CN110194343A - A kind of communication system and cargo method for carrying of more AGV intelligent storage compact shelvings - Google Patents
A kind of communication system and cargo method for carrying of more AGV intelligent storage compact shelvings Download PDFInfo
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- CN110194343A CN110194343A CN201910412309.4A CN201910412309A CN110194343A CN 110194343 A CN110194343 A CN 110194343A CN 201910412309 A CN201910412309 A CN 201910412309A CN 110194343 A CN110194343 A CN 110194343A
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- agv
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- vehicle
- mounted computer
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
Abstract
The invention discloses the communication systems and cargo method for carrying of a kind of more AGV intelligent storage compact shelvings, including the car-mounted computer being mounted on AGV, and system connect and carries out the base main control computer of information exchange by wireless communication with car-mounted computer, the base main control computer distributes specific goods carrier to each AGV, and the transportation route of each AGV is determined at a distance from movable loading point according to goods carrier, the base main control computer sends transportation route information to the car-mounted computer of specific matching, the car-mounted computer receives transportation route information and calculates the path length of transportation route, the car-mounted computer selects speed stage according to path length；This programme shortens the waiting time in cargo handling process, accelerates transporting velocity, can limit transporting velocity according to the distance length for carrying section when improving working efficiency, and carrying, can play the role of power and energy saving, improve order and safety when AGV work.
Description
Technical field
The present invention relates to storage compact shelving technical field of cargo handling, specially a kind of more AGV intelligent storage compact shelvings
Communication system and cargo method for carrying.
Background technique
Automatic guided vehicle refers to that being equipped with electricity magnetically or optically waits homing guidances device, can travel along defined guide path,
Transport vehicle with safeguard protection and various transfer functions is not required to the carrier of driver in industrial application, with it is chargeable it
Battery is its power resources.Generally permeable computer is set to control its travelling route and behavior, or using electromagnetic path
Its travelling route is found, electromagnetic path is pasted on floor, and automatic guided vehicle then follows message brought by electromagnetic path to be moved
Dynamic and movement.
AGV compared with walking, is creeped or other non-wheeled mobile robots have action fast characterized by wheel type mobile
The prompt, advantages such as work efficiency is high, structure is simple, controllability is strong, safety is good.With other equipment phase common in material conveying
Than the zone of action of AGV is not limited without being laid with the fixed device such as track, support saddle frame by place, road and space.Therefore,
In automatic Material Handling System, its automaticity and flexibility most can be fully embodied, realizes efficient, economic, flexible unmanned metaplasia
It produces.
But AGV to storage compact shelving carry out cargo carrying when, there is also major defect be mainly reflected in it is following several
A aspect: (1) for multiple AGV when transporting goods, multiple AGV are unified to carry out carrying storage to each goods carrier in sequence, when
It when to carrying out cargo carrying from the closer goods carrier of AGV loading point, certainly will will cause waiting for a long time, traffic jam occur
Situation；(2) each AGV is run according to specified transportation route, and adaptability is poor, when failure trolley, will cause small
Vehicle accumulation, seriously reduces handling efficiency.
Summary of the invention
In order to overcome the shortcomings of that prior art, the present invention provide a kind of communication system of more AGV intelligent storage compact shelvings
System and cargo method for carrying can effectively solve the problem of background technique proposes.
The technical solution adopted by the present invention to solve the technical problems is:
A kind of communication system of more AGV intelligent storage compact shelvings, including the car-mounted computer being mounted on AGV, Yi Jiyu
The car-mounted computer base main control computer that system connects by wireless communication, the base main control computer can be with vehicle computing
Machine realizes information exchange, and the base main control computer distributes specific goods carrier to each AGV, and according to goods carrier and dress
The distance of shots determines that transportation route information is sent specific by the transportation route of each AGV, the base main control computer
The car-mounted computer matched, the car-mounted computer receives transportation route information and calculates the path length of transportation route, described
Car-mounted computer selects speed stage according to path length.
As a preferred technical solution of the present invention, the physical planning method of the AGV transportation route are as follows:
Firstly, being respectively set in the two sides of goods carrier, quantity is identical and equally distributed vehicle straight trip channel, and in goods
Several equally distributed vehicle turning channels of setting in rack, goods carrier is divided into different plates by the vehicle turning channel；
Then, to vehicle turning channel divide different plate goods carriers carry out subregion, and by subregion goods carrier according to
Vertical sequence successively label；
Finally, multiple AGV are divided into several groups, label goods carrier is distributed to different groups of AGV, while according to calculating
The corresponding label goods carrier of every group of AGV assigns to the AGV after grouping on vehicle straight trip channel to the distance of movable loading point.
