RGV is one of the most commonly used pre-warehouse conveying equipment in the current intelligent logistics warehousing system. It has the characteristics of flexible line layout, fast driving speed, strong carrying capacity, strong applicability, and multiple vehicles can operate at the same time. Weilai's RGV adopts a unique scheduling control algorithm, which achieves that in the case of the same number of AGV vehicles, the waiting time of each vehicle in the system due to overlapping operation routes is shortened by more than 10%, effectively improving the effective operation time of each AGV vehicle. In addition to the scheduling algorithm, the system also uses infrared, laser and other safety scanning methods to avoid collisions between vehicles.