CN107045343A - A kind of AGV traffic controls method and system - Google Patents
A kind of AGV traffic controls method and system Download PDFInfo
- Publication number
- CN107045343A CN107045343A CN201611262971.9A CN201611262971A CN107045343A CN 107045343 A CN107045343 A CN 107045343A CN 201611262971 A CN201611262971 A CN 201611262971A CN 107045343 A CN107045343 A CN 107045343A
- Authority
- CN
- China
- Prior art keywords
- agv
- crossing
- station card
- card
- station
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 28
- 238000004891 communication Methods 0.000 claims description 5
- 230000004913 activation Effects 0.000 claims description 3
- 238000005096 rolling process Methods 0.000 claims description 3
- 230000006978 adaptation Effects 0.000 abstract description 3
- 230000008901 benefit Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 3
- 238000012545 processing Methods 0.000 description 2
- 238000004088 simulation Methods 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000000739 chaotic effect Effects 0.000 description 1
- 238000000151 deposition Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
Abstract
Present invention is disclosed a kind of AGV traffic controls method:1) when AGV travelings enter crossing, the station card information of crossing porch is read；2) station card current state is judged according to the station card information of reading, if 3) lock-out state then performs, if non-locking state, then performed 4)；3) AGV stops, and obtains according to setpoint frequency the station card information of the crossing porch, and returns 2)；4) AGV drives through the crossing according to setting path, and all station card-like states in the crossing are defined as into locking；5) when AGV rolls the crossing away from, all station card-like states in the crossing are defined as non-locking.The advantage of the invention is that wide adaptation range, without individually arranging control card, it with station card unified plan can effectively solve that problem can not be unlocked at infall caused by the reasons such as signal, because control method is simple, so as to ensure that the reliability and stability of AGV traffic controls.
Description
Technical field
The present invention relates to traffic control field.
Background technology
AGV (Automatic Guided Vehicle), i.e. automatically guiding trolley, refer to be equipped with electromagnetic or optical etc.
Homing device, can be travelled, the transport vehicle with safeguard protection and various transfer functions along defined guide path,
The carrier of driver is not required in commercial Application, is a kind of common industrial equipment, with the raising of factory automation degree,
AGV industries welcome very big development prospect.But, due to there is many AGV traveling in factory, the AGV energy in straight-line travelling
Good avoidance effect is realized without colliding by avoidance sensor, the complexity but magnetic orbital interlocks, the AGV in intersection
Control is relative complex, and the AGV having is needed according to multi-direction traveling, causes to allow AGV can be according to unified traffic rules
It is a very intractable and difficult thing to travel in order.
General, to solve this problem, typically now it is the United Dispatching system by host computer to solve, it is unified to adjust
Degree system and AGV vehicle control syetem and communication system are uniformly coordinated work, it is possible to achieve many AGV normal work without
Collide.
Such as published patent application, application number 201610055696.7, patent name《The autonomous type of AGV a kind of is handed over
Logical method of control, device and AGV》, it is desirable to provide one kind solves to go out at turning because can not receive phase caused by signal problem
Answer caused by control signal can not traffic control the problems such as control, but can not solve because can not be received caused by signal problem
The problems such as unlocking information, equally so also result in AGV and rest on for a long time at traffic control, influence factory service efficiency.
Such as published patent application, application number 201410265253.1, patent name《AGV dispatches system》, it is also
It can be provided there is provided one kind and solve the problems, such as AGV traffic controls.But this method is only effective to three forks and two forks, branches off to four
Road can not be applicable, and can not be provided according to certain regular clearance AGV, moreover, two-way AGV can not be also applicable.
The content of the invention
The technical problems to be solved by the invention are to realize that a kind of wide adaptation range, stable, control method simply may be used
The AGV traffic control methods leaned on.
To achieve these goals, the technical solution adopted by the present invention is a kind of AGV traffic controls method:
1) when AGV travelings enter crossing, the station card information of crossing porch is read；
2) station card current state is judged according to the station card information of reading, if 3) lock-out state then performs, if non-
4) lock-out state, then perform；
3) AGV stops, and obtains according to setpoint frequency the station card information of the crossing porch, and returns 2)；
4) AGV drives through the crossing according to setting path, and all station card-like states in the crossing are defined as into locking；
5) when AGV rolls the crossing away from, all station card-like states in the crossing are defined as non-locking.
