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閬�(y霉n)鍔涚祫锛氱敤浜庡畬绲�(ji茅)鐗瑰畾浣垮懡鐨勪竴绲勯亱(y霉n)鍔涜硣婧愮殑闆嗗悎
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瀹瑰櫒锛氱敤浜庡瘎瀛樼敘(ch菐n)鍝佺殑鐢ㄥ叿锛屽父瑕嬪鍣ㄥ寘鎷枡绠�銆佷腑杞�(zhu菐n)绠�銆佹墭鐩ょ瓑
PS: Pallet Shuttle锛屼竴绋綁(zhu菐n)绉绘墭鐩ょ殑 AGV
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Chute 鍙ｏ細鐢ㄤ簬瀵勫瓨鍚屼竴瑷傚柈鎴栧悓涓€鐩殑鍦板皪(du矛)鎳�(y墨ng)鐢�(ch菐n)鍝佺殑鏍煎彛
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CTU 灏忚粖灏囨枡绠卞偝绲︾绶�锛屾垨寰炵绶氫笂鏀跺彇鏂欑锛�
AGV 灏忚粖灏囨墭鐩ゅ偝绲︽墭鐩ょ窔锛屾垨寰炴墭鐩ょ窔鎺ョ磵鎵樼洡锛�
AGV 灏忚粖灏囨墭鐩ゅ偝绲︽彁鍗囨(j墨)锛屾垨寰炴彁鍗囨(j墨)鎺ョ磵鎵樼洡锛�
AGV 灏忚粖涔樺潗鎻愬崌姗�(j墨)锛屽幓鍏朵粬鐨勬〒灞�锛�
姗�(j墨)姊拌噦寰炵绶氭姄鍙栨枡绠�锛屽皣鏂欑纰兼斁鍦� AGV 灏忚粖闋傝垑鐨勬墭鐩や笂銆�
浠ヤ笂渚嬪瓙閮借Ц鍙婂叐鍊�(g猫)鎴栧鍊�(g猫)瑷�(sh猫)鍌欎箣闁撲氦浜掑崝(xi茅)鍚岀殑鐙€娉侊紝闇€姹傞€�(j矛n)琛岀簿婧�(zh菙n)楂樻晥鐨勬搷鎺�锛屾搷鎺т笉濂芥渻(hu矛)閫犳垚瀹夊叏浜嬬锛屾垨鍗℃闃诲鍚庣簩(x霉)娴佺▼鐨勭媭娉�锛屽紩鐧�(f膩)鍤�(y谩n)閲嶅悗鏋�銆�
鍥�銆佽ō(sh猫)鍌欏崝(xi茅)鍚�
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鍦ㄧ暥(d膩ng)鍓嶈ō(sh猫)鍌欏妯ｆ€х殑鐙€娉佷笅锛屾帴椐佺殑娴佺▼灏辨瘮杓冮洔浜備簡锛岄渶姹傝ō(sh猫)鍌欎箣闁撶殑鍚堜綔銆備緥濡侫椤炶ō(sh猫)鍌欒垏B椤炶ō(sh猫)鍌欎箣闁撴帴椐�锛屽彲浠ョ敤涓€濂楁祦绋嬶紝A椤炶ō(sh猫)鍌欒垏C椤炶ō(sh猫)鍌欎箣闁撴帴椐�锛屽亣濡傜晫瑾竴濂楁柊娴佺▼锛岄偅涔圓椤炶ō(sh猫)鍌欑殑閭忚集灏辨渻(hu矛)闈炲父闆滀簜浜�銆�
鐗瑰垾鏄従(xi脿n)浠ｈ嚜鍕�(d貌ng)鍖栧姞宸�锛岃嚜鍕�(d貌ng)鍖栧€夊劜(ch菙)闋�(l菒ng)鍩�锛屽皪(du矛)鏌旀€цō(sh猫)鍌欑殑閬�(y霉n)鐢ㄥぇ澶у鍔�锛屾煍鎬цō(sh猫)鍌欏叿鏈夋洿濂界殑榄鎬у拰鑷仼鎳�(y墨ng)鎬э紝鏄笘鐣屼笂鏈€鍏堥€�(j矛n)鐨勮嚜鍕�(d貌ng)鍖栨噳(y墨ng)鐢ㄦ妧琛�(sh霉)锛屽彲浠ユ湁鐢ㄧ殑鎻愬崌鐢熺敘(ch菐n)鐜囥€�
鏌旀€цō(sh猫)鍌欏彲浠ュ緢渚垮埄鐨勫鍔犲墛娓�锛屼竴鍚屾煍鎬цō(sh猫)鍌欏搧绋篃寰堣睈鍘氾紝鍥犺€屽湪鎺ラ鏅�(sh铆)锛岄渶姹傜晫瑾竴濂楅€氱敤鐨勬帴椐侀倧杓紝涓€鍒囩殑瑷�(sh猫)鍌欓兘閬靛緸瑭插崝(xi茅)璀�锛屽彧闇€姹傚畬绲�(ji茅)鑷繁鐨勯倧杓�锛屽氨鑳藉畬绲�(ji茅)瀹瑰櫒鐨勯爢鏆氦浠ｄ簡銆�
寰炴帴椐佺珯榛�(di菐n)鐨勮榛�(di菐n)鐪�锛屾槸涓€濂楄(gu墨)鐭�锛岃(gu墨)鐭╂帴椐佺殑瑷�(sh猫)鍌欒兘涓嶈兘渚嗭紝鑳戒笉鑳芥搷浣滃鍣�銆傞€欏瑕�(gu墨)鐭╄鍙互閬╃敤澶у鏁�(sh霉)鍫存櫙銆�
鍊煎緱娉ㄦ剰鐨勬槸锛屼笉鑳藉畬鍏ㄤ緷璩磋ō(sh猫)鍌欏嫎鎺㈢殑鐙€娉侊紝鍙兘鏈�(hu矛)鍑轰簨绔�銆備緥濡傛墭鐩ょ窔璺烝GV 灏忚粖鎺ラ锛岀暥(d膩ng) AGV 闋傝捣鎵樼洡锛屾墭鐩ょ窔灏辨娓�(c猫)涓嶅埌浜�锛岄€欐檪(sh铆)鍒嗗亣濡傚悗绾�(x霉)鎵樼洡鍚戝墠璺熼€�(j矛n)锛孉GV 鍙堟矑鏈夊強鏅�(sh铆)鑴洟锛屽氨鏈�(hu矛)鐢�(ch菐n)鐢熺纰�銆�
涓€娆℃帴椐侀€�(j矛n)绋嬪彲浠ュ垎鐐猴細鎺ラ鍓�锛屾帴椐佷腑锛屾帴椐佸悗锛屼笁鍊�(g猫)闅庢锛屼笅闈㈠垾闆㈣⿻(p铆ng)璜�銆�
4.1 鎺ラ鍓�
闂�(gu膩n)浜庢煍鎬цō(sh猫)鍌欐帴椐佺郸鍓涙€цō(sh猫)鍌�锛屼緥濡� AGV 灏忚粖灏囨墭鐩�锛屾帴椐佺郸鎵樼洡绶�锛屾槸涓€鍊�(g猫)鍏稿瀷鐨勫牬鏅€�
瑕佸幓鎺ラ鐨� AGV 灏忚粖锛屽緸鍚勮嚜鐨勬柟浣嶅嫊(d貌ng)韬紝鍘诲悓涓€鍊�(g猫)榛�(di菐n)閫佹墭鐩�锛屽洜?y脿n)姗涙柊鍚犻暅鍊猦(yu菐n)杩戯紝浠ュ強璺笂鐨勪笉纰哄畾鎬�锛屽氨闇€姹傛搷鎺ц鍏堣鍚庯紝閫欐槸涓€鍊�(g猫)閮ㄥ垎鐨勭兢楂旀焙绛栧晱椤�锛屽苟涓旈渶姹傛湁鍕�(d貌ng)鎱�(t脿i)鐨勮(di脿o)鏁淬€傚亣濡傛焙瀹氭煇鍊�(g猫) AGV 灏忚粖鍙互鍏堝幓鎺ラ锛岄偅涔堝叾浣欑殑灏忚粖瑕佹€庝箞铏曠悊锛屾棦瑕佸彲浠ュ揩閫熺殑閵滄帴锛屽張涓嶈鍗犱綇瑕佸閬撹矾璩囨簮銆�
闂�(gu膩n)浜庡墰鎬цō(sh猫)鍌欐帴椐佺郸鏌旀€цō(sh猫)鍌欙紝渚嬪鎵樼洡绶氭帴椐佺郸 AGV 灏忚粖銆�
鎺ラ鍓�锛岄渶姹� AGV 灏忚粖鍦ㄦ帴椐侀粸(di菐n)閯拌繎寰呭懡锛岄€欐ǎ鍦ㄦ墭鐩ゅ嵆灏囨姷閬�(d谩)鎺ラ榛�(di菐n)鏅�(sh铆)锛屽皬杌婁篃鍙互蹇€熺殑鎶甸仈(d谩)鎺ラ榛�(di菐n)銆�
4.2 鎺ラ涓�
鎺ラ涓紝鎺ラ鐨勮ō(sh猫)鍌欓兘鎶甸仈(d谩)鎸囧畾鏂逛綅锛岄枊绔帴椐�锛屼竴鑸湁鍏╃ó鎺ラ鏂瑰紡锛�
鍏╁€�(g猫)瑷�(sh猫)鍌欎竴鍚屽嫊(d貌ng)浣�锛屼緥濡傜炕婊惧偝杓搞€傜偤浜嗕繚璀夐妫掓€�锛岃姹傛帴绱嶆柟姣旂櫦(f膩)閫佹柟瑕佹彁鏃╀竴榛�(di菐n)锛岄槻姝㈢櫦(f膩)閫佹柟闁嬬缈绘痪锛屾妸璨ㄥ搧鍗�??锛�
涓€鍊�(g猫)瑷�(sh猫)鍌欏厛鏀句笅瀹瑰櫒锛屽彟涓€鍊�(g猫)瑷�(sh猫)鍌欏啀鍙栬蛋瀹瑰櫒銆傝姹備竴鍊�(g猫)瑷�(sh猫)鍌欏湪鎿嶄綔鏅�(sh铆)锛屽彟涓€鍊�(g猫)瑷�(sh猫)鍌欒淇濇寔鍋滄銆�
涓嶇鍝ó鐙€娉�锛岄兘瑕佹眰灏�(du矛)瑷�(sh猫)鍌欑殑绮炬簴(zh菙n)鎿嶆帶锛屼笉鐒跺氨鏈�(hu矛)鐢�(ch菐n)鐢熷嵄闅�(xi菐n)鐨勪簨鎯�銆�
4.3 鎺ラ鍚�
闂�(gu膩n)浜� AGV 灏忚粖鎺ラ绲︽墭鐩ょ窔鐨勭媭娉�锛屾帴椐佸悗锛屽皬杌婅鏁忔嵎鑴洟锛岄槻姝㈤樆绀欏叾浠栫殑灏忚粖閬庝締鎺ラ銆�
浜�銆侀€氱敤鎺ラ閭忚集
寰炴帴椐佺珯榛�(di菐n)鐨勮瑙掕€冩叜锛岄棞(gu膩n)浜庢瘡涓€鍊�(g猫)閬庝締鎺ラ鐨勮ō(sh猫)鍌�锛岀浉鐣�(d膩ng)浜庤┎瑷�(sh猫)鍌欒垏绔欓粸(di菐n)鏂扮枂鍊夊劜(ch菙)瑷�(sh猫)鍌�鐨勪氦浜�锛岄浼间簬涓€濂楀崝(xi茅)璀�锛屼笉绠′粈涔堣ō(sh猫)鍌�锛屽彧闇€鎭畧鎺ラ鍗�(xi茅)璀帮紝灏辫兘闋嗘殺鐨勬帴椐�锛岃€屼笉蹇呴棞(gu膩n)蹇冨皪(du矛)鏂规槸浠€涔堣ō(sh猫)鍌�銆�
閫欐槸灏�(du矛)鎺ラ绔欓粸(di菐n)鐨勪竴娆℃娊璞″拰瀵�(sh铆)渚嬪寲鐨勯€�(j矛n)绋�锛屾帴椐佽ō(sh猫)鍌欓潰鍚戠殑鏄娊璞＄殑绔欓粸(di菐n)锛岃€屼笉鍚岀殑绔欓粸(di菐n)锛岃鏈夎嚜宸辩殑瀵�(sh铆)渚嬪寲锛屾搷鎺ф帴椐侀€�(j矛n)绋嬩腑鐨勭媭娉佽畩鍖�銆�
