AGV multi-vehicle linkage control system and method

Abstract

The invention discloses an AGV multi-vehicle linkage control system and method, the system is composed of multiple sets of independent AGV electrical control systems, and each set of system comprises a controller, a remote controller, a driver and a motor. The controller is provided with various interfaces and is used for being connected with upstream and downstream AGV systems, the driver and the remote controller. A single AGV or multiple AGVs can be controlled to be linked through the selection switch remote controller. In the bicycle mode, a butt joint line is cut off, and a bicycle control gear is selected; and in the multi-vehicle linkage mode, the wires are connected, the multi-vehicle linkage gears are selected, and synchronous control is achieved. According to the AGV control system, single-vehicle motion control can be achieved, and multi-vehicle linkage control can be achieved after two or more AGVs are connected end to end through the butt joint cable. The problem of linkage control of more than two AGVs is effectively solved, and the AGV linkage control system is suitable for transferring super-tonnage loads. In addition, a wireless communication network does not need to be established in a use site, so that the production cost is reduced.

Description

Technical Field

[0001] The present invention relates to the field of AGV technology, and more specifically, to an AGV multi-vehicle linkage control system and method. Background Art

[0002] Automated guided vehicles (AGVs) play an increasingly important role in modern industrial production. They are widely used in various automated production lines and warehouse systems. With the continuous improvement of the level of industrial automation, the market demand for AGVs that can carry heavy loads has shown a significant growth trend. However, due to the limitations of the production environment and transportation conditions, the carrying capacity of a single AGV cannot be increased infinitely. Therefore, when it is necessary to transfer particularly large tonnage of goods, it is necessary to rely on multiple AGVs to work together to complete the task. When multiple AGVs work in conjunction, each AGV needs to understand the working status and location information of other AGVs in real time to ensure the coordination and safety of the entire system. To achieve this, if any of the AGVs fails, the entire AGV system will immediately stop all operations to prevent safety accidents caused by interruptions in information transmission. In order to solve the communication problem between multiple AGVs, the measures usually taken include installing a wireless communication module on each AGV and establishing a wireless communication network in the working area of ​​the AGV. In addition, a host computer is required as a collaborative control center to be responsible for the coordination and management of the entire system. The host computer and all AGVs are connected to this wireless communication network. Each AGV will continuously send its status information to the host computer, which is responsible for collecting and integrating this information and sending the integrated status information to each AGV. However, this solution requires the installation of an additional host computer and the construction of a wireless communication network, which will undoubtedly increase the cost of the project. In addition, this method is not suitable for production occasions where wireless communication cannot be used due to safety regulations or environmental restrictions. Summary of the invention

[0003] In order to solve the above technical problems existing in the prior art, the present invention innovatively provides an AGV multi-vehicle linkage control system, which can not only realize the motion control of a single vehicle, but also realize the linkage control of multiple vehicles, effectively solving the problem of linkage control of more than two AGVs, and is suitable for transporting large tonnage loads. In addition, there is no need to establish a wireless communication network at the site of use, thereby reducing production costs.

[0004] To achieve the above-mentioned technical objectives, an embodiment of the present invention discloses an AGV multi-vehicle linkage control system, including multiple sets of AGV electrical control systems, each set of the AGV electrical control systems is independently installed on the corresponding AGV, the AGV electrical control system includes a controller, a remote control, a driver and a motor, the controller is provided with a switch input interface, a switch output interface, an upstream network interface, a downstream network interface, a driver interface and a serial interface, the switch input interface is connected to the switch output interface of the upstream AGV electrical control system through a first pair of wirings, the switch output interface is connected to the switch input interface of the downstream AGV electrical control system through a second pair of wirings, the upstream network interface is connected to the downstream network interface of the upstream AGV electrical control system through a third pair of wirings, and the downstream network interface is connected to the downstream AGV electrical control system through a fourth pair of wirings. The upstream network interface of the upstream AGV electrical control system is connected to the upstream network interface, the driver interface is connected to the driver, the serial interface is connected to the remote control, the driver is connected to the motor, and the remote control is provided with a selection switch, the selection switch includes a multi-vehicle linkage gear and a single-vehicle control gear corresponding to multiple AGVs one by one. In the single-vehicle mode, the first pair of wiring, the second pair of wiring, the third pair of wiring and the fourth pair of wiring are removed, and the selection switch on the remote control is moved to a single-vehicle control gear, and the controller of the corresponding AGV receives the remote control command issued by the remote control; in the multi-vehicle linkage mode, the first pair of wiring, the second pair of wiring, the third pair of wiring and the fourth pair of wiring are connected to share the working status between the AGVs, and the selection switch of the remote control is switched to the multi-vehicle linkage gear, and the controllers of all AGVs receive the remote control commands issued by the remote control, and control all AGVs to act synchronously at the same time.

