AGV multi-vehicle linkage control system and method

Abstract

The application discloses an AGV multi-vehicle linkage control system and method, which is composed of multiple independent AGV electrical control systems, each of which comprises a controller, a remote controller, a driver and a motor. The controller is provided with multiple interfaces for being connected with upstream and downstream AGV systems, drivers and remote controllers. A single AGV or multiple AGVs can be controlled through a selection switch remote controller. In a single-vehicle mode, a connection line is cut off and a single-vehicle control gear is selected; in a multi-vehicle linkage mode, the connection line is connected and a multi-vehicle linkage gear is selected, so that synchronous control is realized. The application can not only realize single-vehicle motion control, but also realize multi-vehicle linkage control after two or more AGVs are connected in a head-to-tail mode through a butt joint cable. The application effectively solves the problem of linkage control of two or more AGVs and is suitable for transferring loads with super large tonnage. In addition, a wireless communication network does not need to be established in a use site, so that production cost is reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of AGV, more particularly, the present application is a kind of AGV multi-vehicle linkage control system and method. BACKGROUND

[0002] Automatic guided vehicles (AGVs) play an increasingly important role in modern industrial production, and they are widely used in various automated production lines and warehouse systems. With the continuous improvement of industrial automation level, the market demand for AGVs capable of carrying heavy loads is showing a significant growth trend. However, due to the limitations of production environment and transportation conditions, the carrying capacity of a single AGV cannot be infinitely improved. Therefore, when transferring particularly large-tonnage goods, multiple AGVs must be relied on to work together to complete the task. When multiple AGVs work together, each AGV needs to know the working status and position information of other AGVs in real time to ensure the coordination and safety of the entire system. In order to achieve this, if any AGV fails, the entire AGV system will immediately stop all operations to prevent safety accidents caused by information transmission interruption. To solve the communication problem between multiple AGVs, the usual measures 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 needed as a collaborative control center to coordinate and manage the entire system. The host computer and all AGVs are connected to this wireless communication network, and each AGV will continuously send its status information to the host computer, which is responsible for collecting and integrating the 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 undoubtedly increases the cost of the project. In addition, this method is not suitable for production sites where wireless communication is not allowed due to safety regulations or environmental restrictions. SUMMARY

[0003] To solve the above technical problems existing in the prior art, the present application innovatively provides an AGV multi-vehicle linkage control system, which not only realizes single-vehicle motion control but also realizes multi-vehicle linkage control, effectively solving the problem of linkage control of two or more AGVs and being suitable for transferring super-large-tonnage loads. In addition, there is no need to establish a wireless communication network in the use site, thereby reducing the production cost.

[0004] To achieve the above technical purposes, the embodiment of the present application discloses an AGV multi-vehicle linkage control system, comprising a plurality of AGV electrical control systems, each of which is independently installed on a corresponding AGV, and each AGV electrical control system comprises a controller, a remote controller, a driver and a motor, the controller is provided with a switching value input interface, a switching value output interface, an upstream network interface, a downstream network interface, a driver interface and a serial interface, the switching value input interface is connected with the switching value output interface of the upstream AGV electrical control system through a first connecting line, the switching output interface is connected with the switching value input interface of the downstream AGV electrical control system through a second connecting line, the upstream network interface is connected with the downstream network interface of the upstream AGV electrical control system through a third connecting line, the downstream network interface is connected with the upstream network interface of the downstream AGV electrical control system through a fourth connecting line, the driver interface is connected with the driver, the serial interface is connected with the remote controller, the driver is connected with the motor, the remote controller is provided with a selection switch, the selection switch comprises a multi-vehicle linkage gear and a single-vehicle control gear corresponding to a plurality of AGVs, in single-vehicle mode, the first connecting line, the second connecting line, the third connecting line and the fourth connecting line are removed, the selection switch on the remote controller is turned to a certain single-vehicle control gear, and the controller of the corresponding AGV receives the remote control instruction sent by the remote controller; in multi-vehicle linkage mode, the first connecting line, the second connecting line, the third connecting line and the fourth connecting line are connected, so that the working states of the AGVs are shared, 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 instruction sent by the remote controller, and simultaneously control all AGVs to move synchronously.

[0005] Further, the AGV multi-vehicle linkage control system, wherein the switching value output interface of the AGV electrical control system is configured with a vehicle number in a binary coding manner, the controller of the AGV electrical control system is configured with a reference table, the reference table is provided with an IP address corresponding to the vehicle number, the switching value input interface of the downstream AGV electrical control system obtains the vehicle number of the upstream AGV electrical control system from the switching value output interface of the upstream AGV electrical control system, and the IP address of the upstream AGV electrical control system is obtained by querying the reference table.