鏇犺娌冲湒鍦ㄨ┏绱�(x矛)闋�(xi脿ng)鐩殑瀵�(sh铆)闅涙噳(y墨ng)鐢ㄤ腑锛岄€愭鎻愮厜鍑洪€欏鎺ラ鍗�(xi茅)璀�锛屼竴鏂归潰婊挎剰闋�(xi脿ng)鐩洔浜傛帴椐佸牬鏅殑闇€姹�锛屽彟涓€鏂归潰鍏锋湁寰堝ソ鐨勯€氱敤鎬у拰鍙摯(ku貌)灞曟€э紝鍙互鎿�(ku貌)灞曠偤鍚勭ó瑷�(sh猫)鍌欑殑鎺ラ锛屽苟涓斿叿鏈夊緢濂界殑瀹夊叏鎬у拰榄鎬�銆備笅闈㈣┏绱�(x矛)璜栬堪銆�
5.1 鎺ラ鍗�(xi茅)璀�
涓€鍒囪窡鎺ラ绔欓粸(di菐n)浜や簰鐨勮ō(sh猫)鍌�锛岄兘瑕侀伒寰炲涓嬫帴鍙ｅ崝(xi茅)璀�锛岃┏绱�(x矛)鐨勭珯榛�(di菐n)鍓囪瀹岀祼(ji茅)瑭崇窗(x矛)鐨勯倧杓�銆�
鎳囨眰鎶甸仈(d谩) AskForArrival
AGV 灏忚粖鍦ㄥ幓绔欓粸(di菐n)涔嬪墠瑾�(di脿o)鐢�锛屽洜?y脿n)妲鲸鍚巜姹虹瓥锛屾帴鍙ｅ弮鏁�(sh霉)瑕佸寘鎷鍒讳竴鍒囪鍘昏┎绔欓粸(di菐n)鐨� AGV 灏忚粖锛屾帴鍙ｈ杩斿洖閫欎簺灏忚粖閬庡幓鐨勬搴忋€傞棞(gu膩n)浜庡彲浠ュ幓绔欓粸(di菐n)鐨勫皬杌�锛岃灏�(d菐o)鑸幓绔欓粸(di菐n)锛屼笉鑳藉幓鐨勫皬杌婃湁鍏╃ó鎸戦伕锛屽劒(y艒u)鍏堢湅鏄惁鍙互鍦ㄧ瓑鍊欏崁(q奴)绛夊€欙紙绛夊€欏崁(q奴)鍙冮柋鍚庣簩(x霉)绔犵瘈(ji茅)锛夛紝鍏舵鍗冲彲浠ュ湪鍘熷湴绛夊€�銆�
缇ら珨姹虹瓥閫�(j矛n)绋嬩竴鑸伕鐢ㄩ枔闅斿劒(y艒u)鍏堟埌(zh脿n)鐣ワ紝闃叉鍫典綇鍘荤珯榛�(di菐n)鐨勯€氳矾銆傞枔闅斿劒(y艒u)鍏堟剰鍛宠憲鍙互鎼跺崰锛屽亣濡傚拷鐒跺憟鐝�(xi脿n)涓€鍊�(g猫)闁撻殧绔欓粸(di菐n)杩戜娇鍛�锛屽墖闁撻殧閬�(yu菐n)鐨勪娇鍛芥渻(hu矛)琚敼璁婃柟閲濇柟浣�锛屽幓琛屽垪鎴栫瓑鍊欍€傞櫎浜嗛枔闅斿劒(y艒u)鍏�锛岄倓鍙互鏈夊叾浠栨埌(zh脿n)鐣ワ紝渚嬪瑕佹眰璨ㄥ搧鐨勫嚭搴搴�锛屾槸涓€绋壒娈婇渶姹�锛屼絾鍔熺巼鍙兘瑕佹墦鎶樻墸銆�
鍥�?y脿n)闁倐鏍絆(sh猫)鍌欏湪寤鸿ō(sh猫)鏅�(sh铆)灏卞凡缍�(j墨ng)鍦ㄩ偅閲屼簡锛屾墍浠ヤ笉闇€姹傝(di脿o)鐢� AskForArrival 鎺ュ彛銆�
宸叉姷閬�(d谩) Arrived
