Automated Guided Vehicle, Component Feeding Device, Article Distribution System, and Control Method

Abstract

The present invention discloses an automatic guided vehicle, comprising: a vehicle frame; a motor mounted on the vehicle frame; one or more traveling devices mounted at the bottom of the vehicle frame and drivable by the motor to drive the automatic guided vehicle to move; and a comb tooth device mounted on the vehicle frame to grasp and / or release an article. Through the embodiments of the present invention, high-efficiency parcel sorting operations can be achieved, the smoothness of the operation process is very high, and parcel supply is realized without the AGV stopping, and the parcel supply time is greatly shortened. In addition, the embodiments of the present invention will utilize the thrust in the self-moving direction of the AGV to automatically pick up parts without decelerating and stopping, achieving the efficiency of the AGV at the part supply point at a lower cost, and at the same time reducing the waste of the operation ability of the part supply workers.

Description

Technical Field

[0001] The present invention relates to the field of intelligent warehousing, and particularly to an automatic guided vehicle, a feeding device, an article distribution system, and a control method that can pick up and place goods without stopping the vehicle. Background Art

[0002] In the current logistics and warehousing field, automatic guided vehicles (AGVs) have been increasingly used to replace or supplement manual labor. An automatic guided vehicle can automatically receive an item handling task, reach a first position under program control, pick up an item, then travel to a second position, unload the item, and continue to perform other tasks. For example, as Figure 1 shown, an automatic guided vehicle in the prior art generally includes a base located below and wheels installed below the base, and can travel in a warehouse under program planning control. A placing platform is installed above the AGV and can be used to place goods. When the automatic guided vehicle travels to the feeding point, it stops moving, and the goods are placed on the placing platform of the automatic guided vehicle through a robotic arm or a lifting mechanism. After the goods are loaded, the automatic guided vehicle restarts, travels to the target position, and unloads the goods again through a robotic arm or other means in a stationary state, completing a goods handling task.

[0003] In the automatic guided vehicle parcel sorting service, the existing automatic guided vehicles on the market will decelerate and stop for feeding at the feeding point, and then accelerate and leave after feeding. This acceleration and deceleration process will cause waste of time. At the same time, the automatic guided vehicle accelerates and decelerates, consuming a large amount of battery power, reducing the charging interval of the AGV, and resulting in low overall efficiency.

[0004] In the application of sorting machines, there is a feeding table for achieving a similar purpose, which is mainly divided into a feeding point and a temporary storage point. Most sorting machines are of a ring structure. Once started, all sorting trolleys will run at a constant speed on the track. After the package is placed on the feeding table, it will rotate forward to the temporary storage position. When an empty sorting trolley is encountered, the belts of the sorting trolley and the temporary storage point will rotate synchronously to transfer the package to the sorting trolley, and the non-stop feeding of the sorting trolley is also achieved in this process.

[0005] In the AGV parcel sorting solution, a similar feeding table can also be used to achieve the same purpose, but the synchronization requirements for the AGV and the feeding table will be much higher (the AGV is a flexible solution, and factors such as the consistency of the AGV body, the current speed of the AGV, the road surface conditions, and the communication quality will cause the working conditions of the entire feeding process to be much more complex than those of the sorting machine). In addition, this kind of feeding table uses more power equipment and has a higher cost, and is not very suitable for large-scale commercial applications.

[0006] The content in the background art section is only the technology known to the inventor and does not of course represent the prior art in this field. Summary of the Invention

[0007] In view of this, the present invention provides an automatic guided vehicle, comprising: a vehicle frame; a motor mounted on the vehicle frame; one or more traveling devices mounted at the bottom of the vehicle frame and drivable by the motor to drive the automatic guided vehicle to move; and a comb device mounted on the vehicle frame to grasp and / or release articles.

[0008] According to one aspect of the present invention, the vehicle frame includes a storage platform, and the comb device is mounted on one side of the storage platform and configured to grasp the article and place it on the storage platform while the automatic guided vehicle is moving.

[0009] According to one aspect of the present invention, the comb device has combs along the vertical direction, and the combs are preferably evenly distributed. The automatic guided vehicle further includes a navigation and positioning device provided on the vehicle frame.