[0006] Further, the 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 the server mode, the downstream network interface of the AGV electrical control system works in the client mode, after the downstream AGV electrical control system acquires 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 the upstream network interface of the downstream AGV electrical control system, so that the working states are shared among all the AGVs participating in the linkage.

[0007] Further, the AGV multi-vehicle linkage control system, wherein the input ends of all the drivers are connected in parallel, and the output ends of each driver are respectively connected to the input ends of one motor.

[0008] Further, the AGV multi-vehicle linkage control system, wherein 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.

[0009] The embodiment of the application also provides an AGV multi-vehicle linkage control method applied to the AGV multi-vehicle linkage control system, and comprising the following steps:

[0010] Single-vehicle mode:

[0011] The first, second, third and fourth connecting lines are disconnected;

[0012] The selection switch on the remote controller is switched to a single-vehicle control gear;

[0013] The controller on the corresponding AGV receives the remote control instruction sent by the remote controller, the controller converts the received remote control instruction into a motor motion instruction, and the driver converts the received motion instruction into a pulse signal to control the motor to operate;

[0014] Multi-vehicle linkage mode:

[0015] The first, second, third and fourth connecting lines are connected, so that the working states are shared among the AGVs;

[0016] The selection switch of the remote controller is switched to the multi-vehicle linkage gear;

[0017] The controllers of all the AGVs participating in the linkage receive the remote control instruction sent by the remote controller, the controllers convert the received remote control instruction into a motor motion instruction, and all the drivers simultaneously convert the received motion instruction into a pulse signal to control the motor to operate, so that the AGVs are synchronously operated.

[0018] Further, the 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 control table is configured in the controller of the AGV electrical control system, the control table is provided with 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 the IP address of the upstream AGV electrical control system is obtained by querying the control table.

[0019] Further, the 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 a server mode, the downstream network interface of the AGV electrical control system works in a client mode, after 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 the upstream network interface of the downstream AGV electrical control system, and working states are shared among all the AGVs participating in linkage.

[0020] Further, the 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 connected to the input end of one motor.

[0021] Further, the AGV multi-vehicle linkage control method, wherein 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.

[0022] Compared with the prior art, the application has the beneficial effects that: the application adopts a non-wireless communication technology, successfully realizes independent installation of multiple sets of AGV electrical control systems, and each set of system corresponds to an AGV. By using the docking line mode, the AGVs are connected in series, so that the information exchange between them is smooth. This method avoids the configuration requirement of the upper computer and the wireless communication module, saves the cost of installing a wireless communication network in the use place, and effectively reduces the overall use cost. In addition, the use of the docking line connection mode greatly enhances the connection stability between the AGVs. The application supports single vehicle mode and multi-vehicle linkage mode operation. In the single vehicle mode, the specific AGV can be independently controlled by removing the docking line, which is suitable for carrying lighter objects. In the multi-vehicle linkage mode, the participating AGVs are connected through the docking line to realize information sharing, and the operator can synchronously control all the linked AGVs through the remote controller to carry heavier objects. This method does not need to build an upper computer and a wireless communication network, effectively saving the cost and reducing the production expenditure. BRIEF DESCRIPTION OF DRAWINGS

[0023] Figure 1 The figure is a component block diagram of the AGV multi-vehicle linkage control system of the application.

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

[0025] The AGV multi-vehicle linkage control system of the application will be explained and described in detail in combination with the accompanying drawings of the specification.

