An AGV positioning system for automated loading and unloading at a dock

Abstract

This invention relates to the technical field of port transportation machinery, and in particular to an AGV positioning system for automated loading and unloading at ports. The system includes a main processor for human-machine interaction, issuing control commands, and collecting and automatically processing AGV work data; an automatic movement module controlled by the main processor to move the AGV to a designated container handling position along a predetermined route; a material handling module controlled by the main processor to lift containers onto the AGV; and a sorting module to acquire container attributes and the attributes of the goods inside the container, and control the AGV to move to a designated unloading area based on the acquired information. The sorting module also controls the crane in the designated unloading area to sort and arrange the containers. This invention achieves a more orderly container stacking.

Description

Technical Field

[0001] This invention relates to the technical field of dock transportation machinery, and in particular to an AGV positioning system for automated loading and unloading at docks. Background Technology

[0002] AGVs, also known as AGV carts, are transport vehicles equipped with electromagnetic or optical automatic navigation devices that enable them to travel along predetermined navigation paths. In industrial applications, these driverless transport vehicles are powered by rechargeable batteries. Their movement and behavior are typically controlled by a computer, or their paths are established using electromagnetic tracks attached to the floor. The AGV moves and operates based on the signals transmitted through these tracks.

[0003] Existing automated loading and unloading (AGV) positioning systems at docks typically include a main processor, an automatic movement module, and a material handling module. The main processor processes position data and sends control signals, the automatic movement module controls the movement of the AGV, and the material handling module controls the crane to place containers onto the AGV. Usually, several predetermined routes are set up at the dock, and the AGV will move containers back and forth along these routes under the control of the automatic movement module, thereby achieving the positioning of the AGV's route.

[0004] The existing technical solutions mentioned above have the following drawbacks: When unloading at the terminal, AGVs and cranes usually stack containers randomly, resulting in containers being stacked haphazardly on the terminal. When containers need to be shipped out, the haphazard stacking of containers increases the difficulty of finding the containers that need to be shipped out. Summary of the Invention

[0005] The purpose of this invention is to provide an AGV positioning system for automated loading and unloading at docks, which makes container stacking more orderly.

[0006] The above-mentioned objective of this invention is achieved through the following technical solution:

[0007] An AGV positioning system for automated loading and unloading at a port includes: a main processor for human-machine interaction, issuing various control commands, and collecting and automatically processing AGV work data; an automatic movement module for controlling the AGV to move along a predetermined route to a designated container handling position, and the automatic movement module is controlled by the main processor; a material handling module for controlling the crane to lift containers onto the AGV, and the material handling module is controlled by the main processor; and a classification module for acquiring container attributes and the attributes of the goods inside the container, and controlling the AGV to move to a designated unloading area based on the acquired information; the classification module is also used to control the crane in the designated unloading area to classify and place the containers.

[0008] By adopting the above technical solution, the main processor controls the operation of the automatic movement module, the material picking module, and the sorting module. The material picking module controls the crane to lift the container onto the AGV, and the automatic movement module controls the AGV to transport the container to the designated location. The sorting module classifies containers with different attributes and containers with different cargo attributes. When a specific container needs to be taken out of the warehouse, the containers stacked in a certain order make it easier to find the specific container and take it out of the warehouse.

[0009] In a preferred embodiment, the present invention can be further configured as follows: the material handling module includes a material handling submodule, which controls the crane arm to lift the container onto the AGV; the material handling module also includes a weighing submodule, which weighs the transported container and obtains weight data, and then transmits the weight data to the main processor. The main processor has a database for storing various types of data. The main processor compares the weight data with the data in the database to obtain the drive power data corresponding to the weight data, and then transmits the drive power data to the drive source of the material handling submodule to control the drive power of the drive source.

[0010] By adopting the above technical solution, the container is weighed by the weighing submodule, and then the weight data is transmitted to the drive source of the material handling submodule. The drive source controls the power according to the weight data, thereby shortening the process of the drive source slowly increasing the power until the container is lifted, saving time and increasing efficiency.