[0005] Furthermore, the present invention provides an AGV multi-vehicle linkage control system, wherein the switch output interface of the AGV electrical control system is configured with a vehicle number in a binary coded manner, a comparison table is configured in the controller of the AGV electrical control system, the comparison table includes an IP address corresponding to the vehicle number, the switch input interface of the downstream AGV electrical control system obtains the vehicle number of the upstream AGV electrical control system from the switch output interface of the upstream AGV electrical control system, and obtains the IP address of the upstream AGV electrical control system by querying the comparison table.

[0006] Furthermore, the present invention provides an AGV multi-vehicle linkage control system, wherein in the multi-vehicle linkage mode, the upstream network interface of the AGV electrical control system works in server mode, and the downstream network interface of the AGV electrical control system works in client mode. When the downstream AGV electrical control system obtains the IP address of the upstream AGV electrical control system, the downstream AGV electrical control system sends a handshake message to the downstream network interface of the upstream AGV electrical control system through its own upstream network interface, so that all AGVs participating in the linkage share the working status.

[0007] Furthermore, the present invention provides an AGV multi-vehicle linkage control system, wherein the input ends of all the drivers are connected in parallel, and the output end of each driver is respectively connected to the input end of one of the motors.

[0008] Furthermore, the present invention provides an AGV multi-vehicle linkage control system, wherein the driver includes an encoder output end and a power output end, the motor includes an encoder input end and a power input end, the encoder output end of the driver is connected to the encoder input end of the motor, and the power output end of the driver is connected to the power input end of the motor.

[0009] The embodiment of the present invention further provides an AGV multi-vehicle linkage control method, which is applied to an AGV multi-vehicle linkage control system, comprising the following steps:

[0010] Cycling mode:

[0011] Remove the first pair of wires, the second pair of wires, the third pair of wires, and the fourth pair of wires;

[0012] Move the selector switch on the remote control to a certain bicycle control gear;

[0013] The controller on the corresponding AGV receives the remote control command issued by the remote controller, and the controller converts the received remote control command into the motion command of the motor, and the driver converts the received motion command into a pulse signal to control the operation of the motor;

[0014] Multi-vehicle linkage mode:

[0015] Connect the first pair of wires, the second pair of wires, the third pair of wires, and the fourth pair of wires to enable the AGVs to share the working status;

[0016] Switch the selection switch of the remote control to the multi-vehicle linkage position;

[0017] The controllers of all AGVs involved in the linkage receive the remote control commands issued by the remote controller. The controllers convert the received remote control commands into motor motion commands. All drivers simultaneously convert the received motion commands into pulse signals to control the motor operation, thereby realizing the synchronous movement of the AGV.

[0018] Furthermore, the present invention provides an AGV multi-vehicle linkage control method, wherein the switch output interface of the AGV electrical control system is configured with a vehicle number in a binary coding manner, a comparison table is configured in the controller of the AGV electrical control system, and the comparison table includes an IP address corresponding to the vehicle number, and the switch input interface of the downstream AGV electrical control system obtains the vehicle number of the upstream AGV electrical control system from the switch output interface of the upstream AGV electrical control system, and obtains the IP address of the upstream AGV electrical control system by querying the comparison table.

[0019] Furthermore, the present invention provides an AGV multi-vehicle linkage control method, wherein in the multi-vehicle linkage mode, the upstream network interface of the AGV electrical control system works in server mode, and the downstream network interface of the AGV electrical control system works in client mode. When the downstream AGV electrical control system obtains the IP address of the upstream AGV electrical control system, the downstream AGV electrical control system sends a handshake message to the downstream network interface of the upstream AGV electrical control system through its own upstream network interface, so that all AGVs participating in the linkage share the working status.