[0026] As Figure 1As shown, the embodiment of the present application discloses an AGV multi-vehicle linkage control system, specifically comprising multiple sets of AGV electrical control systems, each of which is independently installed on a respective 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 multiple interfaces, including a switching value input interface 11, a switching value output interface 12, an upstream network interface 13, a downstream network interface 14, a driver interface 15, and a serial interface 16. The switching value input interface 11 is connected to the switching value output interface 12 of the upstream AGV electrical control system through a first pair of interface lines 5, used to obtain the IP address of the upstream AGV; the switching value output interface 12 is connected to the switching value input interface 11 of the downstream AGV electrical control system through a second pair of interface lines 6, 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 switching value communication link is formed through the first pair of interface lines 5 and the second pair of interface lines 6; the upstream network interface 13 is connected to the downstream network interface 14 of the upstream AGV electrical control system through a third pair of interface lines 7, used to establish a communication link with the upstream AGV; the downstream network interface 14 is connected to the upstream network interface 13 of the downstream AGV electrical control system through a fourth pair of interface lines 8, used to establish a communication link with the downstream AGV; a bidirectional network communication link is formed through the third pair of interface lines 7 and the fourth pair of interface lines 8; the serial interface 16 is connected to the remote controller 2, used to receive the remote control instructions sent by the remote controller 2 through radio; the driver interface 15 is connected to the driver 3, used to deliver the motion instructions converted by the controller 1 based on the remote control instructions to the driver 3; the driver 3 is connected to the motor 4, used to issue the pulse signals converted by the driver 3 based on the motion instructions to the motor 4, and then drive 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 (i.e. the selection switch is provided with one multi-vehicle linkage gear and multiple single-vehicle control gears, each single-vehicle control gear corresponds to an AGV), thereby providing a flexible operation mode.In the single vehicle mode, by removing the first interface line 5, the second interface line 6, the third interface line 7 and the fourth interface line 8, and turning the selection switch on the remote controller 2 to a certain single vehicle control position, the controller 1 of the corresponding AGV can receive the remote control instruction sent by the remote controller 2, so as to realize the accurate control of the single AGV; and in the multi-vehicle linkage mode, the interface lines are connected, so that the working states are shared among the AGVs, the selection switch of the remote controller 2 is switched to the multi-vehicle linkage position, and the controllers 1 of all the AGVs receive the remote control instruction sent by the remote controller 2, and simultaneously control all the AGVs to move synchronously, so as to realize the efficient collaborative work.

[0027] The embodiment adopts the non-wireless communication technology, successfully realizes the independent installation of multiple sets of AGV electrical control systems, and each set of system accurately corresponds to an AGV. By using the interface line, the AGVs are connected in series, so that the information exchange among the AGVs is smooth. This method avoids the configuration requirement of the upper computer and the wireless communication module, saves the cost of installing the wireless communication network in the use place, and effectively reduces the overall use cost. In addition, the connection mode using the interface line also greatly enhances the connection stability among the AGVs. The single vehicle mode and the efficient multi-vehicle linkage mode are supported. In the single vehicle mode, the specific AGV can be controlled independently by removing the interface line, which is suitable for carrying light objects; and in the multi-vehicle linkage mode, the participating AGVs are connected through the interface line to realize information sharing, and the operator can control all the linked AGVs synchronously through the remote controller 2, so as to carry heavy objects. Without the upper computer and the wireless communication network, the cost is effectively saved, the production cost is reduced, and the work efficiency and flexibility are improved.

[0028] In an embodiment of the application, the switch output interface 12 of the AGV electrical control system is configured with the vehicle number in the form of binary coding, and a detailed comparison table is arranged in 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 the comparison table. Figure 2As shown, when there are three AGVs operating in tandem, it can be assumed that the three AGVs are arranged in the order of 1, 2, 3 (of course, the arrangement order can also be 3, 2, 1 or 1, 3, 2 or other orders). First, the XP1 (downstream network interface 14) of the No. 1 AGV is connected to the XS1 (upstream network interface 13) of the No. 2 AGV using a docking line, and the XP2 (switching output interface 12) of the No. 1 AGV is connected to the XS2 (switching input interface 11) of the No. 2 AGV; then, the XP1 (downstream network interface 14) of the No. 2 AGV is connected to the XS1 (upstream network interface 13) of the No. 3 AGV using a docking line, and the XP2 (switching output interface 12) of the No. 3 AGV is connected to the XS2 (switching input interface 11) of the No. 3 AGV. After these connections are completed, the working switches of the AGVs are turned on, and when the controller 1 (PLC) is normally started, the switching output interface 12 (OUT port) of the No. 1 AGV will output a binary code "0001", which is transmitted to the switching input interface 11 (IN port) of the No. 2 AGV through the XS2 (switching output interface 12) of the No. 2 AGV, so that the No. 2 AGV recognizes that the upstream AGV is the No. 1 AGV. By querying the vehicle number and IP address comparison table, the controller 1 of the No. 2 AGV can identify the IP address of the WNET2 of the No. 1 AGV. In the same way, the No. 3 AGV can also obtain the IP address of the No. 2 AGV, thereby realizing the sharing of the IP addresses among the AGVs.