As a preferred technical solution of the present invention, vehicle straight trip channel can be divided into from inside to outside in compact shelving side
Road, free way and emergency road at a slow speed, AGV described in several groups according to the goods carrier label of distribution it is corresponding be divided into short distance vehicle and it is long away from
Vehicle, and the short distance vehicle and long respectively correspond away from vehicle are assigned on road and free way at a slow speed.
As a preferred technical solution of the present invention, it is also by wireless communication between all car-mounted computers
System realizes information transmitting, and fault message can be transmitted to other AGV in communication system, be located in institute by the car-mounted computer
It states the subsequent trolley of failure trolley and transfers on other Adjacent vehicles straight trip channel and move.
As a preferred technical solution of the present invention, it is equipped in the car-mounted computer to determine the AGV speed of service
Gear selection module, the gear selection module is used to determine the speed of service of AGV trolley, and the base main control computer will
Each AGV distributes specific transportation route and is sent to car-mounted computer, after the car-mounted computer determines route distance, according to gear
Selecting module determines transporting velocity.
As a preferred technical solution of the present invention, the car-mounted computer determines speed stage according to distance is carried
Method are as follows:
Firstly, the inflection point between marked vehicle straight trip channel and vehicle turning channel, and at the same time marking each AGV corresponding
The emptying point of shelf；
Then, the path length of adjacent inflection point and emptying point and the segmentation of two adjacent comers is calculated；
Finally, according to the operational taps in every section of path after gear selection module selection segmentation.
As a preferred technical solution of the present invention, the AGV speed of service is divided into I grades, II by the gear selection module
Shelves and III grade, it is described segmentation distance length it is corresponding with the matching of the AGV speed of service, can be divided into short distance, in away from grow away from, if
The length for being segmented distance is short distance, then the operational taps of car-mounted computer control AGV are I grades；If the length of segmentation distance is
In away from, then car-mounted computer control AGV operational taps be II grades；If the length for being segmented distance is long away from vehicle computing
Machine controls III grades of operational taps of AGV.
As a preferred technical solution of the present invention, the speed of service gear selection of the AGV is also between adjacent AGV
Distance dependent, the rear and front end of the AGV is additionally provided with two for detecting the infrared detecting sets of distance between adjacent AGV, institute
It states infrared detecting set and car-mounted computer realizes information transmission, and be additionally provided on the AGV and carry out information with car-mounted computer
The distance tachometer of transmission.
As a preferred technical solution of the present invention, the distance tachometer is used to record the driving path of AGV, vehicle-mounted
Computer receives distance tachometer information, and driving path is right in real time at a distance from adjacent comers or inflection point and emptying point
Than determining the deceleration time of AGV.
In addition the present invention also provides a kind of cargo method for carrying of more AGV intelligent storage compact shelvings, include the following steps:
Step 100, by the AGV after grouping according to the subregion compact shelving of distribution, correspond on road and free way at a slow speed；
Step 200, every group of AGV carry out cargo carrying, and root according to the sequencing of compact shelving in subregion compact shelving
According to segmentation distance and infrared detecting set visit away from double action under, automatically determine the speed that AGV is carried in cargo；
Step 300, when vehicle straight trip channel on AGV break down when, other AGV in the channel are transferred to Adjacent vehicles
When keeping straight on channel, positioned at vehicle straight trip channel and other trolleies in the rear AGV will make phase according to infrared detecting set
The deceleration processing answered；
Step 400, when AGV bypass faulty section after, turn again to original vehicle straight trip channel on, carry out circulation carry behaviour
Make.
Compared with prior art, the beneficial effects of the present invention are: the multiple AGV of the present invention can carry out the goods carrier of not same district
It carries, so as to shorten the waiting time in cargo handling process, accelerates transporting velocity, improve working efficiency, and carrying
Cheng Zhong, according to the distance length for carrying section, to trolley itself carry out transporting velocity to restriction, further promoted is carried
Speed, while power and energy saving can be played the role of, and also effectively prevent AGV from colliding in the handling process, improve AGV
Order and safety when work.
