Method and apparatus for determining load weight, storage medium and electronic device

Abstract

Embodiments of the present application provide a load weight determination method and device, a storage medium and an electronic device. The method comprises: controlling a scissor mechanism of an automated guided vehicle to perform a first lifting operation; obtaining N pairs of displacement amounts in the process of performing the first lifting operation, and determining a target curve based on the N pairs of displacement amounts, wherein the N pairs of displacement amounts represent horizontal displacement amounts of a lead screw and vertical displacement amounts of a tray collected at N time points, and the target curve represents a change relationship between the horizontal displacement amounts of the lead screw and the vertical displacement amounts of the tray; and determining a weight of a target load according to the target curve and a preset M curves, wherein the M curves represent different change relationships between the horizontal displacement amounts of the lead screw and the vertical displacement amounts of the tray in the process of the scissor mechanism performing the first lifting operation when the tray respectively carries M loads with known weights. Through the present application, the technical problem of low accuracy in determining the weight of the load in the related art is solved.

Description

Methods, devices, storage media, and electronic devices for determining load weight Technical Field

[0001] The embodiments of the present invention relate to the field of robotics, and more specifically, to a method, apparatus, storage medium, and electronic device for determining load weight. Background Technology

[0002] With the widespread acceptance of intelligent manufacturing and the policy of replacing human labor with machines, Automated Guided Vehicles (AGVs) have gained widespread attention in industrial manufacturing. AGVs are automated transport vehicles capable of replacing manual labor for intelligent material handling. Due to their high degree of automation and unmanned handling capabilities, they have become an important component of intelligent material handling equipment and are widely used in warehousing, logistics, and other industries, significantly improving production efficiency and reducing production costs. During the handling of goods, in order to rationally allocate the position of materials on shelves, detect overloads, and increase the stability of AGV vehicles, some AGVs have begun to incorporate material weight measurement. After implementing material weight measurement, on the one hand, the placement of heavy-load materials on shelves can be optimized, improving shelf stability and the safety of material handling; on the other hand, it allows AGVs to select a travel speed that matches the load weight, increasing handling efficiency and stability. Currently, the weight measurement function of AGVs is often achieved by adding weight sensors to the lifting mechanism or pallet. However, this method is affected by the placement of the weight sensors; if the material is placed off-center, errors are easily introduced, and design costs are increased. It is evident that related technologies primarily rely on weighing sensors to determine the load weight, but this method is prone to significant errors, resulting in low accuracy in determining the load weight.

[0003] There is currently no effective solution to the technical problem of low accuracy in determining load weight in related technologies. Summary of the Invention

[0004] The present invention provides a method, apparatus, storage medium and electronic device for determining load weight, so as to at least solve the technical problem of low accuracy in determining load weight in related technologies.

[0005] According to an embodiment of the present invention, a method for determining load weight is provided, comprising: when a target load is loaded on a pallet of an automated guided vehicle (AGV), responding to a received first target command, controlling a scissor lift mechanism of the AGV to perform a first lifting operation, wherein the pallet is disposed on the scissor lift mechanism, the first lifting operation being used to control a lead screw in the AGV to move horizontally a first distance, and the lead screw driving the scissor lift mechanism to move vertically a second distance; acquiring N pairs of displacement quantities during the execution of the first lifting operation, and determining a target curve based on the N pairs of displacement quantities, wherein the N pairs of displacement quantities are used to represent the horizontal displacement of the lead screw and the vertical displacement of the pallet collected at N moments during the execution of the first lifting operation. N is a positive integer greater than or equal to 2. The target curve represents the relationship between the horizontal displacement of the lead screw and the vertical displacement of the pallet during the process of controlling the scissor mechanism to perform the first lifting operation when the pallet is loaded with the target load. The weight of the target load is determined based on the target curve and the preset M curves. The M curves represent the different relationships between the horizontal displacement of the lead screw and the vertical displacement of the pallet during the process of controlling the scissor mechanism to perform the first lifting operation when the pallet is loaded with M loads of known and different weights. The different relationships are related to the different deformations of the joint nodes in the scissor mechanism caused by the weight of the M loads. M is a positive integer greater than or equal to 2.