It is described 3) in the AGV of stopping numbering and stop timing are write into station card, and wait number at the crossing of the station card
Amount Jia one.
When the AGV quantity of crossing wait is more than 1, then AGV is allowed to roll crossing away from according to default judgment rule order.
Described judgment rule includes priority principle and time principle；Priority principle：Each AGV numberings are provided with priority
Not, when there is priority level higher than other AGV, time principle is ignored, the high AGV of priority level first rolls crossing away from, if in the presence of
During many high AGV of the other rank of equal priority, let pass with the AGV that rank is high with time principle；Time principle：Stop timing
Early AGV is leading.
It is described 4) when AGV rolls crossing away from, the current AGV numberings for rolling crossing away from are filled on station card, are emptied again afterwards
The AGV numbers the information in the station card, and information includes AGV and numbered and the stop timing.
When have simultaneously have same AGV numberings in two station cards when, empty the interior AGV's of the early station card of fill in the time
Information, if the station cacaine numbering AGV for the information that is cleared and be lockup state, to the station card unlock.
When AGV traffic routes are opposing traffic circuit, each crossing both sides are respectively provided with a station card, and AGV is only read
The station card information at current side crossing.
A kind of system for performing the AGV traffic controls method, each AGV vehicles are provided with the reading for reading station card information
Card device, card reader is communicated by radio communication device with the control system for total activation, each road in the AGV conducts region
Mouthful be equipped with station card identical with fork quantity.
When AGV traffic routes are opposing traffic circuit, each crossing both sides are respectively provided with a station card.
The advantage of the invention is that wide adaptation range, is not only adapted to unidirectional AGV, Er Qieneng equally applicable to two-way AGV
The traffic scheduling on enough processing turn turnouts, three turnouts and four turnouts, our legally constituted authority without individually arrange control card, can and station
Card unified plan, the property without setting card, it is only necessary to know that card number goes to divide without subregion, and whole factory can unify to manage
Reason, and Installed System Memory and CPU overhead are small, are divided into locking card and do not lock card, can effectively solve caused by the reasons such as signal
Problem can not be unlocked in infall, because control method is simple, so as to ensure that the reliability and stability of AGV traffic controls.
Brief description of the drawings
The content to every width accompanying drawing expression in description of the invention is briefly described below：
Fig. 1 is AGV traffic control method flow diagrams；
Fig. 2 is the theory diagram for the system for performing AGV traffic control methods；
Fig. 3 is simulation plant area AGV travel route figures.
Embodiment
As shown in Fig. 2 being equipped with the card reader of a reading station card information, scheduling system and AGV on each AGV vehicles
Card reader between wirelessly come realize the transmission of signal, i.e. card reader by radio communication device with for total activation
Control system communication, AGV control instruction obtained by scheduling system, scheduling system can cause AGV to advance, retreat,
The remote operations such as stopping, reset.
Station card identical with fork quantity is equipped with each crossing in AGV conducts region, crossing can be bend (two
Fork in the road), junctions road, four forks in the road etc., be equipped with a station card, i.e. bend provided with two in the porch of sailing at each crossing
Individual station card, the junction of three roads is provided with three station cards, and four forks in the road are provided with four station cards.When AGV traffic routes are two-way
During row line, each crossing both sides are respectively provided with a station card, and such bend is provided with six provided with four station cards, the junction of three roads
Station card, four forks in the road are provided with eight station cards, the different next upward AGV of correspondence.
The information that each station card is recorded includes：Whether crossing number, locking card 1, locking block 2, locking card 3, lock, block
1 time, card 2 times, card 3 times, card 1 corresponding A GV, card 2 corresponding A GV, card 3 corresponding A GV, pass through crossing AGV
Number, and crossing wait car quantity.
