CN112394727A - AGV (automatic guided vehicle) cooperative transportation control method, storage medium and control system - Google Patents
AGV (automatic guided vehicle) cooperative transportation control method, storage medium and control system Download PDFInfo
- Publication number
- CN112394727A CN112394727A CN202011127179.9A CN202011127179A CN112394727A CN 112394727 A CN112394727 A CN 112394727A CN 202011127179 A CN202011127179 A CN 202011127179A CN 112394727 A CN112394727 A CN 112394727A
- Authority
- CN
- China
- Prior art keywords
- agv
- agvs
- signals
- signal
- working
- 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.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 25
- 230000001360 synchronised effect Effects 0.000 claims abstract description 12
- 238000004891 communication Methods 0.000 claims description 16
- 238000012544 monitoring process Methods 0.000 claims description 15
- 230000009471 action Effects 0.000 claims description 13
- 230000004044 response Effects 0.000 claims description 9
- 230000004888 barrier function Effects 0.000 claims description 8
- 210000001503 joint Anatomy 0.000 claims description 8
- 238000004590 computer program Methods 0.000 claims description 4
- 230000007274 generation of a signal involved in cell-cell signaling Effects 0.000 claims description 3
- 230000003137 locomotive effect Effects 0.000 description 6
- 238000003032 molecular docking Methods 0.000 description 3
- 230000006872 improvement Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
Images
Classifications
-
- 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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
-
- 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
-
- 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
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
-
- 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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
-
- 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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/028—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using a RF signal
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Optics & Photonics (AREA)
- Electromagnetism (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses an AGV cooperative transportation control method, a storage medium and a control system, compared with the prior art, the control system can control the AGV to enter a single machine mode or a cooperative mode, a user can adjust the working mode of the AGV according to actual needs, so that the AGV can cooperate with other AGVs to finish a transportation task by using the AGV to assist the transportation control method to work with the other AGVs under the condition that the goods to be transported exceed the rated transportation weight of the AGV, and when the transportation task is carried out in the cooperative mode, the two AGVs mutually send and receive working signals to each other, thereby adjusting the working state according to the working signals and keeping synchronous running.
Description
Technical Field
The invention relates to the field of industrial robots, in particular to an AGV cooperative transportation control method, a storage medium and a control system.
Background
As shown in fig. 4, when the AGV is used to transport goods, the goods can be stacked on the goods transport rack, and the AGV can transport the goods to a target place by lifting up the transport rack, so that the transport process is simple and convenient. The AGV all can have the rated load bearing capacity of transport, surpasss this AGV's load bearing capacity when cargo weight, if do not reduce the goods on the AGV, then influences the AGV operation lightly, then leads to the goods to take place to tumble, the motor overload operation burns out the problem heavily. The excess load must be distributed to other AGVs for transport.
When the goods weight that needs the transport surpassed AGV's bearing range and goods can't be dismantled and carry, then need select the transport that the bigger AGV of bearing capacity just can accomplish this goods to increased user's acquisition cost, along with the increase of bearing range, AGV's volume generally also increases simultaneously, and some occasions lead to unable bigger AGV of use to carry because of the restriction of space reason. The cooperation of two or more AGVs is assumed, so that the AGVs are matched to transport the same goods when needed, and no larger-size AGVs are needed to be purchased, so that the cost is effectively saved, but the existing AGVs are controlled independently through the system, and therefore the cooperation work is difficult.
The existing AGV control and method need further improvement to solve the problem that the AGV cannot cooperate to carry the same goods.
Disclosure of Invention
The first invention aims to provide an AGV cooperative transportation control method, and the control system controls two AGVs to cooperatively work, so that the problem that the two AGVs cannot cooperatively carry the same goods is solved.