[0006] In an exemplary embodiment, determining the target curve based on the N pairs of displacements includes: obtaining a plurality of line segments based on the N pairs of displacements, wherein the plurality of line segments are obtained by sequentially connecting the coordinate points represented by each pair of displacements in the N pairs of displacements; fitting the plurality of line segments to obtain the target curve; or fitting the coordinate points represented by each pair of displacements in the N pairs of displacements to obtain the target curve.

[0007] In an exemplary embodiment, before the scissor lift mechanism of the automated guided vehicle performs the first lifting operation, the method further includes: for the i-th load among the M loads, performing the following operations to obtain the i-th curve corresponding to the i-th load, where i is a positive integer greater than or equal to 1 and less than or equal to M, the M curves including the i-th curve: when the pallet is loaded with the i-th load, in response to a received second target instruction, controlling the scissor lift mechanism to perform the first lifting operation, and acquiring P pairs of displacements, where the P pairs of displacements represent the horizontal displacement of the lead screw and the vertical displacement of the pallet collected at P moments during the execution of the first lifting operation when the weight of the i-th load causes the i-th type of deformation to the joint nodes in the scissor lift mechanism, P is a positive integer greater than or equal to 2; obtaining the i-th curve based on the P pairs of displacements, where the i-th curve corresponds to the weight of the i-th load; and obtaining the M curves based on the i-th curve.

[0008] In an exemplary embodiment, determining the weight of the target load based on the target curve and a preset set of M curves includes: searching among the M curves for a curve that matches the target curve; and if a curve that matches the target curve is found, determining the weight of the target load based on the weight corresponding to the curve that matches the target curve.

[0009] In an exemplary embodiment, the step of finding a curve matching the target curve among the M curves includes: performing the following operations on each of the M curves, wherein each curve is a current curve when performing the following operations: determining a first set of points on the current curve and determining a second set of points on the target curve, wherein both the first set of points and the second set of points include Q points, and the abscissas of the Q points in the first set of points are the same as the abscissas of the Q points in the second set of points, wherein Q is a positive integer greater than or equal to 1; determining the difference between the ordinates of the Q points in the first set of points and the ordinates of the Q points in the second set of points, obtaining a total of Q differences; determining the average or cumulative value of the Q differences as the distance between the current curve and the target curve; determining that the current curve is a curve matching the target curve when the distance between the current curve and the target curve is less than or equal to a preset threshold; and determining that the current curve is not a curve matching the target curve when the distance between the current curve and the target curve is greater than the preset threshold.

[0010] In an exemplary embodiment, determining the weight of the target load based on the weight corresponding to the curve matching the target curve includes: if a curve matching the target curve is found, determining the weight corresponding to the curve matching the target curve as the weight of the target load; or if two adjacent curves matching the target curve are found, performing a weighted summation of the weights corresponding to the two adjacent curves to obtain the weight of the target load.

[0011] In one exemplary embodiment, after determining the weight of the target load, the method further includes: determining the operating parameters of the automated guided vehicle based on the weight of the target load, wherein the operating parameters include the operating speed of the automated guided vehicle.