Detailed description of the invention
Fig. 1 is that AGV of the invention communicates handling system structural schematic diagram；
Fig. 2 is method for carrying flow diagram of the invention
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
As shown in Figure 1, the present invention provides a kind of communication systems of more AGV intelligent storage compact shelvings, including it is mounted on AGV
On car-mounted computer, and with the car-mounted computer base main control computer that system is connect by wireless communication, the base
Main control computer can realize information exchange with car-mounted computer, and base main control computer can be with all AGV by wireless communication
System realizes information exchange, is conveniently adjusted multiple AGV and works in coordination work, while can calculate convenient for staff from base master control
Machine observes directly the working condition of AGV
The base main control computer distributes specific goods carrier to each AGV, and according to goods carrier and movable loading point
Distance determines the transportation route of each AGV, in the present embodiment, it is necessary first to analog coordinate system is established to entire storage room,
I.e. by cargo movable loading point and along the axis parallel with warehouse metope as X-axis, in addition being mutually perpendicular to X-axis and towards storehouse
The position of transportation route and the position of compact shelving are integrated in storage room analog coordinate system as Y-axis by the axis inside storage chamber
It is interior.
In the present embodiment, the AGV transportation route is determined method particularly includes:
Firstly, being respectively set in the two sides of compact shelving, quantity is identical and equally distributed vehicle straight trip channel, and close
Collect several equally distributed vehicle turning channels of setting, the vehicle turning channel in frame and compact shelving be divided into different plates,
In this step, the corresponding vehicle straight trip channel in compact shelving two sides forms a cycle operation with corresponding vehicle turning channel and leads to
Road, that is to say, that cargo is transported to goods carrier from the vehicle of compact shelving side straight trip channel by AGV, then straight from corresponding vehicle
Row of channels is moved to the vehicle straight trip channel return for corresponding to the compact shelving other side, and last AGV revert to unified cargo and loads
Point.
Then, to vehicle turning channel divide different compact shelving plates carry out subregion, and by subregion goods carrier according to
Vertical sequence successively label, compact shelving can be divided into several pieces by the vehicle turning channel, so that multiple AGV can be to not
The goods carrier of same district is carried, and so as to shorten the waiting time in cargo handling process, accelerates transporting velocity, improves work effect
Rate.
In this step, the compact shelving plate after subregion may be defined as English alphabet, and the goods carrier in each region can be pressed
Label is carried out according to ranks standard, such as in storage room coordinate system, it is divided into from small to large in Y-axis and is set to compact shelving plate
The area A, the area B, the area ... C, and so on, the individual goods carrier in each area can carry out secondary label from small to large in Y-axis,
Such as the goods carrier individual in the area A specifically may be defined as A < < Xm < < Yn, A < < Xm < < Yn+1, A < < Xm < < Yn+2 ...；The area B
Interior goods carrier individual specifically may be defined as B < < Xm < < Yi, A < < Xm < < Yi+1, A < < Xm < < Yi+2 ....
The coordinate setting of goods carrier individual, the position that storage room coordinate system can be integrated according to it are calculated, and
When being positioned to two adjacent intraplate goods carrier individuals of compact shelving, need the vehicle turning channel between two plates
Corresponding coordinate is integrated in storage room coordinate system, again fixed after the intraplate goods carrier individual of next compact shelving is cumulative
The cargo rack coordinate of adopted new plate.
Finally, multiple AGV are divided into several groups, the goods carrier of label is distributed to different groups of AGV, while according to every
AGV after grouping is assigned on vehicle straight trip channel to the distance of movable loading point, that is, determined each by the goods carrier of group AGV distribution
The transportation route of trolley.
If multiple AGV are being carried in use, carrying out cargo carrying, that is, multiple AGV pairs just for a goods carrier
One goods carrier carries out cargo loading, finishes when this goods carrier loads, then carries out the concentrated loads work of next goods carrier, this
Sample certainly will will cause blocking and the unloading waiting problem of AGV, therefore seriously affect cargo storage efficiency, because in present embodiment
In, multiple AGV are divided into several groups, different compact shelving plates distribute to different AGV groups, so that multiple groups AGV divides the work
It carries, the waiting time being substantially shorter in AGV handling process, improves working efficiency.
In addition different group AGV first can also carry out label to AGV group, such as it is close to be mainly responsible for the area A when distributing goods carrier
The AGV group that collection frame plate block carries out cargo carrying can determine to be named as A01；It is mainly responsible for the area B compact shelving plate and carries out cargo carrying
AGV group can determine to be named as B02；The AGV group for being mainly responsible for the progress cargo carrying of the area C compact shelving plate can determine be named as C02, if
When the area A, the area B, three, the area C compact shelving plate are given different AGV groups, there is extra AGV unallocated in group, it can
Insertion is carried in the highest group of distance.