Based on said system, as shown in figure 1, AGV traffic control methods are as follows:
1) when AGV travelings enter crossing, the station card information of crossing porch is read；
2) station card current state is judged according to the station card information of reading, if 3) lock-out state then performs, if non-
4) lock-out state, then perform；
3) AGV stops, and obtains according to setpoint frequency the station card information of the crossing porch, at the same by AGV numberings and
Stop timing writes station card, and adds one in the crossing waiting number of the station card, and returns 2)；
If return 2) obtain station card information be non-locking state, and when crossing wait AGV quantity more than 1,
Then AGV is allowed to roll crossing away from according to default judgment rule order.
Judgment rule includes priority principle and time principle；Priority principle：Each AGV numberings are provided with priority level, when depositing
Priority level be higher than other AGV when, ignore time principle, the high AGV of priority level first rolls crossing away from, if exist many it is identical
During the high AGV of the rank of priority level, let pass with the AGV that rank is high with time principle；Time principle：The AGV of morning stop timing
In advance.
4) AGV drives through the crossing according to setting path, and all station card-like states in the crossing are defined as into locking,
When AGV rolls crossing away from, the current AGV numberings for rolling crossing away from are filled on station card, AGV numberings are emptied again afterwards in the work
Information in the card of position, information includes AGV and numbered and the stop timing；
5) when AGV rolls the crossing away from, all station card-like states in the crossing are defined as non-locking.
In order to avoid causing crossing to block because Card Reader is abnormal, there is same AGV to number when having in two station cards simultaneously
When, empty the information of the AGV in the early station card of fill in the time, if the station cacaine numbering AGV for the information that is cleared and be lock
Only state, then unlock to the station card, so as to realize that arbitrfary point can discharge corresponding fork, it is ensured that it is reliable that crossing is passed through
Property.
The system and method can realize traffic control according to corresponding station card number, without being separately provided traffic control card, and need not
Burst processing is carried out to scene.As shown in figure 3, simulation one includes the turn of two turnouts, three turnouts and four crossroads minimum
Closed path, the process and application method of the inventive method are described by the schematic diagram.
The first step, first confirms that including 3, four turnouts 8 of turning and three turnouts 15 under path (for convenience of describing, only selects
Three kinds of forks), each fork is required for safeguarding has corresponding station card, this method station card near a table 1, turnout
Traffic control card can be substituted, without setting traffic control card, at four forks 8, corresponding table 1, setting locking card is 7,9, No. 10, setting
Crossing number is 8, and other are emptied.
At turning 3, corresponding table 1, it is locking card to set No. 2, and crossing number is 3, other clearings.Junctions 15 is equally such as
This, it is 15 to set corresponding crossing number in table 1, and locking card 1 is set to 17, and other are emptied.
Second step, card 7 is read during the traveling of AGV dollies 6, and it is 8 to look into and get the crossing number, judges correspondence in table 1
Whether the crossing 8 is locked, and discovery is not locked, then continues to travel, and set in table 1 corresponding to No. 8 crossings by road
Mouth AGV is 6, and sets the crossing at table 1 to be lock-out state, other continuation.
3rd step, if dolly No. 1 AGV during the crossing is travelled reaches No. 7 points, now, No. 1 car inquires about the crossing
State is locking, then halts, and sets locking card 1 is corresponding to read 1 time of card in corresponding table 1, and set the corresponding A GV of card 1
Numbering is 1, and it is 1 to wait AGV quantity, waits No. 6 AGV to having travelled the section.
Now, if No. 13 AGV arrive at No. 9 crossings, judge, for locking at No. 8 crossings, locking to be set in corresponding table 1
Blocked for 2 corresponding reading 2 times of card, and set the corresponding A GV of card 2 numberings to be 13, it is 2 to wait AGV quantity, No. 6 AGV of wait to traveling
The complete section.
Now, if No. 18 AGV arrive at No. 10 crossings, judge, for locking at No. 8 crossings, lock to be set in corresponding table 1
Surely card 3 is corresponding reads 3 times of card, and sets the corresponding A GV of card 3 numberings to be 18, and it is 3 to wait AGV quantity, waits No. 6 AGV to row
Finish the section.
