無人搬運機器人控(kong)制(zhi)(zhi)系(xi)(xi)(xi)統(tong)(tong)分為(wei)地面（上位）控(kong)制(zhi)(zhi)系(xi)(xi)(xi)統(tong)(tong)、車(che)載（單機）控(kong)制(zhi)(zhi)系(xi)(xi)(xi)統(tong)(tong)及導(dao)航(hang)/導(dao)引系(xi)(xi)(xi)統(tong)(tong)，其(qi)中，地面控(kong)制(zhi)(zhi)系(xi)(xi)(xi)統(tong)(tong)指自(zi)行走式(shi)物(wu)料搬運(yun)機器人(ren)系(xi)(xi)(xi)統(tong)(tong)的(de)固定設備，主要(yao)負責任(ren)務分配，車(che)輛(liang)調度，路(lu)徑（線）管理，交通(tong)管理，自(zi)動(dong)充(chong)電等功能(neng)；車(che)載控(kong)制(zhi)(zhi)系(xi)(xi)(xi)統(tong)(tong)在收到上位系(xi)(xi)(xi)統(tong)(tong)的(de)指令后，負責自(zi)行走式(shi)物(wu)料搬運(yun)機器人(ren)的(de)導(dao)航(hang)計算，導(dao)引實(shi)現，車(che)輛(liang)行走，裝卸操作等功能(neng)；導(dao)航(hang)/導(dao)引系(xi)(xi)(xi)統(tong)(tong)為(wei)自(zi)行走式(shi)物(wu)料搬運(yun)機器人(ren)單機提供系(xi)(xi)(xi)統(tong)(tong)或相對位置及航(hang)向。

1.地面控制系統

自(zi)行(xing)(xing)走(zou)式(shi)物料(liao)搬運(yun)(yun)機(ji)(ji)器(qi)(qi)(qi)人(ren)(ren)(ren)地面控(kong)制系(xi)(xi)統(tong)(tong)即自(zi)行(xing)(xing)走(zou)式(shi)物料(liao)搬運(yun)(yun)機(ji)(ji)器(qi)(qi)(qi)人(ren)(ren)(ren)上位控(kong)制系(xi)(xi)統(tong)(tong)，是(shi)自(zi)行(xing)(xing)走(zou)式(shi)物料(liao)搬運(yun)(yun)機(ji)(ji)器(qi)(qi)(qi)人(ren)(ren)(ren)系(xi)(xi)統(tong)(tong)的核心。其主要(yao)功能是(shi)對自(zi)行(xing)(xing)走(zou)式(shi)物料(liao)搬運(yun)(yun)機(ji)(ji)器(qi)(qi)(qi)人(ren)(ren)(ren)系(xi)(xi)統(tong)(tong)（自(zi)行(xing)(xing)走(zou)式(shi)物料(liao)搬運(yun)(yun)機(ji)(ji)器(qi)(qi)(qi)人(ren)(ren)(ren)S）中的多臺自(zi)行(xing)(xing)走(zou)式(shi)物料(liao)搬運(yun)(yun)機(ji)(ji)器(qi)(qi)(qi)人(ren)(ren)(ren)單機(ji)(ji)進行(xing)(xing)任務分配，車(che)輛管(guan)理，交(jiao)通管(guan)理，通訊管(guan)理等。

2.任務管理

任(ren)務管理類似(si)計算機(ji)操作(zuo)系統的(de)進程管理，它提(ti)供(gong)對(dui)自行(xing)走式(shi)物料搬運機(ji)器人(ren)地面控制程序的(de)解釋(shi)執行(xing)環境；提(ti)供(gong)根據任(ren)務優先(xian)級和啟(qi)動時間的(de)調度運行(xing)；提(ti)供(gong)對(dui)任(ren)務的(de)各種(zhong)操作(zuo)如啟(qi)動、停(ting)止、取消(xiao)等。

3.車輛管理

車輛管理是自行(xing)走(zou)(zou)(zou)式(shi)物(wu)(wu)料(liao)(liao)搬(ban)(ban)運(yun)機(ji)器人管理的(de)核心(xin)模塊，它根據物(wu)(wu)料(liao)(liao)搬(ban)(ban)運(yun)任(ren)務的(de)請求(qiu)，分配調度自行(xing)走(zou)(zou)(zou)式(shi)物(wu)(wu)料(liao)(liao)搬(ban)(ban)運(yun)機(ji)器人執行(xing)任(ren)務，根據自行(xing)走(zou)(zou)(zou)式(shi)物(wu)(wu)料(liao)(liao)搬(ban)(ban)運(yun)機(ji)器人行(xing)走(zou)(zou)(zou)時(shi)間(jian)短(duan)原則，計算自行(xing)走(zou)(zou)(zou)式(shi)物(wu)(wu)料(liao)(liao)搬(ban)(ban)運(yun)機(ji)器人的(de)短(duan)行(xing)走(zou)(zou)(zou)路(lu)徑，并控制(zhi)指揮自行(xing)走(zou)(zou)(zou)式(shi)物(wu)(wu)料(liao)(liao)搬(ban)(ban)運(yun)機(ji)器人的(de)行(xing)走(zou)(zou)(zou)過程，及時(shi)下(xia)達裝卸貨和(he)充電命令。

