AGV trolley cargo operation control method, device, storage medium and control equipment

Abstract

The present invention provides a method, device, storage medium, and control device for controlling the operation of an automated guided vehicle (AGV) while it is carrying cargo. The target AGV is equipped with a loading platform for carrying cargo and a clamping plate for clamping the cargo. The method includes: during the target AGV's cargo-carrying operation, monitoring the target AGV's operating status information and the relative change in pressure exerted by the cargo on the loading platform; determining whether the relative change in pressure satisfies a preset condition; and, if the relative change in pressure does not meet the preset condition, adjusting the clamping pressure exerted by the clamping plate on the cargo based on the target AGV's operating status information and the cargo's attribute information, such that the relative change in pressure satisfies the preset condition. This method can simultaneously ensure smooth operation of the AGV while carrying cargo and prevent damage to the cargo.

Description

Technical Field

[0001] The present invention relates to the technical field of AGV (Automated Guided Vehicle) vehicles, and in particular to a method, device, storage medium and control equipment for controlling the cargo operation of an AGV (Automated Guided Vehicle). Background Art

[0002] Automated Guided Vehicles (AGVs) are now widely used in manufacturing, warehousing, and logistics operations at airports and ports due to their high degree of automation, unmanned operation, small footprint, and ease of management. A notable feature of AGVs is their unmanned operation. Equipped with an automatic positioning and navigation system, they autonomously follow a pre-determined route without human guidance, automating the entire cargo loading, unloading, and handling process. During transportation, AGVs adjust their speed based on route conditions. However, current AGVs lack guardrails or other protective measures to facilitate loading and unloading. This can easily cause cargo to tip over due to inertia, resulting in economic losses and significant safety hazards. Some AGVs equipped with cargo grippers typically exert significant pressure on the cargo to stabilize it, which can easily cause deformation or damage. Therefore, there is an urgent need to address the challenges of ensuring smooth operation and preventing damage to cargo during AGV loading. Summary of the Invention

[0003] In order to solve the problem of ensuring smooth operation and avoiding damage to cargo during the operation of an AGV with cargo, the present invention provides an AGV cargo operation control method, device, storage medium and control equipment.

[0004] In a first aspect, an embodiment of the present invention provides a method for controlling the operation of an AGV with cargo, wherein the target AGV is provided with a loading platform for carrying cargo and a clamping plate for clamping cargo, and the method includes:

[0005] During the operation of the target AGV with cargo, the operating status information of the target AGV and the relative change in the pressure of the cargo on the loading platform are monitored;

[0006] Determining whether the relative change in pressure meets a preset condition;

[0007] When the relative change in pressure does not meet the preset conditions, the clamping pressure of the clamping plate on the cargo is adjusted according to the operating status information of the target AGV and the attribute information of the cargo so that the relative change in pressure meets the preset conditions.

[0008] In some implementations, the operating status information includes vehicle speed, and the attribute information includes at least one of cargo material, cargo height, cargo price, cargo weight, cargo type, cargo outer packaging material, and cargo outer packaging size.

[0009] In some implementations, the AGV cargo operation control method further includes:

[0010] Obtain the target AGV's operating status information and cargo attribute information;

[0011] An initial clamping pressure value of the clamping plate on the cargo is set based on the operation status information and the attribute information, and the clamping plate is controlled to clamp the cargo on the loading platform with the initial clamping pressure value, so that the target AGV trolley runs with cargo.

[0012] In some implementations, setting an initial value of the clamping pressure of the clamping plate on the cargo based on the operating status information and the attribute information includes:

[0013] Based on the operating state information and the attribute information, querying a corresponding first clamping pressure from a stored correspondence table of operating state information, attribute information, and clamping pressure;

[0014] Calculating a corresponding second clamping pressure using a preset clamping pressure calculation formula based on the operating state information and the attribute information;

[0015] An initial value of the clamping pressure of the clamping plate on the cargo is set based on the first clamping pressure and the second clamping pressure.

[0016] In some implementations, the clamping pressure calculation formula includes a calculation formula for performing a weighted summation of the operating state information and the attribute information.

[0017] In some implementations, setting the initial value of the clamping pressure of the clamping plate on the cargo based on the first clamping pressure and the second clamping pressure includes: setting the weighted sum of the first clamping pressure and the second clamping pressure as the initial value of the clamping pressure of the clamping plate on the cargo.

[0018] In some implementations, adjusting the clamping pressure of the clamping plate on the cargo based on the operating status information of the target AGV and the attribute information of the cargo includes:

[0019] Calculate the clamping pressure adjustment coefficient based on the relative change in pressure, the operating status information of the target AGV and the attribute information of the cargo;

[0020] The current clamping pressure is adjusted based on the clamping pressure adjustment coefficient so that the relative change in pressure meets a preset condition.