4th step, when No. 6 AGV drive to No. 20 positions, if reading No. 20 position card numbers, notifies scheduling system
Unlock in the traffic intersection, corresponding table 1, empty by crossing AGV, meanwhile, scheduling systems inspection correspondence crossing is waited
AGV quantity, if zero, then do not handle, if not be 0, if only one car, directly according to card 1 or block 2 or
Block 3 corresponding No. AGV come the AGV that lets pass, if two or more car, judge what be let pass according to corresponding rule
AGV, if FIFO, reads the time of card come correspondence vehicle of letting pass, if large size is former in advance according to storage in table 1
Then, then corresponding card corresponding A GV is numbered come the AGV for reference numeral of letting pass in comparison sheet 1, it is proposed that be by the high AGV people of priority
Set numbering bigger than normal, can thus realize the high prior-release of priority.
Wherein, may could not be read due to related causes, such as card reader or wireless signal it is unstable, cause
No. 6 cars fail to read card or out of touch with taking scheduling system No. 20 point positions, when AGV run to No. 5 or other
When meaning position is connected with scheduling system, scheduling system can check whether the corresponding fork in the road of No. 6 cars is locked, if locking
Corresponding A of being let pass according to mentioned above principle GV.It can thus realize that arbitrfary point can discharge corresponding fork, rather than can only
It is fixed on the control that No. 4 points discharge the crossing.
Similarly, it is similar with four turnouts at turning crossing, in corresponding table 1, locking card 1 and crossing number are set, on three turnouts
At crossing, locking card and the corresponding numerical value in crossing number are set, needed and actual conditions phase while correspondence numerical value is specifically set
Together, AGV traffic controls otherwise can be caused chaotic.
Similarly, to illustrate how to realize a fork energy two way, if to realize two-way row at fork 3
Sail, then it is 3_1 to set turnout number in corresponding form 1, representing can be with the track of backward going, and it is 4 to set corresponding locking card 1
Number card, other rule ibid.
The present invention is exemplarily described above in conjunction with accompanying drawing, it is clear that the present invention is implemented not by aforesaid way
Limitation, as long as the improvement of the various unsubstantialities of inventive concept and technical scheme of the present invention progress is employed, or without changing
Enter and the design of the present invention and technical scheme are directly applied into other occasions, within protection scope of the present invention.
Claims (9)
1. a kind of AGV traffic controls method, it is characterised in that：
1) when AGV travelings enter crossing, the station card information of crossing porch is read；
2) station card current state is judged according to the station card information of reading, if 3) lock-out state then performs, if non-locking
4) state, then perform；
3) AGV stops, and obtains according to setpoint frequency the station card information of the crossing porch, and returns 2)；
4) AGV drives through the crossing according to setting path, and all station card-like states in the crossing are defined as into locking；
5) when AGV rolls the crossing away from, all station card-like states in the crossing are defined as non-locking.
2. AGV traffic controls method according to claim 1, it is characterised in that：It is described 3) in by the AGV of stopping numbering and
Stop timing writes station card, and adds one in the crossing waiting number of the station card.
3. AGV traffic controls method according to claim 2, it is characterised in that：When the AGV quantity of crossing wait is more than 1
It is individual, then allow AGV to roll crossing away from according to default judgment rule order.
4. AGV traffic controls method according to claim 3, it is characterised in that：Described judgment rule includes preferential former
Then and time principle；Priority principle：Each AGV numberings are provided with priority level, when there is priority level higher than other AGV, neglect
Time principle is omited, the high AGV of priority level first rolls crossing away from, if there is many other rank of equal priority high AGV, with
The high AGV of rank is let pass with time principle；Time principle：The AGV of morning stop timing is leading.
5. the AGV traffic control methods according to claim 1,2,3 or 4, it is characterised in that：It is described 4) when AGV rolls road away from
During mouth, the current AGV numberings for rolling crossing away from are filled on station card, the AGV is emptied again afterwards and numbers the letter in the station card
Breath, information includes AGV and numbered and the stop timing.
6. AGV traffic controls method according to claim 5, it is characterised in that：Have same when having in two station cards simultaneously
During one AGV numbering, the information of the AGV in the early station card of fill in the time is emptied, if the station cacaine for the information that the is cleared volume
Number AGV and be lockup state, then the station card is unlocked.