4.交通管理

根據自(zi)行走式物(wu)料搬(ban)(ban)運機器(qi)人的物(wu)理(li)尺寸大(da)小、運行狀態和(he)路(lu)徑狀況，提供(gong)自(zi)行走式物(wu)料搬(ban)(ban)運機器(qi)人互相自(zi)動避(bi)讓的措施，同時(shi)避(bi)免車輛互相等待的死(si)鎖方法(fa)和(he)出現死(si)鎖的解除方法(fa)；自(zi)行走式物(wu)料搬(ban)(ban)運機器(qi)人的交通管理(li)主要有(you)行走段分配和(he)死(si)鎖報告功能。

5.通訊管理

通信(xin)(xin)(xin)(xin)管理(li)提(ti)供(gong)自(zi)(zi)行(xing)走(zou)(zou)式(shi)(shi)(shi)(shi)物料(liao)(liao)搬(ban)運(yun)(yun)機器(qi)人(ren)(ren)地(di)(di)面(mian)(mian)控(kong)(kong)制系(xi)(xi)統(tong)(tong)與自(zi)(zi)行(xing)走(zou)(zou)式(shi)(shi)(shi)(shi)物料(liao)(liao)搬(ban)運(yun)(yun)機器(qi)人(ren)(ren)單機、地(di)(di)面(mian)(mian)監控(kong)(kong)系(xi)(xi)統(tong)(tong)、地(di)(di)面(mian)(mian)IO設(she)備(bei)、車輛仿真系(xi)(xi)統(tong)(tong)及上(shang)位(wei)計(ji)(ji)算機的通信(xin)(xin)(xin)(xin)功(gong)能(neng)。和自(zi)(zi)行(xing)走(zou)(zou)式(shi)(shi)(shi)(shi)物料(liao)(liao)搬(ban)運(yun)(yun)機器(qi)人(ren)(ren)間(jian)的通信(xin)(xin)(xin)(xin)使(shi)用(yong)(yong)無線電通信(xin)(xin)(xin)(xin)方式(shi)(shi)(shi)(shi)，需要建立一個(ge)無線網絡，自(zi)(zi)行(xing)走(zou)(zou)式(shi)(shi)(shi)(shi)物料(liao)(liao)搬(ban)運(yun)(yun)機器(qi)人(ren)(ren)只和地(di)(di)面(mian)(mian)系(xi)(xi)統(tong)(tong)進(jin)行(xing)雙向通信(xin)(xin)(xin)(xin)，自(zi)(zi)行(xing)走(zou)(zou)式(shi)(shi)(shi)(shi)物料(liao)(liao)搬(ban)運(yun)(yun)機器(qi)人(ren)(ren)間(jian)不(bu)進(jin)行(xing)通信(xin)(xin)(xin)(xin)，地(di)(di)面(mian)(mian)控(kong)(kong)制系(xi)(xi)統(tong)(tong)采用(yong)(yong)輪詢方式(shi)(shi)(shi)(shi)和多臺自(zi)(zi)行(xing)走(zou)(zou)式(shi)(shi)(shi)(shi)物料(liao)(liao)搬(ban)運(yun)(yun)機器(qi)人(ren)(ren)通信(xin)(xin)(xin)(xin)；與地(di)(di)面(mian)(mian)監控(kong)(kong)系(xi)(xi)統(tong)(tong)、車輛仿真系(xi)(xi)統(tong)(tong)、上(shang)位(wei)計(ji)(ji)算機的通信(xin)(xin)(xin)(xin)使(shi)用(yong)(yong)TCP/IP通信(xin)(xin)(xin)(xin)。

6.車輛驅動

小車驅(qu)動(dong)負責自行走(zou)(zou)式物料搬(ban)運機(ji)器人狀態的采集，并向交(jiao)通管理(li)發出(chu)行走(zou)(zou)段的允許請求，同時把確認(ren)段下發自行走(zou)(zou)式物料搬(ban)運機(ji)器人。

杭州藍芯科技(ji)有限公(gong)司是一家專業提供智能搬運(yun)機(ji)器人系(xi)統解(jie)(jie)決方案的公(gong)司，可以為(wei)客戶提供符合企(qi)業實際情況(kuang)的應用解(jie)(jie)決方案。助力企(qi)業智能制造轉型。

自行走式物料搬運機器人技術參數：