AGV trolley fork arm control method, equipment, storage medium and device

Abstract

The present invention discloses a method, equipment, storage medium and device for controlling the fork arm of an AGV trolley, and relates to the technical field of AGV motion control. The method comprises: obtaining the current position information of the AGV trolley; determining the sign information corresponding to the current position information according to preset map information; obtaining a preset script file, and executing the script file to obtain the corresponding control strategy; determining the target height control parameter corresponding to the sign information according to the control strategy; and adjusting the fork arm height of the AGV trolley according to the target height control parameter. The present invention controls the movement of the fork arm through a script, determines the height parameter according to the script, and separates the fork arm control into the script to increase editability; thereby, when the fork arm needs to adapt to different scenarios, the fork arm can be quickly adjusted, thereby improving the control efficiency of the fork arm.

Description

Technical Field

[0001] The present invention relates to the technical field of AGV motion control, and in particular to an AGV trolley fork arm control method, equipment, storage medium and device. Background Art

[0002] At present, the fork arm control of AGV (Automated Guided Vehicle) is controlled by an internal fixed program, and AGVs need to be configured at different heights in different scenarios. The control program of AGVs needs to be modified according to the scenario, and when the control program is complex, the efficiency of the fork arm of AGVs will be reduced. Therefore, how to easily control the fork arm of AGVs is a technical problem that needs to be solved urgently.

[0003] The above contents are only used to assist in understanding the technical solution of the present invention and do not constitute an admission that the above contents are prior art. Summary of the invention

[0004] The main purpose of the present invention is to provide an AGV trolley fork arm control method, equipment, storage medium and device, aiming to solve the technical problem of low fork arm control efficiency of AGV trolley in the prior art.

[0005] To achieve the above object, the present invention provides an AGV trolley fork arm control method, the AGV trolley fork arm control method comprising the following steps:

[0006] Get the current location information of the AGV;

[0007] Determine the sign information corresponding to the current location information according to the preset map information;

[0008] Obtain a preset script file and execute the script file to obtain a corresponding control strategy;

[0009] Determine the target height control parameter corresponding to the sign information according to the control strategy;

[0010] The fork arm height of the AGV trolley is adjusted according to the target height control parameter.

[0011] Optionally, determining the target height control parameter corresponding to the sign information according to the control strategy includes:

[0012] When the sign information is a safety sign, determining a safety height parameter table corresponding to the preset map information according to the control strategy;

[0013] The safety height parameter corresponding to the safety sign is searched according to the current position information, and the safety height parameter is used as the target height control parameter.

[0014] Optionally, determining the target height control parameter corresponding to the sign information according to the control strategy includes:

[0015] When the flag information is a job flag, determining a target interface access address according to the control strategy;

[0016] Calling job data via the target interface access address;

[0017] An operation height parameter is determined according to the operation data, and the operation height parameter is used as a target height control parameter.

[0018] Optionally, determining an operation height parameter according to the operation data, and using the operation height parameter as a target height control parameter, includes:

[0019] Determine the waiting operation mode of the AGV according to the operation mark;

[0020] The operation height parameter is searched in the operation data according to the operation mode to be operated, and the operation height parameter is used as the target height control parameter.

[0021] Optionally, determining the target height control parameter corresponding to the sign information according to the control strategy includes:

[0022] When receiving a stop command, determining the current standby mode of the AGV according to the stop command;

[0023] Determining a preset standby altitude parameter corresponding to the current standby mode according to the control strategy;

[0024] The standby altitude parameter is used as a target altitude control parameter corresponding to the flag information.

[0025] Optionally, obtaining the current position information of the AGV includes:

[0026] Receive a broadcast signal sent by a preset beacon, detect the broadcast signal, and obtain a signal strength corresponding to the broadcast signal;

[0027] Obtaining the location information of the preset beacon;

[0028] The current position information of the AGV is determined according to the position information of the preset beacon and the signal strength.

[0029] Optionally, obtaining a preset script file and executing the script file to obtain a corresponding control strategy includes:

[0030] When receiving a motion instruction, determining the operation mode of the AGV according to the motion instruction;

[0031] Searching for a corresponding script file from a preset script library according to the operation mode;

[0032] Execute the script file to obtain the corresponding control strategy.