In order to realize the purpose, the invention adopts the following technical scheme:
the AGV cooperative transportation control method comprises the following steps:
a. arranging two AGVs on an initial station in a front-back manner, establishing mutual communication of the two AGVs to enter a cooperation mode, setting the AGV positioned at the front side as a 'head' and the AGV positioned at the rear side as a 'tail', enabling the two AGVs to form a related whole, starting a transportation task of synchronous assistance, and entering the step b; b. the AGV comprises a body, a plurality of AGV modules and a plurality of control modules, wherein the AGV modules in the cooperation mode respectively continuously detect the working state of the body to generate working signals, send and receive the working signals mutually, and when the generated and received working signals are normal, the AGV modules continue to execute a carrying task until the task is completed; otherwise, entering the step c; c. stopping running, adjusting the working state according to the generated and received working signal, and returning to the step b.
Compared with the prior art, the AGV assisted transportation control method enables the AGV to complete the transportation task by cooperating with other AGVs under the condition that the goods to be transported exceed the rated transportation weight of the AGV, and when the transportation task is carried out in a cooperation mode, the two AGVs mutually send and receive working signals to each other, so that the working state is adjusted according to the working signals, and synchronous running is kept.
Preferably, the step b comprises the following steps:
b1. the AGV set as the 'head' monitors the magnetic strip signal and generates a navigation signal, monitors the speed of the AGV and generates a speed signal, and sends the navigation signal and the speed signal to the AGV set as the 'tail', if the navigation signal can be generated and the speed signal is normal, the step b1 is carried out, otherwise, the step c is carried out; b2. if the AGV set as the vehicle head has the obstacle, generating an obstacle avoidance signal, sending the obstacle avoidance signal to the AGV set as the vehicle tail, if the obstacle avoidance signal is not generated, entering b3, otherwise, entering the step c; b3. the AGV monitoring the speed of the AGV in the two cooperation modes, generating speed signals, sending the speed signals to each other, entering a step b4 if the speed signals of the two vehicles are the same, and otherwise entering a step c; b4. the AGV in the two cooperation modes reads the action instruction and sends the read action instruction to each other, if the action instruction read by the two vehicles is the same, the step b5 is executed, otherwise, the step c is executed; b5. and the AGVs in the two cooperation modes detect the electric quantity condition of the AGVs and generate power supply signals, the power supply signals are mutually sent, if the power supply signals of the two AGVs are normal, the step b1 is returned, otherwise, the step c is carried out. In this scheme, the navigation signal is used for judging whether the AGV detects magnetic stripe signal to judge whether the AGV derails, speed of a motor vehicle signal is used for feeding back the speed of a motor vehicle condition and is the same with the speed of a motor vehicle that is used for judging whether the AGV derails and two AGVs, keeps away whether the barrier signal is used for judging whether there is the barrier in the place ahead of AGV, the AGV turns round through action command, moves such as straight going, power supply signal is used for feeding back the electric quantity condition of AGV in order to be used for judging whether the AGV lacks the electricity.
Preferably, the step a further includes a step a1. in which the two AGVs send and receive response messages to each other, and the received response messages are checked, if the two AGVs both have a "yes", the step b is performed, otherwise, the step a2 is performed; a2. checks whether the settings of the two AGVs are correct and the communication is disconnected, and re-inputs or connects the communication according to the check result, returning to step a1.
It is a further object of the invention to provide a storage medium having stored thereon a computer program which, when executed by a processor, implements the method as described in the above scheme. Compared with the prior art, the storage medium of the scheme can be used for realizing the transportation assistance control method of the scheme, and has all the advantages of the scheme.
The third invention of the present invention is to provide a control system for the above control method, which comprises at least two AGV bodies, and an input module and a communication module which are arranged on the AGV bodies, wherein the input module is used for receiving an instruction input by a user, the AGV bodies can enter a cooperation mode or a single car mode according to the instruction received by the input module, and when the AGV bodies work in the cooperation mode, the AGV bodies communicate with each other in real time through the communication module, so as to realize synchronous operation between the AGV bodies.
