Method and device for determining AGV and method and device for transporting objects to be transported

Abstract

The present invention relates to the field of automated logistics, and discloses a method and device for determining an AGV and a method and device for transporting an object to be transported. The method for determining an AGV includes determining preset information of the object to be transported; placing at least one preset AGV according to the preset information, wherein the top view of the at least one preset AGV is a rectangle or a square; using the at least one preset AGV as a reference, copying the top view of the at least one preset AGV along the length and width of the top view of the at least one preset AGV to cover the top view of the object to be transported, wherein the combination of all the preset AGVs covering the top view of the object to be transported is the first AGV combination for transporting the object to be transported. In this way, it is possible to determine the AGV used to transport an object to be transported of any shape, and to transport an object to be transported of any shape.

Description

Technical Field

[0001] The present invention relates to the field of automated logistics, and in particular to a method and device for determining an AGV and a method and device for transporting an object to be transported. Background Art

[0002] In the field of automated workshop logistics, AGVs mostly operate as single units. For the transport of long parts, extra-long AGVs are used for automated handling. These AGVs occupy a large area and have low efficiency. In recent years, some dual-vehicle and multi-vehicle AGV technologies have emerged. The main innovations are in the control systems and methods, but there are no improvements to the AGV itself. They still occupy a large travel radius in conditions such as cornering, making them unsuitable for all applications. AGVs, or automated guided vehicles, are mobile robots that can follow a prescribed guide route and autonomously complete handling operations. They generally use electromagnetic or optical navigation principles.

[0003] The prior art provides a multi-vehicle linkage method and a multi-vehicle linkage system, which mainly adjusts the speed and position positioning by angle deviation, etc. Figure 1 As shown, the axes of the two AGVs are used as comparison standards, and adjustments are made according to the angular deviation of the two axes. At the same time, one AGV is used as a reference trolley and the other trolley is used as an adjustment trolley. In addition, the prior art also provides a heavy-duty AGV dual-vehicle linkage control method, which mainly realizes the dual-vehicle linkage of AGVs through the cooperation of the main AGV and the secondary AGV. Figure 2 As shown in FIG, two AGVs are assigned as the master vehicle and the slave vehicle, the distance and deviation angle between the two vehicles are specified, and the relevant parameters of the two AGVs are synchronized. In addition, the prior art also provides a large-tonnage wireless linkage omnidirectional walking device based on CAN bus control, such as Figure 3 As shown, it mainly adopts a pattern-based hierarchical parallel structure, consisting of a communication module, a drive controller module, a sensor feedback module, and twelve motor drivers, to achieve synchronous lifting and walking. The solution in the existing technology is mainly a dual-car mode, but the dual-car mode is not suitable for the transportation of any special-shaped parts, and there is no specific AGV solution for transporting any special-shaped parts in the existing technology. In addition, in the dual-car mode, one AGV is the reference car and the other is the adjustment car. When performing various actions, if the reference car deviates from the guide path, the adjustment car will also deviate, which can easily cause derailment and other phenomena. Summary of the Invention

[0004] An object of the present invention is to provide a method and device for determining an AGV and a method and device for transporting an object to be transported, which can solve or at least partially solve the above-mentioned problems.

[0005] In order to achieve the above-mentioned purpose, one aspect of the present invention provides a method for determining the AGV used for transportation, the method comprising: determining preset information of an object to be transported; placing at least one preset AGV according to the preset information, wherein the top view of the at least one preset AGV is a rectangle or a square; taking the at least one preset AGV as a reference, copying the top view of the preset AGV along the length and width directions of the top view of the at least one preset AGV to cover the top view of the object to be transported, wherein the combination of all the preset AGVs covering the top view of the object to be transported is the first AGV combination for transporting the object to be transported.

[0006] Optionally, the preset information includes the center of gravity position or support point information, wherein the support point information includes the support point position and area of ​​the support point; placing at least one preset AGV according to the preset information includes: placing the preset position of the at least one preset AGV at the center of gravity position or at the support point position of the support point with the largest area among all the support points.

[0007] Optionally, placing the preset position of the at least one preset AGV at the center of gravity position or the support point position includes a first situation or a second situation, wherein the first situation is to place the centroid of the at least one preset AGV at the center of gravity position or the support point position, and the second situation is to place the center of one side of the top view of the at least one preset AGV at the center of gravity position or the support point position.

[0008] Optionally, after copying the preset AGV to cover the top view of the object to be transported, the method further includes: eliminating the preset AGV that meets the elimination criteria among all the preset AGVs covering the top view of the object to be transported, wherein the elimination criteria are that the ratio of the projection area of ​​the top view of the object to be transported on the top view of the preset AGV to the area of ​​the top view of the preset AGV is less than a preset value and the preset AGV does not cover the support point of the object to be transported.

[0009] Optionally, after eliminating the preset AGVs that meet the elimination criteria among all the preset AGVs that cover the top-view image of the object to be transported, the method further includes: in the case where there are two preset AGVs connected at a vertex among the remaining preset AGVs, copying the preset AGV again at the connection vertex of the two preset AGVs connected at a vertex so that the two preset AGVs connected at a vertex are no longer connected at a vertex, wherein the position where the preset AGV that is copied again is placed is the position where the projection area of ​​the top view image of the object to be transported on the top view image of the second AGV combination is the largest among all the positions where the preset AGV can be placed again, and the second AGV combination includes the preset AGVs that remain after the elimination and the preset AGV that is copied again.

[0010] Optionally, when the preset information includes the center of gravity position or the support point information and placing at least one preset AGV according to the preset information includes placing the preset position of the at least one preset AGV at the center of gravity position or at the support point position of the support point with the largest area among all the support points, placing the preset position of the at least one preset AGV at the center of gravity position or the support point position includes: a first situation and a second situation, wherein the first situation is to place the centroid of the at least one preset AGV at the center of gravity position or the support point position, and the second situation is to place the center of one side of the top view of the at least one preset AGV at the center of gravity position or the support point position, and all the preset AGVs used to transport the object to be transported are the following two ones that make the projection area of ​​the top view of the object to be transported on the top view of their composition the largest: all the preset AGVs obtained in the first situation and all the preset AGVs obtained in the second situation.

[0011] Optionally, one side of the top view of the at least one preset AGV serving as a reference is parallel to the longest side of the top view of the object to be transported.

[0012] Optionally, the preset AGV is the smallest AGV, and the smallest AGV is the AGV with the smallest top-view area among all AGVs currently configured to transport the object to be transported. The method further includes: judging whether the top-view images of the preset AGVs included in the first AGV combination can form a combined top-view image, wherein the combined top-view image includes the top-view images of multiple preset AGVs, and the combined top-view image is a rectangle or a square; if the top-view images of the preset AGVs included in the first AGV combination can form the combined top-view image, determining the combined top-view image with the largest area that can be formed by the top-view images of the preset AGVs included in the first AGV combination, and replacing the preset AGV in the first AGV combination that corresponds to the combined top-view image with the largest area. is the largest AGV, and the top view of the maximum AGV is the combined top view with the largest area; and among the preset AGVs remaining after excluding the largest AGV in the first AGV combination, continue to judge whether the combined top view can be formed and replace the preset AGV if the combined top view can be formed, and repeat the process of judging whether the combined top view can be formed and replacing the preset AGV if the combined top view can be formed until the top view of the preset AGV remaining after the replacement cannot form the combined top view, wherein the AGV used to transport the object to be transported includes the replaced AGV and the preset AGV remaining in the first AGV combination whose top view cannot form the combined top view.

[0013] Optionally, the method also includes: determining whether the first AGV combination includes a connecting AGV, wherein the connecting AGV includes three or more preset AGVs and the preset AGVs are connected in pairs; and in the case of including the connecting AGV, eliminating at least one of the preset AGVs in the connecting AGV that is in the middle position and does not cover the support point of the object to be transported.

[0014] Optionally, after eliminating at least one of the preset AGVs in the connected AGVs that does not cover the support point of the object to be transported, the method further includes: adjusting at least one of the remaining preset AGVs in a preset manner to obtain at least one third AGV combination; and determining the optimal AGV combination for transporting the object to be transported, wherein the optimal AGV combination is the AGV combination in the at least one third AGV combination that maximizes the projection area of ​​the top view of the object to be transported on its top view.

[0015] In addition, another aspect of the present invention provides a method for transporting an object to be transported, the method comprising: obtaining the outer shape of the object to be transported; determining the AGV combination for transporting the object to be transported based on the correspondence between the outer shape and the AGV combination in a preset database, wherein the AGV combination in the preset database is determined according to the above method; mobilizing the AGV according to the determined AGV combination so that the relative position relationship between each AGV in the determined AGV combination and the object to be transported satisfies the relative position relationship between the determined AGV combination and the object to be transported when the determined AGV combination is determined; and controlling the determined AGV combination to transport the object to be transported to a designated location.

[0016] Optionally, before mobilizing the AGV according to the determined AGV combination, the method also includes: determining whether each AGV in the determined AGV combination has a corresponding idle AGV that can be mobilized; and when at least one AGV in the determined AGV combination does not have a corresponding idle AGV that can be mobilized, if the top view area of ​​at least one AGV is a multiple of the top view area of ​​the minimum AGV and there are sufficient number of the minimum AGVs that can be mobilized, then the at least one AGV is replaced with the minimum AGV, wherein the minimum AGV is the AGV with the smallest top view area among all AGVs currently configured to transport the object to be transported, and mobilizing the AGV according to the determined AGV combination is mobilizing the AGV according to the AGV combination obtained after replacing the at least one AGV with the minimum AGV according to the determined AGV combination.