[0020] Furthermore, the present invention provides an AGV multi-vehicle linkage control method, wherein the input ends of all the drivers are connected in parallel, and the output end of each driver is respectively connected to the input end of one of the motors.

[0021] Furthermore, the present invention provides an AGV multi-vehicle linkage control method, wherein the driver includes an encoder output end and a power output end, the motor includes an encoder input end and a power input end, the encoder output end of the driver is connected to the encoder input end of the motor, and the power output end of the driver is connected to the power input end of the motor.

[0022] Compared with the prior art, the beneficial effects of the present invention are as follows: the present invention adopts a non-wireless communication technology and successfully realizes the independent installation of multiple AGV electrical control systems, each of which corresponds to an AGV. By using docking wires, the AGVs are connected in series, thereby ensuring unimpeded information exchange between them. This method avoids the configuration requirements of the host computer and the wireless communication module, saves the cost of installing a wireless communication network at the place of use, and effectively reduces the overall cost of use. In addition, the connection stability between AGVs is greatly enhanced by using the docking wire connection method. The present invention supports the operation of single-vehicle mode and multi-vehicle linkage mode. In the single-vehicle mode, the specific AGV can be independently controlled by removing the docking wire, which is suitable for carrying lighter items; while in the multi-vehicle linkage mode, the participating AGVs are connected by the docking wire to realize information sharing, and the remote control operator can synchronously control all linked AGVs to carry heavier items. This method does not require the construction of a host computer and a wireless communication network, effectively saving costs and reducing production expenses. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 This is a block diagram of the composition of an AGV multi-vehicle linkage control system of the present invention;

[0024] Figure 2 The figure is a schematic diagram of the structure of an AGV multi-vehicle linkage control system in practical application of the present invention. DETAILED DESCRIPTION

[0025] The following is a detailed explanation and description of an AGV multi-vehicle linkage control system of the present invention in conjunction with the accompanying drawings.

[0026] like Figure 1As shown, an embodiment of the present invention discloses an AGV multi-vehicle linkage control system, specifically including multiple sets of AGV electrical control systems, each of which is independently installed on its own AGV (automatic guided vehicle). These AGV electrical control systems include a controller 1, a remote controller 2, a driver 3 and a motor 4. The controller 1 can adopt a DSP (Digital Signal Processing) digital signal processor, an FPGA (Field-Programmable Gate Array) field programmable gate array, an MCU (Micro controller Unit) system board, a SoC (system on a chip) system board or a PLC (Programmable Logic Controller) minimum system including I / O. The controller 1 is equipped with a variety of interfaces, including a switch input interface 11, a switch output interface 12, an upstream network interface 13, a downstream network interface 14, a driver interface 15 and a serial interface 16. The switch input interface 11 is connected to the switch output interface 12 of the upstream AGV electrical control system through the first pair of wires 5, and is used to obtain the IP address of the upstream AGV; the switch output interface 12 is connected to the switch input interface 11 of the downstream AGV electrical control system through the second pair of wires 6, and is used to upload its own number to the downstream AGV, so that the downstream AGV can read the IP address of the upstream AGV from the stored comparison table through the number; a bidirectional switch communication link is formed through the first pair of wires 5 and the second pair of wires 6; the upstream network interface 13 is connected to the downstream network interface 14 of the upstream AGV electrical control system through the third pair of wires 7, and is used to establish a communication link with the upstream AGV; the downstream network interface 14 is connected to the downstream AGV through the fourth pair of wires 8. The controller 1 is connected to the upstream network interface 13 of the V electrical control system, and is used to establish a communication link with the downstream AGV; a bidirectional network communication link is formed through the third pair of wires 7 and the fourth pair of wires 8; the serial interface 16 is connected to the remote controller 2, and is used to receive the remote control command sent by the remote controller 2 via radio; the driver interface 15 is connected to the driver 3, and is used to transmit the motion command converted by the controller 1 based on the remote control command to the driver 3; the driver 3 is connected to the motor 4, and is used to send the pulse signal converted by the driver 3 based on the motion command to the motor 4, thereby driving the motor 4 to operate. The remote controller 2 is provided with a selection switch, which includes a multi-vehicle linkage gear and a single-vehicle control gear corresponding to multiple AGVs one by one (that is, the selection switch is provided with a multi-vehicle linkage gear and multiple single-vehicle control gears, and each single-vehicle control gear corresponds to one AGV), thereby providing a flexible operation mode.In the single-vehicle mode, by removing the first pair of wiring 5, the second pair of wiring 6, the third pair of wiring 7 and the fourth pair of wiring 8, and turning the selection switch on the remote controller 2 to a single-vehicle control position, the controller 1 of the corresponding AGV can receive the remote control instructions issued by the remote controller 2 to achieve precise control of a single AGV; in the multi-vehicle linkage mode, the wiring is connected so that the working status is shared among the AGVs, and the selection switch of the remote controller 2 is switched to the multi-vehicle linkage position, and the controllers 1 of all AGVs receive the remote control instructions issued by the remote controller 2, and control all AGVs to move synchronously to achieve efficient collaborative operation.