[0010] The present invention also provides a feeding device for articles to be distributed, comprising: a base; a comb device provided on the base and configured to carry the articles to be distributed.

[0011] According to one aspect of the present invention, the base has a portal frame, and the comb device is provided on the cross beam of the portal frame.

[0012] According to one aspect of the present invention, it further includes a sensing device provided on the base, and the sensing device is configured to sense information of the articles to be distributed. The sensing device is preferably a scanner and / or a camera and / or a weighing device.

[0013] The present invention also provides an article distribution system, comprising: the automatic guided vehicle as described above; the feeding device as described above; and a control device, which is coupled to the automatic guided vehicle and configured to issue a task of picking up articles from the feeding device to the automatic guided vehicle. When the automatic guided vehicle is in a moving state and without interfering with the feeding device, it picks up the articles to be distributed carried on the comb device of the feeding device.

[0014] According to one aspect of the present invention, the control device is configured to: before the automatic guided vehicle picks up the articles to be distributed, position the automatic guided vehicle relative to the feeding device so that the comb devices of the two are staggered from each other.

[0015] The present invention also provides a control method for distributing articles, including: placing the articles to be distributed on the feeding device as described above; sending the picking task corresponding to the articles to the automatic guided vehicle as described above; and enabling the automatic guided vehicle to pick up the articles to be distributed carried on the comb device of the feeding device while in a moving state and without interfering with the feeding device.

[0016] According to one aspect of the present invention, the control method further includes: sending a message indicating successful picking after the articles to be distributed are picked up.

[0017] According to one aspect of the present invention, the control method further includes: positioning the automatic guided vehicle relative to the feeding device so that the comb devices of the two are staggered before the automatic guided vehicle picks up the articles to be distributed.

[0018] According to one aspect of the present invention, the control method further includes: placing the articles to be distributed into a receiving container. Through the embodiments of the present invention, highly efficient parcel sorting operations can be achieved, the fluency of the operation process is very high, and parcel feeding is realized without the AGV stopping, greatly shortening the parcel feeding time.

[0019] In addition, the embodiments of the present invention will use the thrust in the moving direction of the AGV for automatic picking, without the need to decelerate and stop, achieving the efficiency of the AGV at the feeding point at a lower cost, and at the same time reducing the waste of the operation ability of the feeding workers. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The drawings constituting a part of the present invention are used to provide a further understanding of the present invention. The schematic embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0021] Figure 1 Shows a schematic diagram of an automatic guided vehicle in the prior art;

[0022] Figure 2 Shows an article distribution system according to an embodiment of the present invention;

[0023] Figure 3 Schematically shows an automatic guided vehicle according to a preferred embodiment of the present invention;

[0024] Figure 4 Shows a modified automatic guided vehicle according to the present invention;

[0025] Figure 5 Shows a feeding device for articles to be distributed according to an embodiment of the present invention;

[0026] Figure 6shows a control method for distributing articles according to an embodiment of the present invention; and

[0027] Figures 7A - 7D shows a control method according to an embodiment of the present invention and the working processes of a feeding device and an automated guided vehicle. Detailed implementation manners

[0028] In the following, only some exemplary embodiments are simply described. As those skilled in the art can recognize, the described embodiments can be modified in various different ways without departing from the spirit or scope of the present invention. Therefore, the drawings and the description are regarded as being exemplary in nature rather than restrictive.

[0029] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus cannot be construed as a limitation on the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of the described features. In the description of the present invention, "a plurality" means two or more unless otherwise specifically defined.

[0030] In the description of the present invention, it should be noted that, unless otherwise clearly defined and limited, the terms "mounted", "connected" and "coupled" should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection or an integral connection; it may be a mechanical connection, an electrical connection or a communication connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the internal communication of two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0031] In the present invention, unless otherwise expressly specified or limited, the first feature being "on" or "under" the second feature may include direct contact between the first and second features, or may include contact between the first and second features through additional features therebetween rather than direct contact. Moreover, the first feature being "above", "over" and "on top of" the second feature includes the first feature being directly above and obliquely above the second feature, or merely indicating that the horizontal height of the first feature is higher than that of the second feature. The first feature being "under", "below" and "beneath" the second feature includes the first feature being directly below and obliquely below the second feature, or merely indicating that the horizontal height of the first feature is less than that of the second feature.