[0017] Correspondingly, another aspect of the present invention also provides a device for determining the AGV used for transportation, the device comprising: a preset information determination module, for determining the preset information of the object to be transported; a placement module, for placing at least one preset AGV according to the preset information, wherein the top view of the at least one preset AGV is a rectangle or a square; and an AGV combination determination module, for taking the at least one preset AGV as a reference, copying the top view of the preset AGV along the length and width directions of the top view of the at least one preset AGV to cover the top view of the object to be transported, wherein the combination of all the preset AGVs covering the top view of the object to be transported is the first AGV combination for transporting the object to be transported.

[0018] Optionally, the preset information includes the center of gravity position or support point information, wherein the support point information includes the support point position and area of ​​the support point; the placement module places at least one preset AGV according to the preset information, including: placing the preset position of the at least one preset AGV at the center of gravity position or at the support point position of the support point with the largest area among all the support points.

[0019] Optionally, the placement module places the preset position of the at least one preset AGV at the center of gravity position or the support point position, including a first situation or a second situation, wherein the first situation is to place the centroid of the at least one preset AGV at the center of gravity position or the support point position, and the second situation is to place the center of one side of the top view of the at least one preset AGV at the center of gravity position or the support point position.

[0020] Optionally, the device also includes: a first rejection module, which is used to reject the preset AGV that meets the rejection criteria among all the preset AGVs covering the top view of the object to be transported after copying the preset AGV to cover the top view of the object to be transported, wherein the rejection criteria is that the ratio of the projection area of ​​the top view of the object to be transported on the top view of the preset AGV to the area of ​​the top view of the preset AGV is less than a preset value and the preset AGV does not cover the support point of the object to be transported.

[0021] Optionally, the AGV combination determination module is also used to: after eliminating the preset AGVs that meet the elimination criteria among all the preset AGVs covering the top view of the object to be transported, if there are two preset AGVs connected at a vertex among the remaining preset AGVs, copy the preset AGV again at the connection vertex of the two preset AGVs connected at a vertex so that the two preset AGVs connected at a vertex are no longer connected at a vertex, wherein the position where the preset AGV that is copied again is placed is the position where the projection area of ​​the top view of the object to be transported on the top view of the second AGV combination is the largest among all the positions where the preset AGV can be placed again, and the second AGV combination includes the preset AGVs that remain after the elimination and the preset AGV that is copied again.

[0022] Optionally, when the preset information includes the center of gravity position or the support point information and placing at least one preset AGV according to the preset information includes placing the preset position of the at least one preset AGV at the center of gravity position or at the support point position of the support point with the largest area among all the support points, the placement module places the preset position of the at least one preset AGV at the center of gravity position or the support point position, including: a first situation and a second situation, wherein the first situation is to place the centroid of the at least one preset AGV at the center of gravity position or the support point position, and the second situation is to place the center of one side of the top view of the at least one preset AGV at the center of gravity position or the support point position, and all the preset AGVs used to transport the object to be transported are the following two ones that make the projection area of ​​the top view of the object to be transported on the top view of their composition the largest: all the preset AGVs obtained in the first situation and all the preset AGVs obtained in the second situation.

[0023] Optionally, one side of the top view of the at least one preset AGV serving as a reference is parallel to the longest side of the top view of the object to be transported.

[0024] Optionally, the preset AGV is the minimum AGV, and the minimum AGV is the AGV with the smallest top-view area among all AGVs currently configured to transport the object to be transported. The device also includes: a mixed AGV forming module, which is used to: determine whether the top-view image of the preset AGV included in the first AGV combination can form a combined top-view image, wherein the combined top-view image includes the top-view images of multiple preset AGVs, and the combined top-view image is a rectangle or a square; when the top-view image of the preset AGV included in the first AGV combination can form the combined top-view image, determine the combined top-view image with the largest area that can be formed by the top-view image of the preset AGV included in the first AGV combination, and the preset AGV corresponding to the combined top-view image with the largest area in the first AGV combination. Suppose the AGV is replaced by the largest AGV, and the top view of the largest AGV is the combined top view with the largest area; and among the preset AGVs remaining in the first AGV combination after excluding the one replaced by the largest AGV, continue to judge whether the combined top view can be formed and replace the preset AGV if it can form the combined top view, and repeat the process of judging whether the combined top view can be formed and replacing the preset AGV if it can form the combined top view until the top view of the preset AGV remaining after the replacement cannot form the combined top view, wherein the AGV used to transport the object to be transported includes the replaced AGV and the preset AGV remaining in the first AGV combination whose top view cannot form the combined top view.

[0025] Optionally, the device also includes: a connection judgment module, used to determine whether the first AGV combination includes a connecting AGV, wherein the connecting AGV includes three or more of the preset AGVs and the preset AGVs are connected in pairs; and a second rejection module, used to reject at least one of the preset AGVs in the connecting AGV that is in the middle position and does not cover the support point of the object to be transported when the connecting AGV is included.

[0026] Optionally, the device also includes: an optimal AGV combination determination module, which is used to: after eliminating at least one of the preset AGVs in the connected AGV that does not cover the support point of the object to be transported, adjust at least one of the remaining preset AGVs in a preset manner to obtain at least one third AGV combination; and determine the optimal AGV combination for transporting the object to be transported, wherein the optimal AGV combination is the AGV combination in the at least one third AGV combination that maximizes the projection area of ​​the top view of the object to be transported on its top view.

[0027] Correspondingly, another aspect of the present invention also provides a device for transporting objects to be transported, the device comprising: an appearance acquisition module for acquiring the appearance of the object to be transported; a transport AGV combination determination module for determining the AGV combination for transporting the object to be transported based on the correspondence between the appearance and the AGV combination in a preset database, wherein the AGV combination in the preset database is determined according to the above method; a mobilization module for mobilizing the AGV according to the determined AGV combination so that the relative position relationship between each AGV in the determined AGV combination and the object to be transported satisfies the relative position relationship between the determined AGV combination and the object to be transported when the determined AGV combination is determined; and an AGV combination control module for controlling the determined AGV combination to transport the object to be transported to a specified position.

[0028] Optionally, the device also includes: a mobilizable judgment module for judging whether each AGV in the determined AGV combination has a corresponding idle AGV that can be mobilized before mobilizing the AGV according to the determined AGV combination; and a replacement module for replacing the at least one AGV with the minimum AGV when at least one AGV in the determined AGV combination does not have a corresponding idle AGV that can be mobilized, if the top view area of ​​at least one AGV is a multiple of the top view area of ​​the minimum AGV and there are sufficient number of the minimum AGVs that can be mobilized, wherein the minimum AGV is the AGV with the smallest top view area among all AGVs currently configured to transport the object to be transported, and mobilizing the AGV according to the determined AGV combination is mobilizing the AGV according to the AGV combination obtained after replacing the at least one AGV with the minimum AGV according to the determined AGV combination.

[0029] Through the above technical solution, the shape of the object to be transported is not restricted, and the AGV used to transport the object to be transported is determined. In this way, the AGV used to transport objects to be transported of any shape can be determined, thereby realizing the transportation of objects to be transported of any shape.

[0030] Other features and advantages of the present invention will be described in detail in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the following detailed description, they are used to explain the present invention but do not constitute a limitation of the present invention. In the accompanying drawings:

[0032] Figure 1 It is a structural diagram of two adjacent AGVs in a multi-vehicle linkage method and a multi-vehicle linkage system in the prior art;

[0033] Figure 2 This is a workflow diagram of the heavy-duty AGV dual-vehicle linkage control method in the prior art;

[0034] Figure 3 This is a top view of a large-tonnage wireless linkage omnidirectional traveling device based on CAN bus control in the prior art;

[0035] Figure 4 This is a flow chart of a method for determining an AGV for transport provided by one embodiment of the present invention;

[0036] Figure 5 is a simplified schematic diagram of a method for determining an AGV to be used for transporting a part provided by another embodiment of the present invention;

[0037] Figure 6 is a simplified schematic diagram of a method for determining an AGV to be used for transporting a part provided by another embodiment of the present invention;

[0038] Figure 7 is a simplified schematic diagram of generating an AGV combination including AGVs of different sizes provided by another embodiment of the present invention;

[0039] Figure 8 is a flow chart of a method for transporting an object to be transported provided by another embodiment of the present invention;

[0040] Figure 9 is a structural diagram of an AGV provided by another embodiment of the present invention;

[0041] Figure 10 This is a schematic diagram of an AGV assembly provided by another embodiment of the present invention;

[0042] Figure 11 is a structural diagram of an AGV provided by another embodiment of the present invention;

[0043] Figure 12 This is a schematic diagram of a walking route for appearance inspection provided by another embodiment of the present invention;

[0044] Figure 13 This is a schematic diagram of an AGV linkage transport solution provided by another embodiment of the present invention;

[0045] Figure 14 This is a schematic diagram of AGV linkage transport support points provided by another embodiment of the present invention;

[0046] Figure 15 This is a schematic diagram of the AGV linkage transport of the excavator lower frame provided by another embodiment of the present invention;

[0047] Figure 16is a structural block diagram of an apparatus for determining an AGV for transportation provided by another embodiment of the present invention; and

[0048] Figure 17 It is a structural block diagram of an apparatus for transporting an object to be transported provided by another embodiment of the present invention.