[0027] This embodiment uses non-wireless communication technology to successfully achieve the independent installation of multiple AGV electrical control systems, and each system accurately corresponds to an AGV. By using docking wires, the various AGVs are connected in series to ensure unimpeded information exchange between them. This method avoids the configuration requirements of the host computer and the wireless communication module, saves the cost of installing a wireless communication network at the place of use, and effectively reduces the overall cost of use. In addition, the use of docking wires to connect also greatly enhances the connection stability between AGVs. Supports flexible single-vehicle mode and efficient multi-vehicle linkage mode operation. In single-vehicle mode, the specific AGV can be independently controlled by removing the docking wire, which is suitable for carrying lighter items; while in multi-vehicle linkage mode, the participating AGVs are connected by docking wires to achieve information sharing, and the operator can synchronously control all linked AGVs through the remote control 2 to carry heavier items. There is no need to build a host computer and a wireless communication network, which effectively saves costs, reduces production expenses, and improves operating efficiency and flexibility.

[0028] In one embodiment of the present invention, the switch output interface 12 of the AGV electrical control system is configured with the vehicle number in a binary coding manner, and a detailed comparison table is set inside the controller 1, which contains the IP address corresponding to the vehicle number. The switch input interface 11 of the downstream AGV electrical control system can obtain the vehicle number information of the upstream AGV from the switch output interface 12 of the upstream AGV electrical control system, and then determine the IP address of the upstream AGV by querying this comparison table. Figure 2As shown, when there are three AGVs performing linkage operation, it can be assumed that the three AGVs are arranged in the order of 1, 2, and 3 (of course, the arrangement order can also be 3, 2, 1 or other orders such as 1, 3, 2). First, use a docking line to connect the XP1 (downstream network interface 14) of AGV No. 1 with the XS1 (upstream network interface 13) of AGV No. 2, and at the same time connect the XP2 (switch output interface 12) of AGV No. 1 with the XS2 (switch input interface 11) of AGV No. 2; then, use a docking line to connect the XP1 (downstream network interface 14) of AGV No. 2 with the XS1 (upstream network interface 13) of AGV No. 3, and at the same time connect the XP2 (switch output interface 12) of AGV No. 3 with the XS2 (switch input interface 11) of AGV No. 3. After completing these connections, turn on the working switches of each AGV. When the controller 1 (PLC) starts normally, the switch output interface 12 (OUT port) of AGV No. 1 will output the binary code "0001". This code is transmitted to the switch input interface 11 (IN port) of AGV No. 2 through XS2 (switch output interface 12) of AGV No. 2, so that AGV No. 2 can recognize that the upstream AGV is AGV No. 1. By querying the comparison table of vehicle numbers and IP addresses, the controller 1 of AGV No. 2 can identify the IP address of WNET2 of AGV No. 1. In the same way, AGV No. 3 can also obtain the IP address of AGV No. 2, thereby realizing the sharing of IP addresses between various AGVs.

