AGV (Automated Guided Vehicle), which is often referred to as “automatic guided transport vehicle”, is now a “little red man” in the logistics warehouse. It can not only travel along the prescribed guiding path, it is a kind of transport vehicle with safety protection and various transfer functions, belonging to the category of WMR (Wheeled Mobile Robot). Now, Jingdong, Amazon, Vipshop and other large warehouses are not enough, it is a tall handling equipment! You probably know a little about its features, but you don’t know about its two control systems! This article takes you to understand.


The AGV control system is divided into ground (superordinate) control system, vehicle (single) control system and navigation/guidance system. The ground control system refers to the fixed equipment of the AGV system, which is mainly responsible for task assignment, vehicle scheduling, and path (line) management. , traffic management, automatic charging and other functions; after receiving the command from the upper system, the vehicle control system is responsible for AGV navigation calculation, guidance implementation, vehicle walking, loading and unloading operations, etc.; navigation / guidance system provides absolute system for AGV single machine Or relative position and heading.

AGV control system

I. AGV Ground Control System (Stationary System)

That is, the AGV upper control system is the core of the AGV system. Its main function is to perform task assignment, vehicle management, traffic management, communication management, etc. for multiple AGV single machines in the AGV system (AGVS).

1, task management

Task management is similar to the process management of a computer operating system, which provides an interpreted execution environment for the AGV ground control program; provides scheduled operations based on task priorities and startup times; provides various operations on tasks such as start, stop, cancel, and the like.

2, vehicle management
Vehicle management is the core module of AGV management. It assigns scheduled AGV execution tasks according to the request of material handling tasks. According to the principle of AGV walking time, the shortest walking path of AGV is calculated, and the walking process of AGV is controlled, and loading and unloading is timely released. Charging command.

  1. Traffic management
    According to the physical size, operating state and path condition of the AGV, the AGV provides automatic avoidance measures for each other, and avoids the deadlock method of the vehicles waiting for each other and the method of releasing the deadlock; the traffic management of the AGV mainly includes the walking segment allocation and deadlock. Reporting function.
    4, communication management
    Communication management provides communication functions between AGV ground control system and AGV stand-alone, ground monitoring system, ground IO equipment, vehicle simulation system and host computer. The communication between the AGV and the AGV uses radio communication, and a wireless network needs to be established. The AGV only communicates with the ground system in two-way communication, and the AGV does not communicate with each other. The ground control system uses polling mode and multiple AGV communications; and the ground monitoring system and vehicle The communication between the simulation system and the host computer uses TCP/IP communication.
    5, vehicle drive
    The trolley drive is responsible for the collection of the AGV status, and issues a permission request for the travel segment to the traffic management, and sends the AGV to the confirmation segment.
    Second, the vehicle drive
    The trolley drive is responsible for the collection of the AGV status, and issues a permission request for the travel segment to the traffic management, and sends the AGV to the confirmation segment.
    1, navigation (Navigation)
    The AGV stand-alone unit measures and calculates the position and heading in the global coordinates through its own navigation device.
    2, guidance (Guidance)
    The AGV stand-alone calculates the speed value and steering angle value of the next cycle, that is, the command value of the AGV motion, based on the current position, heading, and a preset theoretical trajectory.
  2. Pathing (Searching) The AGV single machine selects the path to be run in advance according to the instruction of the host system, and submits the result to the upper control system. The operation can be uniformly deployed by the upper system according to the position of the other AGV. The path of AGV single-machine walking is designed according to actual working conditions, and it has several “segments”. Each “segment” indicates the starting point, ending point of the segment, and information such as the speed and direction of the AGV in that segment.
    4, vehicle drive (Driving)
    The AGV single machine controls the vehicle operation through the servo device according to the calculation result and the path selection information of the guidance.

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