[0049] Description of Reference Numerals

[0050] 1 Caster 2 Drive Module

[0051] 3 Battery module 4 Control module

[0052] 5 Magnetic adsorption module 6 QR code

[0053] 7 LiDAR 8 Upper cover

[0054] 9 Camera 10 Housing

[0055] 11 Support module 12 Lifting module

[0056] 13 Multi-vehicle linkage AGV body 14 3D vision module

[0057] 15 Boom 16 Boom center of gravity position

[0058] 17 The first AGV 18 The first non-powered vehicle

[0059] 19 Second unpowered car 20 Second AGV

[0060] 21 Ground support frame 22 First AGV support point position

[0061] 23 Combined AGV center of gravity position 24 Second AGV support point position

[0062] 25 Third AGV 26 Fourth AGV

[0063] 27 Fifth AGV 28 Sixth AGV

[0064] 29 Seventh AGV 30 Eighth AGV

[0065] 31 Ninth AGV 32 Frame

[0066] 33 Preset information determination module 34 Placement module

[0067] 35 AGV combination determination module 36 shape acquisition module

[0068] 37 Handling AGV combination determination module 38 Mobilization module

[0069] 39 AGV combination control module DETAILED DESCRIPTION

[0070] The following describes the specific embodiments of the present invention in detail with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only used to illustrate and explain the present invention and are not intended to limit the present invention.

[0071] One aspect of an embodiment of the present invention provides a method for determining an AGV used for transportation.

[0072] Figure 4 FIG. 1 is a flow chart of a method for determining an AGV for transport provided by an embodiment of the present invention. Figure 4 As shown, the method includes the following contents.

[0073] In step S40, the preset information of the object to be transported is determined. For example, the correspondence between the information of the object to be transported and the preset information is pre-set and stored in a database. After the information of the object to be transported is obtained, the preset information is determined based on the correspondence. For example, the information of the object to be transported may be the shape of the object to be transported, and the shape of the object to be transported is obtained by scanning. For example, the AGV has a camera, and the shape of the object to be transported is obtained by controlling the AGV to walk around the object to be transported. Then, based on the correspondence between the shape and the preset information, the preset information of the object to be transported is determined. Alternatively, the name of the object to be transported may be directly obtained, and the preset information of the object to be transported may be determined based on the correspondence between the name and the preset information. The preset information may include the center of gravity position or support point information, and the support point information includes the support point position and area of ​​the support point. The support point is the contact position with the AGV that supports the object to be transported when the AGV is used to transport the object.

[0074] In step S41, at least one preset AGV is placed according to the preset information, wherein the top view of the at least one preset AGV is a rectangle or a square. The size of the placed preset AGV can be determined according to the specific situation, and there is no limitation on this. Specifically, the size refers to the area of ​​the top view. Optionally, when the preset information includes the center of gravity position, the preset position of the at least one preset AGV is placed at the center of gravity position. The preset position of the at least one preset AGV can be the centroid of the at least one preset AGV, or can be the center of one side of the top view of the at least one preset AGV. Specifically, when the at least one preset AGV includes only one preset AGV, the preset position is the centroid of the one preset AGV or the center of one side of the top view. When the at least one preset AGV includes two or more preset AGVs, the preset position is the corresponding centroid of the at least one preset AGV combined together or the center of one side of the top view of the at least one preset AGV combined together. Figure 5FIG. 1 is a simplified schematic diagram of a method for determining an AGV to be used for transporting a part provided by another embodiment of the present invention. Figure 5 In the example, the at least one preset AGV placed includes one preset AGV. Figure 5 The AGV center is positioned as shown, with the AGV's centroid placed at the center of gravity of the part. If the preset information includes support point information, the preset AGV's preset position is placed at the support point with the largest area among all support points. The preset AGV's preset position can be the AGV's centroid or the center of a side of the AGV's top view. Figure 6 FIG. 1 is a simplified schematic diagram of a method for determining an AGV to be used for transporting a part provided by another embodiment of the present invention. Figure 6 In the example, the at least one preset AGV placed includes one preset AGV. Figure 6 The AGV positioning shown is to place the centroid of the AGV at the support point with the largest area of ​​the part. In addition, when there are multiple support points with the largest area, a support point is randomly selected from the support points with the largest area, and the preset position of the preset AGV is placed at the support point position of the randomly selected support point.

[0075] In step S42, taking at least one preset AGV as a reference, the top view of the preset AGV is copied along the length and width direction of the top view of the at least one preset AGV to cover the top view of the object to be transported, for example, Figure 5 or Figure 6 The parts are divided as shown. Among them, the combination of all preset AGVs covering the top view of the object to be transported is the first AGV combination for transporting the object to be transported. In addition, it should be noted that when copying the top view of the preset AGV, the top view of one preset AGV can be copied, or the top views of multiple preset AGVs can be copied, for example, the top view of at least one preset AGV used as a reference can be copied. Regardless of whether the top view of one preset AGV or the top views of multiple preset AGVs are copied, the copied top view is a rectangle or a square.

[0076] Through the above technical solution, the shape of the object to be transported is not restricted, and the AGV used to transport the object to be transported is determined. In this way, the AGV used to transport objects to be transported of any shape can be determined, thereby realizing the transportation of objects to be transported of any shape.

[0077] Optionally, in an embodiment of the present invention, placing the preset position of at least one preset AGV at the center of gravity or the support point includes a first situation or a second situation, wherein the first situation is to place the centroid of at least one preset AGV at the center of gravity or the support point, and the second situation is to place the center of one side of the top view of at least one preset AGV at the center of gravity or the support point, wherein the support point position described here is the support point position corresponding to the support point with the largest area among all support points.

[0078] Optionally, in an embodiment of the present invention, after copying the preset AGV to cover the top view of the object to be transported, the method further includes: eliminating the preset AGV that meets the elimination criteria among all the preset AGVs covering the top view of the object to be transported, wherein the elimination criteria is that the ratio of the projected area of ​​the top view of the object to be transported on the top view of the preset AGV to the area of ​​the top view of the preset AGV is less than a preset value and the preset AGV does not cover the support point of the object to be transported. Figure 5 For example, the default value can be 50%. By eliminating AGVs that meet the rejection criteria, the number of AGVs used can be reduced, improving transfer efficiency.

[0079] Optionally, in an embodiment of the present invention, after eliminating the preset AGVs that meet the elimination criteria from all preset AGVs covering the top view of the object to be transported, the method further includes: in the case where there are two preset AGVs connected at a vertex among the remaining preset AGVs, copying the preset AGV again at the connection vertex of the two preset AGVs connected at the vertex so that the two preset AGVs connected at the vertex are no longer vertex connected, wherein the position where the preset AGV that is copied again is placed is the position where the projection area of ​​the top view of the object to be transported on the top view of the second AGV combination is the largest among all the positions where the preset AGV can be placed again, and the second AGV combination includes the preset AGVs that remain after elimination and the preset AGV that is copied again. Wherein, vertex connection refers to the connection between a vertex of the top view of one preset AGV and a vertex of the top view of another preset AGV. As Figure 5 As shown, after the culling, there is a vertex connection. In the culling correction part, a preset AGV is copied at the connection vertex of the two preset AGVs connected at the vertex, and the two preset AGVs connected at the vertex are no longer vertex connected.

[0080] Optionally, in an embodiment of the present invention, when the preset information includes the center of gravity position or support point information and placing at least one preset AGV according to the preset information includes placing the preset position of at least one preset AGV at the center of gravity position or at the support point position of the support point with the largest area among all support points, placing the preset position of at least one preset AGV at the center of gravity position or the support point position includes: a first situation and a second situation, wherein the first situation is to place the centroid of at least one preset AGV at the center of gravity position or the support point position, and the second situation is to place the center of one side of the top view shape of at least one preset AGV at the center of gravity position or the support point position, and all preset AGVs used to transport the objects to be transported are the following two ones that make the projection area of ​​the top view shape of the objects to be transported on the top view shape they constitute the largest: all preset AGVs obtained in the first situation and all preset AGVs obtained in the second situation.

[0081] Optionally, in an embodiment of the present invention, one side of the top view of at least one preset AGV serving as a reference is parallel to the longest side of the top view of the object to be transported, for example, Figure 5 or Figure 6 The AGV posture positioning shown in the figure can ensure that the longest side of the object to be transported is parallel to the preset forward direction of the AGV when transporting the object to be transported, reducing the occupancy of the walking channel.

[0082] Optionally, in an embodiment of the present invention, the AGVs determined for transporting the objects to be transported may include AGVs of different sizes, wherein the size refers to the area of ​​the AGV top view. Specifically, the AGV combination for transporting the objects to be transported including AGVs of different sizes may be determined according to the following content. The following introduction takes the first AGV combination described in the above embodiment as an example. It should be noted that the other AGV combinations determined according to the above embodiment may also refer to the following content to determine the AGV combination for transporting the objects to be transported including AGVs of different sizes. In addition, the preset AGV included in the first AGV combination is the smallest AGV, and the smallest AGV is the AGV with the smallest top view area among all AGVs currently configured to transport the objects to be transported, and the top view of the smallest AGV is a rectangle or a square. Determine whether the top view of the preset AGVs included in the first AGV combination can form a combined top view, wherein the combined top view includes the top views of multiple preset AGVs, and the combined top view is a rectangle or a square, such as Figure 7The rectangle and square depicted in the darkened portion are the combined top-view shapes. If the top-view shapes of the preset AGVs included in the first AGV combination can form a combined top-view shape, the combined top-view shape with the largest area that can be formed by the top-view shapes of the preset AGVs included in the first AGV combination is determined, and the preset AGV in the first AGV combination corresponding to the combined top-view shape with the largest area is replaced with the largest AGV. The top-view shape of the largest AGV is the combined top-view shape with the largest area. The combined top-view shape with the largest area among all possible combined top-view shapes is determined, and the preset AGV corresponding to the combined top-view shape with the largest area is replaced with the largest AGV. The top-view shape of the largest AGV is the combined top-view shape with the largest area. Among the preset AGVs remaining after excluding the largest AGV in the first AGV combination, continue to determine whether a combined top view can be formed and replace the preset AGV if a combined top view can be formed. Repeat the determination of whether a combined top view can be formed and the replacement of the preset AGV if a combined top view can be formed until the top view of the remaining preset AGVs after the replacement cannot form a combined top view, wherein the AGVs used to transport the objects to be transported include the replaced AGV and the remaining preset AGVs in the first AGV combination whose top view cannot form a combined top view. Repeat the replacement process until the top view of the preset AGVs in the combination cannot form a combined top view. At this point, an AGV combination for transporting objects to be transported including AGVs of different sizes is determined.