[0029] In one embodiment of the present invention, in the multi-vehicle linkage mode, the upstream network interface 13 of the AGV electrical control system is configured as a server mode, and the downstream network interface 14 is set to a client mode. After the downstream AGV electrical control system successfully obtains the IP address of the upstream AGV electrical control system, the downstream AGV electrical control system will use its own upstream network interface 13 to send a handshake message to the downstream network interface 14 of the upstream AGV electrical control system. This process ensures that all AGVs participating in the linkage can share their working status information. Since each AGV has established a communication link with its upstream and downstream AGVs through its upstream network interface 13 and downstream network interface 14, even non-adjacent AGVs can transmit their respective working status through the AGV located between them. Therefore, all AGVs participating in the linkage can understand the working status of other AGVs in real time. The operator can use the remote control 2 to remotely control all AGVs to perform synchronous actions. In addition, if any AGV fails during operation, the entire linkage system will stop running immediately. This mechanism can effectively prevent potential dangerous situations from occurring and ensure the safety and reliability of the entire linkage system.

[0030] In one embodiment of the present invention, the input terminals of all drivers 3 are connected in parallel, which means that they share the same controller 1 input and are controlled by the same controller 1. At the same time, the output terminal of each driver 3 is respectively connected to the input terminal of a motor 4. The driver 3 includes two main output terminals: an encoder output terminal and a power output terminal. The motor 4 has corresponding input terminals: an encoder input terminal and a power input terminal. The encoder output terminal of the driver 3 is directly connected to the encoder input terminal of the motor 4. Similarly, the power output terminal of the driver 3 is also directly connected to the power input terminal of the motor 4. This design ensures precise synchronization and efficient control between the driver 3 and the motor 4.

[0031] by Figure 2 For example, in each AGV electrical control system, the number of drivers 3 and motors 4 is set to 4. In the figure, Q1 to Q4 represent the four drivers 3, and M1 to M4 represent the corresponding four motors 4. The interface of driver 3 is marked as CANOPEN, which is the port for them to communicate with controller 1. The input terminals of driver 3 are marked as CN6 and CN7, while BMQ represents the encoder output terminal and DLD represents the power output terminal. The encoder input terminal of motor 4 is marked as X1 and the power input terminal is marked as X2. Taking controller 11 (PLC1) as an example, the CN6 port on driver 3Q1 is connected to the CANOPEN interface on PLC1. Then, the CN7 port on driver 3Q1 is connected to the CN6 port on driver 3Q2, and so on, forming a ring connection. For motor 4, the X1 port on M1 is connected to the BMQ port on driver 3Q1, and the X2 port on M1 is connected to the DLD port on driver 3Q1. The same connection method is applicable to other motor 4 and driver 3 pairings. This connection method simplifies the complexity of electrical connections because all driver 3 input terminals are connected in parallel, which reduces the complexity of wiring and potential failure points. Secondly, since there is a one-to-one connection between the driver 3 and the motor 4, this ensures the accuracy and reliability of the control signal and power transmission. In addition, this design allows the system to more easily diagnose and replace faults when a driver 3 or motor 4 fails, thereby improving the maintainability and availability of the system. Finally, this structure is also easy to expand. If more drivers 3 and motors 4 need to be added, they can be connected in parallel and series according to the existing mode without large-scale redesign of the entire system.

[0032] The embodiment of the present invention further provides an AGV multi-vehicle linkage control method, which is applied to an AGV multi-vehicle linkage control system, comprising the following steps:

[0033] Cycling mode:

[0034] Remove the first pair of wiring 5, the second pair of wiring 6, the third pair of wiring 7 and the fourth pair of wiring 8;

[0035] The selection switch on the remote controller 2 is turned to a certain bicycle control gear position;

[0036] The controller 1 on the corresponding AGV receives the remote control command sent by the remote controller 2, and the controller 1 converts the received remote control command into the motion command of the motor 4, and the driver 3 converts the received motion command into a pulse signal to control the operation of the motor 4;

[0037] Multi-vehicle linkage mode:

[0038] Connect the first pair of wires 5, the second pair of wires 6, the third pair of wires 7 and the fourth pair of wires 8 to enable the AGVs to share the working status;

[0039] The selection switch of remote controller 2 is switched to the multi-vehicle linkage gear position;

[0040] The controllers 1 of all AGVs participating in the linkage receive the remote control commands issued by the remote controller 2, and the controller 1 converts the received remote control commands into motion commands of the motor 4. All drivers 3 simultaneously convert the received motion commands into pulse signals to control the operation of the motor 4, thereby realizing the synchronous movement of the AGV.

