# US 2023/0273622 A1 · Method, system, and non-transitory computer-readable recording medium for controlling plurality of automated guided vehicles > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2023/0273622 A1 - Document ID: US20230273622A1 - Status: Published application - Kind: A1 - Application number: 18/143,713 - Filed: 2023-05-05 - Published: 2023-08-31 - Earliest claimed: 2021-07-15 - Assignees: Servostar Co., Ltd. - Applicants: Servostar Co., Ltd. - Inventors: Gi Jin LEE; Seol Min JEONG - Web page: https://patentgrep.com/patent/US20230273622A1 ## CPC - G05D 1/0289: {with means for avoiding collisions between vehicles (vehicle fittings for automatically controlling speed including means for detecting potential obstacles B60K31/0008; avoiding obstacles by action on the steering system B62D; radar, sonar, lidar systems designed for anti-collision purposes G01S13/93, G01S15/93, G01S17/93)} - G05D 1/0297: {by controlling means in a control room} - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES ## Abstract A method for controlling a plurality of automated guided vehicles (AGVs) includes acquiring real-time information regarding positions of the plurality of AGVs moving along an automated guided vehicle route (AGV route), setting a blocking area for each of the AGVs based on the information regarding the positions of the plurality of AGVs acquired in the step of acquiring the real-time information, and controlling movements of the plurality of AGVs with reference to the blocking area. When an AGV is located at any one of plurality of points in the AGV route, a point at which the AGV is located and a movement line adjacent thereto are set as the blocking area. When the AGV is located on any one of movement lines in the AGV route, movement lines on which the AGV is located and through which the AGV has just passed are set as the blocking area. ## Claims ### Claim 1 A method for controlling a plurality of automated guided vehicles, comprising the steps of: acquiring real-time information regarding positions of the plurality of automated guided vehicles moving along an automated guided vehicle route; setting a blocking area for each of the automated guided vehicles based on the real-time information regarding the positions of the plurality of automated guided vehicles acquired in the step of acquiring the real-time information; and controlling movements of the plurality of automated guided vehicles with reference to the blocking area, wherein the automated guided vehicle route comprises a plurality of points and movement lines connecting two adjacent points among the plurality of points, wherein in the step of setting the blocking area, when an automated guided vehicle is located at any one of the plurality of points, a point at which the automated guided vehicle is located and a movement line adjacent thereto are set as the blocking area, when the automated guided vehicle is located on any one of the movement lines, a movement line on which the automated guided vehicle is located and a movement line through which the automated guided vehicle has just passed are set as the blocking area, and the blocking area is set and changed in real time in accordance with the movement of each of the automated guided vehicles, and wherein in the step of controlling the movement of the plurality of automated guided vehicles, the movement of the automated guided vehicle attempting to enter a blocking area is controlled to stop and the movement of the automated guided vehicle is controlled to resume when the blocking area is released. ### Claim 2 (depends on 1) The method of claim 1, further comprising a step of: setting the automated guided vehicle route in advance. ### Claim 3 (depends on 1) The method of claim 1, wherein in the step of setting the blocking area, when an automated guided vehicle is located on any one of the movement lines, a movement line to which the automated guided vehicle will move next is set as the blocking area in addition to the movement line on which the automated guided vehicle is located and the movement line through which the automated guided vehicle has just passed. ### Claim 4 (depends on 1) The method of claim 1, wherein, in case that two or more movement lines join any one point among the plurality of points in the automated guided vehicle route, if any one of movement line of the two or more movement lines is set as the blocking area, a rest of the movement lines are also set as the blocking area. ### Claim 5 (depends on 1) A non-temporary computer-readable recording medium storing a computer program for executing the method according to claim 1. ### Claim 6 A system for integrally controlling a plurality of automated guided vehicles, comprising: an information acquisition unit configured to acquire real-time information regarding positions of the plurality of automated guided vehicles moving along an automated guided vehicle route; a blocking area setting unit configured to set a blocking area for each of the automated guided vehicles based on the real-time information regarding the positions of the plurality of automated guided vehicles acquired in the information acquisition unit; and a movement control unit configured to control movements of the plurality of automated guided vehicles with reference to the blocking area, wherein the automated guided vehicle route comprises a plurality of points and movement lines connecting two adjacent points among the plurality of points, wherein the blocking area setting unit sets, when an automated guided vehicle is located at any one of the plurality of points, a point at which the automated guided vehicle is located and a movement line adjacent thereto are set as the blocking area, when the automated guided vehicle is located on any one of the movement lines, a movement line on which the automated guided vehicle is located and a movement line through which the automated guided vehicle has just passed are set as the blocking area, and the blocking area is set and changed in real time in accordance with the movement of each of the automated guided vehicles, and wherein the movement control unit controls to stop the movement of the automated guided vehicle attempting to enter the blocking area and to resume the movement of the automated guided vehicle when the blocking area is released.