AGV trolley driving control method and system

Abstract

The invention relates to an AGV trolley driving control method and system. The system comprises a central control unit which is used for controlling each AGV trolley. The central control unit emits a dispatching instruction to the control unit of each AGV trolley and controls movement of the AGV trolley. The AGV trolley is provided with a sensor used for detecting an obstacle. The sensor transmits the acquired obstacle signals to the control unit. The control unit performs judgments according to the obstacle signals. The control unit emits a control instruction to control movement speed of the AGV trolley. An obstacle database is established by utilizing existence time and time duration of the obstacle acquired by the sensor. The database sets an obstacle appearing threshold according to the generating location and frequency of the obstacle. When the number of appearing times of the obstacle of a certain segment is greater than or less than the set threshold, the control unit controls the speed of the trolley when the AGV trolley moves to the segment so as to ensure smooth passing of the obstacle, the conflict can be avoided, and effective operation of the whole AGV system can be ensured.

Description

technical field [0001] The present invention relates to the technical field of AGV trolleys, in particular to a control method and system for driving AGV trolleys. Background technique [0002] AGV automatic navigation car is a kind of only transportation equipment that can automatically complete the loading, unloading and transportation of goods under the condition of dispatching system or manual instructions. Therefore, AGV automatic navigation car is widely used in logistics sorting warehouses. The navigation control system mainly consists of magnetic guidance, inertial guidance, laser guidance, etc. Among them, inertial guidance and laser guidance are far less widely used than magnetic guidance due to their weak anti-interference ability. However, with the introduction of flexible manufacturing systems, the production lines of enterprises have become more complex, and the demand for materials has become more flexible and changeable. There are multiple AGVs arranged on t...

AI Technical Summary

Problems solved by technology

[0002] AGV automatic navigation car is a kind of only transportation equipment that can automatically complete the loading, unloading and transportation of goods under the condition of dispatching system or manual instructions. Therefore, AGV automatic navigation car is widely used in logistics sorting warehouses. The navigation control system mainly consists of magnetic guidance, inertial guidance, laser guidance, etc. Among them, inertial guidance and laser guidance are far less widely used than magnetic guidance due to their weak ability to resist external interference.

However, with the introduction of flexible manufacturing systems, the production lines of enterprises have become more complex, and the demand for materials has become more flexible and changeable.

There are multiple AGVs arranged on the magnetic track in the entire warehouse. The travel of multiple AGVs is controlled by the control unit of the system. At the intersection of the magnetic guide rails, there will be obstacles on the magnetic guide rails for AGV cars with different running speeds on the magnetic guide rails. The obstacles are mainly pedestrians or other moving objects in the warehouse. The above-mentioned moving obstacles often shuttle from the magnetic track of the AGV trolley. When the AGV trolley encounters the above-mentioned obstacles, it is generally difficult to Adjustment, the AGV car will collide with obstacles, so the driving safety and stability of the magnetically guided multi-AGV poses a huge challenge

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