[0041] The method of this embodiment, Figure 1 Compared with the technical solution of the system embodiment shown in the figure, its implementation principle and technical effect are similar, and will not be repeated here. The same is true for the following embodiments, which will not be described in detail.

[0042] In one embodiment of the present invention, the switch output interface 12 of the AGV electrical control system is configured with the vehicle number in a binary coded manner, and a comparison table is configured in the controller 1 of the AGV electrical control system, in which an IP address corresponding to the vehicle number is provided. The switch input interface 11 of the downstream AGV electrical control system obtains the vehicle number of the upstream AGV electrical control system from the switch output interface 12 of the upstream AGV electrical control system, and obtains the IP address of the upstream AGV electrical control system by querying the comparison table.

[0043] In one embodiment of the present invention, in the multi-vehicle linkage mode, the upstream network interface 13 of the AGV electrical control system works in the server mode, and the downstream network interface 14 of the AGV electrical control system works in the client mode. When the downstream AGV electrical control system obtains the IP address of the upstream AGV electrical control system, the downstream AGV electrical control system sends a handshake message to the downstream network interface 14 of the upstream AGV electrical control system through its own upstream network interface 13, so that all AGVs participating in the linkage share the working status.

[0044] In one embodiment of the present invention, the input terminals of all drivers 3 are connected in parallel, and the output terminal of each driver 3 is correspondingly connected to the input terminal of a motor 4 .

[0045] In one embodiment of the present invention, the driver 3 includes an encoder output terminal and a power output terminal, the motor 4 includes an encoder input terminal and a power input terminal, the encoder output terminal of the driver 3 is connected to the encoder input terminal of the motor 4, and the power output terminal of the driver 3 is connected to the power input terminal of the motor 4.

[0046] In the description of the present invention, it should be understood that the meanings of upstream and downstream are as follows: Figure 2 As shown, Figure 2 Taking the AGV electrical control system numbered 2 as an example, the AGV electrical control system numbered 1 is the "upstream" of the AGV electrical control system numbered 2, and the AGV electrical control system numbered 3 is the "downstream" of the AGV electrical control system numbered 2.

[0047] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0048] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, "multiple sets" means at least two sets, such as two sets, three sets, etc., unless otherwise clearly and specifically defined.

[0049] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and simple improvements made to the essential contents of the present invention should be included in the protection scope of the present invention.

Claims

1. An AGV multi-vehicle linkage control system, characterized in that: The invention comprises a plurality of AGV electrical control systems, each of which is independently installed on a corresponding AGV. The AGV electrical control system comprises a controller, a remote controller, a driver and a motor. The controller is provided with a switch quantity input interface, a switch quantity output interface, an upstream network interface, a downstream network interface, a driver interface and a serial interface. The switch quantity input interface is connected to the switch quantity output interface of the upstream AGV electrical control system through a first pair of wirings, the switch output interface is connected to the switch quantity input interface of the downstream AGV electrical control system through a second pair of wirings, the upstream network interface is connected to the downstream network interface of the upstream AGV electrical control system through a third pair of wirings, and the downstream network interface is connected to the upstream network interface of the downstream AGV electrical control system through a fourth pair of wirings. The port is connected to the driver interface, the serial interface is connected to the remote controller, the driver is connected to the motor, and a selection switch is provided on the remote controller. The selection switch includes a multi-vehicle linkage gear and a single-vehicle control gear corresponding to multiple AGVs. In the single-vehicle mode, the first pair of wiring, the second pair of wiring, the third pair of wiring and the fourth pair of wiring are removed, and the selection switch on the remote controller is turned to a single-vehicle control gear, and the controller of the corresponding AGV receives the remote control command issued by the remote controller; in the multi-vehicle linkage mode, the first pair of wiring, the second pair of wiring, the third pair of wiring and the fourth pair of wiring are connected, so that the working state is shared among the AGVs, and the selection switch of the remote controller is switched to the multi-vehicle linkage gear, and the controllers of all AGVs receive the remote control command issued by the remote controller, and control all AGVs to act synchronously at the same time.