[0011] In a preferred embodiment, the present invention can be further configured as follows: the classification module includes a weight comparison submodule; the main processor is configured with a weight threshold set by the operator; the weighing submodule transmits weight data to the main processor; the main processor compares the weight data with the weight threshold to obtain a weight comparison signal; the main processor transmits the weight comparison signal to the weight comparison submodule; the weight comparison submodule classifies containers with weight data greater than the weight threshold as heavy containers and containers with weight data less than the weight threshold as light containers based on the weight comparison signal; the classification module also includes a weight classification submodule, which controls the AGV and crane to stack containers classified as light containers on top of containers classified as heavy containers based on the classification result of the weight comparison submodule.

[0012] By adopting the above technical solution, the weight comparison submodule compares the weight data of each container, and the weight classification submodule controls the AGV and crane to classify and stack containers into heavy containers and light containers, thereby reducing the probability of light containers being damaged due to multiple heavy containers being stacked on top of a light container.

[0013] In a preferred embodiment, the present invention can be further configured as follows: the classification module further includes a scanning submodule, the container is marked with an identifier containing cargo fragility information, and the scanning submodule is used to scan the information within the identifier installed on the container by the worker; the classification module further includes an identification submodule, which is used to identify the cargo fragility information within the identifier scanned by the scanning submodule; the classification module further includes a fragility classification submodule, which transmits the identified cargo fragility information to the main processor; the main processor classifies the types of items inside the container into fragile and non-fragile items based on the cargo fragility information; the main processor transmits the fragility classification signal to the fragility classification submodule; the fragility classification submodule controls the AGV and crane to be more stable when handling containers whose internal items are classified as fragile, based on the fragility classification signal returned by the main processor.

[0014] By adopting the above technical solution, the scanning submodule scans the markings on the container, and the identification submodule identifies the scanning results and classifies the goods in the container into fragile and non-fragile items based on the fragility data. Then, the fragility classification submodule controls the AGV and crane to classify and stack the containers according to the identification results. At the same time, the AGV and crane are more stable in handling containers classified as fragile, which reduces the probability of damaging the goods in the container and improves the safety of the container.

[0015] In a preferred embodiment, the present invention can be further configured as follows: the classification module includes a time classification submodule, the identifier also contains information on the estimated outbound time of the container, the scanning submodule transmits the estimated outbound time information of the container scanned from the identifier to the identification submodule, the identification submodule receives the estimated outbound information of the container transmitted from the scanning submodule, identifies it, and transmits the identified estimated outbound information of the container to the main processor, the main processor classifies the received estimated outbound information of the container and obtains an outbound classification signal, the main processor transmits the outbound classification signal to the time classification submodule, the time classification submodule receives the outbound classification signal transmitted from the main processor to control the AGV and the crane to classify and stack the containers according to the order of their estimated outbound times.

[0016] By adopting the above technical solution, the scanning submodule scans the markings on the containers, and the identification submodule identifies the scanning results and classifies the containers according to the expected outbound time. Then, the time classification submodule controls the AGV and the crane to stack the containers according to the expected outbound time, placing the containers with the fastest expected outbound time on the top layer for easy lifting by the crane during outbound. When the expected outbound time arrives, the containers are stacked on the top layer, allowing the crane to directly grab them, reducing the probability of having to move other containers before grabbing the designated container. This makes container outbound more orderly and improves the efficiency of container outbound.

[0017] In a preferred embodiment, the present invention can be further configured as follows: the classification module includes a material classification submodule, the identifier also includes information on the materials used in the container, the identification submodule identifies the material and sends the identification signal to the main processor, the main processor classifies the information on the materials used in the container and obtains a material classification signal, the main processor transmits the material classification signal to the material classification submodule, and the material classification submodule controls the AGV and the crane to stack containers with weaker material strength on top of containers with stronger material strength according to the material classification signal transmitted from the main processor.

[0018] By adopting the above technical solution, the scanning submodule scans the markings on the container, the identification submodule identifies the scanning results and classifies the container according to the materials used in the container, and the material classification submodule controls the AGV and the crane to stack the containers according to the materials used in the container. Containers made of less pressure-resistant materials are placed on the upper layer, and containers made of more pressure-resistant materials are placed on the lower layer, which reduces the probability of damage caused by containers made of less pressure-resistant materials being placed on the lower layer.

[0019] In a preferred embodiment, the present invention may be further configured as follows: including a startup module, the startup module including a startup sensing submodule, the startup sensing submodule being used to detect whether the cargo ship is in position and output a distance signal, the startup module also including a main power supply for supplying power to the main processor, the automatic movement module, the material handling module and the sorting module, the startup module also including a startup switch submodule, the startup switch submodule receiving the distance signal output by the startup sensing submodule to turn the main power supply on or off.

[0020] By adopting the above technical solution, when the cargo ship arrives at the designated position, the activation of the sensing submodule causes the activation switch submodule to turn on the main power, enabling the main processor, automatic movement module, material handling module, and sorting module to start working; when the cargo ship leaves the designated position, the activation of the sensing submodule will cause the activation switch submodule to turn off the main power, causing the main processor, automatic movement module, material handling module, and sorting module to stop working, thereby reducing the daily wear and tear on the main processor, automatic movement module, material handling module, and sorting module and extending their service life.

[0021] In a preferred embodiment, the present invention can be further configured such that the four sub-modules—weight classification sub-module, fragility classification sub-module, time classification sub-module, and material classification sub-module—are arranged in descending order of priority as follows: time classification sub-module, material classification sub-module, weight classification sub-module, and fragility classification sub-module.

[0022] By adopting the above technical solution, and prioritizing them from high to low as follows: time classification submodule, material classification submodule, weight classification submodule and fragility classification submodule, the probability of container damage is reduced while facilitating container outbound operations. This approach balances container outbound operations with improved container safety, and also makes the goods inside the containers safer.

[0023] In summary, the present invention has at least one of the following beneficial technical effects:

[0024] 1. The main processor controls the operation of the automatic movement module, the material handling module, and the sorting module. The material handling module controls the crane to lift the container onto the AGV, and the automatic movement module controls the AGV to transport the container to the designated location. The sorting module classifies containers with different attributes and containers with different cargo attributes into different categories. This allows containers that are not easily damaged and containers with easily damaged cargo to be stacked at the bottom, and containers that are easily damaged and containers with easily damaged cargo to be stacked at the top, thereby reducing the probability of damage to the containers or the cargo inside them.

[0025] 2. A weight comparison submodule compares the weight data of each container, and a weight classification submodule controls the AGV and crane to stack containers classified as heavy or light, reducing the probability of light containers being damaged by multiple heavy containers stacked on top of each other. A scanning submodule scans the markings on the containers, and an identification submodule identifies the scan results and classifies the goods inside the containers into fragile and non-fragile items based on fragility data. The fragility classification submodule then controls the AGV and crane to stack the containers according to the identification results. Furthermore, the handling of containers classified as fragile is smoother, reducing the probability of damage to the goods inside and improving container safety. Attached Figure Description

[0026] Figure 1 This is a system structure block diagram of an embodiment of the present invention.

[0027] Figure 2 This is a flowchart illustrating the prominent start-up sensing submodule in an embodiment of the present invention.

[0028] Figure 3 This is a flowchart illustrating the time-based classification submodule in an embodiment of the present invention.

[0029] Figure 4 This is a flowchart illustrating the classification submodule highlighting fragility in an embodiment of the present invention.

[0030] In the diagram, 1. Main processor; 2. Automatic movement module; 3. Material handling module; 31. Material handling sub-module; 32. Weighing sub-module; 4. Classification module; 41. Weight comparison sub-module; 42. Weight classification sub-module; 43. Scanning sub-module; 44. Identification sub-module; 45. Fragility classification sub-module; 46. Time classification sub-module; 47. Material classification sub-module; 5. Start-up module; 51. Start-up sensor sub-module; 52. Start-up switch sub-module. Detailed Implementation

[0031] The present invention will be further described in detail below with reference to the accompanying drawings.

[0032] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0033] Furthermore, the term "and / or" in this article is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Additionally, the character " / " in this article, unless otherwise specified, generally indicates that the preceding and following related objects have an "or" relationship.

[0034] The embodiments of the present invention will now be described in further detail with reference to the accompanying drawings.

[0035] This specific embodiment is merely an explanation of the present invention and is not intended to limit the invention. After reading this specification, those skilled in the art can make modifications to this embodiment without contributing any inventive step, but such modifications are protected by patent law as long as they are within the scope of the claims of the present invention.

[0036] This invention provides an AGV positioning system for automated loading and unloading at a dock, referring to... Figure 1 The system includes a main processor 1, an automatic movement module 2, a material handling module 3, and a sorting module 4. The main processor 1 handles human-machine interaction, issues various control commands, and collects and automatically processes the AGV's operational data. The automatic movement module 2 controls the AGV to move along a predetermined route to the designated container handling position and then moves the container to its stacking location. The material handling module 3 controls the crane to lift the container onto the AGV for handling. The sorting module 4 acquires the container's attributes and the attributes of the goods inside, and controls the AGV to move to the designated unloading area based on the acquired information; the sorting module 4 also controls the crane in the designated unloading area to sort and arrange the containers.

[0037] Reference Figure 1 The main processor 1 may include a central processing unit such as a CPU or MPU, or a host system built around a CPU or MPU, including hardware or software. Users can freely control the system through programming, making it operate according to their wishes. The main processor 1 can control the automatic movement module 2, the material handling module 3, and the sorting module 4 through internal protocols. Internal protocols broadly refer to all protocols that enable communication or linking within the same measuring instrument or system, including: human-machine interaction protocols, software / hardware (interface) protocols, chip bus (C-Bus) protocols, internal bus (I-Bus) protocols, etc. With the development of integrated circuit technology, some protocols belonging to external bus (E-Bus) have also been integrated into the chip and are now considered internal protocols. Operators can obtain and modify the current behavior information within the main processor 1 through mechanical button triggering or virtual button triggering.

[0038] Reference Figure 1 The main processor 1 includes a remote communication component, which can take many forms and structures, such as a WiFi module, a 3G module, a 4G module, or a 5G module. It utilizes network resources to form a network and provides remote communication or remote control functions.

[0039] In this embodiment, the AGV is positioned using electromagnetic induction. Electromagnetic lines are laid on the ground, and electromagnetic induction devices are installed on the AGV. The AGV is positioned by sensing the electromagnetic lines on the ground through the electromagnetic induction devices on the AGV. After sensing the electromagnetic lines on the ground, the electromagnetic induction devices on the AGV transmit the AGV's position signal to the main processor 1. AGV refers to a transport vehicle equipped with electromagnetic or optical automatic navigation devices, capable of traveling along a prescribed navigation path, and having safety protection and various transfer functions.

[0040] Reference Figure 1 and Figure 2 The material handling module 3 includes a material handling submodule 31. When the main processor 1 receives a position signal from the AGV and it is within the specified position information range set by the worker, the main processor 1 will transmit a grab signal to the material handling submodule 31. After receiving the grab signal from the main processor 1, the material handling submodule 31 controls the crane arm to lift the container onto the AGV. The container refers to a box used to pack goods. The material handling module 3 also includes a weighing submodule 32. The weighing submodule 32 is used to weigh the container being transported on the AGV and obtain weight data. The weight data is the weight of the container. The weighing submodule 32 can achieve the weighing of the container through a weight sensor. After obtaining the weighing data of the container, the weighing submodule 32 transmits the signal to the main processor 1. The main processor 1 has a database that stores various types of data. The main processor 1 compares the weight data with the data in the database to obtain the drive power data corresponding to the weight data. The main processor 1 then transmits the drive power data to the material handling submodule 31. The material handling submodule 31 controls the boom, thereby controlling the drive power of the boom drive source, so that the force of the boom is greater than the weight of the container, shortening the process of the boom gradually increasing the force to be greater than the weight of the container.

[0041] Reference Figure 1 and Figure 3The classification module 4 includes a weight comparison submodule 41. The main processor 1's database stores weight thresholds set by the staff. The weighing submodule 32 transmits the weight data to the main processor 1, which then extracts the weight thresholds from the database. The main processor 1 compares the weight data with the weight thresholds to obtain a weight comparison signal. The weight comparison signal output by the main processor 1 has two types: a low-level signal indicates that the weight data is less than the weight threshold, and a high-level signal indicates that the weight data is greater than the weight threshold. The main processor 1 transmits the weight comparison signal to the weight comparison submodule 41. The weight comparison submodule 41 classifies containers with weight data greater than the weight threshold as heavy containers and containers with weight data less than the weight threshold as light containers based on the different weight comparison signals. Staff can adjust the division range between heavy and light containers by changing the value of the weight threshold. The classification module 4 also includes a weight classification submodule 42. The weight classification submodule 42 is used to control the AGV and the crane to stack containers classified as light containers on top of containers classified as heavy containers based on the comparison result of the weight comparison submodule 41. That is, containers classified as heavy containers are placed at the bottom layer, and containers classified as light containers are stacked on the top layer, reducing the probability of the bottom container being deformed due to the excessive weight of the top container.

[0042] Reference Figure 1 and Figure 2 The classification module 4 also includes a scanning submodule 43. Each container is equipped with a label, which can be a sensor, QR code, or sensing chip—a medium with storage capabilities. The label stores data on the fragility of the goods inside the container, the estimated outbound time of the container, and the materials used in the container. The scanning submodule 43 scans the labels installed on the containers by staff. The classification module 4 also includes an identification submodule 44. The scanning submodule 43 transmits the information obtained from scanning the labels to the identification submodule 44, which then identifies the information transmitted from the scanning submodule 43 and transmits the identified information to the main processor 1. Before the container handling begins, the scanning submodule 43 scans all labels on the containers to be handled, and then the identification submodule 44 identifies the labels. The main processor 1 pre-classifies the containers based on the identified information and generates corresponding container stacking coordinates. Subsequently, when the classification module 4 stacks the containers, it uses these coordinates to stack them.

[0043] Reference Figure 1 and Figure 4The classification module 4 includes a fragility classification submodule 45. The identification submodule 44 identifies the fragility information of the goods displayed in the identification area scanned by the scanning submodule 43. The identification submodule 44 transmits the identified fragility information to the main processor 1. The main processor 1 compares the fragility information identified by the identification submodule 44 with data in the database, and then classifies the fragility information to obtain fragility classification signals. These signals are divided into two types: a low-level signal representing fragile items and a high-level signal representing non-fragile items. The main processor 1 then sends the fragility classification signals to the fragility classification submodule 45. The fragility classification submodule 45 controls the AGV and crane to classify and stack containers according to the type of items inside based on the different fragility classification signals. Containers classified as non-fragile are placed at the bottom, while containers classified as fragile are placed at the top. The crane and AGV need to be more stable when transporting containers classified as fragile. When a conflict arises between the weight classification submodule 42 and the fragility classification submodule 45, the weight classification submodule 42 takes precedence. This means that containers classified as heavy are placed at the bottom layer, and then light containers are stacked on top of the heavy containers. Containers classified as fragile require more stable handling. When both containers are classified as either light or heavy, the fragility classification submodule 45 is then executed, placing the fragile container on top.

[0044] Reference Figure 1 and Figure 3 The classification module 4 also includes a time classification submodule 46. The identification submodule 44 identifies the estimated outbound time information of the containers scanned by the scanning submodule 43, and then transmits the identified estimated outbound time information of the containers to the main processor 1. The main processor 1 stores the estimated outbound time information of the containers in the database. After the unified scanning and identification is completed, the main processor 1 classifies the estimated outbound time information of each container into different outbound classification signals. The outbound classification signals sort and classify the containers according to the speed of their estimated outbound time. Then the main processor 1 sends the outbound classification signals to the time classification submodule 46. The time classification submodule 46 sorts the containers from fastest to slowest according to their estimated outbound time, and then controls the AGV and the crane to classify and stack the containers according to their estimated outbound time. The earlier the estimated outbound time of the container, the higher the container is placed on the shelf. When there is a conflict between the time classification submodule 46, the weight classification submodule 42 and the fragility classification submodule 45, the time classification submodule 46 is executed first. That is, the container classified as having the fastest departure time is placed on the top layer. If this container is stacked, the containers classified as heavy containers are placed on the bottom layer first. Finally, the fragility classification submodule 45 is executed.

[0045] Reference Figure 1 and Figure 3 The classification module 4 includes a material classification submodule 47 and an identification submodule 44. The identification submodule 44 identifies the material information of the container within the identifier scanned by the scanning submodule 43. Then, the identification submodule 44 sends the material information of the container to the main processor 1. The main processor 1 classifies the material information of the container and obtains a material classification signal. There are three types of material classification signals: the first is a signal representing containers made of aluminum alloy, the second is a signal representing containers made of steel, and the third is a signal representing containers made of fiberglass. The main processor 1 transmits the material classification signal to the material classification submodule 47. The material classification submodule 47 is used to classify the containers into aluminum alloy containers, steel containers, and fiberglass containers according to the material classification signal. Then, it controls the AGV and the crane to classify and stack the containers according to the material information of the containers. The stacking order from bottom to top is steel containers, fiberglass containers, and aluminum alloy containers. When the material classification submodule 47, weight classification submodule 42, fragility classification submodule 45, and time classification submodule 46 conflict, the time classification submodule 46 is executed first, meaning the container that needs to be shipped out first is placed on the top layer. Then, the material classification submodule 47 is executed, stacking steel containers, fiberglass containers, and aluminum alloy containers in a bottom-up order. If the container materials are the same, the execution of the material classification submodule 47 is skipped. Next, the weight classification submodule 42 is executed, placing containers classified as light containers on the top layer and containers classified as heavy containers on the bottom layer. Finally, the fragility classification submodule 45 is executed, placing containers classified as fragile on the top layer and containers classified as non-fragile on the bottom layer.

[0046] Reference Figure 1 and Figure 2The AGV positioning system for automated loading and unloading at the dock also includes a start module 5, which includes a start sensor submodule 51. The start sensor submodule 51 detects whether the cargo ship is in position and outputs a distance signal. The start sensor submodule 51 can measure the distance to the cargo ship using an infrared distance sensor or an acoustic distance sensor. The start sensor submodule 51 transmits the distance signal to the main processor 1. The main processor 1 retrieves the distance threshold set by the operator in the database and compares it with the distance signal data, outputting a distance comparison signal. The distance comparison signal is of two types: a low-level signal indicating that the distance signal data is greater than the distance threshold, and a high-level signal indicating that the distance signal data is less than the distance threshold. The start module 5 also includes a main power supply for powering the main processor 1, the automatic movement module 2, the material handling module 3, and the sorting module 4. The start module 5 also includes a start switch submodule 52, which receives the distance comparison signal transmitted from the main processor 1 to turn the main power supply on or off. When the cargo ship reaches the designated distance, the activation sensor submodule 51 sends a distance signal to the main processor 1. The main processor 1 retrieves the distance threshold set by the staff in the database, compares it with the distance signal data, and outputs a high-level distance comparison signal. The main processor 1 then outputs the high-level distance comparison signal to the activation switch submodule 52, which connects the main power supply, enabling the main processor 1, automatic movement module 2, material handling module 3, and sorting module 4 to start working. When the cargo ship leaves the designated distance, the main processor 1 outputs a low-level distance comparison signal to the activation switch submodule 52, causing the activation switch submodule 52 to turn off the main power supply, thereby stopping the main processor 1, automatic movement module 2, material handling module 3, and sorting module 4 from working.

[0047] The AGV positioning system for automated loading and unloading at the dock also includes a memory. The memory stores the computer program for the AGV positioning system that can be loaded and executed by the main processor 1. The memory serves as the database for the main processor 1. The memory can be a storage device such as RAM, ROM, EPROM, EEPROM, FLASH, disk, or optical disk. The memory can store parameters and algorithms that need to be modified or corrected after the measuring instrument has undergone calibration, self-calibration, self-testing, verification, and adjustment processes, facilitating subsequent program access. It can also store measurement data generated during normal operation of the local measurement / traceability components, as well as data from the local measurement / traceability components' measurement / traceability of external measuring devices.

[0048] The beneficial effects of this embodiment are as follows: When the cargo ship arrives at the designated position, the main processor 1 transmits a high-level distance comparison signal to the start switch submodule 52 and causes the start switch submodule 52 to start the main power supply. At this time, the main processor 1 sends a command to the automatic movement module 2 to control the AGV to reach the designated position. Then, the material handling module 3 controls the crane to lift the container onto the AGV. Before lifting the container, the weighing submodule 32 weighs the container and outputs the weight data to the main processor 1. At the same time, the scanning submodule 43 scans the data in the identification and transmits it to the identification submodule 44. The identification submodule 44 identifies the scanned data and transmits the fragility of the goods in the container, the estimated time of container departure, and the materials used in the container to the main processor 1. The main processor 1 sends commands to the weight classification submodule 42, the fragility classification submodule 45, the time classification submodule 46, and the material classification submodule 47. The weight classification submodule 42, the fragility classification submodule 45, the time classification submodule 46, and the material classification submodule 47 control the crane and the AGV to classify and stack the containers.

[0049] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. An AGV positioning system for automated loading and unloading at a dock, characterized in that, Including: The main processor (1) is used for human-machine interaction of the system, issuing various control commands, and collecting and automatically processing the working data of the AGV. An automatic movement module (2) is used to control the AGV to move to the designated container handling position according to a predetermined route, and the automatic movement module (2) is controlled by the main processor (1); The material handling module (3) is used to control the crane arm to lift the container onto the AGV, thereby transporting the container, and the material handling module (3) is controlled by the main processor (1); The classification module (4) is used to obtain the attributes of the container and the attributes of the goods inside the container, and to control the AGV to move to the designated unloading area based on the obtained information; the classification module (4) is also used to control the crane in the designated unloading area to classify and place the containers. The material handling module (3) also includes a weighing submodule (32), which is used to weigh the transported containers. The classification module (4) includes a weight comparison submodule (41), a scanning submodule (43), and an identification submodule (44). The weight comparison submodule (41) is used to compare the weight data of the weighing submodule (32) with the weight threshold. The scanning submodule (43) is used to scan the identification marks installed on the containers by the staff. The container identification marks contain information on the fragility of the goods, the expected outbound information of the containers, and the information on the materials used in the containers. The identification submodule (44) is used to identify the results scanned by the scanning submodule (43). The main processor (1) pre-classifies the containers according to the identification information and generates corresponding container stacking coordinates. The classification module (4) can stack the containers according to the generated container stacking coordinates. The classification module (4) further includes a weight classification submodule (42), a fragility classification submodule (45), a time classification submodule (46), and a material classification submodule (47). The weight classification submodule (42) is used to control the AGV and the crane to classify and stack containers according to weight type based on the comparison result of the weight comparison submodule (41). The fragility classification submodule (45), the time classification submodule (46), and the material classification submodule (47) control the AGV to classify and stack containers according to internal item type, expected container outbound information, and material information used in the container based on the identification result returned by the identification submodule (44). The four sub-modules, namely the weight classification sub-module (42), the fragility classification sub-module (45), the time classification sub-module (46), and the material classification sub-module (47), are arranged in order of priority from high to low as follows: time classification sub-module (46), material classification sub-module (47), weight classification sub-module (42), and fragility classification sub-module (45).

2. The AGV positioning system for automated loading and unloading at a dock according to claim 1, characterized in that, The material handling module (3) includes a material handling submodule (31), which is used to control the boom to lift the container onto the AGV; the weighing submodule (32) is used to transmit the weighing data to the drive source of the material handling submodule (31), thereby controlling the drive power of the drive source.

3. The AGV positioning system for automated loading and unloading at a dock according to claim 1, characterized in that, The main processor (1) is equipped with a weight threshold, and the weight comparison submodule (41) classifies the weight type of the container into heavy containers and light containers according to the comparison result.

4. The AGV positioning system for automated loading and unloading at a dock according to claim 1, characterized in that, The identification submodule (44) classifies the types of items inside the container into fragile and non-fragile items based on the scanning results of the scanning submodule (43), and sends the identification results to the fragility classification submodule (45).

5. The AGV positioning system for automated loading and unloading at a dock according to claim 1, characterized in that, After identification, the identification submodule (44) sends the identification result to the material classification submodule (47).

6. The AGV positioning system for automated loading and unloading at a dock according to claim 1, characterized in that, The system includes a startup module (5), which includes a startup sensing submodule (51) for detecting whether the cargo ship is in position. The startup module (5) also includes a main power supply for supplying power to the main processor (1), automatic moving module (2), material picking module (3) and sorting module (4). The startup module (5) also includes a startup switch submodule (52) for turning the main power supply on or off according to the signal from the startup sensing submodule (51).

7. An AGV positioning system for automated loading and unloading at a dock, characterized in that, Includes a memory storing an AGV positioning system for automated loading and unloading at a dock, which can be loaded and executed by the main processor (1) as described in any of claims 1 to 6.

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