[0033] In addition, to achieve the above-mentioned purpose, the present invention also proposes an AGV trolley fork arm control device, the AGV trolley fork arm control device comprising:

[0034] Positioning module, used to obtain the current location information of the AGV;

[0035] An identification module, used to determine the sign information corresponding to the current location information according to preset map information;

[0036] A script module is used to obtain a preset script file and execute the script file to obtain a corresponding control strategy;

[0037] A parameter confirmation module, used to determine the target height control parameter corresponding to the sign information according to the control strategy;

[0038] The adjustment module is used to adjust the fork arm height of the AGV according to the target height control parameter.

[0039] In addition, to achieve the above-mentioned purpose, the present invention also proposes an AGV trolley fork arm control device, which includes a memory, a processor, and an AGV trolley fork arm control program stored in the memory and executable on the processor, and the AGV trolley fork arm control program is configured to implement the steps of the AGV trolley fork arm control method as described above.

[0040] In addition, to achieve the above-mentioned purpose, the present invention also proposes a storage medium, on which an AGV trolley fork arm control program is stored. When the AGV trolley fork arm control program is executed by a processor, the steps of the AGV trolley fork arm control method described above are implemented.

[0041] In the present invention, the current position information of the AGV is obtained; the sign information corresponding to the current position information is determined according to the preset map information; a preset script file is obtained, and the script file is executed to obtain the corresponding control strategy; the target height control parameter corresponding to the sign information is determined according to the control strategy; and the fork arm height of the AGV is adjusted according to the target height control parameter. The present invention controls the movement of the fork arm through the script, determines the height parameter according to the script, and separates the fork arm control into the script to increase editability; thus, when the fork arm needs to adapt to different scenarios, the fork arm can be quickly adjusted, thereby improving the control efficiency of the fork arm. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 It is a structural schematic diagram of an AGV trolley fork arm control device in a hardware operating environment involved in an embodiment of the present invention;

[0043] Figure 2 It is a schematic flow chart of the first embodiment of the AGV trolley fork arm control method of the present invention;

[0044] Figure 3 It is a flow chart of the second embodiment of the AGV trolley fork arm control method of the present invention;

[0045] Figure 4 It is a flow chart of the third embodiment of the AGV trolley fork arm control method of the present invention;

[0046] Figure 5 This is a structural block diagram of the first embodiment of the AGV trolley fork arm control device of the present invention.

[0047] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0048] It should be understood that the specific embodiments described herein are only used to explain the present invention, and are not used to limit the present invention.

[0049] Reference Figure 1 , Figure 1 This is a schematic diagram of the structure of the AGV trolley fork arm control device in the hardware operating environment involved in the embodiment of the present invention.

[0050] like Figure 1 As shown, the AGV trolley fork arm control device may include: a processor 1001, such as a central processing unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Among them, the communication bus 1002 is used to realize the connection and communication between these components. The user interface 1003 may include a display screen (Display), and the user interface 1003 may also include a standard wired interface and a wireless interface. The wired interface of the user interface 1003 may be a USB interface in the present invention. The network interface 1004 may optionally include a standard wired interface and a wireless interface (such as a wireless fidelity (WIreless-FIdelity, WI-FI) interface). The memory 1005 may be a high-speed random access memory (Random Access Memory, RAM) memory, or a stable memory (Non-volatile Memory, NVM), such as a disk memory. The memory 1005 may also be a storage device independent of the aforementioned processor 1001.

[0051] Those skilled in the art will understand that Figure 1 The structure shown in does not constitute a limitation on the AGV trolley fork arm control device, and may include more or fewer components than shown in the figure, or combine certain components, or arrange the components differently.

[0052] like Figure 1 As shown, the memory 1005 identified as a computer storage medium may include an operating system, a network communication module, a user interface module, and an AGV trolley fork arm control program.

[0053] exist Figure 1 In the AGV trolley fork arm control device shown, the network interface 1004 is mainly used to connect to the background server and communicate data with the background server; the user interface 1003 is mainly used to connect to the user device; the AGV trolley fork arm control device calls the AGV trolley fork arm control program stored in the memory 1005 through the processor 1001, and executes the AGV trolley fork arm control method provided in the embodiment of the present invention.

[0054] Based on the above hardware structure, an embodiment of the AGV trolley fork arm control method of the present invention is proposed.

