AGV system and traffic control method The AGV system includes AGV vehicles, intersection controllers, master controllers and shop positioning systems; the shop positioning system solves the position information of all AGV vehicles in the workshop and sends them to the corresponding AGV vehicles; the master controller realizes the task arrangement and can The task start point, the destination, the task priority, the task effective time, and the running route information of the vehicle are sent to the corresponding AGV vehicle;
The intersection controller is arranged at the intersection of the roads in the workshop, and can exchange information with the AGV vehicles in the workshop intersection environment; the AGV vehicles in the workshop intersection environment will have their own position information, speed information, mission starting point, destination, and task priority. The task effective time and the running route information of the vehicle are sent to the intersection controller in real time; the intersection controller calculates the feedback speed of all AGV vehicles in the workshop intersection environment in real time according to the received information of all AGV vehicles in the workshop intersection environment, and feedbacks The speed is sent to the corresponding AGV vehicle in real time; the AGV vehicle includes a sensor module, a communicator module, a processor module, and a vehicle body; the sensor module, the communication module, and the processor module are all mounted on the vehicle body;
The sensor module collects the AGV vehicle's own speed information and the front obstacle distance information; the communicator module implements the information interaction function between the AGV vehicle and the intersection controller, the overall controller, the workshop positioning system, and the surrounding AGV vehicles; the AGV vehicle passes the communicator module The location information, speed information, and task priority are sent to the surrounding AGV vehicle; the processor module sets the initial speed of the AGV vehicle according to the received task priority. The higher the priority, the larger the initial speed; when the AGV vehicle is in the workshop When driving on a non-junction road, the processor module controls its own motion speed and direction according to its own state and the information of the AGV vehicle received before and after; when the AGV vehicle is in the workshop intersection environment, the processor module receives and transmits according to its own motion route information. The feedback speed command controls the speed and direction of the movement.