無人搬運機器人控(kong)制(zhi)系(xi)(xi)統(tong)(tong)分為(wei)地(di)面(mian)（上位(wei)）控(kong)制(zhi)系(xi)(xi)統(tong)(tong)、車載（單(dan)機(ji)）控(kong)制(zhi)系(xi)(xi)統(tong)(tong)及導(dao)航(hang)(hang)/導(dao)引系(xi)(xi)統(tong)(tong)，其中，地(di)面(mian)控(kong)制(zhi)系(xi)(xi)統(tong)(tong)指(zhi)自行走(zou)式物料(liao)搬(ban)運機(ji)器人(ren)(ren)系(xi)(xi)統(tong)(tong)的固定設(she)備，主要負責(ze)任(ren)務分配，車輛調度，路徑（線(xian)）管理，交通管理，自動充(chong)電(dian)等功(gong)能(neng)；車載控(kong)制(zhi)系(xi)(xi)統(tong)(tong)在收(shou)到上位(wei)系(xi)(xi)統(tong)(tong)的指(zhi)令后，負責(ze)自行走(zou)式物料(liao)搬(ban)運機(ji)器人(ren)(ren)的導(dao)航(hang)(hang)計算，導(dao)引實現(xian)，車輛行走(zou)，裝卸(xie)操作等功(gong)能(neng)；導(dao)航(hang)(hang)/導(dao)引系(xi)(xi)統(tong)(tong)為(wei)自行走(zou)式物料(liao)搬(ban)運機(ji)器人(ren)(ren)單(dan)機(ji)提供系(xi)(xi)統(tong)(tong)或相對位(wei)置(zhi)及航(hang)(hang)向。

1.地面控制系統

自(zi)行走式物(wu)料搬(ban)(ban)(ban)運機(ji)器(qi)人(ren)(ren)(ren)地面(mian)控制系(xi)(xi)(xi)統即自(zi)行走式物(wu)料搬(ban)(ban)(ban)運機(ji)器(qi)人(ren)(ren)(ren)上位控制系(xi)(xi)(xi)統，是(shi)(shi)自(zi)行走式物(wu)料搬(ban)(ban)(ban)運機(ji)器(qi)人(ren)(ren)(ren)系(xi)(xi)(xi)統的核心。其主要功能是(shi)(shi)對自(zi)行走式物(wu)料搬(ban)(ban)(ban)運機(ji)器(qi)人(ren)(ren)(ren)系(xi)(xi)(xi)統（自(zi)行走式物(wu)料搬(ban)(ban)(ban)運機(ji)器(qi)人(ren)(ren)(ren)S）中的多臺自(zi)行走式物(wu)料搬(ban)(ban)(ban)運機(ji)器(qi)人(ren)(ren)(ren)單機(ji)進行任務分配，車輛管理，交通管理，通訊管理等(deng)。

2.任務管理

任(ren)務(wu)管(guan)理(li)類(lei)似(si)計算機操作系統的(de)進程管(guan)理(li)，它提(ti)供對(dui)自行(xing)走式物料搬運機器(qi)人地面控制程序的(de)解釋執行(xing)環境；提(ti)供根(gen)據任(ren)務(wu)優(you)先級和啟動(dong)時間(jian)的(de)調度運行(xing)；提(ti)供對(dui)任(ren)務(wu)的(de)各(ge)種操作如(ru)啟動(dong)、停止、取消等。

3.車輛管理

車輛管(guan)理(li)是自(zi)行(xing)(xing)走(zou)(zou)(zou)(zou)(zou)式(shi)(shi)物(wu)(wu)料(liao)(liao)搬運(yun)機(ji)(ji)器(qi)人管(guan)理(li)的(de)核心模塊(kuai)，它根據物(wu)(wu)料(liao)(liao)搬運(yun)任務(wu)的(de)請(qing)求，分配調(diao)度自(zi)行(xing)(xing)走(zou)(zou)(zou)(zou)(zou)式(shi)(shi)物(wu)(wu)料(liao)(liao)搬運(yun)機(ji)(ji)器(qi)人執行(xing)(xing)任務(wu)，根據自(zi)行(xing)(xing)走(zou)(zou)(zou)(zou)(zou)式(shi)(shi)物(wu)(wu)料(liao)(liao)搬運(yun)機(ji)(ji)器(qi)人行(xing)(xing)走(zou)(zou)(zou)(zou)(zou)時(shi)間短(duan)原(yuan)則，計算自(zi)行(xing)(xing)走(zou)(zou)(zou)(zou)(zou)式(shi)(shi)物(wu)(wu)料(liao)(liao)搬運(yun)機(ji)(ji)器(qi)人的(de)短(duan)行(xing)(xing)走(zou)(zou)(zou)(zou)(zou)路徑，并控制(zhi)指(zhi)揮自(zi)行(xing)(xing)走(zou)(zou)(zou)(zou)(zou)式(shi)(shi)物(wu)(wu)料(liao)(liao)搬運(yun)機(ji)(ji)器(qi)人的(de)行(xing)(xing)走(zou)(zou)(zou)(zou)(zou)過程，及時(shi)下(xia)達裝卸貨和充電命(ming)令。