7. the AGV traffic control methods according to claim 1 or 6, it is characterised in that：When AGV traffic routes are two-way
During row line, each crossing both sides are respectively provided with a station card, and AGV only reads the station card information at current side crossing.
8. a kind of system for performing the AGV traffic controls method as described in claim 1-7, it is characterised in that：On each AGV vehicles
Provided with the card reader for reading station card information, card reader is communicated by radio communication device with the control system for total activation,
Each crossing in the AGV conducts region is equipped with station card identical with fork quantity.
9. the system of AGV traffic controls method according to claim 8, it is characterised in that：When AGV traffic routes are two-way
During row line, each crossing both sides are respectively provided with a station card.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611262971.9A CN107045343B (en) | 2016-12-30 | 2016-12-30 | AGV traffic control method and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611262971.9A CN107045343B (en) | 2016-12-30 | 2016-12-30 | AGV traffic control method and system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107045343A true CN107045343A (en) | 2017-08-15 |
| CN107045343B CN107045343B (en) | 2020-07-28 |
Family
ID=59543506
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611262971.9A Active CN107045343B (en) | 2016-12-30 | 2016-12-30 | AGV traffic control method and system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107045343B (en) |
Cited By (25)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107479403A (en) * | 2017-09-14 | 2017-12-15 | 长春北方化工灌装设备股份有限公司 | Annular RGV semi-matter simulating systems based on virtual reality and run dispatching algorithm without sky |
| CN107844117A (en) * | 2017-10-23 | 2018-03-27 | 上海木爷机器人技术有限公司 | A kind of road locking system and method based on high in the clouds |
| CN107894769A (en) * | 2017-11-23 | 2018-04-10 | 英业达科技有限公司 | Automatic guided vehicle traffic control method and system |
| CN107992053A (en) * | 2017-12-27 | 2018-05-04 | 宁波舜宇智能科技有限公司 | AGV traffic controls method and AGV traffic control systems |
| CN108170146A (en) * | 2017-12-31 | 2018-06-15 | 芜湖哈特机器人产业技术研究院有限公司 | A kind of paths planning method based on known environment |
| CN108205323A (en) * | 2017-12-31 | 2018-06-26 | 芜湖哈特机器人产业技术研究院有限公司 | The traffic control system and method for AGV under a kind of hybrid navigation |
| CN108415317A (en) * | 2018-02-06 | 2018-08-17 | 上海艾逻思智能设备有限公司 | AGV traffic control systems |
| CN108898825A (en) * | 2018-08-17 | 2018-11-27 | 珠海格力智能装备有限公司 | Current processing method and processing device |
| CN108983789A (en) * | 2018-08-20 | 2018-12-11 | 广东华中科技大学工业技术研究院 | A kind of path planning of unmanned boat and lay dispatching method |
| CN109032145A (en) * | 2018-08-29 | 2018-12-18 | 广州市君望机器人自动化有限公司 | To the dispatching method and device in multirobot path |
| CN109215359A (en) * | 2018-11-15 | 2019-01-15 | 黄石鼎信机电有限公司 | A kind of method of decentralization AGV traffic control |
| CN109324613A (en) * | 2018-09-18 | 2019-02-12 | 广东嘉腾机器人自动化有限公司 | A kind of traffic control method and device of AGV trolley |
| CN109814580A (en) * | 2019-04-03 | 2019-05-28 | 深圳市佳顺智能机器人股份有限公司 | Barrier-avoiding method, system, host and the storage medium of automated guided vehicle |
| CN110069055A (en) * | 2018-01-24 | 2019-07-30 | 北京京东尚科信息技术有限公司 | Dispatch the method, apparatus and computer readable storage medium of unmanned vehicle |