AGV 灏忚粖鍦ㄦ姷閬�(d谩)鎺ラ榛�(di菐n)涔嬪悗瑾�(di脿o)鐢�锛屽憡瑷寸珯榛�(di菐n)宸茬稉(j墨ng)灏变綅銆傞€欏€�(g猫)鍛婅ù鏈�(hu矛)瑙哥櫦(f膩)鎺ラ灏�(du矛)鏂圭殑瑷�(sh猫)鍌欙紝绻肩簩(x霉)鍚庣簩(x霉)鐨勯亷绋�銆傚悓涓�锛屽墰鎬цō(sh猫)鍌欎篃涓嶉渶姹傝(di脿o)鐢� Arrived 鎺ュ彛銆�
鎳囨眰鎿嶄綔瀹瑰櫒 AskForOperate
AGV 灏忚粖锛堟垨鍓涙€цō(sh猫)鍌欙級鍦ㄦ搷浣滃鍣ㄤ箣鍓嶈(di脿o)鐢�锛屾噰姹傛槸鍚﹀彲浠ユ搷浣滃緟鎺ラ鐨勫鍣�锛屾帴鍙ｈ杩斿洖 true|false 銆�
瀹岀祼(ji茅)鎿嶄綔 FinishOperate
AGV 灏忚粖锛堟垨鍓涙€цō(sh猫)鍌欙級鍦ㄦ搷浣滃鍣ㄤ箣鍚庤(di脿o)鐢�锛屾(bi膩o)鏄庡凡瀹岀祼(ji茅)灏�(du矛)瀹瑰櫒鐨勭櫦(f膩)閫侊紙鎴栨帴绱嶏級銆�
宸茶劔闆� Release
AGV 灏忚粖鍦ㄨ劔闆㈡帴椐侀粸(di菐n)涔嬪悗瑾�(di脿o)鐢紝鍛婅ù绔欓粸(di菐n)鍙互閫�(j矛n)琛屽悗绾�(x霉)鐨勫叾浠栨帴椐佷娇鍛�銆傞棞(gu膩n)浜庡墰鎬цō(sh猫)鍌欙紝鐣�(d膩ng)瀹瑰櫒鑴�鏂扮枂鍊夊劜(ch菙)瑷�(sh猫)鍌�闆㈡帴椐侀粸(di菐n)鏅�(sh铆)锛屼篃闇€姹傝(di脿o)鐢� Release 锛岃〃鏄庢帴椐侀粸(di菐n)宸茬┖锛屽彲浠ラ€�(j矛n)琛屽悗绾�(x霉)鐨勬帴椐�銆�
5.2 鍔熺巼鑰冮噺
浠ヤ笂鍚勬闆栫劧鍙互闋嗘殺瀹岀祼(ji茅)鎺ラ锛岀劧鑰岃€冩叜鍒板ぇ瑕�(gu墨)妯￠珮鏁堜綔妤�(y猫)鐨勭媭娉佷笅锛岄倓闇€姹傚叾浠栨柟闈㈢殑杓斿姪銆�
楂樺劒(y艒u)鍒嗛厤閬�(y霉n)鍔�
鐣�(d膩ng)鎵樼洡绶氭垨鎻愬崌姗�(j墨)璺� AGV 灏忚粖鎺ラ鐨勬檪(sh铆)鍒�锛岄渶姹傞珮鍎�(y艒u)鍒嗛厤閬�(y霉n)鍔�锛屾晱鎹峰垎閰嶅皬杌婂皣鎵樼洡绉昏蛋锛屼笉鐒惰┎鎵樼洡鏈�(hu矛)闃诲鍚庣簩(x霉)鐨勬墭鐩�锛屽緸鑰屾嫋鎱㈤珨绯荤殑鍔熺巼銆�
鎻愭棭闋�(y霉)鍌欓亱(y霉n)鍔�
鐣�(d膩ng)鎵樼洡绶氭垨鎻愬崌姗�(j墨)璺� AGV 灏忚粖鎺ラ鐨勬檪(sh铆)鍒嗭紝闇€姹傛彁鏃╁湪鎺ラ榛�(di菐n)閯拌繎闋�(y霉)鍌欓亱(y霉n)鍔�锛屼互鍓婃笡灏忚粖鐨勭┖椐涢枔闅�锛屾彁鏃╅爯(y霉)鍌欓亱(y霉n)鍔涚殑鏅�(sh铆)姗�(j墨)姣旇純瑕佸锛屽亣濡傞亷鏃�锛屽墖閫犳垚閬�(y霉n)鍔涚殑鎿辩疆娴不(f猫i)銆備竴鑸闋�(y霉)娓�(c猫)鎵樼洡闋�(y霉)瑷�(j矛)鎶甸仈(d谩)鎺ラ榛�(di菐n)鐨勬檪(sh铆)鍒伙紝鍋囧灏忎簬鏌愬€�(g猫)闁惧€�锛屾棦鍙互闁嬬闋�(y霉)鍌欓亱(y霉n)鍔�銆�
閫佽波鍚庡強鏅�(sh铆)鑴洟
鍘绘帴椐侀粸(di菐n)閫佽波鐨� AGV 灏忚粖锛屽湪鎺ラ瀹岀祼(ji茅)鍚�锛岃鍙婃檪(sh铆)鑴洟锛屼竴鑸槸鍥炲埌閯拌繎鐨勬瓏鎭崁(q奴)锛岀暥(d膩ng)鐒跺幓姝囨伅鍗€(q奴)鐨勪娇鍛芥槸鍙互涓鐨勶紝鍋囧鏈夊叾浠栦娇鍛界洿鎺ュ幓鍩�(zh铆)琛屽叾浠栦娇鍛�銆�
鎺ラ榛�(di菐n)鎸戦伕
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鍏�銆佹(j墨)姊拌噦宸ヤ綔绔�
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渚嗘浣嶇殑绠卞瓙锛屽湪閫佸埌绔欓粸(di菐n)涔嬪墠锛岃(di脿o)鐢� AskForOperate锛屼繚璀夋(j墨)姊拌噦鍙互鎵垮彈渚嗘柊鐨勭瀛愶紱
渚嗘浣嶇殑绠卞瓙锛屽湪绔欓粸(di菐n)鍋滅┅(w臎n)鍚庯紝瑾�(di脿o)鐢� FinishOperate锛屽憡瑷存(j墨)姊拌噦渚嗕簡涓€鍊�(g猫)鏂扮瀛愶紱
AGV 灏忚粖鍦ㄥ幓鏂归嚌浣嶄箣鍓�锛岃(di脿o)鐢� AskForArrival锛屾噰姹傛槸鍚﹀彲浠ュ幓鏂归嚌浣�锛�
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AGV 灏忚粖鍦ㄨ劔闆㈡柟閲濅綅鍚�锛岃(di脿o)鐢� Release锛屽憡瑷存(j墨)姊拌噦鏂归嚌浣嶅凡绌�銆�
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7.1 琛屽垪
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7.2 姝囨伅浣�
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7.3姗�(j墨)姊拌噦
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