[0055] Reference Figure 2 , Figure 2 The figure is a flow chart of the first embodiment of the AGV trolley fork arm control method of the present invention, and the first embodiment of the AGV trolley fork arm control method of the present invention is proposed.

[0056] In the first embodiment, the AGV trolley fork arm control method includes the following steps:

[0057] Step S10: Obtain the current position information of the AGV.

[0058] It should be understood that the execution subject of this embodiment is the AGV trolley fork arm control device, which has functions such as image processing, data communication and program running, and the AGV trolley fork arm control device can be mounted on the AGV trolley. Of course, it can also be other devices with similar functions, and this embodiment does not limit this. Among them, the AGV (Automated Guided Vehicle) trolley refers to a movable device equipped with an electromagnetic or optical automatic navigation device that can travel along a specified navigation path.

[0059] It should be noted that the location information can be a coordinate parameter in a coordinate system established based on the working environment of the AGV trolley. In order to improve the accuracy of the location information, in a specific implementation, the process of obtaining the current location information of the AGV trolley can be: the AGV trolley fork arm control device receives the broadcast signal sent by the preset beacon, and detects the broadcast signal to obtain the signal strength corresponding to the broadcast signal; obtains the location information of the preset beacon; determines the current location information of the AGV trolley based on the location information of the preset beacon and the signal strength. Of course, the location information can also be obtained in other ways, and this embodiment does not limit this.

[0060] It should be noted that the preset beacon may be a Bluetooth beacon, and the number of the beacon may be multiple, such as three. The Bluetooth beacon broadcasts a signal in real time, and after the AGV fork arm control device receives the broadcast signal, it obtains the strength of the broadcast signal, and determines the current position information of the AGV according to the radio attenuation model and the preset position information of the Bluetooth beacon.

[0061] Step S20: Determine the sign information corresponding to the current location information according to the preset map information.

[0062] It should be noted that the preset map information includes the marking information on each location information in the working environment of the AGV. For example, for a working route, the starting section, the middle section and the end section can be marked. Of course, the marking information can also include the non-working section and the working section. The specific marking can be freely set by the administrator, and this embodiment does not limit this.

[0063] It is understandable that by matching the current position information of the AGV in the preset map information, the marked segment where the AGV is currently located, such as the non-working segment or the working segment, can be obtained. This is conducive to executing different control strategies for the AGV at different locations.

[0064] Step S30: Obtain a preset script file, and execute the script file to obtain a corresponding control strategy.

[0065] It should be noted that the preset script file can be stored locally or on a server. When the AGV trolley fork arm control device is running, it loads the script file from the local or server and compiles it to obtain the corresponding control program. The content of the script file is configured in advance by the administrator, and the control strategy of the AGV trolley is written into the corresponding code so that the AGV trolley fork arm control device can implement the preset control strategy when executing the control program.

[0066] Step S40: determining the target height control parameter corresponding to the sign information according to the control strategy.

[0067] It should be noted that the control strategy sets the required fork arm height of the AGV under different markings. For example, when driving without load, it can maintain a safe height; when picking up and putting down goods, it can maintain a working height. The specific height value can be set by the administrator according to actual needs, and this implementation mode does not limit this.

[0068] In a specific implementation, when the sign information is a safety sign, a safety height parameter table corresponding to the preset map information is determined according to the control strategy; the safety height parameter corresponding to the safety sign is searched according to the current position information, and the safety height parameter is used as the target height control parameter.

[0069] It should be noted that the safety sign can be marked on the no-load driving section, and the AGV trolley maintains the fork arm height as the safe height on the no-load driving section. The specific value of the safety height is set with different safety parameters according to different operating modes. For example, when the AGV is required to run at a faster speed, its fork arm height should be lower. The safety height parameter table can be stored locally or on a server. The AGV trolley fork arm control device obtains the safety height parameter table according to its own operating mode. The safety height parameter table contains the maintained height of the AGV trolley fork arm in the preset map information, so as to find the safety height parameter corresponding to the safety sign according to the current position information. In the entire AGV trolley working environment, multiple safety height parameters can be set according to specific scenarios to improve the safety of AGV operation.

[0070] It should be noted that the target height control parameter may also include the fork arm speed, which is used to control the fork arm adjustment speed. When the AGV needs to adjust the height frequently, a faster fork arm speed may be set. The specific speed value may be freely set by the administrator, and this embodiment does not restrict this.