| CN110097760A (en) * | 2019-04-18 | 2019-08-06 | 襄阳风神物流有限公司 | A kind of clearance obstruction system of AGV |
| CN110262471A (en) * | 2018-05-10 | 2019-09-20 | 北京京东尚科信息技术有限公司 | Robot dispatching method and device, robot and robot dispatch system |
| CN110347156A (en) * | 2019-06-28 | 2019-10-18 | 青岛港国际股份有限公司 | A kind of AGV passes in and out the method for optimizing route and system in operation lane under gantry crane |
| CN110412990A (en) * | 2019-08-27 | 2019-11-05 | 大连理工大学 | A kind of AGV collision prevention method under the environment of plant |
| CN111736606A (en) * | 2020-06-28 | 2020-10-02 | 杭州海康机器人技术有限公司 | Mobile robot driving method, device and storage medium |
| CN111835414A (en) * | 2019-04-18 | 2020-10-27 | 襄阳风神物流有限公司 | Precise collision prevention method based on RFID and optical communication |
| CN112578784A (en) * | 2019-09-29 | 2021-03-30 | 杭州海康机器人技术有限公司 | Automatic guided transport vehicle scheduling method and device |
| CN112863246A (en) * | 2020-12-29 | 2021-05-28 | 广东嘉腾机器人自动化有限公司 | Traffic control method of AGV (automatic guided vehicle) scheduling system |
| CN112987706A (en) * | 2019-11-29 | 2021-06-18 | 江苏华章物流科技股份有限公司 | AGV trolley self-cooperation method and system |
| WO2022022741A1 (en) * | 2020-07-31 | 2022-02-03 | 杭州海康机器人技术有限公司 | Agv traffic control method, system, device, and storage medium |
| CN114397892A (en) * | 2021-12-27 | 2022-04-26 | 广东嘉腾机器人自动化有限公司 | Magnetic navigation AGV (automatic guided vehicle) cooperative bypassing method |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112644946A (en) * | 2020-12-23 | 2021-04-13 | 深圳市海柔创新科技有限公司 | Storage robot control method, device, equipment and storage medium |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20110285509A1 (en) * | 2010-05-20 | 2011-11-24 | Paul Llewellyn Greene | Shipping container security process |
| CN102582657A (en) * | 2012-02-16 | 2012-07-18 | 佛山市顺德区嘉腾电子有限公司 | AGV (automatic guided vehicle) traffic automatic control system and AGV traffic automatic control method |
| CN105336186A (en) * | 2015-10-27 | 2016-02-17 | 青岛佰众化工技术有限公司 | Intersection traffic control system based on power line carrier |
| CN105654756A (en) * | 2016-01-27 | 2016-06-08 | 深圳市佳顺智能机器人股份有限公司 | Autonomous traffic control method and device for AGVs and AGVs |
| US20160241999A1 (en) * | 2015-02-16 | 2016-08-18 | Polaris Tech Global Limited | Cross-platform automated perimeter access control system and method adopting selective adapter |
| CN105894832A (en) * | 2016-03-28 | 2016-08-24 | 广州飞锐机器人科技有限公司 | Traffic control method and apparatus employing automatic navigation positioning AGV |
-
2016
- 2016-12-30 CN CN201611262971.9A patent/CN107045343B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20110285509A1 (en) * | 2010-05-20 | 2011-11-24 | Paul Llewellyn Greene | Shipping container security process |
| CN102582657A (en) * | 2012-02-16 | 2012-07-18 | 佛山市顺德区嘉腾电子有限公司 | AGV (automatic guided vehicle) traffic automatic control system and AGV traffic automatic control method |
| US20160241999A1 (en) * | 2015-02-16 | 2016-08-18 | Polaris Tech Global Limited | Cross-platform automated perimeter access control system and method adopting selective adapter |
| CN105336186A (en) * | 2015-10-27 | 2016-02-17 | 青岛佰众化工技术有限公司 | Intersection traffic control system based on power line carrier |
| CN105654756A (en) * | 2016-01-27 | 2016-06-08 | 深圳市佳顺智能机器人股份有限公司 | Autonomous traffic control method and device for AGVs and AGVs |
| CN105894832A (en) * | 2016-03-28 | 2016-08-24 | 广州飞锐机器人科技有限公司 | Traffic control method and apparatus employing automatic navigation positioning AGV |