[0083] Optionally, in an embodiment of the present invention, the AGV used to transport the object to be transported can also be non-contact, that is, there is no contact between two adjacent AGVs. Taking the first AGV combination in the above embodiment as an example for illustration, other determined combinations can also refer to the following content to determine the AGV for transporting the object to be transported in a non-contact manner. Specifically, determine whether the first AGV combination includes a connecting AGV, wherein the connecting AGV includes three or more preset AGVs and the preset AGVs included are connected in pairs; in the case of including connecting AGVs, eliminate at least one preset AGV in the connecting AGV that is in the middle position and does not cover the support point of the object to be transported. If Figure 5 or Figure 6 Non-contact correction shown.

[0084] Optionally, in an embodiment of the present invention, after eliminating at least one preset AGV in the connected AGV that does not cover the support point of the object to be transported, the method further includes: adjusting at least one of the remaining preset AGVs according to a preset method to obtain at least one third AGV combination; and determining the optimal AGV combination for transporting the object to be transported, wherein the optimal AGV combination is the AGV combination in the at least one third AGV combination that maximizes the projection area of ​​the top view of the object to be transported on its top view. The preset method may be to adjust the preset AGV forward and / or backward and / or left and / or right by a certain distance, and the adjusted distance may be set according to the specific situation. After adjusting according to the preset method, many third AGV combinations may be obtained, and the third AGV combination with the largest projection area of ​​the top view of the object to be transported on its top view is selected to transport the object to be transported. Through adjustment, the action safety factor of the AGV combination used to transport the object to be transported can be improved, and the carrying capacity can be improved.

[0085] Figure 5 This is a simplified schematic diagram of a method for determining the AGV to be used for transporting a part provided by another embodiment of the present invention. Figure 5 The method for determining the AGV used for transportation provided by an embodiment of the present invention is exemplarily introduced.

[0086] (a) Center of gravity acquisition: According to the information of the preset part, the center of gravity of the part is obtained. (b) AGV center positioning: Place the centroid or side center of an AGV (the center of one side of the top view) at the center of gravity of the part. (c) AGV posture positioning: Find the longest side of the part (the longest side of the top view of the part), and rotate the AGV obtained in the previous step along the centroid or side center of the AGV so that one side of the AGV (one side of the top view) is parallel to the longest side. Ensure that the direction of the longest side of the part is parallel to the forward direction of the AGV when transporting the part, and reduce the occupation of the walking channel. (d) Part segmentation: Expand along the length and width direction of the AGV top view (copy the top view of the AGV), and cover the entire part with the AGV, covering the top view of the part. Specifically, knowing the size information of the top view of the part, copy the AGV according to the size information of the part so that the AGV covers the top view of the part. (e) Segmentation and elimination: Eliminate AGVs where the projected area of ​​the part's top view on their top view is less than 50% of the area of ​​their top view, improving transfer efficiency and reducing the number of AGVs used. (f) Correction elimination: For vertex connections between AGVs, correct them by adding AGV top views to achieve edge connections. A vertex connection is a corner-to-corner connection between two AGVs, where a vertex of one AGV's top view connects to a vertex of another AGV's top view; an edge connection is a connection between an edge of one AGV's top view and an edge of another AGV's top view. Furthermore, if there are multiple locations where AGV top views can be added to achieve edge connections, add AGV top views at different locations and compare the projected areas of the part's top view on all AGVs after adding them. The appropriate location is determined, and the AGV is added at the location that maximizes the projected area. (g) Generate handling rules: In the case of the two methods in step (b), one method is to place the centroid at the center of gravity, and the other is to place the center of the side at the center of gravity. The AGV combination that makes the top view of the part have a larger projection area on the top view of all AGVs in the determined AGV combination is selected as the contact handling rule. (h) Non-contact simplification rule: According to the handling rule selected in step (g), delete the connected AGVs. (i) Non-contact correction: Fine-tune the position of the AGV to obtain the AGV combination with the largest projection area on the top view of the part to generate a non-contact handling rule. Fine-tuning the AGV can be to adjust a certain distance forward, backward, left and right of each AGV. Through correction, the safety factor of the AGV combination is relatively good and the carrying capacity is good. The handling rule determined by the above content makes the center of gravity of the part near the AGV centroid of the AGV combination scheme (the same position as the AGV center of gravity), reducing the unbalanced load of the part and extending the life of the AGV.

[0087] Figure 6 This is a simplified schematic diagram of a method for determining the AGV to be used for transporting a part provided by another embodiment of the present invention. Figure 6 The method for determining the AGV used for transportation provided by an embodiment of the present invention is exemplarily introduced. Figure 6 The method shown is for parts that require fixed support points during transportation. For example, when the lower surface of the part is not on the same plane and there are special requirements for the lower surface of the part, a fixed support point is required. Figure 6 The method shown determines the AGV to be used for transport.

[0088] Figure 6 The method shown is the same as Figure 5 The method shown differs in steps (a), (b) and (h). Figure 6 As shown, in step (a), support point information is obtained: based on the preset part information, the number of support points required for the part, the location and area of ​​each support point are manually set. In this step, the support point information of the part is obtained. In step (b), the AGV is positioned, and the centroid or the center of the side (the center of one side in the top view) of an AGV is placed at the location of the support point with the largest area. In step (h), the connected AGVs outside the support points are deleted. In other words, the deleted AGVs are not the AGVs at the support point location.

[0089] Figure 7 This is a simplified schematic diagram of generating an AGV combination including AGVs of different sizes provided by another embodiment of the present invention. Assume that the smallest AGV is AGV-1; two AGV-1s can be combined into a larger AGV, defined as AGV-2; four AGV-1s can be combined into AGV-4, and so on. The largest AGV purchased by the factory is AGV-N, where N = 2. n The size refers to the area of ​​the AGV's top view. The area of ​​AGV-N's top view is twice the area of ​​AGV-1's top view. n times.

[0090] After generating all the handling rules composed of AGV-1, expand the scheme of multi-size mixed AGV (AGV-1, AGV-2, AGV-4, AGV-N and other combination schemes). Figure 7 Introducing solutions for mixed AGVs of various sizes.

[0091] (1) Determine whether the top view of the AGVs in the generated transport rule can form a combined top view, where the area of ​​the combined top view is twice the area of ​​the top view of AGV-1. ntimes. (2) When a combined top view can be formed, determine the combined top view with the largest area. As shown in Figure 7, the top view with the largest area is composed of the top views of four AGV-1s. (3) Use AGV-4 to replace these four AGV-1s. (3) After using AGV-4 to replace these four AGV-1s, continue to determine whether a combined top view can still be formed among the remaining AGV-1s, such as Figure 7 As shown, the top view of two AGV-1s can be combined into the top view of one AGV-2. There are three such cases. (4) The long side direction of the top view of the long strip AGV-2 in step (3) must be parallel to the longest side direction of the top view of the part to ensure the walking stability of AGV-2. (5) After the rules of step (4) are met, if multiple solutions are generated from steps (1) to (4), they are randomly selected. (6) A handling rule is formed, and the remaining AGV-1 remains unchanged, thus forming a handling rule consisting of two AGV-1s, two AGV-2s, and one AGV-4.

[0092] In addition, another aspect of an embodiment of the present invention provides a method for transporting an object to be transported.

[0093] Figure 8 FIG. 1 is a flow chart of a method for transporting an object to be transported provided by another embodiment of the present invention. Figure 8 As shown, the method includes the following contents.

[0094] In step S80, the shape of the object to be transported is obtained. Specifically, the shape of the object to be transported is obtained by scanning, for example, the AGV has a camera, and the shape of the object to be transported is obtained by controlling the AGV to walk around the object to be transported.

[0095] In step S81, the AGV combination used to transport the object to be transported is determined based on the correspondence between the appearance and AGV combinations in a preset database. The AGV combinations in the preset database are determined based on the method for determining the AGVs to be used for transport described in the above-mentioned embodiment. The preset database describes the correspondence between the appearance of the object to be transported and the AGV combination to be used. After the appearance of the object to be transported is obtained, it is compared with the appearance in the preset database. The AGV combination corresponding to the successfully matched appearance is the AGV combination for the object to be transported.

[0096] In step S82, the AGVs are mobilized according to the determined AGV combination so that the relative positional relationship between each AGV in the determined AGV combination and the object to be transported satisfies the relative positional relationship between the determined AGV combination and the object to be transported when the AGV combination is determined. According to the method for determining the AGVs to be used for transport described in the above embodiment, the AGVs are placed based on the preset information of the object to be transported and the AGVs are copied so that the top view of the AGV covers the top view of the object to be transported. Therefore, the relative positional relationship between each AGV in the AGV combination and the object to be transported is determined. When the object to be transported is actually transported, the positional relationship between the AGVs in the AGV combination actually mobilized and the object to be transported must satisfy the relative positional relationship between the AGVs and the object to be transported when the AGV combination was determined.