[0071] Step S50: adjusting the fork arm height of the AGV according to the target height control parameter.

[0072] It should be noted that after obtaining the target height control parameters, the fork arm height of the AGV can be adjusted to a safe height according to the fork arm speed, thereby realizing the height control of the fork arm of the AGV. In the specific implementation, the height adjustment of the AGV can be real-time control or intermittent control at certain time intervals. Among them, real-time control can enable the AGV to respond in time, and intermittent control can reduce the operating pressure of the AGV. Of course, real-time control or intermittent control can also be set in different marking segments. The specific control method can be freely set by the administrator, and this embodiment does not control this.

[0073] In the first embodiment, the current position information of the AGV is obtained; the sign information corresponding to the current position information is determined according to the preset map information; a preset script file is obtained and the script file is executed to obtain the corresponding control strategy; the target height control parameter corresponding to the sign information is determined according to the control strategy; the height of the fork arm of the AGV is adjusted according to the target height control parameter. This embodiment controls the movement of the fork arm through the script, determines the height parameter according to the script, and separates the fork arm control into the script to increase editability; thus, when the fork arm needs to adapt to different scenarios, the fork arm can be quickly adjusted, thereby improving the control efficiency of the fork arm.

[0074] Reference Figure 3 , Figure 3 This is a flow chart of the second embodiment of the AGV trolley fork arm control method of the present invention. Based on the above first embodiment, the second embodiment of the AGV trolley fork arm control method of the present invention is proposed.

[0075] In the second embodiment, step S40 includes:

[0076] Step S401: when the flag information is a job flag, determining a target interface access address according to the control strategy.

[0077] It should be noted that the operation mark means that the AGV needs to perform an operation at the current position, which may include picking up and placing goods. Since the operation is relatively complex, such as different sizes of goods and deviations in placement, it is impossible to adapt to different operation operations with a fixed height. Therefore, when performing the operation, the height control parameters need to be adjusted in time.

[0078] It should be noted that the target interface access address is connected to the operation database, and the operation database specifies the operation height for the current cargo situation, etc. The AGV trolley fork arm control device can access the operation database through the target interface access address to obtain corresponding data.

[0079] Step S402: calling the operation data through the target interface access address.

[0080] It should be noted that when the AGV trolley fork arm control device calls the operation data, it can obtain and determine the operation object according to the operation mark, and then obtain the corresponding operation data from the operation database according to the operation object. Among them, the operation data may include the size of the operation, the placement position information, etc. The operation data can be stored in the operation database in advance; or it can be input by the administrator when the AGV trolley fork arm control device accesses it.

[0081] Step S403: determining a working height parameter according to the working data, and using the working height parameter as a target height control parameter.

[0082] It is understandable that after obtaining the corresponding information of the working object, the corresponding working height can be determined, so as to complete the working operation according to the working height.

[0083] It should be noted that in order to ensure the safety of the goods, for the picking operation, the fork arm needs to perform multiple actions, such as inserting and fixing the goods, and then lifting the goods. Therefore, it is also necessary to judge the specific execution height. In the specific implementation, the waiting operation mode of the AGV is determined according to the operation mark; the operation height parameter is searched in the operation data according to the waiting operation mode, and the operation height parameter is used as the target height control parameter.

[0084] It should be noted that the waiting operation mode can be an insertion clamping operation or a lifting operation, and the operation height parameter is found from the operation data. For example, the height parameter corresponding to the insertion clamping operation is 1m, and the height parameter corresponding to the lifting operation is 1.1m. Of course, the above values ​​are only for illustration and can be freely set according to needs, and this embodiment does not limit this.

[0085] In the second embodiment, when the AGV vehicle performs an operation, it determines the target interface access address according to the control strategy, and then obtains the corresponding operation data through the target interface access address, thereby determining the corresponding operation height according to the information of the current operation object, so that the operation can be performed more accurately and the safety of the operation is ensured.

[0086] Reference Figure 4 , Figure 4 This is a flow chart of the third embodiment of the AGV trolley fork arm control method of the present invention. Based on the above first and second embodiments, the third embodiment of the AGV trolley fork arm control method of the present invention is proposed. This embodiment is described based on the first embodiment.