Cited By (35)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107479403A (en) * | 2017-09-14 | 2017-12-15 | 长春北方化工灌装设备股份有限公司 | Annular RGV semi-matter simulating systems based on virtual reality and run dispatching algorithm without sky |
| CN107844117A (en) * | 2017-10-23 | 2018-03-27 | 上海木爷机器人技术有限公司 | A kind of road locking system and method based on high in the clouds |
| CN107844117B (en) * | 2017-10-23 | 2020-10-30 | 上海木木聚枞机器人科技有限公司 | Road locking system and method based on cloud |
| CN107894769A (en) * | 2017-11-23 | 2018-04-10 | 英业达科技有限公司 | Automatic guided vehicle traffic control method and system |
| CN107992053A (en) * | 2017-12-27 | 2018-05-04 | 宁波舜宇智能科技有限公司 | AGV traffic controls method and AGV traffic control systems |
| CN108170146A (en) * | 2017-12-31 | 2018-06-15 | 芜湖哈特机器人产业技术研究院有限公司 | A kind of paths planning method based on known environment |
| CN108205323A (en) * | 2017-12-31 | 2018-06-26 | 芜湖哈特机器人产业技术研究院有限公司 | The traffic control system and method for AGV under a kind of hybrid navigation |
| CN108170146B (en) * | 2017-12-31 | 2021-07-30 | 芜湖哈特机器人产业技术研究院有限公司 | Path planning method based on known environment |
| CN108205323B (en) * | 2017-12-31 | 2021-01-08 | 芜湖哈特机器人产业技术研究院有限公司 | AGV traffic control system and method under hybrid navigation |
| CN110069055A (en) * | 2018-01-24 | 2019-07-30 | 北京京东尚科信息技术有限公司 | Dispatch the method, apparatus and computer readable storage medium of unmanned vehicle |
| CN108415317A (en) * | 2018-02-06 | 2018-08-17 | 上海艾逻思智能设备有限公司 | AGV traffic control systems |
| CN110262471A (en) * | 2018-05-10 | 2019-09-20 | 北京京东尚科信息技术有限公司 | Robot dispatching method and device, robot and robot dispatch system |
| CN108898825A (en) * | 2018-08-17 | 2018-11-27 | 珠海格力智能装备有限公司 | Current processing method and processing device |
| CN108983789A (en) * | 2018-08-20 | 2018-12-11 | 广东华中科技大学工业技术研究院 | A kind of path planning of unmanned boat and lay dispatching method |
| CN109032145A (en) * | 2018-08-29 | 2018-12-18 | 广州市君望机器人自动化有限公司 | To the dispatching method and device in multirobot path |
| CN109032145B (en) * | 2018-08-29 | 2021-09-10 | 广州安商智能科技有限公司 | Method and device for scheduling paths of multiple robots |
| CN109324613A (en) * | 2018-09-18 | 2019-02-12 | 广东嘉腾机器人自动化有限公司 | A kind of traffic control method and device of AGV trolley |
| CN109215359A (en) * | 2018-11-15 | 2019-01-15 | 黄石鼎信机电有限公司 | A kind of method of decentralization AGV traffic control |
| CN109814580A (en) * | 2019-04-03 | 2019-05-28 | 深圳市佳顺智能机器人股份有限公司 | Barrier-avoiding method, system, host and the storage medium of automated guided vehicle |
| CN110097760A (en) * | 2019-04-18 | 2019-08-06 | 襄阳风神物流有限公司 | A kind of clearance obstruction system of AGV |
| CN111835414A (en) * | 2019-04-18 | 2020-10-27 | 襄阳风神物流有限公司 | Precise collision prevention method based on RFID and optical communication |
| CN110347156A (en) * | 2019-06-28 | 2019-10-18 | 青岛港国际股份有限公司 | A kind of AGV passes in and out the method for optimizing route and system in operation lane under gantry crane |
| CN110347156B (en) * | 2019-06-28 | 2022-07-19 | 青岛港国际股份有限公司 | Method and system for optimizing path of AGV entering and exiting from working lane under shore bridge |
| CN110412990A (en) * | 2019-08-27 | 2019-11-05 | 大连理工大学 | A kind of AGV collision prevention method under the environment of plant |
| CN112578784B (en) * | 2019-09-29 | 2023-08-25 | 杭州海康机器人股份有限公司 | Automatic guided transport vehicle dispatching method and device |
| CN112578784A (en) * | 2019-09-29 | 2021-03-30 | 杭州海康机器人技术有限公司 | Automatic guided transport vehicle scheduling method and device |