[0097] In step S83, the determined AGV combination is controlled to transport the object to be transported to the designated location. After each AGV in the determined AGV combination arrives at the designated location according to the relative position relationship, it picks up the object to be transported. Each AGV in the determined AGV combination is assigned a transport task and transports the object to the designated location. During the movement, each AGV in the AGV combination is synchronously controlled, and the speed, direction, acceleration, deceleration, etc. are kept synchronized.

[0098] Through the above technical solution, AGV is used to transport the objects to be transported, realizing automated logistics distribution.

[0099] Optionally, in an embodiment of the present invention, before mobilizing AGVs according to the determined AGV combination, the method further includes: determining whether each AGV in the determined AGV combination has a corresponding idle AGV that can be mobilized; and when at least one AGV in the determined AGV combination does not have a corresponding idle AGV that can be mobilized, if the top view area of ​​at least one AGV is a multiple of the top view area of ​​the minimum AGV and there are a sufficient number of minimum AGVs that can be mobilized, then at least one AGV is replaced with the minimum AGV, wherein the minimum AGV is the AGV with the smallest top view area among all AGVs currently configured to transport objects to be transported, and mobilizing AGVs according to the determined AGV combination is mobilizing AGVs according to the AGV combination obtained after replacing at least one AGV with the minimum AGV according to the determined AGV combination. With reference to Figure 7Based on the example introduced, after determining the handling rules to be used, in actual use, according to the number of idle AGVs in the specified area of ​​the scheduling system, if there is no AGV-4 or AGV-2 in a larger area, multiple AGV-1s are used to replace AGV-4 or AGV-2; if the number of AGVs in a larger area is insufficient, multiple AGV-1s are used to randomly replace the insufficient number of AGV-4 and AGV-2; if AGVs in all areas cannot form a solution, wait until the number and type of AGVs are sufficient to execute the task.

[0100] Figure 9 FIG. 1 is a structural diagram of an AGV provided by another embodiment of the present invention. Figure 9 As shown, the AGV body includes casters 1, a drive module 2, a battery module 3, a control module 4, a magnetic adsorption module 5, a QR code 6, a laser radar 7, an upper cover 8, a camera 9, and a housing 10. There are four casters 1, distributed around the AGV; there are two battery modules 3; the magnetic adsorption modules 5 are distributed on the four sides of the housing 10, each consisting of eight groups of electromagnets; there are four laser radars 7, distributed on the four sides of the housing 10; there are four QR codes 6, distributed on the four sides of the housing 10; and there are four cameras 9, distributed on the four sides of the housing 10, with the cameras 9 and the QR codes 6 being axially symmetrical along the axis of the housing 10. It should be noted that in the embodiments of the present invention, the number of casters, the number of battery module groups, the number of electromagnet groups included in the magnetic adsorption module, the number of laser radars, the number of QR codes, the number of cameras, and the positional relationship between the cameras and the QR codes are not limited and can be determined according to specific circumstances, as long as the technical solutions provided in the embodiments of the present invention can be achieved.

[0101] like Figure 9As shown, the AGV's dimensions are modular, allowing multiple AGVs to form any AGV configuration. The top-view area of ​​a larger AGV is a natural number multiple n of the top-view area of ​​the smallest AGV, where n ≥ 1. For example, if the smallest AGV is 500mm*500mm, the larger AGVs can be 1000*500mm, 1000*1000mm, or 1500*500mm, among others. The dimensions described here refer to the top-view area of ​​the AGV, which is rectangular or square. The smallest AGV consists of one drive module and four casters, one of which can be a steering wheel or differential wheel, with a designed load capacity (maximum load) of L. The largest AGV has n drive wheel combinations, with a designed load capacity of n*L. Depending on the size of the material or pallet to be moved, multiple AGVs can be combined to handle the material, either AGVs of the same size or AGVs of different sizes. It is possible to realize a combination of regular-shaped AGVs or irregular-shaped AGVs. In addition, in the implementation of the present invention, when using an AGV combination to transport an object to be transported, two adjacent AGV bodies in the combination are directly connected, and the magnetic adsorption module is used for adsorption to form an AGV combination for transporting the object to be transported.

[0102] When using the AGV provided by the embodiment of the present invention for transportation, you can refer to the following content, wherein the following introduction is an exemplary introduction based on the transportation of a part.

[0103] (a) AGV linkage trolley selection. After the delivery task is issued, the size and number of AGVs required to be combined are planned according to the shape of the parts to be carried, that is, the AGV combination to be used is determined, and the method described in the above embodiment is used for determination. For example, the size of the required AGV combination is 2000*1000mm, and the determined AGV combination may include 8 AGVs of 500*500mm, or may include 2 AGVs of 1000*1000mm, or may include 4 AGVs of 500*500mm and 2 AGVs of 500*1000mm, such as Figure 10As shown. The AGV linkage task (for example, sent via wireless signals) is sent to the corresponding idle AGV body in the determined AGV combination. For example, if the determined AGV combination includes 8 500*500mm AGVs, the linkage task will be sent to the 8 500*500mm AGVs that are in an idle state. If the number of AGVs that can execute the task under the determined AGV combination is insufficient, the task will be waited for until the number of AGVs in the determined combination is sufficient before executing the transport task. For example, if the determined AGV combination includes 8 500*500mm AGVs, but currently only 4 500*500mm AGVs are in an idle state and can execute the transport task, then wait until there are 8 500*500mm AGVs in an idle state and can execute the transport task before executing the transport task.

[0104] (b) AGV combination. The scheduling system sends the task to the AGV selected in the previous step, and the AGV automatically moves to the designated area for AGV combination, for example, the preset working area, such as Figure 10As shown in Scheme 2, the scheduling system sends the joint surface to AGV1 and AGV2. AGV1 and AGV2 automatically adjust their posture and position so that their joint surfaces face each other. Once they approach (for example, by determining whether the distance between the two AGVs reaches a preset distance to determine proximity), they shield the lidar sensors on their respective joint surfaces. Specifically, the camera on AGV1's joint surface takes photos in the direction of AGV2's joint surface, while the camera on AGV2's joint surface takes photos in the direction of AGV1's joint surface, performing precise positioning and distance detection. When the joint surfaces of the two AGVs align, the magnetic adsorption module engages, and AGV1 and AGV2 form a single, linked AGV. Specifically, precise positioning and distance detection can be performed according to the following procedures. The following uses AGV1's camera as an example. A series of camera-generated photos, taken at different distances between AGV1 and AGV2, are stored, with the joint surfaces of AGV1 and AGV2 aligned. In these stored photos, the size of the QR code reflects the distance between AGV1 and AGV2. When the distance between AGV1 and AGV2 is a certain distance, the position of the QR code in the stored photo reflects the alignment of the mating surfaces of AGV1 and AGV2 at that distance. The real-time photos captured by the camera are compared with the pre-stored photos. If the size of the QR code in a real-time photo is equal to the size of the QR code in a stored photo, the distance between AGV1 and AGV2 is the distance between AGV1 and AGV2 at the time the real-time photo was taken. The position of the QR code in the real-time photo is then compared with the position in the stored photo. If the positions are identical, the mating surfaces of AGV1 and AGV2 are aligned at that time, and AGV1 does not need to be adjusted. If the positions are different, the mating surfaces of AGV1 and AGV2 are not aligned at that time, and AGV1 needs to be adjusted. If the position of the QR code in the real-time photo is to the left of the position in the stored photo, AGV1 needs to be adjusted to the left; if the position of the QR code in the real-time photo is to the right of the position in the stored photo, AGV1 needs to be adjusted to the right. The left and right described here are based on AGV1 and AGV1 facing AGV2. The movement of the two AGVs is controlled according to the distance between the two AGVs so that the distance between the two AGVs reaches the preset distance and reaches closeness. For example, whether the distance between the two AGVs reaches the preset distance is determined based on the size of the QR code in the photo taken by the camera. Specifically, a photo taken by the camera when the distance between the two AGVs reaches the preset distance is pre-stored, wherein in the photo, the size of the QR code reflects the size of the preset distance.The real-time photo taken by the camera is compared with the pre-stored photo to determine whether the size of the QR code in the real-time photo is equal to the size in the stored photo. If they are equal, it means that the distance between the two AGVs has reached the preset distance; if they are not equal, it means that the distance between the two AGVs has not reached the preset distance, and AGV1 is controlled to move, specifically, move forward until the size of the QR code in the real-time photo is equal to the size in the stored photo, that is, the distance between the two AGVs reaches the preset distance. In addition, a distance sensor can be set to detect the distance between the two AGVs, or a laser radar can be used to determine the distance between the two AGVs, and whether the distance between the two AGVs has reached the preset distance is determined based on the distance value obtained. In an embodiment of the present invention, guidance and positioning are performed between the two AGVs by using a QR code, a laser radar, and a camera. In addition, the preset distance can be set according to the specific situation.

[0105] (c) AGV linkage. The combined AGVs perform the transport task, and their drive modules maintain synchronized control, with their speed, direction, acceleration, and deceleration synchronized. Specifically, communication between the dispatching system and the AGVs ensures that AGV1 and AGV2 maintain the same speed, direction, acceleration, and deceleration.

[0106] (d) Task execution: The linked AGV moves parts along a given route.

[0107] (e) AGV decomposition. After the task is completed, the linked AGVs move to the designated area for AGV decomposition. The magnetic adsorption module is powered off, and AGV1 and AGV2 travel in opposite directions. After moving a certain distance, the lidar resumes operation, and the individual AGVs resume functionality, awaiting the next transport instruction.