Compared with the prior art, the control system can control the AGV to enter a single machine mode or a cooperation mode, a user can adjust the working mode of the AGV according to actual needs, so that the AGV can cooperate with other AGVs to complete a carrying task under the condition that the load to be carried by the AGV exceeds the rated carrying weight of the AGV.
Preferably, the working signals comprise power supply signals, vehicle speed signals, navigation signals and obstacle avoidance signals; the AGV monitoring system further comprises a monitoring module, wherein the monitoring module is used for monitoring the working state of the AGV and generating a working signal.
Preferably, the bottom of AGV body is equipped with magnetic tracking sensor, the AGV body passes through the magnetic stripe signal generation navigation signal of magnetic tracking sensor response.
Preferably, the AGV body is provided with an RFIC card reader for reading the action instructions on the magnetic stripe instruction card.
Preferably, the front side of AGV body is equipped with laser radar, laser radar is used for detecting the barrier and generates and keeps away the barrier signal.
Preferably, the AGV further comprises a conveying frame, two docking stations are symmetrically arranged in the front and the back of the conveying frame, and the docking platform of the AGV is docked with the docking stations.
Drawings
FIG. 1 is a flowchart of the operation of an AGV cooperative transport control method 1;
FIG. 2 is a flow chart of the operation of the present invention FIG. 2;
FIG. 3 is a flow chart of the operation of the present invention FIG. 3;
FIG. 4 is a schematic diagram of a prior art AGV transporting goods;
FIG. 5 is a schematic view of an AGV using the control system of the present invention handling goods 1;
FIG. 6 is a diagrammatic illustration 2 of an AGV using the control system of the present invention handling a load.
Detailed Description
The technical scheme of the invention is further explained according to the attached drawings:
the first embodiment is as follows:
a. arranging two AGVs on an initial station in a front-back manner, establishing mutual communication of the two AGVs to enter a cooperation mode, setting the AGV positioned at the front side as a 'head' and the AGV positioned at the rear side as a 'tail', enabling the two AGVs to form a related whole, starting a transportation task of synchronous assistance, and entering the step b; b. the AGV comprises a body, a plurality of AGV modules and a plurality of control modules, wherein the AGV modules in the cooperation mode respectively continuously detect the working state of the body to generate working signals, send and receive the working signals mutually, and when the generated and received working signals are normal, the AGV modules continue to execute a carrying task until the task is completed; otherwise, entering the step c; c. stopping running, adjusting the working state according to the generated and received working signal, and returning to the step b.
The step b comprises the following steps:
b1. the method comprises the steps that the AGV set to be the vehicle head monitors magnetic strip signals and generates navigation signals, the speed of the vehicle is monitored, vehicle speed signals are generated, navigation signals and vehicle speed signals are sent to the AGV set to be the vehicle tail, if the navigation signals can be generated and the vehicle speed signals are normal, the step b1 is carried out, and otherwise, the step c is carried out.
The method comprises the steps of judging whether the locomotive is derailed or not, judging whether the locomotive can detect a magnetic strip signal or not by judging whether a navigation signal is generated or not, judging whether the original speed of the locomotive is normal or not by judging the speed signal, and judging that the locomotive is not derailed when the locomotive can generate the navigation signal and the original speed of the locomotive is judged to be normal, and entering the next step.
b2. And c, judging whether the AGV set as the vehicle head has the obstacle or not, generating an obstacle avoiding signal, sending the obstacle avoiding signal to the AGV set as the vehicle tail, if not, entering b3, and otherwise, entering the step c.
The method comprises the steps of judging whether an obstacle exists in front of the vehicle head, generating and sending an obstacle avoidance signal when the vehicle head detects the obstacle, judging that no obstacle exists if the vehicle head does not detect the obstacle, and entering the next step.
b3. The AGV monitoring the speed of the AGV in the two cooperation modes and generating a speed signal, sending the speed signal to each other, and entering step b4 if the speed signals of the two vehicles are the same, or entering step c if the speed signals of the two vehicles are not the same.
