A control system and method for automatically transferring new off-line vehicles

Abstract

The present application relates to a kind of control system and method for realizing new off-line car automatic transfer, belong to intelligent logistics field, solve the existing new off-line car by artificial transfer, and easily influenced by weather environment Problem.A kind of control system for realizing new off-line car automatic transfer of the present application includes attitude measurement system, car handling AGV, AGV scheduling system, vehicle-road cooperation system and wireless communication system;The attitude measurement system is connected with AGV scheduling system by wireless communication system and establishes communication;The car handling AGV, vehicle-road cooperation system and AGV scheduling system are connected by wireless communication system and establish communication.The present application realizes the automatic transfer of new off-line car, saves artificial cost while making that production line is not influenced by weather environment etc. Factor, improve the production efficiency of production line, and realize the digital management of whole process of car from production line off-line to warehouse storage, sell and send out.

Description

Technical Field

[0001] This invention relates to the field of intelligent logistics, and in particular to a control system and method for the automatic transfer of newly rolled-out automobiles. Background Technology

[0002] With the increasing demand for private cars in daily life, the annual output of automobile manufacturers has also increased dramatically. According to research, newly produced cars in vehicle factories are manually driven from the production line buffer area to the warehouse. Due to the very high rate of car production, this often leads to vehicle backlogs in the buffer area. This transfer work requires a large amount of manpower and is greatly affected by weather conditions. Currently, the most mature car transfer system on the market is the Ray robot from the German company Serva. This system performs car transfer work at Audi's vehicle factory, but it operates indoors and does not consider complex outdoor road conditions and weather conditions. Other AGVs for car transfer are mostly designed for urban parking applications, such as those from Yifeng and Kunming Shipbuilding AGV manufacturers. Therefore, there is an urgent need to develop a control system that can operate outdoors and handle the transfer of entire vehicles, enabling automated transfer of newly produced cars from the production line buffer area to the warehouse, and also automated transfer from warehouse to warehouse and from warehouse to the dispatch lane. Summary of the Invention

[0003] Based on the above analysis, the present invention aims to provide a control system and method for automatically transferring newly produced cars, in order to solve the problem that the manual transfer of newly produced cars is susceptible to weather conditions.

[0004] The objective of this invention is mainly achieved through the following technical solutions:

[0005] A control system for automatically transferring newly produced vehicles is characterized by comprising an attitude measurement system, a vehicle transport AGV, an AGV scheduling system, a vehicle-road cooperative system, and a wireless communication system. The attitude measurement system and the AGV scheduling system establish a communication connection via the wireless communication system, enabling the transmission of the pose data of the newly produced vehicles acquired by the attitude measurement system to the AGV scheduling system. The vehicle transport AGV, the vehicle-road cooperative system, and the AGV scheduling system establish a communication connection via the wireless communication system, enabling the transmission of road environment information acquired by the vehicle-road cooperative system to the AGV scheduling system, and controlling the operation of the vehicle transport AGV through the AGV scheduling system.

[0006] Furthermore, the attitude measurement system includes a barcode scanner, a binocular camera, and a 600-line lidar.

[0007] Furthermore, the binocular camera is positioned on the long frame of the parking space in the receiving area to take pictures of the side of newly produced cars parked in the parking space in the receiving area.

[0008] Furthermore, the 600-line lidar is positioned above the parking spaces in the receiving area to scan newly manufactured cars parked in the receiving area and acquire point cloud data of the scanned area.

[0009] Furthermore, the AGV scheduling system includes a background algorithm module and a web front-end display module.

[0010] Furthermore, the AGV scheduling system adopts a "feedforward locking" approach to manage traffic for car transport AGVs.

[0011] Furthermore, the wireless communication system uses MOXA AWK-3131A and MOXA AWK-4131A modules.

[0012] Furthermore, the AWK-3131A module is configured in Client mode.

[0013] Furthermore, the AWK-4131A module is configured in AP mode.

[0014] A control method for a control system that enables automated transfer of newly manufactured automobiles includes the following steps:

[0015] S1: Start the control system and initialize it;

[0016] S2: Newly produced cars are manually parked in the receiving area parking spaces;

[0017] S3: Newly produced vehicle pose measurement system;

[0018] S4: Modify the scene map;

[0019] S5: Dispatch the AGV for transporting newly produced cars.

[0020] The technical solution of this invention can achieve at least one of the following effects:

[0021] (1) The present invention provides a control system for the automatic transfer of newly produced cars, including an attitude measurement system, a car handling AGV, an AGV scheduling system, a vehicle-road cooperative system and a wireless communication system; the attitude measurement system and the AGV scheduling system establish a communication connection through the wireless communication system; the car handling AGV, the vehicle-road cooperative system and the AGV scheduling system establish a communication connection through the wireless communication system, and control the car handling AGV to automatically transfer newly produced cars, thereby saving labor costs and ensuring that the transfer of cars on the production line is not affected by environmental factors such as weather, improving the production efficiency of the production line, and further realizing the digital management of the entire process of the whole vehicle from production line to warehouse storage, sales and delivery.

[0022] (2) The wireless communication system of the present invention uses MOXA AWK-3131A module and MOXA AWK-4131A module, which can ensure good wireless communication.

[0023] (3) By setting up an attitude measurement system, which includes a binocular camera and a 600-line lidar, the present invention can perform pose recognition on newly launched vehicles in the docking area parking space, and can automatically acquire the pose data of newly launched vehicles and transmit the pose data of newly launched vehicles measured by the attitude measurement system to the AGV scheduling system.

[0024] (4) By setting up an AGV scheduling system, the present invention can schedule the operation of the car transport AGV according to the scene map, the road information fed back by the vehicle-road cooperative system, the motion information reported by the car transport AGV itself, and the position and posture information of the newly produced car. This can realize the automatic transfer of the newly produced car by the car transport AGV, and at the same time, it can also avoid collisions between car transport AGVs during operation.

[0025] (5) The present invention sets up a vehicle-road cooperative system, which includes a road environment perception system, an edge computing unit and a vehicle perception central processing module; the vehicle-road cooperative system is used to effectively control the mutual avoidance among people, vehicles and car transport AGVs in the case of mixed flow, to avoid accidents and ensure the safety of vehicles and personnel.

[0026] (6) The present invention lays parking space induction coils on the parking space to sense whether there is a car parked in the parking space. The sensing result is used to initialize the electronic parking space in the scene map when the control system is initialized, thereby realizing automatic sensing of whether there is a vehicle parked in the parking space and improving vehicle transfer efficiency.

[0027] In this invention, the above-described technical solutions can be combined with each other to achieve more preferred combinations. Other features and advantages of this invention will be set forth in the following description, and some advantages may become apparent from the description or be learned by practicing the invention. The objects and other advantages of this invention can be realized and obtained from what is particularly pointed out in the description and drawings. Attached Figure Description

[0028] The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Throughout the drawings, the same reference numerals denote the same parts.

[0029] Figure 1 This is a schematic diagram of the automatic transfer control system structure of Embodiment 1 of the present invention;

[0030] Figure 2 This is a schematic diagram of the scanning imaging of the attitude measurement system in Embodiment 1 of the present invention;

[0031] Figure 3 This is a flowchart of the control method for the automatic transfer control system in Embodiment 2 of the present invention. Detailed Implementation

[0032] The preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, which constitute a part of the present invention and are used together with the embodiments of the present invention to illustrate the principles of the present invention, but are not intended to limit the scope of the present invention.

[0033] Example 1

[0034] One specific embodiment of the present invention discloses a control system for the automatic transfer of newly manufactured automobiles, such as... Figure 1 As shown, the system includes an attitude measurement system, a car handling AGV, an AGV scheduling system, a vehicle-road cooperative system, a charging module, a parking space induction coil, and a wireless communication system. The attitude measurement system, car handling AGV, AGV scheduling system, vehicle-road cooperative system, charging module, and vehicle induction coil establish a communication connection through the wireless communication system. This enables information exchange between the attitude measurement system, car handling AGV, AGV scheduling system, vehicle-road cooperative system, charging module, and vehicle induction coil, and controls the car handling AGV to automatically transfer newly produced cars. This saves labor costs while ensuring that the transfer of cars on the production line is not affected by weather or other environmental factors, improving the production line's production efficiency and further realizing digital management of the entire process of a vehicle from production line to warehouse storage and sales.

[0035] Preferably, the wireless communication system uses MOXA AWK-3131A and MOXA AWK-4131A modules. The AWK-3131A is installed at the AGV end and configured in Client mode. The AWK-4131A module is used to deploy a wireless local area network in the parking lot. This module is configured in AP mode to ensure good wireless communication.

[0036] Preferably, the attitude measurement system is installed at the receiving area parking space at the end of the automobile production line. The attitude measurement system performs pose recognition on the newly produced automobile at the receiving area parking space based on the vehicle frame number data, and can obtain the pose data of the newly produced automobile. The pose data format is (X; Y; θ; CarWheelbase; VIN), where X, Y, and θ are the coordinate information of the center point of the newly produced automobile in the geodetic coordinate system, CarWheelbase is the wheelbase of the newly produced automobile, VIN is the vehicle frame number of the newly produced automobile, and θ is the angle between the line connecting the center point of the newly produced automobile and the origin of the receiving area parking space coordinate system and the Y-axis of the receiving area parking space coordinate system. The attitude measurement system is connected to a wireless communication system, specifically establishing a communication connection with the AGV scheduling system through the TCP protocol, which can realize the transmission of the pose data of the newly produced automobile measured by the attitude measurement system to the AGV scheduling system.

[0037] Preferably, the attitude measurement system includes a barcode scanner, a binocular camera, and a 600-line lidar. The barcode scanner is used to scan the vehicle identification number (VIN) of newly manufactured vehicles.

[0038] Preferably, at least one binocular camera is provided, and in this embodiment, two binocular cameras are preferably provided. The two binocular cameras are respectively arranged on the long frame on both sides of the parking space in the receiving area, and are used to take pictures of the side of the newly produced car parked in the parking space in the receiving area to generate a 2D image. At the same time, they acquire information on four wheels and the relative relationship between the parked vehicle and the parking space frame. The wheel information includes the coordinates of the center point of the wheel in the coordinate system of the parking space in the receiving area, the diameter, and the wheelbase. The 600-line lidar is set above the parking space in the receiving area, and is used to scan the newly produced car parked in the parking space in the receiving area to generate point cloud data of the scanned area. The point cloud data model of the whole vehicle is fitted with the model of the newly produced car retrieved from the vehicle yard database using the least squares method. The point cloud data model is the three-dimensional model of the newly produced car.

[0039] Preferably, the attitude measurement system combines information from four wheels with a point cloud data model, uses OpenCV and YOLO_V5 image processing algorithms to extract key feature points of the vehicle body, and calibrates the coordinates of these key feature points in the parking lot coordinate system; for example... Figure 2 As shown, the key feature point is the outermost point above the wheel hub. The relative positional relationship between this point and the vehicle center point is fixed and known. The coordinates of the vehicle center point in the parking space coordinate system of the receiving area are calculated by the positional relationship between the key feature point and the vehicle center point. The coordinates of the vehicle center point in the geodetic coordinate system are then obtained by coordinate transformation. In this way, the pose data of the newly produced car in the geodetic coordinate system can be obtained. The pose data of the newly produced car measured by the attitude measurement system can be transmitted to the AGV scheduling system.

[0040] Preferably, the AGV scheduling system includes a backend algorithm module and a web frontend display module. The backend algorithm module receives transfer task orders from the production management system, dispatches car transport AGVs according to the transfer task orders, plans the optimal path for the car transport AGVs based on their locations, registers the optimal path in the AGV scheduling system, allocates the optimal path resources to the corresponding car transport AGVs, and schedules the corresponding car transport AGVs to perform transfer tasks. The web frontend display module is used for human-computer interaction and information display, allowing users to view car transport AGV attributes, including car transport AGV charging control, car transport AGV online / offline control, car transport AGV emergency stop / resumption of motion control, map display and loading, and other functions.

[0041] Preferably, the AGV scheduling system adopts a "feedforward locking" approach to control traffic for car transport AGVs. The "feedforward locking" means that when a car transport AGV needs to move, it converts the movement command into a traffic control resource and registers it with the AGV scheduling system before moving. Only when the resource is successfully registered and accepted by the AGV system will the AGV scheduling system send a travel command to the car transport AGV, and only then will the car transport AGV move.

[0042] Preferably, the AGV scheduling system dynamically modifies the coordinates of corresponding points in the scene map, and schedules or manages traffic for multiple car transport AGVs based on road information fed back by the vehicle-road cooperative system, motion information reported by the car transport AGVs themselves, and the position and pose information of the newly produced cars, so as to avoid collisions between car transport AGVs and ultimately control the car transport AGVs to complete the transfer of the newly produced cars.

[0043] Preferably, the vehicle-road cooperative system includes a road environment perception system, an edge computing unit, and a vehicle perception central processing module. The vehicle-road cooperative system is used to effectively control mutual avoidance among people, vehicles, and AGVs in mixed traffic situations to prevent accidents. It can also scan and locate obstacles on the road segment and send the scanned obstacle information to the AGV scheduling system, which then controls the AGVs to stop or resume movement. The vehicle-road cooperative system can prevent safety accidents on the route and ensure the safety of vehicles and personnel.

[0044] Preferably, the road environment perception system includes roadside radar, cameras, and road induction coils laid at intersections to detect whether vehicles are passing through the road section; the roadside radar and cameras are both mounted at a height of 6 to 8 meters above the ground, which can monitor all traffic participants on the road in real time, and at the same time capture images of designated lanes to form video or pictures and other data.

[0045] Preferably, the edge computing unit performs calculations on the received video or image data of the designated lane within the area to obtain road environment information such as the category, number, shape, position and movement status of the participants in the designated lane, and reports the processed information to the vehicle perception central processing module and the AGV scheduling system.

[0046] Preferably, the vehicle perception central processing module adopts a microservice framework to determine the priority order of car transport AGVs, people, and vehicles passing through intersections. Based on the principle of who enters the intersection first and who passes first, it controls traffic facilities such as traffic poles and traffic lights to achieve avoidance between car transport AGVs, people, and vehicles. At the same time, it controls the AGV's emergency stop / resumption of movement through the AGV scheduling system.

[0047] Preferably, the charging module communicates with the AGV scheduling system via TCP / IP protocol, wherein the charging module is the server and the AGV scheduling system is the client; the charging module adopts an intelligent charging station with automatic retraction function.

[0048] Preferably, when the AGV meets the conditions for automatic charging, the AGV scheduling system sends a charging command to the car transport AGV, controls the car transport AGV to move to the charging station, and controls the car transport AGV to connect with the intelligent charging station; after the AGV scheduling system detects that the car transport AGV is connected to the intelligent charging station, it sends a start charging command to the charging station; when the car transport AGV's power meets the conditions for continuing to work, it sends a stop charging command to the charging station; after the car transport AGV has completed charging, it can transfer newly produced cars or move them to a designated address for standby according to the instructions of the AGV scheduling system.

[0049] Preferably, the parking space induction coil is laid on the parking space. In this embodiment, parking space induction coils are laid on all parking spaces. The parking space induction coil is used to sense whether there is a car parked in the parking space. When there is a car parked in the parking space, the parking space induction coil outputs a high level, and vice versa. The parking space induction coil is connected to a wireless communication system and establishes a communication connection with the AGV scheduling system through the wireless communication system to send information about whether there is a vehicle parked in the parking space to the AGV scheduling system.

[0050] Preferably, the AGV scheduling system initializes all parking spaces based on whether there are vehicles parked in them, thus completing the initialization of the parking spaces in the scene map. That is, it marks whether there are vehicles parked in the parking spaces in the initial state in the scene map. After the AGV scheduling system completes the initialization of the parking spaces in the scene map, it determines whether there are vehicles parked in the parking spaces by updating the data of newly produced vehicles in real time. There is no need to obtain the parking space status from the parking space induction coil, which improves the system operating efficiency.

[0051] Preferably, GPS is used to locate key points in the scene, such as the origin of the parking space in the receiving area, the center of the parking space in the garage area, the charging station in the charging module, and intersections, turning points, etc. in the road system. The coordinates are then converted into coordinates in the geodetic coordinate system through coordinate transformation calculation, and a scene map is built based on the geodetic coordinates of each key point.

[0052] Example 2

[0053] A specific embodiment of the present invention discloses a control method for the control system of Embodiment 1, such as... Figure 2 As shown, it includes the following steps:

[0054] S1: Start the control system and initialize it;

[0055] Specifically, the attitude measurement system, car handling AGV, AGV scheduling system, vehicle-road cooperative system, charging module, parking space induction coil and wireless communication system are started and initialized to ensure that the control system is in normal working condition and that the communication connection of each module in the control system is guaranteed without any faults or alarms; the AGV scheduling system initializes the parking spaces in the scene map according to the status of the parking space induction coil and marks the parking status of the vehicles in each parking space.

[0056] S2: Newly produced cars are manually parked in the receiving area parking spaces;

[0057] Specifically, newly produced cars are driven manually from the production line to the receiving area, and parked within the parking space lines in the receiving area. The steering wheel is straightened so that the wheels are level with the car body before the driver gets off.

[0058] S3: Newly produced vehicle pose measurement system;

[0059] Specifically, firstly, a manual barcode scanner is used to scan the VIN of the newly produced vehicle to obtain the VIN; then, a binocular camera and a 600-line LiDAR are activated to scan the newly produced vehicle parked in the receiving area to obtain the position and pose information of the newly produced vehicle, and the obtained position and pose information of the newly produced vehicle is transmitted to the AGV scheduling system through a wireless communication system.

[0060] The attitude measurement of the newly produced car specifically includes the following steps:

[0061] S301: Start the attitude measurement system;

[0062] S302: The attitude measurement system receives the vehicle identification number (VIN) of the newly produced vehicle sent by the barcode scanner, and retrieves the vehicle model data of the newly produced vehicle from the vehicle manufacturer's database based on the vehicle feature information in the VIN.

[0063] S303: The attitude measurement system takes pictures of the side of the newly produced car using a binocular camera to generate a 2D image, and obtains wheel information and the relative relationship between the parked vehicle and the parking space frame. The wheel information includes the coordinates of the center point of the tire in the parking space coordinate system of the receiving area, the diameter, and the wheelbase. The attitude measurement system scans the newly produced car using a 600-line lidar to generate point cloud data of the scanned part.

[0064] S304: The attitude measurement system uses the least squares method to fit the point cloud data obtained in step S303 and the vehicle model data obtained in step S302 to obtain the point cloud data model of the newly produced car. The point cloud data model is the three-dimensional model of the newly produced car.

[0065] S305: The attitude measurement system uses OpenCV and YOLO_V5 algorithms to extract key feature points of the vehicle body from the wheel information obtained in step S303 and the three-dimensional model of the newly produced car obtained in step S304. The key feature point is the outermost point above the wheel hub, and the relative positional relationship between this point and the center point of the vehicle is fixed and known.

[0066] S306: Calibrate the coordinates of the key feature points in the parking space coordinate system of the receiving area. Simultaneously, calculate the coordinates of the vehicle center point in the parking space coordinate system of the receiving area through the positional relationship between the key feature points and the vehicle center point. Further, obtain the coordinates of the vehicle center point in the geodetic coordinate system through coordinate transformation calculation. The coordinate transformation calculation is as follows:

[0067] 1) Formula for calculating the geodetic coordinates of the origin of the parking space coordinate system in the receiving area:

[0068] X = ABS(Longitude of the geodetic origin - Longitude of the origin of the parking space coordinate system in the receiving area) / 180 * PI * 4893392.21998274

[0069] Y = ABS(latitude of geodetic origin - latitude of parking space coordinate system origin) / 180 * PI * 6371000

[0070] 2) Formula for calculating the geodetic coordinates of the vehicle center:

[0071] X = Geodetic coordinates of the origin of the parking space in the receiving area + X coordinates of the key feature points in the parking space coordinate system of the receiving area + A;

[0072] Y = Geodetic coordinates of the origin of the parking space in the receiving area + Y-coordinate of the key feature point in the parking space coordinate system of the receiving area + B;

[0073] In the formula, A is the difference between the feature point and the center of the car in the X direction of the parking space coordinate system in the receiving area; B is the difference between the feature point and the center of the car in the Y direction of the parking space coordinate system in the receiving area.

[0074] S307: The pose information of the newly produced vehicle obtained in steps S302 to S306 is transmitted to the AGV scheduling system through a wireless communication system. The pose information includes the coordinates of the vehicle center in the geodetic coordinate system and the vehicle model information. The data format of the pose information is (X; Y; θ; CarWheelbase; VIN), where X, Y, and θ are the coordinates of the center point of the newly produced vehicle in the geodetic coordinate system, CarWheelbase is the wheelbase of the newly produced vehicle, VIN is the vehicle identification number (VIN) of the newly produced vehicle, and θ is the angle between the line connecting the center point of the newly produced vehicle and the origin of the parking space coordinate system in the receiving area and the Y-axis of the parking space coordinate system in the receiving area.

[0075] S4: Modify the scene map;

[0076] Specifically, the AGV scheduling system dynamically modifies the coordinates of the corresponding point in the scene map based on the pose information of the newly produced vehicle sent in step S3, that is, it synchronizes the geodetic coordinates of the center point of the newly produced vehicle to the corresponding receiving position in the scene map.

[0077] S5: Dispatch AGVs for transporting newly produced cars;

[0078] Specifically, the AGV scheduling system receives transfer task orders from the production management system, plans transfer routes based on currently available car transport AGVs, registers the planned transfer routes in the AGV scheduling system, and locks the transfer route resources. The system then distributes the transfer task and route resources to the car transport AGVs. The AGV scheduling system schedules the operation of the car transport AGVs based on the coordinates of corresponding points on the scene map, road information fed back by the vehicle-road cooperative system, motion information reported by the car transport AGVs themselves, and the position and pose information of the newly produced cars. Simultaneously, the AGV scheduling system performs real-time traffic control on the car transport AGVs based on the car transfer situation, ultimately achieving automatic transfer of newly produced cars.

[0079] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention.

Claims

1. A control method of a control system for automatic transfer of new off-line automobiles, characterized by, The control system comprises a posture measurement system, an automobile carrying AGV, an AGV scheduling system, a vehicle-road cooperation system and a wireless communication system; the posture measurement system and the AGV scheduling system are connected through the wireless communication system, so that the posture data of the new offline automobile obtained by the posture measurement system can be transmitted to the AGV scheduling system; the automobile carrying AGV, the vehicle-road cooperation system and the AGV scheduling system are connected through the wireless communication system, so that the road environment information obtained by the vehicle-road cooperation system can be transmitted to the AGV scheduling system, and the automobile carrying AGV is controlled to run through the AGV scheduling system; The control method comprises the following steps: S1: starting the control system and initializing; S2: manually parking the new offline automobile to the parking position of the receiving area; S3: measuring the posture of the new offline automobile; The posture measurement of the new offline automobile specifically comprises the following steps: S302: the posture measurement system receives the vehicle frame number of the new offline automobile sent by the code scanning gun, and obtains the vehicle model data of the new offline automobile from the vehicle factory database according to the vehicle feature information in the vehicle frame number; S303: the posture measurement system takes a photo of the side of the new offline automobile through a binocular camera, generates a 2D image, obtains wheel information and the relative relationship between the parked vehicle and the frame line of the parking position, and the wheel information comprises the coordinates, diameter and wheelbase of the center point of the tire in the parking position coordinate system of the receiving area; the posture measurement system scans the new offline automobile through a 600-line laser radar, and generates point cloud data of the scanned part; S304: the posture measurement system fits the point cloud data obtained in step S303 and the vehicle model data obtained in step S302 into a point cloud data model of the new offline automobile through the least square method, and the point cloud data model is a three-dimensional model of the new offline automobile; S305: the posture measurement system extracts key feature points of the vehicle body through OpenCV and YOLO_V5 algorithms by using the wheel information obtained in step S303 and the three-dimensional model of the new offline automobile obtained in step S304, and the key feature points are the outermost points above the wheel hub, and the relative position relationship between the points and the vehicle center point is fixed and known; S306: the coordinates of the key feature points in the parking position coordinate system of the receiving area are calibrated, the coordinates of the vehicle center point in the parking position coordinate system of the receiving area are calculated through the position relationship between the key feature points and the vehicle center point, and the coordinates of the vehicle center point in the geodetic coordinate system are further calculated through coordinate transformation, and the coordinate transformation calculation is as follows: 1) calculation formula of the geodetic coordinates of the origin of the parking position coordinate system of the receiving area: X = ABS (longitude of the origin of the earth - longitude of the coordinate system origin of the parking space in the drop-off area) / 60 ; Y = ABS (latitude of the origin of the earth - latitude of the origin of the coordinate system of the parking space in the drop-off area) / 90 ; 2) calculation formula of the geodetic coordinates of the automobile center: X = geodetic coordinates X of the origin of the parking position of the receiving area + X coordinates of the key feature points in the parking position coordinate system of the receiving area + A; Y = geodetic coordinates Y of the origin of the parking position of the receiving area + Y coordinates of the key feature points in the parking position coordinate system of the receiving area + B; In the formula, A is the difference value of the feature points and the automobile center in the X direction of the parking position coordinate system of the receiving area; B is the difference value of the feature points and the automobile center in the Y direction of the parking position coordinate system of the receiving area. S307: transmitting the pose information of the new off-line vehicle obtained in steps S302-S306 to the AGV scheduling system through a wireless communication system, the pose information including the coordinates of the center of the vehicle in the terrestrial coordinate system and the vehicle model information, the data format of the pose information being (X; Y; θ; CarWheelbase; VIN), wherein X, Y, and θ are the coordinate information of the center of the new off-line vehicle in the terrestrial coordinate system, CarWheelbase is the wheelbase of the new off-line vehicle, VIN is the vehicle identification number of the new off-line vehicle, and θ is the included angle between the connecting line between the center of the new off-line vehicle and the origin of the coordinate system of the parking space of the receiving area and the Y axis of the coordinate system of the parking space of the receiving area; S4: modifying the scene map; S5: scheduling the vehicle transfer AGV to transfer the new off-line vehicle.

2. The control method of the control system for automatic transfer of new off-line automobiles according to claim 1, characterized by, The pose measurement system comprises a code scanning gun, a binocular camera, and a 600-line laser radar.

3. The control method of claim 2, wherein, The binocular camera is arranged on the long-line frame of the parking space of the receiving area and is used to take a photo of the side of the new off-line vehicle parked on the parking space of the receiving area.

4. The control method of claim 2, wherein, The 600-line laser radar is arranged above the parking space of the receiving area and is used to scan the new off-line vehicle parked on the parking space of the receiving area and obtain the point cloud data of the scanned part.

5. The control method of claim 1, wherein, The AGV scheduling system comprises a background algorithm module and a Web front-end display module.

6. The control method of claim 1, wherein, The AGV scheduling system adopts a "feedforward lock" based method to control the traffic of the vehicle transfer AGV.

7. The control method of claim 1, wherein, The wireless communication system selects MOXA AWK-3131A modules and MOXA AWK-4131A modules.

8. The control method of claim 7, wherein, The AWK-3131A module is configured in the Client mode.

9. The control method of claim 7, wherein the control method comprises the steps of: determining whether the vehicle is in the new offline state; and if the vehicle is in the new offline state, controlling the vehicle to be automatically transferred to the offline parking area. The AWK-4131A module is configured in the AP mode.

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