[0108] In an embodiment of the present invention, for complex and irregular parts, the size of the part, the center of gravity of the part, and the support point of the part can be automatically determined according to the type of the part, so as to achieve adaptive multi-vehicle linkage of AGV carts. Specifically, by scanning the shape of the part and comparing it with the shape stored in the preset database, the type of part corresponding to the shape that is successfully matched is the type of the scanned part. After determining the type of the part, the pre-stored information such as the size, center of gravity, and support point of the part is found according to the type of the part, and then according to the method for determining the AGV used for transportation described in the above embodiment, the AGV combination used for transporting the parts is determined, and the determined AGV combination is used to transport the parts. Alternatively, the part shape can be directly compared with the preset database, and the AGV combination corresponding to the shape that is successfully matched is the AGV combination used for transporting the parts.

[0109] The following combination Figures 11 to 14Taking the transport of an excavator boom as an example, the technical solution provided by the embodiment of the present invention is introduced exemplarily. Figure 11 is a structural diagram of an AGV provided by another embodiment of the present invention. Figure 12 This is a schematic diagram of a walking route for appearance inspection provided by another embodiment of the present invention. Figure 13 This is a schematic diagram of an AGV linkage transport solution provided by another embodiment of the present invention. Figure 14 This is a schematic diagram of AGV linkage transport support points provided by another embodiment of the present invention.

[0110] The excavator boom is a long strip part. When AGV is transporting it, it only needs to be supported on both sides, and no support is needed in the middle. It uses a non-powered auxiliary trolley as the middle connection and uses AGV to drive on both sides. Figure 11 As shown, in this embodiment, the AGV unit includes a multi-vehicle linkage AGV body 13, a 3D vision module 14, a lifting module 12 and a support module 11, wherein the structure of the multi-vehicle linkage AGV body 13 is as follows Figure 9 When the AGV dispatching system receives the boom handling task, the system automatically plans the handling plan and AGV allocation based on the boom model, length, width, and support points that can be handled, that is, determines the AGV combination used for handling. Specifically, it determines the use of 4 Figure 11 The AGV shown in the figure is used for transportation, but because no support is needed in the middle, the middle AGV is replaced with an unpowered cart, wherein the unpowered cart is only without driving capability compared to the AGV. For example, the unpowered cart can be obtained by not using the driving module of the AGV. In this embodiment, two AGVs and two unpowered carts are combined, and the two unpowered carts are placed between the two AGVs. Figure 11 As shown, the AGV has a lifting module 12 and a supporting module 11, so the AGV is equipped with a lifting function. Figure 12As shown, in the initial state, the boom is placed on a ground support frame. An AGV moves to a designated location on the boom, for example, 500 mm from a certain location on the boom, which is set as the initial position. A 3D camera is used to perform 3D visual acquisition. The AGV then travels along an appearance inspection route, setting acquisition points at multiple acquisition locations. 3D visual acquisition is performed to construct a 3D model of the boom, thereby determining the part's shape. In an embodiment of the present invention, traveling along the appearance inspection route can involve the AGV moving to a point near the part, which can be a random point. Using the 3D camera and laser radar, the AGV acquires distance information between the part and the AGV. The AGV then moves forward and backward to a fixed distance, such as 500 mm, from the part. The AGV then maintains a constant distance of 500 mm from the part by moving forward, backward, left, and right. The AGV completes a circle and returns to the starting point, completing the appearance inspection. The resulting shape is then compared with shapes stored in a preset database. The part type corresponding to the successfully matched shape is the type of the scanned part. After determining the part type, the AGV retrieves pre-stored information about the part's dimensions, center of gravity, and support points based on the part type. Specifically, when comparing the scanned shape with the shape in the preset database, key features such as axes, holes, and edge transitions can be compared with key features preset by the system. In the designated work area, the two AGVs and two non-powered trolleys used by the moving arm are combined in a manner of two AGVs at both ends and two non-powered trolleys in the middle, and adsorbed by the magnetic adsorption module to form a linkage AGV. Figure 13 and 14 As shown, the linked AGVs move to the lower portion of the boom, with the first AGV 17 reaching below the first AGV's support point, and the second AGV 20 reaching below the second AGV's support point. Specifically, the position of the part captured by 3D vision acquisition 14 is compared with the AGV coordinates captured by the AGV's own laser radar, and the part is precisely moved below the support point, ensuring that the relative position between the AGV and the support point meets the requirements. The lifting modules of the two AGVs are lifted synchronously, lifting the boom off the ground support frame and moving it to the required position for unloading.

[0111] Figure 15 FIG. 1 is a schematic diagram of the AGV linkage transport of the excavator lower frame provided by another embodiment of the present invention. Figure 15 As shown, 7 AGVs are selected as a multi-vehicle linkage solution to form an AGV combination similar to the lower frame shape. The specific combination method is Figure 15 In addition, the sixth AGV 28 can be replaced by a non-powered trolley. In this embodiment, the structure of the AGV used can refer to Figure 9 Come to understand.

[0112] In addition, in the embodiment of the present invention, after the AGV combination used for transportation is determined, controlling the AGV combination to transport the object to be transported can be understood with reference to the following content.

[0113] (1) Automatic path planning: The AGV is configured as a whole. A list of motion parameters, such as travel speed, time, and acceleration, is generated for each drive wheel. The vehicle moves according to the parameters in the list. The drive wheel encoders provide real-time feedback on the deviation between the travel parameters and the preset parameters, and the vehicle automatically corrects the deviation. For example, the boom of an excavator is composed of two drive wheels. Path planning requires the decomposition of specific travel parameters for these two drive wheels, as shown in Table 1.

[0114] Table 1 Action parameter list

[0115]

[0116]

[0117] (2) The AGV control module contains a wireless communication module. The encoder of the AGV drive wheel feeds back the walking parameters in real time and compares them with the system settings. At the same time, the AGVs involved in the linkage work can also communicate directly to verify and confirm the relative positions of the two drive wheels. The combination of these two modes ensures the synchronization of the movement of individual AGVs during AGV linkage. In an embodiment of the present invention, there can be two types of wireless modules inside the AGV, one of which is connected to the scheduling system to receive tasks, upload status parameters, etc.; the other is used for communication between AGVs.

[0118] The technical solution provided by the embodiment of the present invention has the following advantages: 1) It realizes the multi-vehicle linkage of more than two AGV carts, thereby improving the equipment utilization rate; 2) Through the multi-vehicle linkage method, the automated handling of long parts, special-shaped parts, etc. is realized; 3) Magnetic adsorption modules, cameras, QR codes, etc. are applied to the design of AGV to achieve precise positioning and reliability during linkage; 4) The design of the linkage method is different from the soft connection of the existing technology. Through hard connection, the AGV linkage movement is more reliable and safe, and can be combined in any shape to achieve multi-mode and multi-size AGV linkage; 5) The automatic handling of special parts, through visual photography and scanning and other means, realizes the automatic search for the center of gravity and support points of complex parts; 6) The design of linkage synchronization adopts the method of docking AGV with the scheduling system to feedback the motion parameters, and docking and checking the same position between AGV equipment to achieve the synchronization of AGV movement.

[0119] Accordingly, another aspect of an embodiment of the present invention provides an apparatus for determining an AGV used for transportation.

[0120] Figure 16FIG. 1 is a block diagram of a device for determining an AGV used for transporting provided by another embodiment of the present invention. Figure 16 As shown, the device includes a preset information determination module 33, a placement module 34, and an AGV combination determination module 35. The preset information determination module 33 is used to determine the preset information of the object to be transported; the placement module 34 is used to place at least one preset AGV according to the preset information, wherein the top view of the at least one preset AGV is rectangular or square; and the AGV combination determination module 35 is used to replicate the top view of the at least one preset AGV along the length and width of the top view of the at least one preset AGV, using the at least one preset AGV as a reference, to cover the top view of the object to be transported. The combination of all preset AGVs covering the top view of the object to be transported is the first AGV combination used to transport the object to be transported.

[0121] Optionally, in an embodiment of the present invention, the preset information includes the center of gravity position or support point information, wherein the support point information includes the support point position and area of ​​the support point; the placement module places at least one preset AGV according to the preset information, including: placing the preset position of at least one preset AGV at the center of gravity position or at the support point position of the support point with the largest area among all support points.

[0122] Optionally, in an embodiment of the present invention, the placement module places the preset position of at least one preset AGV at the center of gravity or the support point, including a first situation or a second situation, wherein the first situation is to place the centroid of at least one preset AGV at the center of gravity or the support point, and the second situation is to place the center of one side of the top view of at least one preset AGV at the center of gravity or the support point.

[0123] Optionally, in an embodiment of the present invention, the device further includes: a first rejection module, for rejecting the preset AGV that meets the rejection criteria from all preset AGVs covering the top view of the object to be transported after copying the preset AGV to cover the top view of the object to be transported, wherein the rejection criteria is that the ratio of the projection area of ​​the top view of the object to be transported on the top view of the preset AGV to the area of ​​the top view of the preset AGV is less than a preset value and the preset AGV does not cover the support point of the object to be transported.

[0124] Optionally, in an embodiment of the present invention, the AGV combination determination module is further used to: after eliminating the preset AGVs that meet the elimination criteria among all preset AGVs covering the top view of the object to be transported, if there are two preset AGVs connected at a vertex among the remaining preset AGVs, copy the preset AGV again at the connection vertex of the two vertex-connected preset AGVs so that the two vertex-connected preset AGVs are no longer vertex-connected, wherein the position where the preset AGV that is copied again is placed is the position where the projection area of ​​the top view of the object to be transported on the top view of the second AGV combination is the largest among all positions where the preset AGV can be placed again, and the second AGV combination includes the preset AGVs that remain after elimination and the preset AGV that is copied again.