4.交通管理

根據自行走(zou)式物(wu)(wu)料(liao)搬運機器(qi)人的(de)(de)(de)物(wu)(wu)理尺寸大小、運行狀態和(he)路(lu)徑狀況，提供自行走(zou)式物(wu)(wu)料(liao)搬運機器(qi)人互相自動避讓的(de)(de)(de)措施(shi)，同時(shi)避免車(che)輛互相等待的(de)(de)(de)死鎖(suo)方法和(he)出現(xian)死鎖(suo)的(de)(de)(de)解除方法；自行走(zou)式物(wu)(wu)料(liao)搬運機器(qi)人的(de)(de)(de)交通管理主要有(you)行走(zou)段(duan)分配和(he)死鎖(suo)報(bao)告功能。

5.通訊管理

通(tong)信管理提供自行(xing)走(zou)式(shi)物(wu)料(liao)(liao)搬(ban)運(yun)(yun)機器人(ren)(ren)地(di)(di)(di)面(mian)控制系(xi)(xi)統(tong)(tong)(tong)(tong)與(yu)自行(xing)走(zou)式(shi)物(wu)料(liao)(liao)搬(ban)運(yun)(yun)機器人(ren)(ren)單機、地(di)(di)(di)面(mian)監控系(xi)(xi)統(tong)(tong)(tong)(tong)、地(di)(di)(di)面(mian)IO設備、車輛(liang)(liang)仿(fang)真(zhen)(zhen)系(xi)(xi)統(tong)(tong)(tong)(tong)及(ji)上位計(ji)算機的通(tong)信功能。和(he)自行(xing)走(zou)式(shi)物(wu)料(liao)(liao)搬(ban)運(yun)(yun)機器人(ren)(ren)間(jian)的通(tong)信使用無(wu)線(xian)(xian)電通(tong)信方式(shi)，需要建立一(yi)個無(wu)線(xian)(xian)網絡(luo)，自行(xing)走(zou)式(shi)物(wu)料(liao)(liao)搬(ban)運(yun)(yun)機器人(ren)(ren)只(zhi)和(he)地(di)(di)(di)面(mian)系(xi)(xi)統(tong)(tong)(tong)(tong)進行(xing)雙向通(tong)信，自行(xing)走(zou)式(shi)物(wu)料(liao)(liao)搬(ban)運(yun)(yun)機器人(ren)(ren)間(jian)不進行(xing)通(tong)信，地(di)(di)(di)面(mian)控制系(xi)(xi)統(tong)(tong)(tong)(tong)采用輪詢方式(shi)和(he)多臺自行(xing)走(zou)式(shi)物(wu)料(liao)(liao)搬(ban)運(yun)(yun)機器人(ren)(ren)通(tong)信；與(yu)地(di)(di)(di)面(mian)監控系(xi)(xi)統(tong)(tong)(tong)(tong)、車輛(liang)(liang)仿(fang)真(zhen)(zhen)系(xi)(xi)統(tong)(tong)(tong)(tong)、上位計(ji)算機的通(tong)信使用TCP/IP通(tong)信。

6.車輛驅動

小(xiao)車驅動負責自行(xing)(xing)走(zou)式物料(liao)搬(ban)運(yun)機(ji)器人(ren)狀態(tai)的(de)采集，并(bing)向交通管理(li)發出行(xing)(xing)走(zou)段的(de)允許(xu)請求，同時把確認段下發自行(xing)(xing)走(zou)式物料(liao)搬(ban)運(yun)機(ji)器人(ren)。

杭州藍芯科技有限公(gong)司是(shi)一(yi)家(jia)專業(ye)提供(gong)智(zhi)能(neng)搬運機器人系統解(jie)決方案的(de)(de)公(gong)司，可(ke)以(yi)為(wei)客戶提供(gong)符合企業(ye)實際(ji)情(qing)況(kuang)的(de)(de)應用(yong)解(jie)決方案。助力企業(ye)智(zhi)能(neng)制造轉型。

自行走式物料搬運機器人技術參數：