The step is used for judging whether the two vehicles are synchronous or not, and if the vehicle speed signals of the two vehicles are the same through vehicle speed signal analysis, the next step can be carried out.
b4. The AGVs in the two cooperation modes read the motion commands and send the read motion commands to each other, if the motion commands read by the two AGVs are the same, step b5 is executed, otherwise step c is executed.
The step is used for judging whether the actions of the two vehicles are synchronous or not, if the action instructions of the two vehicles are the same, the actions of the two vehicles are judged to be synchronous, and the next step can be carried out.
b5. And the AGVs in the two cooperation modes detect the electric quantity condition of the AGVs and generate power supply signals, the power supply signals are mutually sent, if the power supply signals of the two AGVs are normal, the step b1 is returned, otherwise, the step c is carried out.
The step is used for judging whether the two cars are in power shortage, if the power supply telephones of the two cars are normal, the two cars are not in power shortage, and the next step can be carried out.
In an embodiment, the step b3 further includes a step b31, where the AGV set as the "tail" detects the magnetic stripe signal and generates a navigation signal, and sends the navigation signal to the AGV set as the head, and if the "tail" generates the navigation signal, the step b4 is performed, otherwise, the step c is performed. The step is used for judging whether the vehicle tail is derailed, if the navigation signal can be generated and the vehicle speed signal is normal, the vehicle tail is judged not to be derailed, and the next step can be carried out.
Step a also includes step a1., the two AGVs send and receive response information to each other, and check the received response information, if the two AGVs have both "yes", step b is entered, otherwise, step a2 is entered; a2. checks whether the settings of the two AGVs are correct and the communication is disconnected, and re-inputs or connects the communication according to the check result, returning to step a1.
The AGV assisted transportation control method ensures that the AGV and other AGVs complete the transportation task in a cooperative work manner under the condition that the goods to be transported exceed the rated transportation weight of the AGV, and when the transportation task is carried out in a cooperative mode, the two AGVs mutually send and receive working signals to each other, so that the working state is adjusted according to the working signals, and the synchronous running is kept.
Example two:
the present embodiment discloses a storage medium having stored thereon a computer program which, when executed by a processor, implements the method as described in the above scheme.
Example three:
referring to fig. 5 to 6, the present embodiment discloses a control system of the above control method, at least two AGV bodies, and an input module and a communication module which are arranged on the AGV bodies, where the input module is used to receive an instruction input by a user, the AGV bodies can enter a cooperation mode or a single car mode according to the instruction received by the input module, and when the AGV bodies work in the cooperation mode, the AGV bodies communicate with each other in real time through the communication module, so as to implement synchronous operation between the AGV bodies.
The working signals comprise power supply signals, vehicle speed signals, navigation signals and obstacle avoidance signals; the AGV monitoring system further comprises a monitoring module, wherein the monitoring module is used for monitoring the working state of the AGV and generating a working signal.
The bottom of above-mentioned AGV body is equipped with magnetic tracking sensor, the AGV body passes through the magnetic stripe signal generation navigation signal of magnetic tracking sensor response.
Above-mentioned AGV body is equipped with the RFIC card reader for read the action instruction on the magnetic stripe instruction card.
The front side of above-mentioned AGV body is equipped with laser radar, laser radar is used for detecting the barrier and generates and keeps away the barrier signal.
The AGV comprises an AGV body and is characterized by further comprising a conveying frame, wherein two butt joint stations are symmetrically arranged in the front and at the back of the conveying frame, and a butt joint platform of the AGV is in butt joint with the butt joint stations.
The working principle is as follows: the control system comprises a single-car mode and an assistance mode, wherein in daily work, a user sets each AGV into the single-car mode through an input module of the AGV to enable the AGV to be in the single-car mode by default, and when goods on a goods shelf exceed a rated loading capacity, the AGV is set into a cooperation mode to enable the AGV to work in the cooperation mode.
The input module is input equipment such as a touch panel, after the AGVs are set to be in a cooperation mode, the program of the AGVs can start serial ports used by the two AGVs for communication, and the two AGVs can mutually send and receive working signals through the serial ports at intervals.