[0087] In the third embodiment, step S30 includes:

[0088] Step S301: upon receiving a motion instruction, determining the operation mode of the AGV according to the motion instruction.

[0089] It is understandable that AGVs often change their operating modes. For example, after completing the work in area A, they need to perform tasks in area B. Due to different scenarios, the corresponding control strategies are also different. Therefore, it is necessary to determine the corresponding control strategy based on the specific tasks to be performed.

[0090] It should be noted that the motion instruction may include the operation scene and operation object of the AGV, and the corresponding operation mode is determined according to the operation scene and operation object. For example, area A corresponds to operation mode A, and area B corresponds to operation mode B.

[0091] Step S302: searching for a corresponding script file from a preset script library according to the operation mode.

[0092] It should be noted that in order to improve the AGV car to quickly determine the fork arm control strategy after adjusting the scene, this embodiment sets the script library to store the scripts corresponding to each area. For example, area A corresponds to script file A, and area B corresponds to script file B. The AGV car fork arm control device can search and obtain the corresponding script file according to the current operation area. The script library can be set locally or on the server. Step S303: Execute the script file to obtain the corresponding control strategy.

[0093] When the AGV fork arm control device is running, it loads the script file from the local or server and compiles it to obtain the corresponding control program. The content of the script file is configured in advance by the administrator, and the control strategy of the AGV is written into the corresponding code so that the AGV fork arm control device can implement the preset control strategy when executing the control program.

[0094] In the third embodiment, step S40 includes:

[0095] Step S404: upon receiving a stop instruction, determining the current standby mode of the AGV according to the stop instruction.

[0096] It should be noted that the AGV trolley stays at the current position when receiving a stop command. The stop command can be issued by an external control center, or by the AGV trolley when it detects its own fault. The AGV trolley fork arm control device determines the reason for stopping based on the stop command. If the stop command is issued by the AGV trolley when it detects its own fault, the current standby model is fault standby; if the stop command is issued by an external control center, the current standby model is silent standby, where silent standby can also be divided into temporary standby and long standby. Currently, the stop command can also come from other issuers, and this embodiment does not limit this.

[0097] Step S405: determining a preset standby altitude parameter corresponding to the current standby mode according to the control strategy.

[0098] It is understandable that when the AGV stops, in order to avoid adverse effects, the fork arm height needs to be controlled according to the time situation. For example, when the AGV stops due to its own fault, in order to avoid control failure, which causes the fork arm to cause damage to the equipment in the working scene, the fork arm height can be reduced to the minimum. When the AGV stops due to the control of the external control center, if it is temporarily on standby, the fork arm height can be left unchanged, and the standby height parameter is the original fork arm height.

[0099] Step S406: using the standby altitude parameter as the target altitude control parameter corresponding to the flag information.

[0100] It is understandable that after obtaining the target height control parameters, the fork arm height of the AGV trolley can be adjusted to a safe height according to the fork arm speed, thereby achieving height control of the fork arm of the AGV trolley.

[0101] In the third embodiment, when the AGV vehicle encounters an abnormality and is in standby mode, or the control center orders it to be in standby mode, the target height control parameters are determined according to the standby mode, and an emergency control strategy is set for the AGV vehicle to ensure the safety of the AGV vehicle and the work scene and improve the reliability of the AGV vehicle.

[0102] In addition, an embodiment of the present invention further proposes a storage medium, on which an AGV trolley fork arm control program is stored. When the AGV trolley fork arm control program is executed by a processor, the steps of the AGV trolley fork arm control method described above are implemented.

[0103] Since the storage medium adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought by the technical solutions of the above embodiments, which will not be described one by one here.

[0104] In addition, the embodiment of the present invention also provides an AGV trolley fork arm control device, referring to Figure 5 , Figure 5 This is a structural block diagram of the first embodiment of the AGV trolley fork arm control device of the present invention.

[0105] In this embodiment, the AGV trolley fork arm control device includes:

[0106] The positioning module 10 is used to obtain the current position information of the AGV.

[0107] The identification module 20 is used to determine the sign information corresponding to the current location information according to the preset map information.

[0108] The script module 30 is used to obtain a preset script file and execute the script file to obtain a corresponding control strategy.

[0109] The parameter confirmation module 40 is used to determine the target height control parameter corresponding to the sign information according to the control strategy.