As the preferred of present embodiment, AGV described in several groups is divided into short distance according to the goods carrier label of distribution correspondence
Vehicle and length are away from vehicle, that is to say, that divide short distance vehicle according to transport distance value and long away from vehicle, such as be responsible for the area A compact shelving plate
The AGV group of cargo transport, the distance carried belong to short distance carrying, this AGV group can be divided into short distance car, are greater than short distance and carry
The trolley of distance belongs to long away from vehicle, it is necessary to say that the AGV group that will be responsible for the area B compact shelving plate and the area C compact shelving plate is divided into
Length is away from vehicle.
The vehicle straight trip channel can be divided into road, free way and emergency road at a slow speed, and institute in compact shelving side from inside to outside
It states short distance vehicle and long respectively correspond away from vehicle is assigned on road and free way at a slow speed, in the present embodiment, here by different type
Vehicle be assigned to different road at a slow speed and free way, can to the trolley of different transport distances carry out speed difference, on free way
The long speed of service away from vehicle is greater than the speed of service of short distance vehicle on road at a slow speed, therefore the AGV distant for transport distance, can be
Speed is promoted in handling process, therefore is carried out in collective's cargo loading procedures to compact shelving, the unification of multiple AGV faster or slower
Work, to improve whole cargo transporting velocity.
It should be added that if in the handling process, if breaking down AGV on road at a slow speed, blocking other AGV
Normal handling work, staff carry out cleaning maintenance failure AGV when, other short distance vehicles on road can be interim at a slow speed
It is transferred on free way, when bypassing failure AGV, short distance vehicle comes back to Dao Shangzhen at a slow speed again and often works, while ought road at a slow speed
On other trolleies when can temporarily be transferred on free way, the short distance vehicle on free way, which can be transferred on emergency road, to be added
Speed carries operation.
If breaking down AGV on free way, other normal handling works of the length away from vehicle are blocked, are carried out in staff clear
When managing maintenance failure AGV, other length on free way can be temporarily transferred on emergency road away from vehicle, when bypassing failure AGV,
Long come back on free way again away from vehicle works normally, that is to say, that is also by wireless communication between all car-mounted computers
System realizes information transmitting, and fault message can be transmitted to other AGV in communication system, be located in institute by the car-mounted computer
It states the subsequent trolley of failure trolley and transfers on other Adjacent vehicles straight trip channel and move.
The base main control computer sends transportation route information to the car-mounted computer of specific matching, the vehicle-mounted meter
Calculation machine receives transportation route information and calculates the path length of transportation route, and the car-mounted computer is selected according to path length
Speed stage.
In order to control the speed of service of AGV in the handling process, it is equipped in the car-mounted computer to determine AGV operation
The gear selection module of speed, the gear selection module are used to determine the speed of service of AGV trolley, and the base master control calculates
Machine distributes each AGV to specific transportation route and is sent to car-mounted computer, after the car-mounted computer determines carrying distance, according to
Gear selection module determines transporting velocity.
The effect of gear selection module is that the AGV speed of service is divided into I grades, II grades and III grades, the length of the segmentation distance
Spend it is corresponding with the matching of the AGV speed of service, can be divided into short distance, in away from grow away from, short distance in present embodiment, in away from grow away from finger
Be segmentation distance between AGV and other objects or channel inflection point, specifically a certain distance range, if segmentation distance
Length is short distance, then the operational taps of car-mounted computer control AGV are I grades；If segmentation distance length be in away from vehicle-mounted
The operational taps that computer controls AGV are II grades；If the length for being segmented distance is long away from car-mounted computer controls AGV's
III grades of operational taps, AGV can effectively regulate and control the speed of service according to mobile segmentation distance, to improve in the handling process
Stability, power saving can also be played the role of.
Car-mounted computer is according to carrying the distance method that determines speed stage, that is to say, that short distance in segmentation distance, in
Away from it is long away from circular are as follows:
Firstly, the inflection point between marked vehicle straight trip channel and vehicle turning channel, and at the same time marking each AGV corresponding
The emptying point of shelf, AGV in the handling process, can be additionally provided with positioning system in car-mounted computer, and positioning system can help AGV
The determining real-time range with inflection point and emptying point during the motion, and be additionally provided on the AGV and carried out with car-mounted computer
The distance tachometer of information transmission, the distance tachometer is used to record the driving path of AGV, by driving path and adjacent comers
Or inflection point real time contrast at a distance from emptying point, so as to help AGV to judge the distance apart from each inflection point and emptying point, side
Just AGV realizes the processing of self-actuating brake reduction of speed.