The control system has two working modes of a single vehicle mode and a cooperation mode, a user can adjust the working mode of the AGV according to actual needs, so that goods to be carried by the AGV can cooperate with other AGVs to complete a carrying task under the condition that the goods exceeds the rated carrying weight of the vehicle, and the scheme is simple and feasible and the cost can be effectively saved because the improvement of the structure is not involved.
Variations and modifications to the above-described embodiments may occur to those skilled in the art, which fall within the scope and spirit of the above description. Therefore, the present invention is not limited to the specific embodiments disclosed and described above, and some modifications and variations of the present invention should fall within the scope of the claims of the present invention. Furthermore, although specific terms are employed herein, they are used in a generic and descriptive sense only and not for purposes of limitation.
Claims (10)
1. An AGV cooperative transportation control method is characterized by comprising the following steps:
a. arranging two AGVs on an initial station in a front-back manner, establishing mutual communication of the two AGVs to enter a cooperation mode, setting the AGV positioned at the front side as a 'head' and the AGV positioned at the rear side as a 'tail', enabling the two AGVs to form a related whole, starting a transportation task of synchronous assistance, and entering the step b;
b. the AGV comprises a body, a plurality of AGV modules and a plurality of control modules, wherein the AGV modules in the cooperation mode respectively continuously detect the working state of the body to generate working signals, send and receive the working signals mutually, and when the generated and received working signals are normal, the AGV modules continue to execute a carrying task until the task is completed; otherwise, entering the step c;
c. stopping running, adjusting the working state according to the generated and received working signal, and returning to the step b.
2. The AGV cooperative transportation control method according to claim 1, wherein said step b includes the steps of:
b1. the AGV set as the 'head' monitors the magnetic strip signal and generates a navigation signal, monitors the speed of the AGV and generates a speed signal, and sends the navigation signal and the speed signal to the AGV set as the 'tail', if the navigation signal can be generated and the speed signal is normal, the step b1 is carried out, otherwise, the step c is carried out;
b2. if the AGV set as the vehicle head has the obstacle, generating an obstacle avoidance signal, sending the obstacle avoidance signal to the AGV set as the vehicle tail, if the obstacle avoidance signal is not generated, entering b3, otherwise, entering the step c;
b3. the AGV monitoring the speed of the AGV in the two cooperation modes, generating speed signals, sending the speed signals to each other, entering a step b4 if the speed signals of the two vehicles are the same, and otherwise entering a step c;
b4. the AGV in the two cooperation modes reads the action instruction and sends the read action instruction to each other, if the action instruction read by the two vehicles is the same, the step b5 is executed, otherwise, the step c is executed;
b5. and the AGVs in the two cooperation modes detect the electric quantity condition of the AGVs and generate power supply signals, the power supply signals are mutually sent, if the power supply signals of the two AGVs are normal, the step b1 is returned, otherwise, the step c is carried out.
3. The AGV cooperative transportation control method according to claim 1 or 2, wherein the step a further includes a step a1. of the two AGVs sending and receiving response information to each other and checking the received response information, when the two AGVs are both checked to be "yes", the step b is proceeded, otherwise, the step a2 is proceeded; a2. checks whether the settings of the two AGVs are correct and the communication is disconnected, and re-inputs or connects the communication according to the check result, returning to step a1.
4. Storage medium on which a computer program is stored, characterized in that the computer program realizes the method according to any of claims 1-3 when executed by a processor.
5. The control system of the AGV cooperative transportation control method according to any one of claims 1 to 3, wherein at least two AGV bodies, and an input module and a communication module which are arranged on the AGV bodies, the input module is used for receiving an instruction input by a user, the AGV bodies can enter a cooperation mode or a single vehicle mode according to the instruction received by the input module, and when the AGV bodies work in the cooperation mode, the AGV bodies communicate with each other in real time through the communication module to realize synchronous operation between the AGV bodies.