[0012] According to another embodiment of the present invention, a load weight determination device is also provided, comprising: a control module, configured to, in response to a received first target command, control a scissor lift mechanism of an automated guided vehicle to perform a first lifting operation when a target load is loaded on a pallet of an automated guided vehicle, wherein the pallet is disposed on the scissor lift mechanism, and the first lifting operation controls a lead screw in the automated guided vehicle to move horizontally a first distance, and the lead screw drives the scissor lift mechanism to move vertically a second distance; and a processing module, configured to acquire N pairs of displacement quantities during the execution of the first lifting operation, and determine a target curve based on the N pairs of displacement quantities, wherein the N pairs of displacement quantities represent the horizontal displacement of the lead screw and the vertical displacement of the pallet collected at N moments during the execution of the first lifting operation. The displacement, where N is a positive integer greater than or equal to 2, is defined as follows: The target curve represents the relationship between the horizontal displacement of the lead screw and the vertical displacement of the pallet during the first lifting operation controlled by the scissor mechanism when the pallet is loaded with the target load; The first determining module is used to determine the weight of the target load based on the target curve and M preset curves, wherein the M curves represent the different relationships between the horizontal displacement of the lead screw and the vertical displacement of the pallet during the first lifting operation controlled by the scissor mechanism when the pallet is loaded with M loads of known and different weights, and the different relationships are related to the different deformations of the joint nodes in the scissor mechanism caused by the weight of the M loads, where M is a positive integer greater than or equal to 2.

[0013] According to yet another embodiment of the present invention, a computer-readable storage medium is also provided, wherein a computer program is stored therein, wherein the computer program is configured to perform the steps in any of the above method embodiments when executed.

[0014] According to yet another embodiment of the present invention, an electronic device is also provided, including a memory and a processor, wherein the memory stores a computer program and the processor is configured to run the computer program to perform the steps in any of the above method embodiments.

[0015] According to this invention, when the pallet of an automated guided vehicle (AGV) is loaded with a target load, in response to a received first target command, the scissor mechanism of the AGV is controlled to perform a first lifting operation. This first lifting operation controls the lead screw of the AGV to move a first distance horizontally and the scissor mechanism to move a second distance vertically. N pairs of displacements are acquired at N moments during the execution of the first lifting operation, and a target curve is determined based on these N pairs of displacements. Specifically, this curve represents the relationship between the horizontal displacement of the lead screw and the vertical displacement of the pallet during the first lifting operation, assuming the pallet is loaded with the target load. Then, based on the target curve and M preset curves, the weight of the target load is determined. The M curves represent the different relationships between the horizontal displacement of the lead screw and the vertical displacement of the pallet during the first lifting operation, assuming the weight of each of the M loads causes different deformations to the joints in the scissor mechanism when the pallet is loaded with M known loads of different weights. In other words, by determining the target curve when the scissor lift mechanism performs its first lifting operation on a pallet loaded with the target load, and combining this with the M curves corresponding to M known loads, the weight of the target load can be determined. This avoids the problem in related technologies that primarily use load cells to determine load weight, which are easily affected by the placement of the load cells and the offset or eccentricity of the load, leading to significant errors. Therefore, this method solves the technical problem of low accuracy in determining load weight in related technologies, achieving a significant improvement in the accuracy of load weight determination. Attached Figure Description

[0016] Figure 1 is a block diagram of the mobile terminal hardware structure of the method for determining the load weight according to an embodiment of the present invention.

[0017] Figure 2 is a flowchart of a method for determining the load weight according to an embodiment of the present invention;

[0018] Figure 3 is a schematic diagram of the external shape of the AGV trolley according to an embodiment of the present invention;

[0019] Figure 4 is a schematic diagram of the AGV scissor lift assembly according to an embodiment of the present invention;

[0020] Figure 5 is a diagram of the AGV control system according to an embodiment of the present invention;

[0021] Figure 6 is a flowchart of a load measurement method according to an embodiment of the present invention;

[0022] Figure 7 is a schematic diagram illustrating the theoretical lifting and lateral displacement changes of the scissor mechanism according to an embodiment of the present invention.

[0023] Figure 8 is a schematic diagram of the actual lifting and lateral displacement changes of the scissor mechanism according to an embodiment of the present invention.

[0024] Figure 9 is a schematic diagram of the calibration function curve according to an embodiment of the present invention;

[0025] Figure 10 is a structural block diagram of a load weight determination device according to an embodiment of the present invention. Detailed Implementation

[0026] The embodiments of the present invention will be described in detail below with reference to the accompanying drawings and examples.