[0125] Optionally, in an embodiment of the present invention, when the preset information includes the center of gravity position or support point information and placing at least one preset AGV according to the preset information includes placing the preset position of at least one preset AGV at the center of gravity position or at the support point position of the support point with the largest area among all support points, the placement module places the preset position of at least one preset AGV at the center of gravity position or the support point position, including: a first situation and a second situation, wherein the first situation is to place the centroid of at least one preset AGV at the center of gravity position or the support point position, and the second situation is to place the center of one side of the top view shape of at least one preset AGV at the center of gravity position or the support point position, and all preset AGVs used to transport the objects to be transported are the following two ones that make the projection area of ​​the top view shape of the objects to be transported on the top view shape they constitute the largest: all preset AGVs obtained in the first situation and all preset AGVs obtained in the second situation.

[0126] Optionally, in an embodiment of the present invention, one side of the top view of at least one preset AGV serving as a reference is parallel to the longest side of the top view of the object to be transported.

[0127] Optionally, in an embodiment of the present invention, the preset AGV is the smallest AGV, and the smallest AGV is the AGV with the smallest top-view area among all AGVs currently configured to transport objects to be transported. The device also includes: a mixed AGV forming module, which is used to: determine whether the top-view shapes of the preset AGVs included in the first AGV combination can form a combined top-view shape, wherein the combined top-view shape includes the top-view shapes of multiple preset AGVs, and the combined top-view shape is a rectangle or a square; when the top-view shapes of the preset AGVs included in the first AGV combination can form a combined top-view shape, determine the combined top-view shape with the largest area that can be formed by the top-view shapes of the preset AGVs included in the first AGV combination, and combine the top-view shapes of the preset AGVs in the first AGV combination with the combined top-view shape with the largest area The preset AGV corresponding to the shape is replaced by the largest AGV, and the top view shape of the largest AGV is the combined top view shape with the largest area; and among the preset AGVs remaining in the first AGV combination after excluding the one replaced by the largest AGV, continue to judge whether a combined top view shape can be formed and replace the preset AGV if a combined top view shape can be formed, and repeat the process of judging whether a combined top view shape can be formed and replacing the preset AGV if a combined top view shape can be formed until the top view shape of the remaining preset AGVs after the replacement cannot form a combined top view shape, wherein the AGVs used to transport the objects to be transported include the replaced AGV and the preset AGVs remaining in the first AGV combination whose top view shapes cannot form a combined top view shape.

[0128] Optionally, in an embodiment of the present invention, the device further includes: a connection judgment module for judging whether the first AGV combination includes a connected AGV, wherein the connected AGV includes three or more preset AGVs and the preset AGVs are connected in pairs; and a second rejection module for rejecting at least one preset AGV in the connected AGV that is in the middle position and does not cover the support point of the object to be transported when including a connected AGV.

[0129] Optionally, in an embodiment of the present invention, the device further includes: an optimal AGV combination determination module, which is used to: after eliminating at least one preset AGV in the connected AGV that does not cover the support point of the object to be transported, adjust at least one of the remaining preset AGVs in a preset manner to obtain at least one third AGV combination; and determine the optimal AGV combination for transporting the object to be transported, wherein the optimal AGV combination is the AGV combination in at least one third AGV combination that maximizes the projection area of ​​the top view of the object to be transported on its top view.

[0130] The specific working principle and benefits of the device for determining the AGV used for transportation provided by the embodiment of the present invention are similar to the specific working principle and benefits of the method for determining the AGV used for transportation provided by the embodiment of the present invention, and will not be repeated here.

[0131] Correspondingly, another aspect of an embodiment of the present invention further provides a device for transporting an object to be transported.

[0132] Figure 17 FIG. 1 is a structural block diagram of an apparatus for transporting an object to be transported provided by another embodiment of the present invention. Figure 17 As shown, the device includes: an appearance acquisition module 36, a transport AGV combination determination module 37, a mobilization module 38, and an AGV combination control module 39. The appearance acquisition module 36 is used to obtain the appearance of the object to be transported; the transport AGV combination determination module 37 is used to determine the AGV combination used to transport the object to be transported based on the correspondence between the appearance and the AGV combination in a preset database, wherein the AGV combination in the preset database is determined according to the method for determining the AGV used for transport described in the above embodiment; the mobilization module 38 is used to mobilize the AGVs according to the determined AGV combination, so that the relative position relationship between each AGV in the determined AGV combination and the object to be transported satisfies the relative position relationship between the determined AGV combination and the object to be transported when the determined AGV combination is determined; and the AGV combination control module 39 is used to control the determined AGV combination to transport the object to be transported to a designated location.

[0133] Optionally, in an embodiment of the present invention, the device further includes: a mobilizable judgment module for judging whether each AGV in the determined AGV combination has a corresponding idle AGV that can be mobilized before mobilizing the AGV according to the determined AGV combination; and a replacement module for replacing at least one AGV with a minimum AGV when at least one AGV in the determined AGV combination does not have a corresponding idle AGV that can be mobilized, if the top view area of ​​at least one AGV is a multiple of the top view area of ​​the minimum AGV and there are sufficient number of minimum AGVs that can be mobilized, wherein the minimum AGV is the AGV with the smallest top view area among all AGVs currently configured to transport the objects to be transported, and mobilizing the AGV according to the determined AGV combination is mobilizing the AGV according to the AGV combination obtained after replacing at least one AGV with the minimum AGV according to the determined AGV combination.

[0134] The specific working principle and benefits of the device for transporting an object to be transported provided by an embodiment of the present invention are similar to the specific working principle and benefits of the method for transporting an object to be transported provided by an embodiment of the present invention, and will not be repeated here.

[0135] The preferred embodiments of the present invention are described in detail above in conjunction with the accompanying drawings. However, the present invention is not limited to the specific details in the above embodiments. Within the technical concept of the present invention, various simple modifications can be made to the technical solution of the present invention, and these simple modifications all fall within the scope of protection of the present invention.

[0136] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any appropriate manner without contradiction. To avoid unnecessary repetition, the present invention will not further describe various possible combinations.

[0137] In addition, the various embodiments of the present invention may be arbitrarily combined, and as long as they do not violate the concept of the present invention, they should also be regarded as the contents disclosed by the present invention.

Claims

1. A method for determining an AGV for transportation, characterized in that: The method includes: Determine the preset information of the object to be transported; placing at least one preset AGV according to the preset information, wherein the top view of the at least one preset AGV is a rectangle or a square; Taking the at least one preset AGV as a reference, copying the top view of the at least one preset AGV along the length and width directions of the top view of the at least one preset AGV to cover the top view of the object to be transported, wherein the combination of all the preset AGVs covering the top view of the object to be transported is the first AGV combination for transporting the object to be transported; Eliminate the preset AGV that meets the elimination criteria among all the preset AGVs covering the top view of the object to be transported, wherein the elimination criteria are that the ratio of the projected area of ​​the top view of the object to be transported on the top view of the preset AGV to the area of ​​the top view of the preset AGV is less than a preset value and the preset AGV does not cover the support point of the object to be transported; In the case that there are two preset AGVs connected by a vertex among the remaining preset AGVs, the preset AGV is copied again at the connection vertex of the two preset AGVs connected by a vertex so that the two preset AGVs connected by a vertex are no longer connected by a vertex, wherein the position where the preset AGV that is copied again is placed is the position where the projection area of ​​the top view of the object to be transported on the top view of the second AGV combination is the largest among all positions where the preset AGV can be placed again, and the second AGV combination includes the preset AGVs that remain after the elimination and the preset AGV that is copied again.

2. The method according to claim 1, characterized in that The preset information includes the center of gravity position or support point information, wherein the support point information includes the support point position and area of ​​the support point; Placing at least one preset AGV according to the preset information includes: placing the preset position of the at least one preset AGV at the center of gravity position or at the support point position of the support point with the largest area among all the support points.

3. The method according to claim 2, characterized in that The placing of the preset position of the at least one preset AGV at the center of gravity position or the support point position includes a first situation or a second situation, wherein the first situation is to place the centroid of the at least one preset AGV at the center of gravity position or the support point position, and the second situation is to place the center of one side of the top view of the at least one preset AGV at the center of gravity position or the support point position.

4. The method according to claim 2, characterized in that In the case where the preset information includes the center of gravity position or the support point information and placing at least one preset AGV according to the preset information includes placing the preset position of the at least one preset AGV at the center of gravity position or at the support point position of the support point with the largest area among all the support points, placing the preset position of the at least one preset AGV at the center of gravity position or the support point position includes: a first situation and a second situation, wherein the first situation is to place the centroid of the at least one preset AGV at the center of gravity position or the support point position, and the second situation is to place the center of one side of the top view shape of the at least one preset AGV at the center of gravity position or the support point position, and all the preset AGVs used to transport the object to be transported are the following two ones that make the projection area of ​​the top view shape of the object to be transported on the top view shape they constitute the largest: all the preset AGVs obtained in the first situation and all the preset AGVs obtained in the second situation.

5. The method according to claim 1, characterized in that One side of the top view of the at least one preset AGV used as a reference is parallel to the longest side of the top view of the object to be transported.

6. The method according to claim 1, characterized in that The preset AGV is a minimum AGV, and the minimum AGV is an AGV with the smallest top view area among all AGVs currently configured to transport the object to be transported. The method further includes: Determining whether the top view images of the preset AGVs included in the first AGV combination can form a combined top view image, wherein the combined top view image includes top view images of a plurality of the preset AGVs, and the combined top view image is a rectangle or a square; In a case where the top-view images of the preset AGVs included in the first AGV combination can form the combined top-view image, determining the combined top-view image with the largest area that can be formed by the top-view images of the preset AGVs included in the first AGV combination, and replacing the preset AGV in the first AGV combination corresponding to the combined top-view image with the largest area with the largest AGV, and the top-view image of the largest AGV is the combined top-view image with the largest area; and Among the preset AGVs remaining after excluding the largest AGV in the first AGV combination, continue to judge whether the combined top view image can be formed and replace the preset AGV if the combined top view image can be formed, and repeat the process of judging whether the combined top view image can be formed and replacing the preset AGV if the combined top view image can be formed, until the top view image of the preset AGV remaining after the replacement cannot form the combined top view image, wherein the AGV used to transport the object to be transported includes the replaced AGV and the preset AGV remaining in the first AGV combination whose top view image cannot form the combined top view image.