[0032] The following disclosure provides many different embodiments or examples for implementing different structures of the present invention. To simplify the disclosure of the present invention, components and arrangements of specific examples are described below. Of course, they are merely examples and are not intended to limit the present invention. In addition, the present invention may repeat reference numerals and / or reference letters in different examples, and this repetition is for the purpose of simplification and clarity and does not in itself indicate the relationship between the various embodiments and / or arrangements discussed. In addition, the present invention provides examples of various specific processes and materials, but those of ordinary skill in the art may be aware of the application of other processes and / or the use of other materials.

[0033] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are only for the purpose of illustrating and explaining the present invention and are not intended to limit the present invention.

[0034] Figure 2 A schematic diagram of an article distribution system 100 according to an embodiment of the present invention is shown. As Figure 2 shown, the article distribution system 100 of this embodiment includes: an automated guided vehicle (AGV) 6 located at position 101 for performing sorting tasks of articles or packages; a feeding device 7 located at position 102 on which a plurality of articles or packages to be sorted can be placed and picked up and transported to other positions by the automated guided vehicle 6; a receiving device 8 located at position 103 for receiving the articles or packages transported by the automated guided vehicle 6, and the receiving device 8 may be a receiving container, or a next-level handling device, etc.; and a control device 9. The control device 9 may be, for example, a scheduling system and / or a network server. The control device 9 is communicatively coupled to the automated guided vehicle 6 and can issue the task of picking up articles from the feeding device 7 to the automated guided vehicle 6, so that the automated guided vehicle 6 picks up the articles to be distributed carried on the feeding device while in a moving state and without interfering with the feeding device 7.

[0035] Figure 2The control device 9 is shown as a separate device, but those skilled in the art can understand that the present invention is not limited thereto, and the control device 9 can be integrated into other components, such as integrated with the feeding device 7, which are all within the scope of the present invention. The control device 9 can be implemented in the form of software, hardware, or a combination of software and hardware. For example, it can be a separate computer, a single-chip microcomputer, a microprocessor, a microcontroller, a digital signal processor, an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), etc. or other integrated formats to implement, which are all within the scope of the present invention. Additionally, the control device 9 can control multiple automatic guided vehicles 6 simultaneously, so as to perform multiple item sorting tasks in the warehouse simultaneously.

[0036] Preferably, the control device 9 can be communicatively coupled to the feeding device 7, so as to timely learn about the items to be sorted placed on the feeding device 7 and timely issue sorting tasks to the available automatic guided vehicles 6.

[0037] Figure 2 Figure 100 schematically illustrates an item distribution system according to an embodiment of the present invention. The following specifically describes the specific structures of the automatic guided vehicle 6 and the feeding device 7.

[0038] Figure 3 Figure 6 schematically shows the structure of an automatic guided vehicle 6 according to a preferred embodiment of the present invention. As Figure 3 shown, the automatic guided vehicle 6 includes a vehicle frame 61, a traveling device 63, and a comb tooth device 65. The vehicle frame 6 includes components such as a chassis, a column, and a support platform for installing other components of the automatic guided vehicle 6. The traveling device 63 is installed at the bottom of the vehicle frame 61. In Figure 3 Figure 5, the traveling device 63 is shown as rollers. Of course, it can also be implemented in other ways, such as a crawler structure, which are all within the scope of the present invention. The automatic guided vehicle 6 further includes a motor (not shown), and the motor is installed on the vehicle frame 61 and is coupled to the traveling device 63 through a transmission, for driving the traveling device 63, so that the automatic guided vehicle 6 can move on a support plane. The number of the traveling devices 63 can be set as needed. For example, two, three, or four can be set to achieve traveling actions such as forward, backward, turning, and stopping on the support plane. The comb tooth device 65 is installed on the vehicle frame to grab and / or release items. Compared with the automatic guided vehicle shown in Figure 1 Figure 7, Figure 3 the automatic guided vehicle shown in Figure 8 can grab items without stopping, thus greatly improving the efficiency of item sorting and handling. Preferably, as shown in Figure 3 Figure 9, the comb tooth device 65 of the automatic guided vehicle 6 can be arranged at the rear end of the automatic guided vehicle along its traveling direction. In this way, when the automatic guided vehicle travels forward, the comb tooth device can directly capture the items to be sorted and then transport them to the next destination.