Then, the path length of adjacent inflection point and emptying point and the segmentation of two adjacent comers is calculated, finally, according to
The operational taps in every section of path after gear selection module selection segmentation.That is, if emptying point is arrived to inflection point or inflection point
When the distance between inflection point is short distance, then it is I grades that AGV, which automatically selects the speed of service,；If emptying point is arrived to inflection point or inflection point
The distance between inflection point be in away from when, then AGV automatically select the speed of service be II grades；If emptying point is arrived to inflection point or inflection point
The distance between inflection point be it is long away from when, then it is III grades that AGV, which automatically selects the speed of service,.
It should be added that being additionally provided with two for detecting the red of distance between adjacent AGV in the rear and front end of AGV
Outer survey meter, the infrared detecting set and car-mounted computer realize information transmission, the speed of service of AGV not only by emptying point and
The influence of inflection point, while the speed of service of AGV is also influenced by a distance from AGV adjacent in same channel, infrared detecting set can
The distance between adjacent AGV of real-time detection belong to short distance, in away from or it is long away from so that AGV is in emptying point to inflection point or inflection point
When to path between inflection point, so as to effectively prevent AGV from colliding in the handling process, having when improving AGV work
Sequence and safety.
Communication system when being carried according further to above-mentioned AGV, as shown in Fig. 2, the present invention also provides a kind of more AGV intelligence storehouses
The cargo method for carrying for storing up compact shelving, includes the following steps:
Step 100, by the AGV after grouping according to the subregion compact shelving of distribution, correspond on road and free way at a slow speed；
Step 200, every group of AGV carry out cargo carrying, and root according to the sequencing of compact shelving in subregion compact shelving
According to segmentation distance and infrared detecting set visit away from double action under, automatically determine the speed that AGV is carried in cargo；
Step 300, when vehicle straight trip channel on AGV break down when, other AGV in the channel are transferred to Adjacent vehicles
When keeping straight on channel, positioned at vehicle straight trip channel and other trolleies in the rear AGV will make phase according to infrared detecting set
The deceleration processing answered；
Step 400, when AGV bypass faulty section after, turn again to original vehicle straight trip channel on, carry out circulation carry behaviour
Make.
It is obvious to a person skilled in the art that invention is not limited to the details of the above exemplary embodiments, Er Qie
In the case where without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the present invention is by appended power
Benefit requires rather than above description limits, it is intended that all by what is fallen within the meaning and scope of the equivalent elements of the claims
Variation is included within the present invention.Any reference signs in the claims should not be construed as limiting the involved claims.
Claims (10)
1. a kind of communication system of more AGV intelligent storage compact shelvings, including the car-mounted computer being mounted on AGV, and and vehicle
The computer base main control computer that system connects by wireless communication is carried, the base main control computer can be with car-mounted computer
Realize information exchange, it is characterised in that: the base main control computer distributes specific goods carrier to each AGV, and according to
Goods carrier determines that the transportation route of each AGV, the base main control computer send out transportation route information at a distance from movable loading point
It is sent to the car-mounted computer of specific matching, the car-mounted computer receives transportation route information and calculates the route of transportation route
Length, the car-mounted computer select speed stage according to path length.
2. a kind of communication system of more AGV intelligent storage compact shelvings according to claim 1, which is characterized in that the AGV
The physical planning method of transportation route are as follows:
Firstly, being respectively set in the two sides of goods carrier, quantity is identical and equally distributed vehicle straight trip channel, and in goods carrier
Interior several equally distributed vehicle turning channels of setting, goods carrier is divided into different plates by the vehicle turning channel；
Then, subregion is carried out to the different plate goods carriers that vehicle turning channel divides, and by subregion goods carrier according in the past
Sequence after arriving successively label；
Finally, multiple AGV are divided into several groups, label goods carrier is distributed to different groups of AGV, while according to every group of calculating
The corresponding label goods carrier of AGV assigns to the AGV after grouping on vehicle straight trip channel to the distance of movable loading point.