[0027] It should be noted that the terms "first" and "first" in the specification, claims, and drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

[0028] The method embodiments provided in this application can be executed in a mobile terminal, computer terminal, or similar computing device. Taking a mobile terminal as an example, FIG1 is a hardware structure block diagram of a mobile terminal for determining the load weight according to an embodiment of the present invention. As shown in FIG1, the mobile terminal may include one or more (only one is shown in FIG1) processors 102 (processors 102 may include, but are not limited to, microprocessors MCUs or programmable logic devices FPGAs, etc.) and a memory 104 for storing data. The mobile terminal may also include a transmission device 106 for communication functions and an input / output device 108. It will be understood by those skilled in the art that the structure shown in FIG1 is only illustrative and does not limit the structure of the mobile terminal. For example, the mobile terminal may also include more or fewer components than shown in FIG1, or have a different configuration than shown in FIG1.

[0029] The memory 104 can be used to store computer programs, such as application software programs and modules, like the computer program corresponding to the load weight determination method in this embodiment of the invention. The processor 102 executes various functional applications and data processing by running the computer programs stored in the memory 104, thereby implementing the above-described method. The memory 104 may include high-speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 104 may further include memory remotely located relative to the processor 102, and these remote memories can be connected to the mobile terminal via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0030] The transmission device 106 is used to receive or send data via a network. Specific examples of the network described above may include a wireless network provided by the mobile terminal's communication provider. In one example, the transmission device 106 includes a Network Interface Controller (NIC), which can connect to other network devices via a base station to communicate with the Internet. In another example, the transmission device 106 may be a Radio Frequency (RF) module used for wireless communication with the Internet.

[0031] This embodiment provides a method for determining load weight. Figure 2 is a flowchart of the method for determining load weight according to an embodiment of the present invention. As shown in Figure 2, the process includes the following steps:

[0032] Step S202: When the pallet of the automated guided vehicle is loaded with the target load, in response to the received first target command, the scissor mechanism of the automated guided vehicle is controlled to perform a first lifting operation, wherein the pallet is placed on the scissor mechanism, and the first lifting operation is used to control the lead screw in the automated guided vehicle to move a first distance in the horizontal direction, and the lead screw drives the scissor mechanism to move a second distance in the vertical direction.

[0033] Step S204: Obtain N pairs of displacement quantities during the execution of the first lifting operation, and determine a target curve based on the N pairs of displacement quantities. The N pairs of displacement quantities are used to represent the horizontal displacement of the lead screw and the vertical displacement of the pallet collected at N moments during the execution of the first lifting operation, where N is a positive integer greater than or equal to 2. The target curve represents the relationship between the horizontal displacement of the lead screw and the vertical displacement of the pallet during the process of controlling the scissor mechanism to perform the first lifting operation when the pallet is loaded with the target load.

[0034] Step S206: Determine the weight of the target load based on the target curve and the preset M curves. The M curves represent the different changes between the horizontal displacement of the lead screw and the vertical displacement of the pallet when the pallet is loaded with M loads of known and different weights, during the process of controlling the scissor mechanism to perform the first lifting operation. The different changes are related to the different deformations of the joint nodes in the scissor mechanism caused by the weight of the M loads. M is a positive integer greater than or equal to 2.