[0039] According to a preferred embodiment of the present invention, the vehicle frame 61 further includes a storage platform 67 for placing the items to be sorted and transported. The comb device 65 is installed on one side of the storage platform 67 (for example, the rear side along the traveling direction). The comb device 65 preferably has combs along the vertical direction, and the combs are preferably evenly distributed. The spacing between the combs can be arbitrarily set as needed. For example, when the items in the warehouse are large in size, the spacing between the combs can be large; when the items to be sorted in the warehouse are small in size, the spacing between the combs can be set appropriately smaller.

[0040] According to a preferred embodiment of the present invention, the automated guided vehicle 6 may further include a navigation and positioning device (not shown) provided on the vehicle frame 61. The navigation and positioning device is configured to locate the current position of the automated guided vehicle 6 and / or navigate the movement of the automated guided vehicle 6. The navigation and positioning device may include, for example, a code scanning device that can read the floor code on the ground to determine the current position of the automated guided vehicle 6 and / or perform navigation. The navigation and positioning device may also include a magnetic induction device that can sense the magnetic guide rail on the ground. The navigation and positioning device may also include a camera to perform positioning and navigation based on the captured images (such as floor textures) (for example, through SLAM technology).

[0041] Figure 4 An automated guided vehicle according to a modification of the present invention is shown. Compared with Figure 3 the automated guided vehicle, Figure 4 the storage platform of the automated guided vehicle in has a plurality of rollers. In addition to the roller-type automated guided vehicle, the technical solution of the present invention can also be applied to other types of automated guided vehicles, such as belt-disc type, tipping type, and push-pull type automated guided vehicles.

[0042] Next, refer to Figure 5 to describe a feeding device 7 for items to be distributed according to an embodiment of the present invention. As Figure 5 shown, the feeding device 7 includes a base 75 and a comb device 74. The comb device 74 is provided on the base 75 and is configured to carry the items to be distributed. The feeding device 7 may further include a separate robotic arm (not shown) for placing the items to be distributed on the comb device 74. The robotic arm may also be provided by other devices other than the feeding device 7, and these are all within the scope of the present invention.

[0043] In the embodiment shown in FIG. 7, the base 75 is, for example, a gantry-shaped frame, for example, including columns and crossbeams. The comb device 74 is provided on the crossbeam of the gantry-shaped frame. The comb device has, for example, an L-shaped structure, wherein the vertical portion of the L-shaped structure can be suspended on the crossbeam of the gantry-shaped frame, and the horizontal portion of the L-shaped structure is used to carry the items to be distributed.

[0044] Figure 5 The feeding device 7 shown does not have rollers and can be placed in a fixed position. However, those skilled in the art can also conceive that a traveling device can be provided on the feeding device 7, so that its position can be adjusted as needed, making it more flexible to operate.

[0045] According to another preferred embodiment, the feeding device 7 may further include a sensing device provided on the base 75. Figure 5 Two sensing devices are shown, namely a vision device 72 and a weighing device 73. The weighing device 73 is used to measure the weight of the item to be distributed. The vision device can be, for example, a camera or a scanner, such as for obtaining a photo of the item to be distributed or reading the QR code on the label of the item. Of course, other types of sensing devices can also be included, such as an NFC reader. In this case, the item to be distributed has an NFC tag, and the NFC reader can read the data information in the NFC tag of the item. The item information measured by the sensing device, such as QR code information, destination information, weight information, etc., can be communicated to the control device 9, and the control device 9 can allocate the work tasks to the appropriate automated guided vehicle 6 according to the information of the item to be distributed.

