponding to the same material; forming an intermediate layout directed graph based on the first path and the second layout directed graph; calculating a second path in the intermediate layout directed graph, wherein the second path is an optimal path from the material start point to a corresponding node of the start point of the first path; and merging the first path and the second path into a final AGV path and dispatching the AGVs with the final AGV path. ### Claim 12 (depends on 11) The control method for the Industrial Internet of Things for determining a material transportation path according to claim 11, wherein the calculating the first path in a third layout directed graph includes: processing the third layout directed graph to determine a minimum graph, wherein the minimum graph is a sub-graph of the third layout directed graph, including at least all the nodes corresponding to the same material; based on the minimum graph, determining a count of singularities of the nodes in the minimum graph and all the nodes corresponding to the same material, wherein the singularities are nodes or and all the nodes corresponding to the same material with an odd count of edges; based on the count of singularities, determining whether an AGV feeding vehicle passes through a same road section at least once in a journey through all the sub-nodes corresponding to the same material; in response to the AGV feeding vehicle not passing through the same road section at least once, determining the first path based on a manner of not passing through the same road section; and in response to the AGV feeding vehicle passing through the same road section at least once, after pairing each two of the singularities based on a pairing condition, determining the first path based on a manner of passing through the same road section. ### Claim 13 (depends on 12) The control method for the Industrial Internet of Things for determining a material transportation path according to claim 12, wherein the processing the third layout directed graph to determine a minimum graph includes: determining a minimum spanning tree based on the third layout directed graph; based on the minimum spanning tree, determining at least one irrelevant node of the minimum spanning tree and at least one edge corresponding to the at least one irrelevant node; and determining the minimum graph by deleting the at least one irrelevant node and the at least one edge. ### Claim 14 (depends on 12) The control method for the Industrial Internet of Things for determining a material transportation path according to claim 12, wherein the pairing condition includes a sum of path connections between each two of the singularities is smallest. ### Claim 15 (depends on 12) The control method for the Industrial Internet of Things for determining a material transportation path according to claim 12, wherein the manner of not passing through the same road section includes: selecting a node in the minimum graph as a start point; based on the start point, determining the first path based on a first path weight, wherein the first path weight is related to a length of the path and a material requirement of the sub-node corresponding to an end point of the path. ### Claim 16 (depends on 11) The control method for the Industrial Internet of Things for determining a material transportation path according to claim 11, wherein the method further comprises: obtaining heats of the AGV circuit intersections, where the heats of the AGV circuit intersections is frequency at which the AGV circuit intersections are visited by an AGV feeding vehicle within a preset time, and based on the material start point, the heats of the AGV circuit intersections, and the intermediate layout directed graph, determining the second path based on a shortest path algorithm. ### Claim 17 (depends on 11) The control method for the Industrial Internet of Things for determining a material transportation path according to claim 11, wherein the method further comprises: dividing each material end point into a plurality of sub-nodes according to a material requirement category of the material end point, and each sub-node corresponding to a category of material; and reconstructing the first layout directed graph according to all sub-nodes to form the second layout directed graph, and extracting sub-nodes corresponding to a same material to form the third layout directed graph. ### Claim 18 (depends on 11) The control method for the Industrial Internet of Things for determining a material transportation path according to claim 11, wherein forming an intermediate layout directed graph based on the first path and the second layout directed graph includes: selecting an intermediate node from the first path, and deleting the intermediate node from the second layout directed graph to form the intermediate layout directed graph, wherein the intermediate node is a sub-node that is not the start point of the first path. ### Claim 19 (depends on 11) A non-transitory computer-readable storage medium, wherein the storage medium stores computer instructions, and when the computer instructions are executed by a processor, the control method for the Industrial Internet of Things for determining a material transportation path according to claim 11 is implemented.