[0035] Through the above steps, when the pallet of the automated guided vehicle (AGV) is loaded with a target load, in response to the received first target command, the scissor mechanism of the AGV is controlled to perform a first lifting operation. This first lifting operation controls the lead screw of the AGV to move a first distance horizontally and the scissor mechanism to move a second distance vertically. N pairs of displacements are acquired at N moments during the execution of the first lifting operation, and a target curve is determined based on these N pairs of displacements. This curve represents the relationship between the horizontal displacement of the lead screw and the vertical displacement of the pallet during the first lifting operation when the pallet is loaded with the target load. Then, based on the target curve and M preset curves, the weight of the target load is determined. These M curves represent the different relationships between the horizontal displacement of the lead screw and the vertical displacement of the pallet during the first lifting operation when the pallet is loaded with M loads of known different weights, and the weights of the M loads cause different deformations to the joints in the scissor mechanism. In other words, by determining the target curve when the scissor lift mechanism performs its first lifting operation on a pallet loaded with the target load, and combining this with the M curves corresponding to M known loads, the weight of the target load can be determined. This avoids the problem in related technologies that primarily use load cells to determine load weight, which are easily affected by the placement of the load cells and the offset or eccentricity of the load, leading to significant errors. Therefore, this method solves the technical problem of low accuracy in determining load weight in related technologies, achieving a significant improvement in the accuracy of load weight determination.

[0036] The entity executing the above steps can be a processor or a controller, such as a controller installed in an automated guided vehicle, a processor with human-machine interaction capabilities configured on a storage device, or a processing device or processing unit with similar processing capabilities, but not limited to these.

[0037] In the technical solution provided in step S202 above, the target load can be goods or materials. For example, to determine the weight of the target load, the traditional method is to use a weighing sensor installed on the automated guided vehicle (AGV). However, the traditional method is easily affected by the placement of the weighing sensor and the offset or eccentricity of the load center of gravity, resulting in a large error. In this embodiment, the target load is placed in the AGV's pallet, which is set on the AGV's scissor mechanism. When a first target instruction is received, the AGV's scissor mechanism is controlled to perform a first lifting operation. For example, the first target instruction can be the AGV's... The first lifting operation can be initiated by the controller or motherboard in the AGV, or by remote control. It can be controlled by moving the lead screw in the AGV a first distance in the horizontal direction, such as 20cm or other distances, and the lead screw drives the scissor mechanism to move a second distance in the vertical direction. In fact, when the lead screw moves horizontally, the nodes of the scissor mechanism also move in the horizontal direction. Optionally, the above-mentioned first lifting operation can be a movement in only one direction, such as performing only an upward (or lifting) operation, or performing only a downward operation. It can also be a movement that first rises a certain distance and then falls a certain distance, or a movement that first falls a certain distance and then rises a certain distance. The specific first lifting operation can be set according to actual needs.

[0038] The load weight measurement method in this application embodiment is based on a scissor-type AGV. Figure 3 is a schematic diagram of the AGV according to an embodiment of the present invention. The scissor-type AGV mainly consists of a chassis assembly 200 and a lifting assembly 100. The lifting assembly 100 (or scissor assembly) mainly consists of a tray 1, an outer connecting rod 2, an optical shaft 3, an inner connecting rod 4, a lifting motor 5, an optical shaft support 6, a horizontal wire encoder 7, a motor bracket 8, an upper slide rail assembly 9, a limit sensor 10, a lower slide rail assembly 11, a limit plate 12, an adapter plate 13, a ball screw 14, a screw support 15, a linear guide rail 16, and a vertical wire encoder 17, as shown in Figure 4.