6. The control system of claim 5, wherein: the working signals comprise power supply signals, vehicle speed signals, navigation signals and obstacle avoidance signals;
the AGV monitoring system further comprises a monitoring module, wherein the monitoring module is used for monitoring the working state of the AGV and generating a working signal.
7. The control system of claim 6, wherein: the bottom of AGV body is equipped with magnetic tracking sensor, the AGV body passes through the magnetic stripe signal generation navigation signal of magnetic tracking sensor response.
8. The control system of claim 6, wherein: the AGV body is equipped with the RFIC card reader for read the action command on the magnetic stripe instruction card.
9. The control system of claim 6, wherein: the front side of AGV body is equipped with laser radar, laser radar is used for detecting the barrier and generates and keeps away the barrier signal.
10. The control system of claim 5, wherein: the AGV comprises an AGV body and is characterized by further comprising a conveying frame, wherein two butt joint stations are symmetrically arranged in the front and at the back of the conveying frame, and a butt joint platform of the AGV is in butt joint with the butt joint stations.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011127179.9A CN112394727A (en) | 2020-10-20 | 2020-10-20 | AGV (automatic guided vehicle) cooperative transportation control method, storage medium and control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011127179.9A CN112394727A (en) | 2020-10-20 | 2020-10-20 | AGV (automatic guided vehicle) cooperative transportation control method, storage medium and control system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112394727A true CN112394727A (en) | 2021-02-23 |
Family
ID=74596055
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011127179.9A Pending CN112394727A (en) | 2020-10-20 | 2020-10-20 | AGV (automatic guided vehicle) cooperative transportation control method, storage medium and control system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112394727A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114185342A (en) * | 2021-11-23 | 2022-03-15 | 季华实验室 | Multi-AGV cooperative cargo handling method and system |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106681321A (en) * | 2016-12-16 | 2017-05-17 | 盐城工学院 | RFID-based online scheduling control system of automatic guided vehicle |
| CN106950951A (en) * | 2017-03-09 | 2017-07-14 | 沈阳远大科技园有限公司 | A kind of AGV control systems and method |
| CN107357288A (en) * | 2017-06-23 | 2017-11-17 | 东南大学 | One kind is used for the double car cooperative motion apparatus and method of Mecanum wheel robots |
| CN107450549A (en) * | 2017-08-25 | 2017-12-08 | 英华达（上海）科技有限公司 | A kind of AGV control systems and control method, AGV system |
| CN108363385A (en) * | 2017-12-01 | 2018-08-03 | 杭州南江机器人股份有限公司 | AGV is the same as field work Synergistic method, electronic equipment, storage medium and system |
| CN110989526A (en) * | 2019-12-10 | 2020-04-10 | 南京航空航天大学 | double-AGV cooperative carrying control system and method |
| CN111258275A (en) * | 2018-11-30 | 2020-06-09 | 沈阳新松机器人自动化股份有限公司 | Double-vehicle linkage control method for heavy-load AGV |
| CN111413976A (en) * | 2020-04-01 | 2020-07-14 | 安徽工业大学 | AGV control system and control method |
| CN111752228A (en) * | 2019-03-27 | 2020-10-09 | 杭州海康机器人技术有限公司 | Control system and control method for AGV cooperative transportation |
| CN111752229A (en) * | 2019-03-27 | 2020-10-09 | 杭州海康机器人技术有限公司 | Control system and control method for AGV cooperative transportation |
| CN111766854A (en) * | 2019-03-27 | 2020-10-13 | 杭州海康机器人技术有限公司 | Control system and control method for AGV cooperative transportation |
-
2020
- 2020-10-20 CN CN202011127179.9A patent/CN112394727A/en active Pending
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106681321A (en) * | 2016-12-16 | 2017-05-17 | 盐城工学院 | RFID-based online scheduling control system of automatic guided vehicle |