| CN112987706B (en) * | 2019-11-29 | 2022-07-12 | 江苏华章物流科技股份有限公司 | AGV trolley self-cooperation method and system |
| CN112987706A (en) * | 2019-11-29 | 2021-06-18 | 江苏华章物流科技股份有限公司 | AGV trolley self-cooperation method and system |
| CN111736606A (en) * | 2020-06-28 | 2020-10-02 | 杭州海康机器人技术有限公司 | Mobile robot driving method, device and storage medium |
| CN111736606B (en) * | 2020-06-28 | 2024-03-19 | 杭州海康机器人股份有限公司 | Mobile robot driving method, device and storage medium |
| WO2022022741A1 (en) * | 2020-07-31 | 2022-02-03 | 杭州海康机器人技术有限公司 | Agv traffic control method, system, device, and storage medium |
| CN112863246B (en) * | 2020-12-29 | 2022-06-14 | 广东嘉腾机器人自动化有限公司 | Traffic control method of AGV (automatic guided vehicle) scheduling system |
| CN112863246A (en) * | 2020-12-29 | 2021-05-28 | 广东嘉腾机器人自动化有限公司 | Traffic control method of AGV (automatic guided vehicle) scheduling system |
| CN114397892A (en) * | 2021-12-27 | 2022-04-26 | 广东嘉腾机器人自动化有限公司 | Magnetic navigation AGV (automatic guided vehicle) cooperative bypassing method |
| CN114397892B (en) * | 2021-12-27 | 2023-09-26 | 广东嘉腾机器人自动化有限公司 | Magnetic navigation AGV cooperative detour method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107045343B (en) | 2020-07-28 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107045343A (en) | A kind of AGV traffic controls method and system | |
| CN104609086B (en) | Four-directional shuttle vehicle control system based on road right tokens | |
| AU2013282700B2 (en) | Rail transport system with convoys automatic composition | |
| KR960000882B1 (en) | Carriage running control system | |
| Bae et al. | Comparison of operations of AGVs and ALVs in an automated container terminal | |
| Mantel et al. | Design and operational control of an AGV system | |
| CN106547271A (en) | AGV traffic control method and apparatus | |
| CN103456047B (en) | Based on Electronic Toll Collection for Lane System and the method for vehicle dynamic detection technique | |
| CN102037422A (en) | Traveling vehicle system and method for controlling traveling by traveling vehicle system | |
| JPH0719177B2 (en) | Operation management method for mobile | |
| CN112027473B (en) | Multi-depth storage area four-way shuttle vehicle multi-vehicle scheduling method | |
| CN106163897A (en) | The track train of long super platform and marshalling system thereof | |
| Duinkerken et al. | Routing of AGVs on automated container terminals | |
| JP2004280296A (en) | Automated guided vehicle control device | |
| CN107765692A (en) | A kind of control method for realizing no signal lamp AGV paths | |
| CN108217220A (en) | A kind of container automatic yard movement system method for arranging | |
| CN210086934U (en) | Multi-robot cooperation type stereo access garage | |
| CN114348059B (en) | Route segmentation unlocking and logic processing method and system based on ad hoc network | |
| CN107555109A (en) | A kind of tree-shaped track for tubular type logistics system | |
| CN106743009A (en) | A kind of shuttle dispatching method of Crossed Circle track | |
| CN109910911A (en) | A kind of Urban Underground freight transport system based on subway | |
| CN111717845A (en) | Forklift AGV basket distribution transfer system and automatic control method thereof | |
| CN115195825A (en) | Train route scheduling method and equipment for improving running efficiency | |
| CN107933612A (en) | The automatic parking system of train and method | |
| CN206726046U (en) | A kind of automobile-used turning navigational structures of AGV |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |