CN108241372A - A kind of anticollision realization method and system of AGV cart systems - Google Patents
A kind of anticollision realization method and system of AGV cart systems Download PDFInfo
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- CN108241372A CN108241372A CN201711456102.4A CN201711456102A CN108241372A CN 108241372 A CN108241372 A CN 108241372A CN 201711456102 A CN201711456102 A CN 201711456102A CN 108241372 A CN108241372 A CN 108241372A
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- 238000000034 method Methods 0.000 title claims abstract description 27
- 238000001514 detection method Methods 0.000 claims abstract description 35
- 230000004888 barrier function Effects 0.000 claims description 6
- 230000009184 walking Effects 0.000 claims description 6
- 230000003139 buffering effect Effects 0.000 claims description 4
- 238000007726 management method Methods 0.000 abstract description 59
- 238000004519 manufacturing process Methods 0.000 abstract description 14
- 230000005540 biological transmission Effects 0.000 description 8
- 238000012360 testing method Methods 0.000 description 5
- 238000004891 communication Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 230000032258 transport Effects 0.000 description 2
- 230000032683 aging Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
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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
- G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
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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
- G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
- G05D1/0289—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling with means for avoiding collisions between vehicles
-
- 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
- G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
- G05D1/0291—Fleet control
- G05D1/0293—Convoy travelling
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- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses a kind of anticollision realization method and systems of AGV cart systems.A kind of anticollision realization method and system of AGV cart systems of the present invention, AGV trolleies carry out obstacle detection using anti-collision detection device, and when an obstacle is detected, control AGV trolleies halt；And by obtaining the newest status information of AGV trolleies in real time, when AGV trolleies reach management and control range, management and control range includes intersection or default avoidance section；Advanced regulation model is arrived first to the AGV trolleies implementation for reaching management and control range, the AGV trolleies reached at first pass through at first, and the AGV trolleies reached afterwards are avoided.Anticollision detection realizes the anticollision of AGV cart systems, to ensure being normally carried out for battery production with reference to the path planning of AGV cart systems.
Description
Technical field
The present invention relates to AGV trolley control fields, especially a kind of anticollision realization method and system of AGV cart systems.
Background technology
At present, in the production process of battery, traditional production technology is that manually operation is completed, and production efficiency is low,
For example, when needing to test battery, tested by manually carrying battery to corresponding test point；For this feelings
There is the battery production system that article carrying is carried out using AGV trolleies in condition.Usually, program is controlled to control by AGV trolleies
AGV trolleies are walked according to scheduled route, but during the control of existing AGV trolleies, when AGV trolleies control program performs out
During existing mistake, AGV trolleies will collide, and article is caused to damage, and influence normally to produce, and reduce production efficiency.
Invention content
In order to solve the above-mentioned technical problem, the object of the present invention is to provide a kind of anticollision implementation methods of AGV cart systems
And system, the anticollision of AGV cart systems is used to implement, to ensure being normally carried out for battery production.
The technical solution adopted in the present invention is：A kind of anticollision implementation method of AGV cart systems, the AGV trolleies system
The anticollision implementation method of system is applied to the operation cabinet array region of multiple operation cabinets composition, and the AGV cart systems include multiple
AGV trolleies are used for goods transportation, and anti-collision detection device is provided on the AGV trolleies, and the operation cabinet array region, which is formed, to be supplied
The circuit of multiple AGV carriage walkings, the circuit include at least one main line and at least one branch, and the main line and branch converge
Conjunction forms at least one intersection, and the operation cabinet is arranged on around circuit, and the AGV trolleies are in AGV dispatch servers
Scheduling under along circuit reach operation cabinet；The anticollision implementation method of the AGV trolleies includes the following steps：
Detect anticollision step：The AGV trolleies carry out obstacle detection using anti-collision detection device, when detecting barrier
When, the AGV trolleies halt；
AGV traffic control steps：The newest status information of AGV trolleies is obtained in real time, and the status information includes AGV trolleies
Running state information, AGV trolleies location information；
When the AGV trolleies reach management and control range, the management and control range includes intersection or default avoidance section；It is right
The AGV trolleies implementation for reaching the management and control range arrives first advanced regulation model, and the AGV trolleies reached at first pass through at first, after
The AGV trolleies of arrival are avoided.
Further, the main line in circuit is in the default section that avoids.
Further, the AGV traffic controls step further includes：
In same management and control range, in the same time, have and an only AGV trolley.
Further, the AGV traffic controls step further includes：Each branch, in the same time, an only AGV
Trolley.
Further, the vehicle body surrounding of the AGV trolleies be provided with anticollision strip for hit buffering.
Another technical solution of the present invention is：System is realized in a kind of anticollision of AGV cart systems, and the AGV is small
The anticollision of vehicle system realizes that system is applied to the operation cabinet array region of multiple operation cabinets composition, and the AGV cart systems include
Multiple AGV trolleies are used for goods transportation, and anti-collision detection device, the operation cabinet array region shape are provided on the AGV trolleies
Into the circuit for multiple AGV carriage walkings, the circuit includes at least one main line and at least one branch, the main line and branch
Road is converged to form at least one intersection, and the operation cabinet is arranged on around circuit, and the AGV trolleies are dispatched in AGV and taken
It is engaged in reaching operation cabinet along circuit under the scheduling of device；The anticollision of the AGV cart systems realizes that system includes：
Anti-collision unit is detected, obstacle detection is carried out using anti-collision detection device for the AGV trolleies, hinders when detecting
When hindering object, the AGV trolleies halt；
AGV Traffic Control Units, including state information acquisition module and management and control module,
The state information acquisition module, for obtaining the newest status information of AGV trolleies, the status information packet in real time
Include the running state information of AGV trolleies, the location information of AGV trolleies；
The management and control module, for when the AGV trolleies reach management and control range, the management and control range to include intersection
Or default avoidance section；Advanced regulation model is arrived first to the AGV trolleies implementation for reaching the management and control range, is reached at first
AGV trolleies pass through at first, and the AGV trolleies reached afterwards are avoided.
Further, the main line in circuit is in the default section that avoids.
Further, in same management and control range, in the same time, have and an only AGV trolley.
Further, each branch, in the same time, an only AGV trolley.
Further, the vehicle body surrounding of the AGV trolleies be provided with anticollision strip for hit buffering.
The beneficial effects of the invention are as follows：
A kind of anticollision realization method and system of AGV cart systems of the present invention, AGV trolleies are carried out using anti-collision detection device
Obstacle detection, when an obstacle is detected, control AGV trolleies halt；It is and newest by obtaining AGV trolleies in real time
Status information, when AGV trolleies reach management and control range, management and control range includes intersection or default avoidance section；It is managed to reaching
The AGV trolleies implementation of control range arrives first advanced regulation model, and the AGV trolleies reached at first pass through at first, and the AGV reached afterwards is small
Vehicle is avoided.Anticollision detection realizes the anticollision of AGV cart systems, to ensure battery with reference to the path planning of AGV cart systems
Production is normally carried out.
Description of the drawings
The specific embodiment of the present invention is described further below in conjunction with the accompanying drawings：
Fig. 1 is a specific implementation of AGV traffic control steps in a kind of anticollision implementation method of AGV cart systems of the present invention
It illustrates and is intended to；
Wherein, 1- operation cabinets；2-AGV trolleies；3- branches；The first main lines of 4-；The second main lines of 5-；6- thirds are done
Road.
Specific embodiment
It should be noted that in the absence of conflict, the feature in embodiment and embodiment in the application can phase
Mutually combination.
A kind of anticollision implementation method of AGV cart systems, the anticollision implementation method of AGV cart systems are applied to multiple operations
The operation cabinet array region of cabinet composition, AGV cart systems include multiple AGV trolleies for goods transportation, usually, are given birth in battery
In production, AGV cart systems are used for transports cell and unclassified stores, such as battery case etc.；Anticollision detection dress is provided on AGV trolleies
It puts, operation cabinet array region forms the circuit for multiple AGV carriage walkings, and circuit includes at least one main line and at least one
Road, main line and branch converge to form at least one intersection, and operation cabinet is arranged on around circuit, and AGV trolleies are dispatched in AGV
Under the scheduling of server operation cabinet is reached along circuit；Between AGV dispatch servers and multiple AGV trolleies establish communication connection with
The work of AGV trolleies is controlled, generally wireless telecommunications connect；AGV trolleies include main controller and data transmission circuit, main controller with
Data transmission circuit connects, and main controller is communicated by data transmission circuit and AGV dispatch servers；Anti-collision detection device with
Main controller connects；The anticollision implementation method of AGV trolleies includes the following steps：
Detect anticollision step：AGV trolleies carry out obstacle detection using anti-collision detection device, when an obstacle is detected,
The main controller of AGV dispatch servers or AGV trolleies control AGV trolleies halt；When carrying out obstacle detection, the present invention
In, anti-collision detection device is Laser Detecting Set, and Laser Detecting Set sends out laser, when direction of advance has barrier,
Main controller judge AGV trolleies to barrier distance be less than pre-determined distance when, main controller control AGV trolleies halt or
For main controller transmission range warning message to AGV dispatch servers, AGV dispatch servers send control command control AGV trolleies
It halts.
AGV traffic control steps：AGV dispatch servers obtain the newest status information of AGV trolleies, status information packet in real time
Include the running state information of AGV trolleies, the location information of AGV trolleies；
When AGV trolleies reach management and control range, management and control range includes intersection or default avoidance section；To reaching management and control
The AGV trolleies implementation of range arrives first advanced regulation model, and the AGV trolleies reached at first pass through at first, the AGV trolleies reached afterwards
It is avoided.Specifically, it after AGV trolleies reach management and control range, initiates to ask to AGV dispatch servers, AGV dispatch servers are looked into
The location information of all AGV trolleies is ask, according to advanced regulation model is arrived first, the AGV trolleies first asked is controlled to first pass through management and control
Range, the AGV trolleies asked slowly, which avoid, to be waited in line to pass through.
The present invention carries out anticollision detection using anti-collision detection device, and combines the path planning to AGV cart systems, realizes
The anticollision of AGV cart systems, to ensure being normally carried out for battery production.
Further, it in the present embodiment, presets and avoids section as the main line in circuit.With reference to figure 1, Fig. 1 is the present invention one
A specific embodiment schematic diagram of AGV traffic control steps in the anticollision implementation method of kind AGV cart systems；Dotted line in Fig. 1
For AGV trolleies 2 walk circuit, wherein, the array that operation cabinet array region is made of multiple operation cabinets 1；Main line includes the
One main line 4, the second main line 5 and the 6th main line 6, circuit further include the multiple branches 3 intersected with main line, and the first main line 4, second is dry
Road 5, the 6th main line 6 and branch 3 form multiple intersections.In the present invention, the ranging from multiple intersections of management and control and main line, when
When AGV trolleies will enter intersection and main line, AGV dispatch servers carry out position enquiring, confirm no AGV trolleies in management and control
In the range of when, control AGV trolleies enter management and control range；Otherwise, according to the regulation model first passed through is first reached, AGV trolleies are controlled
Orderly enter management and control range.
As the further of technical solution, AGV traffic control steps further include：In same management and control range, in the same time,
Have and an only AGV trolley.Only when the AGV trolleies walk out management and control range, next AGV trolley can be allowed to enter the management and control
Range.Only have an AGV trolley when management and control ranging from multiple intersections, in multiple intersections and enter intersection,
Remaining AGV trolleies are waited for.With reference to figure 1, in the present embodiment, multiple intersections can be divided into multiple portions, Fig. 1 according to main line
In, intersection can be divided into 3 parts, same time, with a part according to the first main line 4, the second main line 5 and the 6th main line 6
Multiple intersections in only an AGV trolley enter intersection, remaining AGV trolley is waited for by intersection.
When management and control ranging from main line, the same time, only an AGV trolley enters on a main line.When the ranging from multiple friendships of management and control
When cross road mouth and main line, the same time, in main line and multiple intersections, only an AGV trolley enters.With reference to figure 1, this reality
It applies in example, management and control range is divided by 3 management and control regions according to main line, i.e., the first main line 4 intersects with it crossing, the second main line 5
This 3 management and control regions of crossing that crossing, the 6th main line 6 intersected with it intersects with it, in each management and control region, the same time,
Only an AGV trolley enters in management and control region.
As the further of technical solution, AGV traffic control steps further include：Each branch, in the same time, only
One AGV trolley.With reference to figure 1, in each branch, the same time only has an AGV trolley, prevents AGV trolleies from colliding, shadow
Ring normal production.
As the further of technical solution, in the anticollision implementation method of AGV cart systems, also pass through the vehicle in AGV trolleies
Body surrounding be provided with anticollision strip for hit buffer, damage of the reduction AGV trolleies in collision process.Usually, anticollision strip is
Made of rubber material.
System is realized in a kind of anticollision of AGV cart systems, and the anticollision of AGV cart systems realizes that system is applied to multiple operations
The operation cabinet array region of cabinet composition, AGV cart systems include multiple AGV trolleies for goods transportation, usually, are given birth in battery
In production, AGV cart systems are used for transports cell and unclassified stores, such as battery case etc.；Anticollision detection dress is provided on AGV trolleies
It puts, operation cabinet array region forms the circuit for multiple AGV carriage walkings, and circuit includes at least one main line and at least one
Road, main line and branch converge to form at least one intersection, and operation cabinet is arranged on around circuit, and AGV trolleies are dispatched in AGV
Under the scheduling of server operation cabinet is reached along circuit；Between AGV dispatch servers and multiple AGV trolleies establish communication connection with
The work of AGV trolleies is controlled, generally wireless telecommunications connect；AGV trolleies include main controller and data transmission circuit, main controller with
Data transmission circuit connects, and main controller is communicated by data transmission circuit and AGV dispatch servers；Anti-collision detection device with
Main controller connects；The anticollision of AGV cart systems realizes that system includes：
Detect anti-collision unit：AGV trolleies carry out obstacle detection using anti-collision detection device, when an obstacle is detected,
The main controller of AGV dispatch servers or AGV trolleies control AGV trolleies halt；When carrying out obstacle detection, the present invention
In, detection anti-collision unit is the main controller of AGV trolleies or AGV dispatch servers, and anti-collision detection device is Laser Detecting Set,
Laser Detecting Set sends out laser.When direction of advance has barrier, main controller judges AGV trolleies to the distance of barrier
During less than pre-determined distance, main controller control AGV trolleies halt or main controller transmission range warning message to AGV dispatch
Server, AGV dispatch servers send control command control AGV trolleies and halt.
AGV Traffic Control Units, including state information acquisition module and management and control module,
State information acquisition module, for obtaining the newest status information of AGV trolleies in real time, it is small that status information includes AGV
The running state information of vehicle, the location information of AGV trolleies；
Management and control module, for when AGV trolleies reach management and control range, management and control range to include intersection or default avoidance road
Section；Advanced regulation model is arrived first to the AGV trolleies implementation for reaching management and control range, the AGV trolleies reached at first pass through at first, after
The AGV trolleies of arrival are avoided.
Specifically, AGV Traffic Control Units are AGV dispatch servers, after AGV trolleies reach management and control range, are dispatched to AGV
Server initiates request, and the state information acquisition module of AGV dispatch servers obtains the location information of all AGV trolleies, management and control
Module, according to advanced regulation model is arrived first, controls the AGV trolleies first asked by inquiring the location informations of all AGV trolleies
Management and control range is first passed through, the AGV trolleies asked slowly, which avoid, to be waited in line to pass through.
The present invention carries out anticollision detection using anti-collision detection device, and combines AGV Traffic Control Units to AGV cart systems
Path planning, realize AGV cart systems anticollision, to ensure being normally carried out for battery production.
Further, it presets and avoids section as the main line in circuit.With reference to figure 1, the dotted line in Fig. 1 is walked for AGV trolleies 2
Circuit, wherein, the array that operation cabinet array region is made of multiple operation cabinets 1；It is dry that main line includes the first main line 4, second
5 and the 6th main line 6 of road, circuit further include the multiple branches 3 intersected with main line, the first main line 4, the second main line 5, the 6th main line 6
Multiple intersections are formed with branch 3.In the present invention, the ranging from multiple intersections of management and control and main line, when AGV trolleies will enter
When intersection and main line, AGV dispatch servers carry out position enquiring, when confirming that no AGV trolleies are in the range of management and control, control
AGV trolleies enter management and control range；Otherwise, according to the regulation model first passed through is first reached, control AGV trolleies orderly enter management and control model
It encloses.
As the further of technical solution, in same management and control range, in the same time, have and an only AGV trolley.Only
Have when the AGV trolleies walk out management and control range, next AGV trolley can be allowed to enter the management and control range.When management and control is ranging from multiple
Only have an AGV trolley during intersection, in multiple intersections and enter intersection, remaining AGV trolley is waited for.With reference to
Fig. 1, in the present embodiment, multiple intersections can be divided into multiple portions according to main line, and in Fig. 1, intersection is according to the first main line
4th, the second main line 5 and the 6th main line 6 can be divided into 3 parts, same time, with only one in multiple intersections of a part
AGV trolleies enter intersection, remaining AGV trolley is waited for by intersection.When management and control ranging from main line, with for the moment
Between, only have an AGV trolley on a main line and enter.When the ranging from multiple intersections of management and control and main line, the same time does
In road and multiple intersections, only an AGV trolley enters.With reference to figure 1, in the present embodiment, according to main line by management and control range
Be divided into 3 management and control regions, i.e., crossing that the first main line 4 intersects with it crossing, the second main line 5 intersect with it, the 6th main line 6 with
Its this 3 management and control region of crossing intersected, in each management and control region, same time, only an AGV trolley enter management and control region
In.
As the further of technical solution, each branch, in the same time, an only AGV trolley.With reference to figure 1, often
In one branch, the same time only has an AGV trolley, prevents AGV trolleies from colliding, and influences normally to produce.
As the further of technical solution, the vehicle body surroundings of AGV trolleies be provided with anticollision strip for hit buffer, with reduction
Damage of the AGV trolleies in collision process.Usually, anticollision strip is made of rubber material.
In actual battery production process, including battery testing flow, battery testing flow includes preliminary filling aging, partial volume, divides
Shelves etc. usually, the centralized and automatic control to multiple and different battery testing flows, the present embodiment are realized using MES server
In, the method for AGV traffic control steps is applied to partial volume area, and operation cabinet is grading system, multiple AGV trolleies and AGV dispatch services
Device carries out communication connection, and AGV dispatch servers receive the control command of MES server to control AGV trolley travellings to corresponding
Grading system.Specifically, AGV dispatch servers obtain mission bit stream from MES server, and generate task list；AGV dispatch services
Device carries out task scheduling according to the task creation time, dispatches suitable AGV trolleies and binds it with corresponding task, according to
The demand of task, the suitable set of paths of dynamic generation；AGV dispatch servers carry out data interaction with AGV trolleies in real time, and will
AGV trolleies are written in corresponding routing information, realize the motion control to AGV trolleies；AGV dispatch servers are in real time by task status
And the status information feedback of AGV trolleies is to MES server；AGV trolleies reach corresponding grading system according to path, with grading system
Mechanical arm interacts, and realizes feeding// blanking operation of reloading；The mechanical arm action of grading system is completed, and control AGV trolleies perform next
Task action.Before AGV trolleies reach corresponding grading system according to path, when by management and control range, the AGV of the present invention is utilized
The method of traffic control step is controlled.
It is that the preferable of the present invention is implemented to be illustrated, but the invention is not limited to the implementation above
Example, those skilled in the art can also make various equivalent variations under the premise of without prejudice to spirit of the invention or replace
It changes, these equivalent deformations or replacement are all contained in the application claim limited range.
Claims (10)
- A kind of 1. anticollision implementation method of AGV cart systems, which is characterized in that the anticollision implementation method of the AGV cart systems Applied to the operation cabinet array region of multiple operation cabinets composition, the AGV cart systems include multiple AGV trolleies and are transported for article It is defeated, anti-collision detection device is provided on the AGV trolleies, the operation cabinet array region is formed for multiple AGV carriage walkings Circuit, the circuit include at least one main line and at least one branch, and the main line and branch converge to form at least one friendship Cross road mouth, the operation cabinet are arranged on around circuit, and the AGV trolleies are under the scheduling of AGV dispatch servers along circuit Reach operation cabinet；The anticollision implementation method of the AGV trolleies includes the following steps：Detect anticollision step：The AGV trolleies carry out obstacle detection using anti-collision detection device, when an obstacle is detected, The AGV trolleies halt；AGV traffic control steps：The newest status information of AGV trolleies is obtained in real time, and the status information includes the fortune of AGV trolleies The location information of row status information, AGV trolleies；When the AGV trolleies reach management and control range, the management and control range includes intersection or default avoidance section；To reaching The AGV trolleies implementation of the management and control range arrives first advanced regulation model, and the AGV trolleies reached at first pass through at first, rear to reach AGV trolleies avoided.
- 2. the anticollision implementation method of AGV cart systems according to claim 1, which is characterized in that the default avoidance road Section is the main line in circuit.
- 3. the anticollision implementation method of AGV cart systems according to claim 1 or 2, which is characterized in that the AGV traffic Control step further includes：In same management and control range, in the same time, have and an only AGV trolley.
- 4. the anticollision implementation method of AGV cart systems according to claim 1 or 2, which is characterized in that the AGV traffic Control step further includes：Each branch, in the same time, an only AGV trolley.
- 5. the anticollision implementation method of AGV cart systems according to claim 1 or 2, which is characterized in that the AGV trolleies Vehicle body surrounding be provided with anticollision strip for hit buffering.
- 6. system is realized in a kind of anticollision of AGV cart systems, which is characterized in that system is realized in the anticollision of the AGV cart systems Applied to the operation cabinet array region of multiple operation cabinets composition, the AGV cart systems include multiple AGV trolleies and are transported for article It is defeated, anti-collision detection device is provided on the AGV trolleies, the operation cabinet array region is formed for multiple AGV carriage walkings Circuit, the circuit include at least one main line and at least one branch, and the main line and branch converge to form at least one friendship Cross road mouth, the operation cabinet are arranged on around circuit, and the AGV trolleies are under the scheduling of AGV dispatch servers along circuit Reach operation cabinet；The anticollision of the AGV cart systems realizes that system includes：Anti-collision unit is detected, for the AGV trolleies using anti-collision detection device progress obstacle detection, when detecting barrier When, the AGV trolleies halt；AGV Traffic Control Units, including state information acquisition module and management and control module,The state information acquisition module, for obtaining the newest status information of AGV trolleies in real time, the status information includes The running state information of AGV trolleies, the location information of AGV trolleies；The management and control module, for when the AGV trolleies reach management and control range, the management and control range to include intersection or pre- If avoid section；Advanced regulation model is arrived first to the AGV trolleies implementation for reaching the management and control range, the AGV reached at first is small Vehicle passes through at first, and the AGV trolleies reached afterwards are avoided.
- 7. system is realized in the anticollision of AGV cart systems according to claim 6, which is characterized in that the default avoidance road Section is the main line in circuit.
- 8. system is realized in the anticollision of the AGV cart systems described according to claim 6 or 7, which is characterized in that in same management and control model It encloses, in the same time, has and an only AGV trolley.
- 9. system is realized in the anticollision of the AGV cart systems described according to claim 6 or 7, which is characterized in that each branch, In the same time, an only AGV trolley.
- 10. system is realized in the anticollision of the AGV cart systems described according to claim 6 or 7, which is characterized in that the AGV trolleies Vehicle body surrounding be provided with anticollision strip for hit buffering.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711456102.4A CN108241372A (en) | 2017-12-27 | 2017-12-27 | A kind of anticollision realization method and system of AGV cart systems |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711456102.4A CN108241372A (en) | 2017-12-27 | 2017-12-27 | A kind of anticollision realization method and system of AGV cart systems |
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| CN108241372A true CN108241372A (en) | 2018-07-03 |
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| CN109048909A (en) * | 2018-08-29 | 2018-12-21 | 广州市君望机器人自动化有限公司 | Minor matters formula path dispatching method, device, background server and the first robot |
| 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 |
| CN108983793A (en) * | 2018-09-18 | 2018-12-11 | 广东嘉腾机器人自动化有限公司 | A kind of AGV trolley traffic control method and device |
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| CN112925305A (en) * | 2021-01-11 | 2021-06-08 | 江麓机电集团有限公司 | AGV flexible scheduling method of workshop logistics system and workshop logistics system |
| WO2023016377A1 (en) * | 2021-08-11 | 2023-02-16 | 灵动科技（北京）有限公司 | Robot control method and apparatus, and data processing method and apparatus |
| CN114454162B (en) * | 2022-01-10 | 2023-05-26 | 广东技术师范大学 | Mobile robot complex intersection anti-collision method and system |
| CN114454162A (en) * | 2022-01-10 | 2022-05-10 | 广东技术师范大学 | Anti-collision method and system for complex intersection of mobile robot |
| CN115027862A (en) * | 2022-07-11 | 2022-09-09 | 上海忍诚科技有限公司 | Automatic sorting system and automatic sorting method |
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