3. a kind of communication system of more AGV intelligent storage compact shelvings according to claim 2, which is characterized in that the vehicle
Straight trip channel can be divided into road, free way and emergency road at a slow speed in compact shelving side from inside to outside, and AGV described in several groups is according to distribution
Goods carrier label it is corresponding be divided into short distance vehicle and long away from vehicle, and the short distance vehicle and long respectively correspond away from vehicle are assigned at a slow speed
On road and free way.
4. a kind of communication system of more AGV intelligent storage compact shelvings according to claim 1, which is characterized in that Suo Yousuo
Information transmitting is realized also by wireless communication system between the car-mounted computer stated, and the car-mounted computer can pass fault message
Other AGV in communication system are delivered to, being located in the subsequent trolley of failure trolley, to transfer to other Adjacent vehicles straight
It is moved in row of channels.
5. a kind of communication system of more AGV intelligent storage compact shelvings according to claim 1, which is characterized in that the vehicle
The gear selection module being equipped in computer to determine the AGV speed of service is carried, the gear selection module is for determining that AGV is small
The speed of service of vehicle, the base main control computer distributes each AGV to specific transportation route and is sent to car-mounted computer, described
After car-mounted computer determines route distance, transporting velocity is determined according to gear selection module.
6. a kind of communication system of more AGV intelligent storage compact shelvings according to claim 5, which is characterized in that the vehicle
Carry the method that computer determines speed stage according to distance is carried are as follows:
Firstly, the inflection point between marked vehicle straight trip channel and vehicle turning channel, and at the same time each AGV is marked to correspond to shelf
Emptying point；
Then, the path length of adjacent inflection point and emptying point and the segmentation of two adjacent comers is calculated；
Finally, according to the operational taps in every section of path after gear selection module selection segmentation.
7. a kind of communication system of more AGV intelligent storage compact shelvings according to claim 5, which is characterized in that the shelves
The AGV speed of service is divided into I grades, II grades and III grades by position selecting module, the length and the AGV speed of service of the segmentation distance
With correspondence, can be divided into short distance, in away from long away from if the length of segmentation distance is short distance, car-mounted computer controls the fortune of AGV
Row gear is I grades；If the length of segmentation distance be in control AGV away from, car-mounted computer operational taps be II grades；If
Being segmented the length of distance is long away from then car-mounted computer controls III grades of operational taps of AGV.
8. a kind of communication system of more AGV intelligent storage compact shelvings according to claim 7, which is characterized in that the AGV
Speed of service gear selection it is also related with the distance between adjacent AGV, the rear and front end of the AGV is additionally provided with two for visiting
The infrared detecting set of distance between adjacent AGV is surveyed, the infrared detecting set and car-mounted computer realize information transmission, and described
The distance tachometer that information transmission is carried out with car-mounted computer is additionally provided on AGV.
9. a kind of communication system of more AGV intelligent storage compact shelvings according to claim 8, it is characterised in that: the road
Journey tachometer is used to record the driving path of AGV, and car-mounted computer receives distance tachometer information, and by driving path and phase
Adjacent inflection point or the inflection point real time contrast at a distance from emptying point, determine the deceleration time of AGV.
10. a kind of cargo method for carrying of more AGV intelligent storage compact shelvings, which comprises the steps of:
Step 100, by the AGV after grouping according to the subregion compact shelving of distribution, correspond on road and free way at a slow speed；
Step 200, every group of AGV in subregion compact shelving according to compact shelving sequencing carry out cargo carrying, and according to point
Section distance and infrared detecting set visit away from double action under, automatically determine the speed that AGV is carried in cargo；
Step 300, when vehicle straight trip channel on AGV break down when, other AGV in the channel be transferred to Adjacent vehicles straight trip
When on channel, positioned at vehicle straight trip channel and other trolleies in the rear AGV will be made accordingly according to infrared detecting set
Deceleration processing；
Step 400, when AGV bypass faulty section after, turn again to original vehicle straight trip channel on, carry out circulation carry operation.
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
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| CN116216159A (en) * | 2023-05-08 | 2023-06-06 | 北京柏瑞安电子技术有限公司 | Four-way shuttle positioning method for intelligent logistics storage |
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| CN111624993A (en) * | 2020-04-30 | 2020-09-04 | 北京融安特智能科技股份有限公司 | Control system for operation state of compact shelf |
| CN111459171A (en) * | 2020-05-15 | 2020-07-28 | 合肥卓科智能技术有限公司 | Path optimization regulation and control system of AGV dolly |
| CN111853224A (en) * | 2020-07-27 | 2020-10-30 | 和县隆盛精密机械有限公司 | AGV dolly gear remote control system |
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