7. The method according to claim 1, characterized in that The method further includes: Determining whether the first AGV combination includes a connected AGV, wherein the connected AGV includes three or more of the preset AGVs and the preset AGVs are connected in pairs; and In the case where the connecting AGV is included, at least one of the preset AGVs that is in the middle position of the connecting AGV and does not cover the supporting point of the object to be transported is removed.

8. The method according to claim 7, characterized in that After eliminating at least one of the preset AGVs that does not cover the support point of the object to be transported from the connected AGVs, the method further includes: Adjusting at least one of the remaining preset AGVs according to a preset manner to obtain at least one third AGV combination; and An optimal AGV combination for transporting the object to be transported is determined, wherein the optimal AGV combination is an AGV combination among the at least one third AGV combination that maximizes the projection area of ​​the top view of the object to be transported on its top view.

9. A method for transporting an object to be transported, characterized in that: The method includes: Obtaining the shape of the object to be transported; Determine an AGV combination for transporting the object to be transported according to a correspondence between the appearance and the AGV combination in a preset database, wherein the AGV combination in the preset database is determined according to the method according to any one of claims 1 to 8; mobilizing the AGVs according to the determined AGV combination so that the relative position relationship between each AGV in the determined AGV combination and the object to be transported satisfies the relative position relationship between the determined AGV combination and the object to be transported when the determined AGV combination is determined; and The determined AGV combination is controlled to transport the object to be transported to a designated location.

10. The method according to claim 9, characterized in that Before mobilizing the AGV according to the determined AGV combination, the method further includes: Determining whether each AGV in the determined AGV combination has a corresponding idle AGV that can be mobilized; and When at least one AGV in the determined AGV combination does not have a corresponding idle AGV that can be mobilized, if the top-view area of ​​at least one AGV is a multiple of the top-view area of ​​the minimum AGV and there are sufficient number of the minimum AGVs that can be mobilized, the at least one AGV is replaced with the minimum AGV, wherein the minimum AGV is the AGV with the smallest top-view area among all AGVs currently configured to transport the object to be transported, and the mobilization of the AGV according to the determined AGV combination is the mobilization of the AGV according to the AGV combination obtained after replacing the at least one AGV with the minimum AGV according to the determined AGV combination.

11. A device for determining an AGV for transportation, characterized in that: The device includes: A preset information determination module, used to determine the preset information of the object to be transported; a placement module, configured to place at least one preset AGV according to the preset information, wherein the top view of the at least one preset AGV is a rectangle or a square; and an AGV combination determining module, configured to replicate the top view of the preset AGV along the length and width directions of the top view of the at least one preset AGV, based on the at least one preset AGV, to cover the top view of the object to be transported, wherein the combination of all the preset AGVs covering the top view of the object to be transported is a first AGV combination for transporting the object to be transported; after eliminating the preset AGVs that meet the elimination criteria among all the preset AGVs covering the top view of the object to be transported, if there are two preset AGVs connected at a vertex among the remaining preset AGVs, the preset AGV is replicated again at the connection vertex of the two preset AGVs connected at the vertex so that the two preset AGVs connected at the vertex are no longer vertex-connected, wherein the position where the preset AGV that is replicated again is a position where the projection area of ​​the top view of the object to be transported on the top view of the second AGV combination is the largest among all the positions where the preset AGV can be placed again, and the second AGV combination includes the preset AGVs that remain after the elimination and the preset AGVs that are replicated again; The first rejection module is used to reject the preset AGV that meets the rejection criteria among all the preset AGVs covering the top view of the object to be transported after copying the preset AGV to cover the top view of the object to be transported, wherein the rejection criteria is that the ratio of the projected area of ​​the top view of the object to be transported on the top view of the preset AGV to the area of ​​the top view of the preset AGV is less than a preset value and the preset AGV does not cover the support point of the object to be transported.

12. The device according to claim 11, characterized in that The preset information includes the center of gravity position or support point information, wherein the support point information includes the support point position and area of ​​the support point; The placing module places at least one preset AGV according to the preset information, including: placing the preset position of the at least one preset AGV at the center of gravity position or at the support point position of the support point with the largest area among all the support points.

13. The device according to claim 12, characterized in that The placement module places the preset position of the at least one preset AGV at the center of gravity position or the support point position, including a first situation or a second situation, wherein the first situation is to place the centroid of the at least one preset AGV at the center of gravity position or the support point position, and the second situation is to place the center of one side of the top view of the at least one preset AGV at the center of gravity position or the support point position.

14. The device according to claim 12, characterized in that In the case where the preset information includes the center of gravity position or the support point information and the placing of at least one preset AGV according to the preset information includes placing the preset position of the at least one preset AGV at the center of gravity position or at the support point position of the support point with the largest area among all the support points, the placement module places the preset position of the at least one preset AGV at the center of gravity position or the support point position, including: a first situation and a second situation, wherein the first situation is to place the centroid of the at least one preset AGV at the center of gravity position or the support point position, and the second situation is to place the center of one side of the top view of the at least one preset AGV at the center of gravity position or the support point position, and all the preset AGVs used to transport the object to be transported are the following two ones that make the projection area of ​​the top view of the object to be transported on the top view of their composition the largest: all the preset AGVs obtained in the first situation and all the preset AGVs obtained in the second situation.

15. The device according to claim 11, characterized in that One side of the top view of the at least one preset AGV used as a reference is parallel to the longest side of the top view of the object to be transported.

16. The device according to claim 11, characterized in that The preset AGV is a minimum AGV, and the minimum AGV is an AGV with the smallest top view area among all AGVs currently configured to transport the object to be transported. The device further includes: Hybrid AGVs form modules for: Determining whether the top view images of the preset AGVs included in the first AGV combination can form a combined top view image, wherein the combined top view image includes top view images of a plurality of the preset AGVs, and the combined top view image is a rectangle or a square; In a case where the top-view images of the preset AGVs included in the first AGV combination can form the combined top-view image, determining the combined top-view image with the largest area that can be formed by the top-view images of the preset AGVs included in the first AGV combination, and replacing the preset AGV in the first AGV combination corresponding to the combined top-view image with the largest area with the largest AGV, and the top-view image of the largest AGV is the combined top-view image with the largest area; and Among the preset AGVs remaining after excluding the largest AGV in the first AGV combination, continue to judge whether the combined top view image can be formed and replace the preset AGV if the combined top view image can be formed, and repeat the process of judging whether the combined top view image can be formed and replacing the preset AGV if the combined top view image can be formed, until the top view image of the preset AGV remaining after the replacement cannot form the combined top view image, wherein the AGV used to transport the object to be transported includes the replaced AGV and the preset AGV remaining in the first AGV combination whose top view image cannot form the combined top view image.

17. The device according to claim 11, characterized in that The device also includes: a connection determination module, configured to determine whether the first AGV combination includes a connection AGV, wherein the connection AGV includes three or more of the preset AGVs and the preset AGVs are connected in pairs; and The second rejection module is used to reject at least one of the preset AGVs that is in the middle position of the connected AGVs and does not cover the support point of the object to be transported when the connected AGVs are included.

18. The device according to claim 17, characterized in that The device also includes: The optimal AGV combination determination module is used to: After eliminating at least one of the preset AGVs that does not cover the support point of the object to be transported from the connected AGVs, adjusting at least one of the remaining preset AGVs according to a preset manner to obtain at least one third AGV combination; and An optimal AGV combination for transporting the object to be transported is determined, wherein the optimal AGV combination is an AGV combination among the at least one third AGV combination that maximizes the projection area of ​​the top view of the object to be transported on its top view.

19. A device for transporting an object to be transported, characterized in that: The device includes: An appearance acquisition module, used to acquire the appearance of the object to be transported; a transport AGV combination determination module, configured to determine an AGV combination for transporting the object to be transported based on a correspondence between the appearance and the AGV combination in a preset database, wherein the AGV combination in the preset database is determined according to the method according to any one of claims 1 to 10; a mobilization module, configured to mobilize the AGVs according to the determined AGV combination so that the relative position relationship between each AGV in the determined AGV combination and the object to be transported satisfies the relative position relationship between the determined AGV combination and the object to be transported when the determined AGV combination is determined; and The AGV combination control module is used to control the determined AGV combination to transport the object to be transported to a designated location.

20. The device according to claim 19, characterized in that The device also includes: A mobilization determination module is used to determine whether each AGV in the determined AGV combination has a corresponding AGV in an idle state that can be mobilized before mobilizing the AGV according to the determined AGV combination; and A replacement module is used to replace at least one AGV with the minimum AGV when there is no corresponding idle AGV in the determined AGV combination that can be mobilized, if the top view area of ​​at least one AGV is a multiple of the top view area of ​​the minimum AGV and there are sufficient number of the minimum AGVs that can be mobilized, wherein the minimum AGV is the AGV with the smallest top view area among all AGVs currently configured to transport the object to be transported, and the mobilization of the AGV according to the determined AGV combination is the mobilization of the AGV according to the AGV combination obtained after replacing the at least one AGV with the minimum AGV according to the determined AGV combination.

Images