[0021] In some implementations, the preset condition includes that the relative change in pressure does not exceed a preset threshold; and determining whether the relative change in pressure meets the preset condition includes: determining whether the relative change in pressure does not exceed a preset threshold.

[0022] In some implementations, the AGV cargo operation control method further includes:

[0023] When the relative change in pressure meets a preset condition, the clamping pressure when the relative change in pressure reaches a preset threshold is determined and used as the minimum clamping pressure for smooth operation of the cargo under the current operating state information and attribute information.

[0024] In some implementations, determining the clamping pressure when the relative change in pressure reaches a preset threshold includes:

[0025] When the relative change in pressure is less than a preset threshold, the clamping pressure is gradually reduced in accordance with the inverse proportional relationship between clamping pressure and time until the relative change in pressure reaches the preset threshold. The clamping pressure at this time is determined to be the minimum clamping pressure for smooth operation of the cargo under the current operating status information and attribute information.

[0026] In some implementations, the AGV cargo operation control method further includes:

[0027] Based on the minimum clamping pressure, the correspondence table between the operating state information, the attribute information and the clamping pressure and / or the clamping pressure calculation formula is updated.

[0028] In a second aspect, an embodiment of the present invention provides an AGV trolley cargo operation control device, wherein the target AGV trolley is provided with a loading platform for carrying cargo and a clamping plate for clamping cargo, and the device includes:

[0029] A monitoring module is used to monitor the operating status information of the target AGV and the relative change in the pressure of the cargo on the loading platform during the operation of the target AGV;

[0030] A determination module, configured to determine whether the relative change in pressure satisfies a preset condition;

[0031] The adjustment module is used to adjust the clamping pressure of the clamping plate on the cargo according to the operating status information of the target AGV vehicle and the attribute information of the cargo when the relative change of the pressure does not meet the preset conditions, so that the relative change of the pressure meets the preset conditions.

[0032] In a third aspect, an embodiment of the present invention provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by one or more processors, the AGV cargo operation control method described in the first aspect is implemented.

[0033] In a fourth aspect, an embodiment of the present invention provides a control device comprising a memory and one or more processors, wherein a computer program is stored in the memory, and when the computer program is executed by the one or more processors, the AGV cargo operation control method described in the first aspect is implemented.

[0034] In a fifth aspect, an embodiment of the present invention provides an AGV trolley, comprising the control device described in the fourth aspect, wherein the AGV trolley is provided with a loading platform for carrying goods and a clamping plate for clamping the goods.

[0035] Compared with the prior art, one or more embodiments of the present invention can bring at least the following beneficial effects:

[0036] The present invention monitors the operating status information of the target AGV trolley and the relative change in the pressure of the cargo on the loading platform during the operation of the target AGV trolley carrying cargo. When the relative change in pressure does not meet the preset conditions, the clamping pressure of the clamping plate on the cargo is adjusted according to the operating status information of the target AGV trolley and the attribute information of the cargo, so that the relative change in pressure meets the preset conditions. Under the premise of ensuring the stable loading of the AGV trolley, the cargo can be protected from damage, thereby improving the transportation efficiency and extending the service life of the clamping plate. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments. It should be understood that the following drawings only illustrate certain embodiments of the present invention and therefore should not be regarded as limiting the scope.

[0038] Figure 1 This is a flow chart of a method for controlling the operation of an AGV with cargo provided by an embodiment of the present invention;

[0039] Figure 2 This is a flow chart of another AGV cargo operation control method provided by an embodiment of the present invention;

[0040] Figure 3 This is a block diagram of an AGV cargo operation control device provided by an embodiment of the present invention;

[0041] Figure 4 is a front view schematic diagram of a clamping device provided by an embodiment of the present invention;

[0042] Figure 52 is a schematic top view of a clamping device provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0043] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, not all of the embodiments. The components of the embodiments of the present invention generally described and shown in the drawings herein can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making creative work are within the scope of protection of the present invention.

[0044] In related technologies, some AGVs equipped with cargo clamps typically apply significant pressure to the cargo to ensure stability. This pressure can easily cause deformation or damage to the cargo itself. Furthermore, most clamps have a fixed clamping pressure and do not support adjustment based on the vehicle's operating state. Therefore, embodiments of the present invention provide a method, apparatus, storage medium, and control device for controlling the operation of an AGV while carrying cargo, to ensure smooth operation and prevent damage to the cargo during the AGV's cargo-carrying operation.