[0046] Figure 6 A control method 600 for distributing items according to an embodiment of the present invention is shown. As Figure 6 shown, the control method 600 includes:

[0047] In step S601, place the item to be distributed on the feeding device, such as on the comb device of the feeding device. The feeding device is, for example, the feeding device 7 described above.

[0048] In step S602, issue the picking task corresponding to the item to the automated guided vehicle. The automated guided vehicle is, for example, the automated guided vehicle 6 described above.

[0049] In step S603, make the automated guided vehicle pick up the item to be distributed carried on the comb device of the feeding device in a moving state and without interfering with the feeding device.

[0050] According to a preferred embodiment of the present invention, the control method 600 further includes: in step S604, send a message indicating successful picking when the item to be distributed is picked up.

[0051] According to a preferred embodiment of the present invention, the control method 600 further includes: in step S605, transport the item to be distributed to the destination and place it in the receiving container.

[0052] According to a preferred embodiment of the present invention, the control method 600 further includes: before the automated guided vehicle picks up the item to be distributed, positioning the automated guided vehicle relative to the feeding device so that the comb devices of the two are staggered from each other.

[0053] The control method 600 of the present invention is implemented, for example, by Figure 2 the automated guided vehicle 6, the feeding device 7, and the control device 9 in

[0054] Next, reference is made to Figures 7A - 7D to describe the control method of the present invention and the working processes of the feeding device and the automated guided vehicle.

[0055] Figure 7A It is shown that the item 10 to be sorted is placed on the comb device 74 of the feeding device 7. After receiving the sorting task, the automated guided vehicle 6 travels towards the position of the feeding device 7.

[0056] Preferably, the feeding device 7 can measure various parameters of the goods 10 through the sensing device thereon, such as one or more of information such as weight, specification, target delivery location, etc. After collecting the corresponding information, the information is communicated to the control device 9. The control device 9 selects an available automated guided vehicle 6 from the fleet of automated guided vehicles to issue a pick-up task. During the selection process, the control device 9 may need to match the parameters of the corresponding automated guided vehicle 6. For example, if the weight of the goods is large, then the loading capacity and / or power level of the selected automated guided vehicle 6 must be able to complete the transportation of the goods. If there is no available automated guided vehicle currently, this information needs to be fed back to the control personnel, or the pick-up task is added to the task queue and waited for an available automated guided vehicle, and then the automated guided vehicle is matched and the pick-up task is issued.

[0057] Figure 7B It is shown that when the automated guided vehicle 6 approaches the feeding device 7, the comb device of the automated guided vehicle 6 and the comb device of the feeding device 7 are "combed" in an interleaved manner, that is, the comb of the automated guided vehicle 6 passes through the gap between the combs of the feeding device 7, and without interference between the two, it carries the item 10 on the comb device 74 and leaves. Figure 7C It is shown Figure 7B the rear view of the state of Figure 7CAs shown, the comb tooth device of the automatic guided vehicle 6 and the comb tooth device of the component supply device 7 are interlaced with each other. Therefore, preferably, the tooth pitch of the comb tooth device of the automatic guided vehicle 6 and the comb tooth device of the component supply device 7 is equal. Those skilled in the art can understand that various technical means can be used to enable the automatic guided vehicle 6 to pick up goods from the component supply device 7 "without interference". For example, a navigation module can be provided on the automatic guided vehicle to enable the automatic guided vehicle to travel along a predetermined trajectory. For example, according to a preferred embodiment, a magnetic guide rail can be provided on the ground, and the automatic guided vehicle can achieve relative positioning with the component supply device 7 by sensing the position of the ground magnetic guide rail during travel. Or, ground codes or ground textures can be provided on the ground, and the automatic guided vehicle can identify the ground codes or ground textures through a vision device to achieve positioning relative to the component supply device 7. Or alternatively, the automatic guided vehicle can include SLAM technology to achieve positioning. These are all within the scope of the present invention. That is, the automatic guided vehicle has corresponding navigation and positioning functions, and the relative position of the component supply device can be marked in advance. The automatic guided vehicle can accurately pass through the marked point to ensure that it passes without interference. Specifically, the component supply device can be installed above a certain ground code, and the automatic guided vehicle will ensure that it accurately passes through the position of the ground code, ensuring that the comb teeth are staggered from the component supply device.