2. The AGV multi-vehicle linkage control system according to claim 1, characterized in that: The switch output interface of the AGV electrical control system is configured with the vehicle number in a binary coded manner. A comparison table is configured in the controller of the AGV electrical control system. The comparison table contains an IP address corresponding to the vehicle number. The switch input interface of the downstream AGV electrical control system obtains the vehicle number of the upstream AGV electrical control system from the switch output interface of the upstream AGV electrical control system, and obtains the IP address of the upstream AGV electrical control system by querying the comparison table.

3. The AGV multi-vehicle linkage control system according to claim 1, characterized in that: In the multi-vehicle linkage mode, the upstream network interface of the AGV electrical control system works in server mode, and the downstream network interface of the AGV electrical control system works in client mode. When the downstream AGV electrical control system obtains the IP address of the upstream AGV electrical control system, the downstream AGV electrical control system sends a handshake message to the downstream network interface of the upstream AGV electrical control system through its own upstream network interface, so that all AGVs participating in the linkage share the working status.

4. The AGV multi-vehicle linkage control system according to claim 1, characterized in that: The input terminals of all the drivers are connected in parallel, and the output terminal of each driver is correspondingly connected to an input terminal of the motor.

5. The AGV multi-vehicle linkage control system according to claim 1, characterized in that: The driver comprises an encoder output end and a power output end, the motor comprises an encoder input end and a power input end, the encoder output end of the driver is connected to the encoder input end of the motor, and the power output end of the driver is connected to the power input end of the motor.

6. An AGV multi-vehicle linkage control method, applied to the AGV multi-vehicle linkage control system according to claim 1, characterized in that: The following steps are involved: Cycling mode: Remove the first pair of wires, the second pair of wires, the third pair of wires, and the fourth pair of wires; Move the selector switch on the remote control to a certain bicycle control gear; The controller on the corresponding AGV receives the remote control command issued by the remote controller, and the controller converts the received remote control command into the motion command of the motor, and the driver converts the received motion command into a pulse signal to control the operation of the motor; Multi-vehicle linkage mode: Connect the first pair of wires, the second pair of wires, the third pair of wires, and the fourth pair of wires to enable the AGVs to share the working status; Switch the selection switch of the remote control to the multi-vehicle linkage position; The controllers of all AGVs involved in the linkage receive the remote control commands issued by the remote controller. The controllers convert the received remote control commands into motor motion commands. All drivers simultaneously convert the received motion commands into pulse signals to control the motor operation, thereby realizing the synchronous movement of the AGV.

7. The AGV multi-vehicle linkage control method according to claim 6, characterized in that: The switch output interface of the AGV electrical control system is configured with the vehicle number in a binary coded manner. A comparison table is configured in the controller of the AGV electrical control system. The comparison table contains an IP address corresponding to the vehicle number. The switch input interface of the downstream AGV electrical control system obtains the vehicle number of the upstream AGV electrical control system from the switch output interface of the upstream AGV electrical control system, and obtains the IP address of the upstream AGV electrical control system by querying the comparison table.

8. The AGV multi-vehicle linkage control method according to claim 6, characterized in that: In the multi-vehicle linkage mode, the upstream network interface of the AGV electrical control system works in server mode, and the downstream network interface of the AGV electrical control system works in client mode. When the downstream AGV electrical control system obtains the IP address of the upstream AGV electrical control system, the downstream AGV electrical control system sends a handshake message to the downstream network interface of the upstream AGV electrical control system through its own upstream network interface, so that all AGVs participating in the linkage share the working status.

9. The AGV multi-vehicle linkage control method according to claim 6, characterized in that: The input terminals of all the drivers are connected in parallel, and the output terminal of each driver is correspondingly connected to an input terminal of the motor.

10. The AGV multi-vehicle linkage control method according to claim 6, characterized in that: The driver comprises an encoder output end and a power output end, the motor comprises an encoder input end and a power input end, the encoder output end of the driver is connected to the encoder input end of the motor, and the power output end of the driver is connected to the power input end of the motor.

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