[0029] In an embodiment of the present application, in the multi-vehicle tandem mode, the upstream network interface 13 of the AGV electrical control system is configured in the server mode, and the downstream network interface 14 is configured in the 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 AGV electrical control system located upstream. This process ensures that all AGVs participating in the tandem can share their working state information. Since each AGV establishes a communication link with its upstream and downstream AGVs through its upstream network interface 13 and downstream network interface 14, even AGVs that are not adjacent can communicate their working states through the AGV located between them. Therefore, all AGVs participating in the tandem can real-time understand the working states of other AGVs. The operator can use the remote controller 2 to remotely control all AGVs to perform synchronous actions. In addition, if any AGV fails during operation, the entire tandem system will immediately stop running, which can effectively prevent potential dangerous situations and ensure the safety and reliability of the entire tandem 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 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 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 drives 3 and motors 4 is set to four. In the diagram, Q1 through Q4 represent these four drives 3, while M1 through M4 represent the corresponding four motors 4. The interfaces of the drives 3 are labeled CANOPEN, which is the port through which they communicate with controller 1. The inputs of the drives 3 are labeled CN6 and CN7, while BMQ represents the encoder output and DLD represents the power output. The encoder input of motor 4 is labeled X1, and the power input is labeled X2. Taking controller 11 (PLC1) as an example, port CN6 on drive 3Q1 is connected to the CANOPEN interface on PLC1. Next, port CN7 on drive 3Q1 is connected to port CN6 on drive 3Q2, and so on, forming a circular connection. For motor 4, port X1 on M1 is connected to port BMQ on drive 3Q1, while port X2 on M1 is connected to port DLD on drive 3Q1. The same connection method applies to other pairings of motors 4 and drivers 3. This connection method simplifies the complexity of electrical connections because all driver 3 input terminals are connected in parallel, which reduces wiring complexity and potential failure points. Secondly, since there is a one-to-one connection between drivers 3 and motors 4, this ensures the accuracy and reliability of control signals 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 the need for large-scale redesign of the entire system.

[0032] An 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] The first connecting line 5, the second connecting line 6, the third connecting line 7 and the fourth connecting line 8 are disconnected;

[0035] The selection switch on the remote controller 2 is switched to a single vehicle control mode;

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

[0037] Multi-vehicle linkage mode:

[0038] The first connecting line 5, the second connecting line 6, the third connecting line 7 and the fourth connecting line 8 are connected, so that the working states of the AGVs are shared;

[0039] The selection switch on the remote controller 2 is switched to a multi-vehicle linkage mode;

[0040] The controllers 1 of all the AGVs participating in linkage receive the remote control instruction sent by the remote controller 2, the controller 1 converts the received remote control instruction into a motion instruction of the motor 4, and all the drivers 3 simultaneously convert the received motion instruction into a pulse signal to control the motor 4 to operate, so as to realize the synchronous action of the AGVs.

[0041] The method of the embodiment, compared with the technical scheme of the system embodiment shown in the figure, has similar implementation principles and technical effects, and will not be described here Figure 1 The following embodiments are also similar, and will not be described here

[0042] In an embodiment of the application, the switch output interface 12 of the AGV electrical control system is configured with a vehicle number in a binary coding manner, the controller 1 of the AGV electrical control system is configured with a comparison table, the comparison table is provided with an IP address corresponding to the vehicle number, 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 the IP address of the upstream AGV electrical control system is obtained by querying the comparison table.

[0043] In an embodiment of the application, in the multi-vehicle linkage mode, the upstream network interface 13 of the AGV electrical control system works in a server mode, the downstream network interface 14 of the AGV electrical control system works in a client mode, after 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 the upstream network interface 13 of the downstream AGV electrical control system, so that the working states of all the AGVs participating in linkage are shared.

[0044] In an embodiment of the present application, the input ends of all the drivers 3 are connected in parallel, and the output ends of each driver 3 are respectively connected to the input ends of one motor 4.

[0045] In an embodiment of the present application, the driver 3 comprises an encoder output end and a power output end, the motor 4 comprises an encoder input end and a power input end, the encoder output end of the driver 3 is connected to the encoder input end of the motor 4, and the power output end of the driver 3 is connected to the power input end of the motor 4.

[0046] In the description of the present application, it is understood that the meanings of upstream and downstream are as follows: as shown in Figure 2 Figure 2 For 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 application, unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting", "fixing" and the like should be understood in a broad sense, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the internal communication of two elements or the interaction relationship between two elements, unless otherwise explicitly limited. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0048] In addition, the terms "first", "second" are only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features limited by "first", "second" can explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of "multiple sets" is at least two sets, for example, two sets, three sets, etc., unless otherwise explicitly specified and limited.