| CN106950951A (en) * | 2017-03-09 | 2017-07-14 | 沈阳远大科技园有限公司 | A kind of AGV control systems and method |
| CN107357288A (en) * | 2017-06-23 | 2017-11-17 | 东南大学 | One kind is used for the double car cooperative motion apparatus and method of Mecanum wheel robots |
| CN107450549A (en) * | 2017-08-25 | 2017-12-08 | 英华达（上海）科技有限公司 | A kind of AGV control systems and control method, AGV system |
| CN108363385A (en) * | 2017-12-01 | 2018-08-03 | 杭州南江机器人股份有限公司 | AGV is the same as field work Synergistic method, electronic equipment, storage medium and system |
| CN111258275A (en) * | 2018-11-30 | 2020-06-09 | 沈阳新松机器人自动化股份有限公司 | Double-vehicle linkage control method for heavy-load AGV |
| CN111752228A (en) * | 2019-03-27 | 2020-10-09 | 杭州海康机器人技术有限公司 | Control system and control method for AGV cooperative transportation |
| CN111752229A (en) * | 2019-03-27 | 2020-10-09 | 杭州海康机器人技术有限公司 | Control system and control method for AGV cooperative transportation |
| CN111766854A (en) * | 2019-03-27 | 2020-10-13 | 杭州海康机器人技术有限公司 | Control system and control method for AGV cooperative transportation |
| CN110989526A (en) * | 2019-12-10 | 2020-04-10 | 南京航空航天大学 | double-AGV cooperative carrying control system and method |
| CN111413976A (en) * | 2020-04-01 | 2020-07-14 | 安徽工业大学 | AGV control system and control method |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114185342A (en) * | 2021-11-23 | 2022-03-15 | 季华实验室 | Multi-AGV cooperative cargo handling method and system |
| CN114185342B (en) * | 2021-11-23 | 2024-03-29 | 季华实验室 | Multi-AGV cooperative cargo handling method and system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US8288989B2 (en) | Method and system for managing charge of automated guided vehicle | |
| CN104648879B (en) | A kind of Intelligent logistics support based on number bus carries delivery unit | |
| CN102768537B (en) | Wireless control system of automated guided vehicle | |
| EP3805892B1 (en) | Modular multifunctional workcells for autonomous guided vehicle applications | |
| CN1939815B (en) | Article transport facility and method for controlling same | |
| CN110182509B (en) | Intelligent obstacle avoidance tracking guide carrier for logistics storage and obstacle avoidance method | |
| CN205920406U (en) | Mix laser navigation fork truck formula AGV | |
| CN204568575U (en) | Transportation unit is carried in Intelligent logistics holder based on number bus | |
| CN112394727A (en) | AGV (automatic guided vehicle) cooperative transportation control method, storage medium and control system | |
| CN105162221A (en) | Automated container terminal all-electric unmanned automatic guided vehicle automatic charging vehicle-mounted device and charging method thereof | |
| CN108454640B (en) | Vehicle control method and system | |
| JP2020117031A (en) | Towing vehicle system | |
| JP6318933B2 (en) | Transport system for automated guided vehicles | |
| CN207433672U (en) | Trailer and towed vehicle handling system | |
| CN115744027A (en) | Goods management method and device, goods management system and computer readable storage medium | |
| CN113516423B (en) | Container sorting method, control device and storage medium | |
| WO2023084637A1 (en) | Transport system and transport control method | |
| JP2005352855A (en) | Production line system | |
| JP2009146322A (en) | Work system using automatic guided vehicle | |
| CN114296464A (en) | AGV control system and method based on two-dimensional code navigation | |
| CN114397883A (en) | Control system of multi-axis heavy-load AGV (automatic guided vehicle) trolley of all directions | |
| JP4984330B2 (en) | Transport vehicle system | |
| CN217576691U (en) | Novel magnetic navigation AGV dolly for stereoscopic warehouse | |
| CN116573322B (en) | RGV handling system and control method for RGV handling system | |
| JP2023047501A (en) | cargo handling system |
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 | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20210223 |
|
| RJ01 | Rejection of invention patent application after publication |