[0110] The adjustment module 50 is used to adjust the fork arm height of the AGV according to the target height control parameter.

[0111] In this embodiment, the current position information of the AGV is obtained; the sign information corresponding to the current position information is determined according to the preset map information; a preset script file is obtained and the script file is executed to obtain the corresponding control strategy; the target height control parameter corresponding to the sign information is determined according to the control strategy; the fork arm height of the AGV is adjusted according to the target height control parameter. This embodiment controls the movement of the fork arm through the script, determines the height parameter according to the script, and separates the fork arm control into the script to increase editability; thus, when the fork arm needs to adapt to different scenarios, the fork arm can be quickly adjusted, thereby improving the control efficiency of the fork arm.

[0112] In one embodiment, the parameter confirmation module 40 is also used to determine the safety height parameter table corresponding to the preset map information according to the control strategy when the sign information is a safety sign; search for the safety height parameter corresponding to the safety sign according to the current position information, and use the safety height parameter as the target height control parameter.

[0113] In one embodiment, the parameter confirmation module 40 is also used to determine the target interface access address according to the control strategy when the flag information is a job flag; call the job data through the target interface access address; determine the job height parameter according to the job data, and use the job height parameter as the target height control parameter.

[0114] In one embodiment, the parameter confirmation module 40 is further used to determine the waiting operation mode of the AGV vehicle according to the operation mark; search for the operation height parameter in the operation data according to the waiting operation mode, and use the operation height parameter as the target height control parameter.

[0115] In one embodiment, the parameter confirmation module 40 is also used to determine the current standby mode of the AGV vehicle according to the stop command when a stop command is received; determine the preset standby height parameter corresponding to the current standby mode according to the control strategy; and use the standby height parameter as the target height control parameter corresponding to the flag information.

[0116] In one embodiment, the positioning module 10 is further used to receive a broadcast signal sent by a preset beacon, and detect the broadcast signal to obtain a signal strength corresponding to the broadcast signal;

[0117] Obtaining the location information of the preset beacon;

[0118] The current position information of the AGV is determined according to the position information of the preset beacon and the signal strength.

[0119] In one embodiment, the script module 30 is also used to determine the operation mode of the AGV vehicle according to the motion instruction when a motion instruction is received; search for the corresponding script file from a preset script library according to the operation mode; and execute the script file to obtain the corresponding control strategy.

[0120] Other embodiments or specific implementations of the AGV trolley fork arm control device of the present invention can refer to the above-mentioned method embodiments, which will not be repeated here.

[0121] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or system including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or system. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or system including the element.

[0122] The serial numbers of the embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments. In a unit claim that lists several means, several of these means may be embodied by the same hardware item. The use of the words first, second, and third, etc. does not indicate any order and these words may be interpreted as names.

[0123] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention, in essence or in other words, the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as a read-only memory image (ROM) / random access memory (RAM), a magnetic disk, or an optical disk), and includes a number of instructions for enabling a terminal device (which can be a mobile phone, a computer, a server, an air conditioner, or a network device, etc.) to execute the methods described in each embodiment of the present invention.

[0124] The above are only preferred embodiments of the present invention, and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A method for controlling the fork arm of an AGV, characterized in that: The AGV trolley fork arm control method comprises the following steps: Obtaining the current position information of the AGV, wherein the current position information includes coordinate parameters in a coordinate system established based on the working environment of the AGV; Determine the sign information corresponding to the current location information according to the preset map information, wherein the sign information at least includes marking segments such as a starting segment, a middle segment, an end segment, a non-working segment, and a working segment; Obtain a preset script file and execute the script file to obtain a corresponding control strategy; Determining a target height control parameter corresponding to the sign information according to the control strategy, wherein the target height control parameter includes a safety height parameter, a fork arm speed, and an operating height parameter; Adjusting the fork arm height of the AGV according to the target height control parameter; The step of determining the target height control parameter corresponding to the sign information according to the control strategy includes: When the sign information is a safety sign, determining a safety height parameter table corresponding to the preset map information according to the control strategy; Searching for a safety height parameter corresponding to the safety sign according to the current position information, and using the safety height parameter as a target height control parameter; The step of determining the target height control parameter corresponding to the sign information according to the control strategy includes: When the flag information is a job flag, determining a target interface access address according to the control strategy; Calling the job data through the target interface access address, wherein the job data at least includes the size and placement position information of the job; Determine an operation height parameter according to the operation data, and use the operation height parameter as a target height control parameter; The obtaining of the current position information of the AGV includes: Receive a broadcast signal sent by a preset beacon, detect the broadcast signal, and obtain a signal strength corresponding to the broadcast signal; Obtaining the location information of the preset beacon; Determine the current position information of the AGV according to the position information of the preset beacon and the signal strength; The step of determining the target height control parameter corresponding to the sign information according to the control strategy also includes: When the sign information is a safety sign, determining a safety height parameter table corresponding to the preset map information according to the control strategy; The safety altitude parameter table is queried according to the current position information to obtain the safety altitude parameter corresponding to the safety sign, and the safety altitude parameter is used as the target altitude control parameter.