[0049] The above only describes the preferred embodiments of the present application and is not intended to limit the present application. Any modification, equivalent replacement and simple improvement made on the basis of the essential content of the present application shall be included in the protection scope of the present application.​

Claims

1. An AGV multi-vehicle linkage control system, characterized in that: The AGV electrical control system comprises a controller, a remote controller, a driver and a motor, the controller is provided with a switching value input interface, a switching value output interface, an upstream network interface, a downstream network interface, a driver interface and a serial interface, the switching value input interface is connected with the switching value output interface of the upstream AGV electrical control system through a first connecting line, the switching value output interface is connected with the switching value input interface of the downstream AGV electrical control system through a second connecting line, the upstream network interface is connected with the downstream network interface of the upstream AGV electrical control system through a third connecting line, the downstream network interface is connected with the upstream network interface of the downstream AGV electrical control system through a fourth connecting line, the driver interface is connected with the driver, the serial interface is connected with the remote controller, the driver is connected with the motor, the remote controller is provided with a selection switch, the selection switch comprises a multi-vehicle linkage gear and a single-vehicle control gear corresponding to a plurality of AGVs, in the single-vehicle mode, the first connecting line, the second connecting line, the third connecting line and the fourth connecting line are removed, the selection switch on the remote controller is turned to a certain single-vehicle control gear, and the controller of the corresponding AGV receives the remote control instruction sent by the remote controller; in the multi-vehicle linkage mode, the first connecting line, the second connecting line, the third connecting line and the fourth connecting line are connected, so that the working states of the AGVs are shared, the selection switch of the remote controller is switched to the multi-vehicle linkage gear, and the controllers of all the AGVs receive the remote control instruction sent by the remote controller, and all the AGVs are controlled to move synchronously.

2. The AGV multi-vehicle linkage control system according to claim 1, characterized in that: The switching value output interface of the AGV electrical control system is configured with a vehicle number in a binary coding mode, a control table is configured in the controller of the AGV electrical control system, the control table is provided with an IP address corresponding to the vehicle number, the switching value input interface of the downstream AGV electrical control system obtains the vehicle number of the upstream AGV electrical control system from the switching value output interface of the upstream AGV electrical control system, and the IP address of the upstream AGV electrical control system is obtained by querying the control 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 a server mode, the downstream network interface of the AGV electrical control system works in a client mode, after 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 the upstream network interface, so that the working states of all the AGVs participating in the linkage are shared.

4. The AGV multi-vehicle linkage control system according to claim 1, characterized in that: The input ends of all the drivers are connected in parallel, and the output ends of the drivers are respectively connected to the input ends of the motors.

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 with the encoder input end of the motor, and the power output end of the driver is connected with the power input end of the motor. 6.AGV multi-vehicle linkage control method, applied to the AGV multi-vehicle linkage control system of claim 1, characterized in that: The method comprises the following steps: Single-vehicle mode: Remove the first, second, third and fourth connecting lines; The selection switch on the remote controller is switched to a single-vehicle control position; The controller on the corresponding AGV receives the remote control instruction sent by the remote controller, the controller converts the received remote control instruction into a motor motion instruction, and the driver converts the received motion instruction into a pulse signal to control the motor to operate; Multi-vehicle linkage mode: Connect the first, second, third and fourth connecting lines to share the working state among the AGVs; The selection switch on the remote controller is switched to a multi-vehicle linkage position; All the controllers of the AGVs participating in linkage receive the remote control instruction sent by the remote controller, the controllers convert the received remote control instruction into a motor motion instruction, and all the drivers simultaneously convert the received motion instruction into a pulse signal to control the motor to operate, thereby realizing the synchronous action of the AGVs.

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 a vehicle number in a binary coding mode, a control table is configured in the controller of the AGV electrical control system, the control table is provided with 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 inquiring the control 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 a server mode, the downstream network interface of the AGV electrical control system works in a client mode, and after 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 the upstream network interface of the downstream AGV electrical control system, so that all the AGVs participating in linkage share the working state.

9. The AGV multi-vehicle linkage control method according to claim 6, characterized in that: The input ends of all the drivers are connected in parallel, and the output ends of each driver are respectively connected to the input ends of one 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 with the encoder input end of the motor, and the power output end of the driver is connected with the power input end of the motor.

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