[0058] Those skilled in the art can understand that "without interference" in the present invention means that the interaction between the automatic guided vehicle 6 and the component supply device 7 during the goods handover process will not significantly hinder the movement of the automatic guided vehicle, so that the automatic guided vehicle 6 can obtain goods while moving. For example, it can include the situation where the comb tooth devices of the automatic guided vehicle 6 and the component supply device 7 do not come into contact at all, or it can also include the situation where only slight frictional contact occurs between the two.

[0059] Figure 7D It shows that after the automatic guided vehicle 6 obtains the goods 10, it continues to move away. The goods 10 are located on the placement platform of the automatic guided vehicle 6 and are unloaded after traveling to the target position. After the automatic guided vehicle 6 obtains the goods, it can feedback the information of successful pick-up at an opportune moment.

[0060] According to various embodiments of the present invention, after the package or item is placed, it can be picked up by the automatic guided vehicle AGV without stopping, and the system structure is stable and the cost is low. In addition, the control difficulty of the AGV is fully reduced (the logic is simple and the hardware cost of the AGV body can be saved).

[0061] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

[0062] Finally, it should be noted that the above are only the preferred embodiments of the present invention and are not used to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or perform equivalent replacements for some of the technical features. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. An automatic guided vehicle, comprising: A frame; A motor, mounted on the frame; One or more traveling devices, mounted at the bottom of the frame and drivable by the motor to drive the automatic guided vehicle to move; A comb device, mounted on the frame to grasp an article, the comb device being disposed at the rear end in the traveling direction of the automatic guided vehicle; and A storage platform, the comb device being mounted on one side of the storage platform and configured to grasp the article while the automatic guided vehicle is moving and place it on the storage platform.

2. The automatic guided vehicle according to claim 1, wherein The comb device has combs along the vertical direction.

3. The automatic guided vehicle according to claim 2, wherein The combs are evenly distributed.

4. The automatic guided vehicle according to claim 2, wherein The automatic guided vehicle further includes a navigation and positioning device disposed on the frame.

5. A feeding device for articles to be distributed, comprising: A base having a portal frame; A comb device, the comb device being disposed on the base and configured to carry the articles to be distributed; the comb device is disposed on the cross beam of the portal frame; the comb device has an L-shaped structure, the vertical portion of the L-shaped structure is suspended on the cross beam of the portal frame, and the horizontal portion of the L-shaped structure carries the articles to be distributed.

6. The feeding device according to claim 5, characterized in that, It further includes a sensing device disposed on the base, the sensing device being configured to sense information of the articles to be distributed.

7. The feeding device according to claim 6, characterized in that, The sensing device is a scanner and / or a camera and / or a weighing device.

8. An article distribution system, comprising: The automatic guided vehicle according to any one of claims 1-4; The feeding device according to any one of claims 5-7; And A control device, the control device being coupled to the automatic guided vehicle and configured to issue a task of picking up articles from the feeding device to the automatic guided vehicle, and the automatic guided vehicle picks up the articles to be distributed carried on the comb device of the feeding device while in a moving state and without interfering with the feeding device.

9. The article distribution system according to claim 8, characterized in that, The control device is configured to: before the automatic guided vehicle picks up the articles to be distributed, position the automatic guided vehicle relative to the feeding device so that the comb devices of the two are staggered from each other.

10. A control method for distributing articles, comprising: Placing the articles to be distributed on the feeding device according to any one of claims 5-7; Issuing a picking-up task corresponding to the articles to the automatic guided vehicle according to any one of claims 1-4; And Enabling the automatic guided vehicle to pick up the articles to be distributed carried on the comb device of the feeding device while in a moving state and without interfering with the feeding device.

11. The control method according to claim 10, characterized in that, It further includes: When the articles to be distributed are picked up, sending a message indicating successful picking-up; Placing the articles to be distributed into a receiving container.

12. The control method according to claim 10 or 11, characterized in that, It further includes: Before the automatic guided vehicle picks up the articles to be distributed, positioning the automatic guided vehicle relative to the feeding device so that the comb devices of the two are staggered from each other.

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