2. The AGV fork arm control method according to claim 1, characterized in that: The step of determining an operation height parameter according to the operation data and using the operation height parameter as a target height control parameter includes: Determine the waiting operation mode of the AGV according to the operation mark; The operation height parameter is searched in the operation data according to the operation mode to be operated, and the operation height parameter is used as the target height control parameter.

3. The AGV trolley fork arm control method according to claim 1, characterized in that: The step of determining the target height control parameter corresponding to the sign information according to the control strategy includes: When receiving a stop command, determining the current standby mode of the AGV according to the stop command; Determining a preset standby altitude parameter corresponding to the current standby mode according to the control strategy; The standby altitude parameter is used as a target altitude control parameter corresponding to the flag information.

4. The AGV fork arm control method according to any one of claims 1 to 3, characterized in that: The step of obtaining a preset script file and executing the script file to obtain a corresponding control strategy includes: When receiving a motion instruction, determining the operation mode of the AGV according to the motion instruction; Searching for a corresponding script file from a preset script library according to the operation mode; Execute the script file to obtain the corresponding control strategy.

5. An AGV trolley fork arm control device, characterized in that: The AGV trolley fork arm control device includes: a memory, a processor, and an AGV trolley fork arm control program stored in the memory and executable on the processor. When the AGV trolley fork arm control program is executed by the processor, the steps of the AGV trolley fork arm control method as described in any one of claims 1 to 4 are implemented.

6. A storage medium, characterized in that: The storage medium stores an AGV trolley fork arm control program, and when the AGV trolley fork arm control program is executed by the processor, the steps of the AGV trolley fork arm control method as described in any one of claims 1 to 4 are implemented.

7. An AGV trolley fork arm control device, characterized in that: The AGV trolley fork arm control device comprises: A positioning module, used to obtain the current position information of the AGV, wherein the current position information includes coordinate parameters in a coordinate system established based on the working environment of the AGV; An identification module, used to determine the sign information corresponding to the current location information according to the preset map information, wherein the sign information at least includes marking segments such as a starting segment, a middle segment, an end segment, a non-working segment, and a working segment; A script module is used to obtain a preset script file and execute the script file to obtain a corresponding control strategy; A parameter confirmation module, used to determine the target height control parameters corresponding to the sign information according to the control strategy, wherein the target height control parameters include a safety height parameter, a fork arm speed, and an operating height parameter; An adjustment module, used for adjusting the fork arm height of the AGV according to the target height control parameter; The parameter confirmation module is further used to determine the safety height parameter table corresponding to the preset map information according to the control strategy when the sign information is a safety sign; search for the safety height parameter corresponding to the safety sign according to the current position information, and use the safety height parameter as the target height control parameter; The parameter confirmation module is further used to determine the target interface access address according to the control strategy when the flag information is a job flag; call the job data through the target interface access address, wherein the job data at least includes the size and placement position information of the job; determine the job height parameter according to the job data, and use the job height parameter as the target height control parameter; The positioning module is further used to receive the broadcast signal sent by the preset beacon, detect the broadcast signal, and obtain the signal strength corresponding to the broadcast signal; obtain the position information of the preset beacon; and determine the current position information of the AGV according to the position information of the preset beacon and the signal strength; The parameter confirmation module is also used to determine the safety height parameter table corresponding to the preset map information according to the control strategy when the sign information is a safety sign; query the safety height parameter table according to the current position information to obtain the safety height parameter corresponding to the safety sign, and use the safety height parameter as the target height control parameter.

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