[0045] Example 1

[0046] This embodiment provides a method for controlling the operation of an AGV with cargo. The target AGV is provided with a loading platform for carrying cargo and a clamping plate for clamping cargo. Figure 1 As shown, this method at least includes steps S101 to S103:

[0047] Step S101: During the operation of the target AGV with cargo, monitor the operating status of the target AGV and the relative change in the pressure of the cargo on the loading platform;

[0048] Step S102, determine whether the relative change in pressure meets the preset conditions; if the relative change in pressure does not meet the preset conditions, execute step S103; if the relative change in pressure meets the preset conditions, continue to monitor the operating status information of the target AGV and the relative change in pressure of the cargo on the loading platform during the target AGV's cargo-carrying operation.

[0049] Step S103: According to the operating status information of the target AGV and the attribute information of the cargo, the clamping pressure of the clamping plate on the cargo is adjusted so that the relative change in pressure meets the preset conditions.

[0050] In this embodiment, the operating status information of the target AGV trolley and the relative change in the pressure of the cargo on the loading platform are monitored in real time during the operation of the target AGV trolley carrying cargo; and when the relative change in pressure does not meet the preset conditions, the clamping pressure of the clamping plate on the cargo is adjusted according to the operating status information of the target AGV trolley and the attribute information of the cargo, so that the relative change in pressure meets the preset conditions. The clamping pressure can be adjusted in combination with the operating status information and the attribute information of the cargo, avoiding the clamping pressure being too large for the cargo with the current attributes due to adjustment based only on the operating status, resulting in damage to the cargo.

[0051] In some implementations, the operating status information includes vehicle speed, and the attribute information includes at least one of cargo material, cargo height, cargo price, cargo weight, cargo type, cargo outer packaging material, and cargo outer packaging size.

[0052] In some implementations, the AGV cargo operation control method of this embodiment is as follows: Figure 2 As shown, it also includes:

[0053] Step S201: Obtain the target AGV's operating status information and cargo attribute information;

[0054] Step S202: Set an initial clamping pressure value of the clamping plate on the cargo based on the operation status information and attribute information, and control the clamping plate to clamp the cargo on the loading platform with the initial clamping pressure value, so that the target AGV can run with cargo.

[0055] In some implementations, setting the initial clamping pressure of the clamping plate on the cargo based on the operating status information and the attribute information may further include steps S202a to S202c:

[0056] Step S202a: Based on the operation state information and the attribute information, query the corresponding first clamping pressure F1 from the stored correspondence table of the operation state information, the attribute information and the clamping pressure.

[0057] In actual applications, a corresponding relationship table can be established in advance based on the operating status information, attribute information and the existing data of the corresponding minimum clamping pressure, so as to be used for query when setting the initial value of the clamping pressure of the clamping plate on the cargo.

[0058] Step S202b: Based on the operating state information and the attribute information, a corresponding second clamping pressure F2 is calculated using a preset clamping pressure calculation formula.

[0059] In some implementations, the clamping pressure calculation formula includes a calculation formula for performing a weighted summation of the operating state information and the attribute information.

[0060] In one example, the operating status information includes vehicle speed, and the attribute information includes cargo material, cargo height, cargo price, and cargo weight. The clamping pressure calculation formula can be as follows:

[0061] F2=p*height+q*weight+r*speed+s*material+t*price

[0062] Among them, F2 represents the second clamping pressure, p, q, r, s, and t represent the weight coefficients of cargo height, cargo weight, vehicle speed, cargo material, and cargo price, respectively. The weight coefficients can be continuously optimized based on historical operating status information and attribute information.

[0063] Step S202c: setting an initial value of the clamping pressure of the clamping plate on the cargo based on the first clamping pressure and the second clamping pressure.

[0064] In some implementations, setting an initial clamping pressure value of the clamping plate on the cargo based on the first clamping pressure and the second clamping pressure includes setting a weighted sum of the first clamping pressure and the second clamping pressure as the initial clamping pressure value of the clamping plate on the cargo.

[0065] In an example, the following formula can be used to calculate the initial clamping pressure of the clamping plate on the cargo:

[0066] F=α*F1+β*F2

[0067] Wherein, α and β represent the weight coefficient of the first clamping pressure and the weight coefficient of the second clamping pressure respectively, and α+β=1.

[0068] In this embodiment, when setting the initial value of the clamping pressure of the clamping plate on the cargo, on the one hand, based on the operating status information and attribute information, the corresponding first clamping pressure F1 is queried from the stored correspondence table of operating status information, attribute information and clamping pressure; on the other hand, the second clamping pressure is calculated according to the real-time operating status information and the attribute information of the currently carried cargo. The initial value of the clamping pressure is set by combining the two aspects of the clamping pressure, which can ensure that the AGV car can run smoothly without damaging the cargo with the minimum initial value of clamping pressure under the current cargo attributes and operating status information.

[0069] During the target AGV's cargo-carrying operation, the relative change in the cargo pressure on the loading platform, ΔG, can be calculated based on the current cargo pressure on the loading platform, G (which can be obtained through a pressure sensor), and the cargo weight (cargo gravity), mg:

[0070]

[0071] When the speed or forward direction of the AGV is adjusted, ΔG will change. When ΔG is greater than the preset threshold G0, it is necessary to adjust the clamping pressure of the load clamping plate on the cargo so that ΔG ≤ G0 to ensure smooth operation of the cargo. G0 can be determined based on the minimum range of the actual acceptable load pressure change.

[0072] In some implementations, adjusting the clamping pressure of the clamping plate on the cargo according to the operating status information of the target AGV and the attribute information of the cargo may further include steps S103a and S103b:

[0073] Step S103a: Calculate the clamping pressure adjustment coefficient based on the relative change in pressure, the operating status information of the target AGV, and the attribute information of the cargo.

[0074] In one example, the operating status information includes vehicle speed, and the attribute information includes cargo material, cargo height, cargo price, and cargo weight. The adjustment coefficient of the clamping pressure can be calculated using the following formula:

[0075] γ=i*ΔG+j*vehicle speed+k*height+m*material+n*price

[0076] Where γ represents the adjustment coefficient of the clamping pressure, ΔG represents the relative change in pressure, and i, j, k, m, and n represent the weight coefficients for the relative change in pressure, vehicle speed, cargo height, cargo material, and cargo price, respectively. Since the relative change in pressure already reflects the cargo weight, there is no need to consider cargo weight when calculating the adjustment coefficient.

[0077] Step S103b: adjusting the current clamping pressure based on the clamping pressure adjustment coefficient so that the relative change in pressure meets a preset condition.

[0078] In some implementations, the preset condition includes that the relative change in pressure does not exceed a preset threshold; determining whether the relative change in pressure meets the preset condition includes: determining whether the relative change in pressure does not exceed the preset threshold.

[0079] In some cases, the preset threshold can be expressed as G0 to determine whether the condition of relative change in pressure ΔG ≤ G0 is met. When this condition is not met, the adjustment coefficient γ of the clamping pressure is calculated based on the relative change in pressure ΔG, the operating status information of the target AGV vehicle (such as vehicle speed) and the attribute information of the cargo (such as cargo material, cargo height and cargo price), and then the clamping pressure is adjusted according to the following formula.

[0080] F=(1+γ)*F0

[0081] Among them, F0 is the clamping pressure of the load clamping plate on the cargo before adjustment, and F is the clamping pressure of the load clamping plate on the cargo after adjustment. After adjustment, ΔG≤G0 is satisfied.

[0082] In some implementations, the AGV cargo operation control method of this embodiment further includes:

[0083] Step S104: When the relative change in pressure meets a preset condition, the clamping pressure when the relative change in pressure reaches a preset threshold is determined and used as the minimum clamping pressure for smooth movement of the cargo under the current operating state information and attribute information.

[0084] In some implementations, determining the clamping pressure when the relative change in pressure reaches a preset threshold in step S104 may further include:

[0085] Step S104a: When the relative change in pressure is less than a preset threshold, the clamping pressure is gradually reduced according to the inverse proportional relationship between clamping pressure and time until the relative change in pressure reaches the preset threshold. The clamping pressure at this time is determined to be the minimum clamping pressure for smooth movement of the cargo under the current operating state information and attribute information.

[0086] It should be understood that, based on the aforementioned adjustment of the current clamping pressure based on the clamping pressure adjustment coefficient to ensure that the relative change in pressure meets the preset conditions, two possible scenarios may exist: one is that after adjusting the current clamping pressure, the relative change in pressure is less than the preset threshold, ΔG < G0; the other is that after adjusting the current clamping pressure, the relative change in pressure equals the preset threshold, ΔG = G0. When ΔG = G0, the adjusted clamping pressure is the minimum clamping pressure required for stable cargo movement under the current operating state and attribute information, and no further adjustment is required. If ΔG < G0, the adjusted clamping pressure is not the minimum clamping pressure required for stable cargo movement under the current operating state and attribute information. When the AGV's travel speed is stable, finding the minimum clamping pressure to maintain cargo stability and apply pressure to the cargo can prevent deformation and damage to the cargo due to excessive pressure and reduce the load on the clamping plate, preventing excessive wear and shortening its service life.

[0087] In some implementations, the clamping pressure is gradually reduced inversely proportional to time until the relative change in pressure reaches a preset threshold. Over time, the clamping pressure can be gradually reduced to ΔG = G0. This gradual reduction can be performed in a predetermined step size to accurately find the minimum clamping pressure that achieves ΔG = G0, allowing the AGV's clamping plate to clamp the cargo at this minimum clamping pressure and continue stable cargo loading.

[0088] In some implementations, the AGV cargo operation control method of this embodiment further includes:

[0089] Step S105: Based on the minimum clamping pressure, update the corresponding relationship table of the operating status information, attribute information and clamping pressure and / or the clamping pressure calculation formula.

[0090] In some implementations, a table of correspondences between operating status information, attribute information, and clamping pressure is updated based on the minimum clamping pressure for query purposes when setting the initial clamping pressure of the clamping plate on cargo. This table can be pre-established based on existing data on operating status information, attribute information, and corresponding minimum clamping pressures. This table is then continuously updated during cargo-carrying operations as the minimum clamping pressure is re-determined based on different operating status information and attribute information. This ensures that the correspondences in the table reflect accurate data, and thus, the initial values ​​set for the first clamping pressure calculated based on this table and the second clamping pressure calculated using the clamping pressure calculation formula are more accurate, improving adjustment efficiency and, consequently, the automated transport efficiency of the AGV.

[0091] In some implementations, based on the minimum clamping pressure, the clamping pressure calculation formula is updated, and the weighting coefficients of the operating status information and attribute information are optimized and adjusted. This ensures that the second clamping pressure value calculated using the clamping pressure calculation formula is more accurate and closer to the actual minimum clamping pressure. In one example, the weighting coefficients p, q, r, s, and t for cargo height, cargo weight, vehicle speed, cargo material, and cargo price are optimized and adjusted.

[0092] In other implementations, based on the minimum clamping pressure, the correspondence table between the operating status information, attribute information and clamping pressure and the clamping pressure calculation formula are updated, so that the initial values ​​set based on the first clamping pressure and the second clamping pressure are closer to the currently required minimum clamping pressure value, thereby improving transportation efficiency.

[0093] This invention prevents cargo from shifting or tipping over due to speed adjustments or changes in direction during the AGV's cargo-carrying operation, resulting in smoother and more stable transport. By fully considering the cargo's characteristics and the AGV's current operating state, the system automatically adjusts the clamping pressure of the clamping plate, maintaining cargo stability while preventing deformation and damage caused by excessive pressure, thereby improving the efficiency of AGV automated transport. Furthermore, when the AGV is moving at a steady and uniform speed, the clamping pressure is automatically reduced based on the vehicle's operating state, preventing the clamping plate from operating under constant high load, which could lead to significant wear and tear and shorten its service life, thereby increasing product cost.

[0094] Example 2

[0095] This embodiment provides an AGV trolley cargo operation control device, the target AGV trolley is provided with a loading platform for carrying cargo and a clamping plate for clamping cargo, such as Figure 3 As shown, the device includes:

[0096] The monitoring module 301 is used to monitor the operating status information of the target AGV and the relative change in the pressure of the cargo on the loading platform during the operation of the target AGV;

[0097] Determination module 302, used to determine whether the relative change in pressure meets a preset condition;

[0098] The adjustment module 303 is used to adjust the clamping pressure of the clamping plate on the cargo according to the operating status information of the target AGV and the attribute information of the cargo when the relative change in pressure does not meet the preset conditions, so that the relative change in pressure meets the preset conditions.

[0099] In this embodiment, the operating status information of the target AGV trolley and the relative change in the pressure of the cargo on the loading platform are monitored in real time during the operation of the target AGV trolley carrying cargo; and when the relative change in pressure does not meet the preset conditions, the clamping pressure of the clamping plate on the cargo is adjusted according to the operating status information of the target AGV trolley and the attribute information of the cargo, so that the relative change in pressure meets the preset conditions. The clamping pressure can be adjusted in combination with the operating status information and the attribute information of the cargo, avoiding the clamping pressure being too large for the cargo with the current attributes due to adjustment based only on the operating status, resulting in damage to the cargo.

[0100] In some implementations, the operating status information includes vehicle speed, and the attribute information includes at least one of cargo material, cargo height, cargo price, cargo weight, cargo type, cargo outer packaging material, and cargo outer packaging size.

[0101] In some implementations, the apparatus further includes:

[0102] The setting module is used to obtain the operating status information of the target AGV and the attribute information of the cargo, set the initial value of the clamping pressure of the clamping plate on the cargo based on the operating status information and the attribute information, and control the clamping plate to clamp the cargo on the loading platform with the initial value of the clamping pressure, so that the target AGV can run with cargo.

[0103] In some implementations, setting an initial clamping pressure value of the clamping plate on the cargo based on the operating state information and the attribute information may further include:

[0104] Based on the operating status information and attribute information, the corresponding first clamping pressure F1 is queried from the stored correspondence table of the operating status information, attribute information and clamping pressure; based on the operating status information and attribute information, the corresponding second clamping pressure F2 is calculated using a preset clamping pressure calculation formula; based on the first clamping pressure and the second clamping pressure, an initial value of the clamping pressure of the clamping plate on the cargo is set.

[0105] In some implementations, the clamping pressure calculation formula includes a calculation formula for performing a weighted summation of the operating state information and the attribute information.

[0106] In one example, the operating status information includes vehicle speed, and the attribute information includes cargo material, cargo height, cargo price, and cargo weight. The clamping pressure calculation formula can be as follows:

[0107] F2=p*height+q*weight+r*speed+s*material+t*price

[0108] Among them, F2 represents the second clamping pressure, p, q, r, s, and t represent the weight coefficients of cargo height, cargo weight, vehicle speed, cargo material, and cargo price, respectively. The weight coefficients can be continuously optimized based on historical operating status information and attribute information.

[0109] In some implementations, setting an initial clamping pressure value of the clamping plate on the cargo based on the first clamping pressure and the second clamping pressure includes setting a weighted sum of the first clamping pressure and the second clamping pressure as the initial clamping pressure value of the clamping plate on the cargo.

[0110] In an example, the following formula can be used to calculate the initial clamping pressure of the clamping plate on the cargo:

[0111] F=α*F1+β*F2

[0112] Wherein, α and β represent the weight coefficient of the first clamping pressure and the weight coefficient of the second clamping pressure respectively, and α+β=1.

[0113] In some implementations, adjusting the clamping pressure of the clamping plate on the cargo according to the operating status information of the target AGV and the attribute information of the cargo may further include: calculating the adjustment coefficient of the clamping pressure based on the relative change in pressure, the operating status information of the target AGV and the attribute information of the cargo; and adjusting the current clamping pressure based on the clamping pressure adjustment coefficient so that the relative change in pressure meets the preset conditions.

[0114] In one example, the operating status information includes vehicle speed, and the attribute information includes cargo material, cargo height, cargo price, and cargo weight. The adjustment coefficient of the clamping pressure can be calculated using the following formula:

[0115] γ=i*ΔG+j*vehicle speed+k*height+m*material+n*price

[0116] Where γ represents the adjustment coefficient of the clamping pressure, ΔG represents the relative change in pressure, and i, j, k, m, and n represent the weight coefficients for the relative change in pressure, vehicle speed, cargo height, cargo material, and cargo price, respectively. Since the relative change in pressure already reflects the cargo weight, there is no need to consider cargo weight when calculating the adjustment coefficient.

[0117] In some implementations, the preset condition includes that the relative change in pressure does not exceed a preset threshold; determining whether the relative change in pressure meets the preset condition includes: determining whether the relative change in pressure does not exceed the preset threshold.

[0118] In some cases, the preset threshold can be expressed as G0 to determine whether the condition of relative change in pressure ΔG ≤ G0 is met. When this condition is not met, the adjustment coefficient γ of the clamping pressure is calculated based on the relative change in pressure ΔG, the operating status information of the target AGV vehicle (such as vehicle speed) and the attribute information of the cargo (such as cargo material, cargo height and cargo price), and then the clamping pressure is adjusted according to the following formula.

[0119] F=(1+γ)*F0

[0120] Among them, F0 is the clamping pressure of the load clamping plate on the cargo before adjustment, and F is the clamping pressure of the load clamping plate on the cargo after adjustment. After adjustment, ΔG≤G0 is satisfied.

[0121] In some implementations, the adjustment module 303 is further used to: when the relative change in pressure meets a preset condition, determine the clamping pressure when the relative change in pressure reaches a preset threshold, and use it as the minimum clamping pressure for smooth operation of the cargo under the current operating status information and attribute information.

[0122] In some implementations, determining the clamping pressure when the relative change in pressure reaches a preset threshold may further include: when the relative change in pressure is less than the preset threshold, gradually reducing the clamping pressure in an inversely proportional relationship between the clamping pressure and time until the relative change in pressure reaches the preset threshold, and determining the clamping pressure at this time as the minimum clamping pressure for smooth operation of the cargo under the current operating status information and attribute information.

[0123] In some implementations, the adjustment module 303 is further configured to update, based on the minimum clamping pressure, a correspondence table of the operating status information, the attribute information, and the clamping pressure and / or a clamping pressure calculation formula.

[0124] This invention prevents cargo from shifting or tipping over due to speed adjustments or changes in direction during the AGV's cargo-carrying operation, resulting in smoother and more stable transport. By fully considering the cargo's characteristics and the AGV's current operating state, the system automatically adjusts the clamping pressure of the clamping plate, maintaining cargo stability while preventing deformation and damage caused by excessive pressure, thereby improving the efficiency of AGV automated transport. Furthermore, when the AGV is moving at a steady and uniform speed, the clamping pressure is automatically reduced based on the vehicle's operating state, preventing the clamping plate from operating under constant high load, which could lead to significant wear and tear and shorten its service life, thereby increasing product cost.

[0125] Those skilled in the art will appreciate that the above modules or steps can be implemented using a general-purpose computing device, centralized on a single computing device, or distributed across a network of multiple computing devices. Alternatively, they can be implemented using program code executable by a computing device, which can then be stored in a storage device and executed by the computing device. Alternatively, they can be fabricated into separate integrated circuit modules, or multiple modules or steps can be fabricated into a single integrated circuit module for implementation. The present invention is not limited to any specific combination of hardware and software.

[0126] Example 3

[0127] This embodiment provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by one or more processors, the method for controlling the cargo operation of the AGV of the first embodiment is implemented.

[0128] Among them, the storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk or optical disk.

[0129] Example 4

[0130] This embodiment provides a control device, including a memory and one or more processors. The memory stores a computer program. When the computer program is executed by the one or more processors, the AGV cargo operation control method of embodiment 1 is implemented.

[0131] In practical applications, the processor can be an application specific integrated circuit (ASIC), a digital signal processor (DSP), a digital signal processing device (DSPD), a programmable logic device (PLD), a field programmable gate array (FPGA), a controller, a microcontroller unit (MCU), a microprocessor or other electronic components to execute the methods in the above embodiments.

[0132] Example 5

[0133] This embodiment provides an AGV trolley, including the control device of the fourth embodiment. The AGV trolley is provided with a loading platform for carrying goods and a clamping plate for clamping the goods.

[0134] Figure 4 and Figure 5 The diagrams show the front and top views of the clamping device that ensures the smooth transport of cargo on an AGV. The loading platform 1 on the AGV is used to carry cargo 4. Multi-section telescopic support joints 2 are installed on both sides of the AGV's travel direction. Their upper ends are connected to clamping plates 3 to ensure cargo stability, and their lower ends are connected to the loading platform 1. These multi-section telescopic support joints can freely adjust their telescopic length and angle according to the height and width of the cargo. A pressure sensor 5 is installed on the upper contact surface of the loading platform 1 with the cargo 4 to detect changes in pressure from the cargo on the loading platform. A pressure sensor 6 is installed on the contact surface between the clamping plates 3 and the cargo 4 to detect clamping pressure.

[0135] In this embodiment, the control device of the AGV trolley monitors the operating status information of the target AGV trolley and the relative change in the pressure of the cargo on the loading platform in real time during the operation of the target AGV trolley carrying cargo; and when the relative change in pressure does not meet the preset conditions, the control device adjusts the clamping pressure of the clamping plate on the cargo according to the operating status information of the target AGV trolley and the attribute information of the cargo, so that the relative change in pressure meets the preset conditions. The clamping pressure can be adjusted in combination with the operating status information and the attribute information of the cargo, avoiding the clamping pressure being too large for the cargo with the current attributes due to adjustment based only on the operating status, resulting in damage to the cargo.

[0136] In the several embodiments provided in the embodiments of the present invention, it should be understood that the disclosed device can also be implemented in other ways. The device embodiments described above are merely illustrative.

[0137] It should be noted that, in this document, the terms "first", "second", etc. in the specification and claims of this application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. The terms "comprise", "include" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device that includes a series of elements includes not only those elements, but also includes other elements that are not explicitly listed, or also includes elements that are inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a..." does not exclude the presence of other identical elements in the process, method, article or device that includes the element.

[0138] Although the embodiments disclosed herein are as described above, the contents described herein are merely embodiments for facilitating understanding of the present invention and are not intended to limit the present invention. Any person skilled in the art may make any modifications and variations in the form and details of the embodiments without departing from the spirit and scope of the present invention. However, the scope of patent protection of the present invention shall remain subject to the scope defined by the appended claims.

Claims

1. A method for controlling the operation of an AGV with cargo, characterized in that: The target AGV is provided with a loading platform for carrying goods and a clamping plate for clamping the goods. The method includes: During the operation of the target AGV with cargo, monitoring the operating status information of the target AGV and the relative change in the pressure of the cargo on the loading platform, wherein the operating status information includes the vehicle speed; Determining whether the relative change in pressure meets a preset condition, wherein the preset condition includes that the relative change in pressure does not exceed a preset threshold; When the relative change in pressure does not meet the preset conditions, an adjustment coefficient of the clamping pressure is calculated based on the relative change in pressure, the operating status information of the target AGV and the attribute information of the cargo; and the current clamping pressure is adjusted based on the adjustment coefficient of the clamping pressure so that the relative change in pressure meets the preset conditions.

2. The AGV cargo operation control method according to claim 1 is characterized in that: The attribute information includes at least one of cargo material, cargo height, cargo price, cargo weight, cargo type, cargo outer packaging material, and cargo outer packaging size.

3. The AGV cargo operation control method according to claim 1 is characterized in that: Also includes: Obtain the target AGV's operating status information and cargo attribute information; An initial clamping pressure value of the clamping plate on the cargo is set based on the operation status information and the attribute information, and the clamping plate is controlled to clamp the cargo on the loading platform with the initial clamping pressure value, so that the target AGV trolley runs with cargo.

4. The AGV cargo operation control method according to claim 3 is characterized in that: The setting of the initial value of the clamping pressure of the clamping plate on the cargo based on the operating state information and the attribute information includes: Based on the operating state information and the attribute information, querying a corresponding first clamping pressure from a stored correspondence table of operating state information, attribute information, and clamping pressure; Calculating a corresponding second clamping pressure using a preset clamping pressure calculation formula based on the operating state information and the attribute information; An initial value of the clamping pressure of the clamping plate on the cargo is set based on the first clamping pressure and the second clamping pressure.

5. The AGV cargo operation control method according to claim 4 is characterized in that: The clamping pressure calculation formula includes a calculation formula for performing weighted summation on the operating state information and the attribute information.

6. The AGV cargo operation control method according to claim 4, characterized in that: The setting of the initial value of the clamping pressure of the clamping plate on the cargo based on the first clamping pressure and the second clamping pressure includes: setting a weighted sum of the first clamping pressure and the second clamping pressure as the initial value of the clamping pressure of the clamping plate on the cargo.

7. The AGV cargo operation control method according to claim 1 is characterized in that: Also includes: When the relative change in pressure meets a preset condition, the clamping pressure when the relative change in pressure reaches a preset threshold is determined and used as the minimum clamping pressure for smooth operation of the cargo under the current operating state information and attribute information.

8. The AGV cargo operation control method according to claim 7, characterized in that: Determining the clamping pressure when the relative change in pressure reaches a preset threshold includes: When the relative change in pressure is less than a preset threshold, the clamping pressure is gradually reduced in accordance with the inverse proportional relationship between clamping pressure and time until the relative change in pressure reaches the preset threshold. The clamping pressure at this time is determined to be the minimum clamping pressure for smooth operation of the cargo under the current operating status information and attribute information.

9. The AGV cargo operation control method according to claim 7 or 8, characterized in that: Also includes: Based on the minimum clamping pressure, the correspondence table between the operating state information, the attribute information and the clamping pressure and / or the clamping pressure calculation formula is updated.

10. An AGV trolley cargo operation control device, characterized in that: The target AGV is provided with a loading platform for carrying goods and a clamping plate for clamping goods, and the device includes: A monitoring module is used to monitor the operating status information of the target AGV and the relative change in the pressure of the cargo on the loading platform during the operation of the target AGV with cargo, wherein the operating status information includes the vehicle speed; a determination module, configured to determine whether the relative change in pressure satisfies a preset condition, wherein the preset condition includes that the relative change in pressure does not exceed a preset threshold; The adjustment module is used to calculate an adjustment coefficient of the clamping pressure based on the relative change in pressure, the operating status information of the target AGV vehicle, and the attribute information of the cargo when the relative change in pressure does not meet the preset conditions; and adjust the current clamping pressure based on the clamping pressure adjustment coefficient so that the relative change in pressure meets the preset conditions.

11. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, and when the computer program is executed by one or more processors, the AGV cargo operation control method according to any one of claims 1 to 9 is implemented.

12. A control device, characterized in that: The method comprises a memory and one or more processors, wherein a computer program is stored in the memory, and when the computer program is executed by the one or more processors, the method for controlling the cargo operation of the AGV according to any one of claims 1 to 9 is implemented.

13. An AGV car, characterized in that: Including the control device according to claim 12, the AGV cart is provided with a loading platform for carrying goods and a clamping plate for clamping goods.

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