[0039] The pallet 1 is a steel plate with a neoprene rubber-coated upper surface, installed above the scissor lift mechanism, mainly used to place material baskets or lifting racks; the outer connecting rods 2 consist of four rods, assembled with the inner connecting rods 4 via optical shafts 3, mainly used to convert horizontal motion into vertical motion; the optical shafts 3 consist of five rods, fixed between the connecting rods by a retaining spring at each end, mainly used to combine the inner and outer connecting rods; the inner connecting rods 4 consist of two rods, assembled with the outer connecting rods 2 via optical shafts 3, mainly used to convert horizontal motion into vertical motion; the lifting motor 5 is an integrated reduction gear, connected via a flange surface... The screws are mounted on the motor bracket and connected to the ball screw 14 via a coupling, mainly used to output power to the ball screw; there are two optical shaft supports 6, which are fixed to the outside of the connecting rod on the fixed side of the lifting assembly by snap rings, mainly used to fix and support the connecting rod mechanism; the horizontal wire encoder 7 has its mounting surface fixed to the chassis, and its wire output end is connected to the side of the screw slider, used to detect the horizontal displacement of the screw nut; the motor bracket 8 is fixed to the chassis assembly by screws, mainly used to support the lifting motor; there are two sets of upper slide rail assemblies 9, which are fixed to the bottom of the tray by screws, mainly used for the connecting rod... The connecting rod slides along its moving side. Two limit sensors 10 are fixed to the lower slide rail assembly 11 with screws. When the limit plate approaches, it triggers a limit signal, which is transmitted to the main board. The lower slide rail assembly 11 is fixed to the chassis assembly with screws and is mainly used for sliding along the lower moving side of the connecting rod. The limit plate 12 is fixed in the slot of the lower slide rail assembly via an optical axis, and can move back and forth within the slot with the optical axis, triggering a limit signal at a specific position. The adapter plate 13 connects the optical axis of the moving side of the connecting rod to the ball screw 14 with screws. Its lower end is connected to the slider of the linear guide rail, mainly used to connect the ball screw... The motion is transmitted to the scissor lift mechanism; one end of the ball screw 14 is connected to the lifting motor 5 via a coupling, and the other end is connected to the connecting rod assembly via an adapter plate. It is mainly used to convert the rotational motion of the lifting into linear motion and transmit it to the scissor lift mechanism; the screw support 15 is fixed to the chassis assembly with screws and is mainly used to support one end of the ball screw 14; the linear guide 16 is fixed to the chassis with screws, and its slider is connected to the adapter plate. It is mainly used to provide support force for the scissor lift assembly; the vertical wire encoder 17 has its mounting surface fixed to the chassis, and its wire output end is connected to the bottom of the pallet. It is used to detect the vertical displacement of the pallet.

[0040] In the technical solution provided in step S204 above, N pairs of displacement quantities can be acquired during the first lifting operation of the scissor lift mechanism. These N pairs of displacement quantities refer to the horizontal displacement of the lead screw and the vertical displacement of the pallet collected at N moments during the first lifting operation. In practical applications, the value of N can be set as needed; for example, 20 (or 50, or other values) pairs of displacement quantities can be collected. Referring to Figure 4, the horizontal displacement of the lead screw can be detected by the horizontal wire encoder 7, and the vertical displacement of the pallet can be detected by the vertical wire encoder 17. Then, a target curve is determined based on the N pairs of displacement quantities. The curve is used to represent the relationship between the horizontal displacement of the lead screw and the vertical displacement of the pallet during the first lifting operation of the scissor mechanism when the pallet is loaded with the target load. For example, the target curve can be obtained by fitting the N coordinate points corresponding to the N pairs of displacements using the least squares method, or by obtaining multiple line segments, such as N-1 line segments, based on the N pairs of displacements, and then fitting the multiple line segments to obtain the target curve. The target curve obtained above is a smooth curve, and the relationship between the horizontal displacement and the vertical displacement of the scissor mechanism during the first lifting operation can be seen from the target curve.

[0041] In the technical solution provided in step S206 above, the aforementioned preset M curves can be curves corresponding to M known loads. The M curves represent the different changes in the horizontal displacement of the lead screw and the vertical displacement of the pallet during the first lifting operation of the scissor mechanism when different loads from the M loads are loaded on the pallet. These different changes are obtained considering the different deformations of the joint nodes in the scissor mechanism caused by the weight of each load in the M loads. The joint nodes can be the connection nodes between the scissor mechanism and the pallet, or the connection nodes between the outer connecting rod (outer connecting rod 2 in Figure 4) and the inner connecting rod (outer connecting rod 4 in Figure 4) of the scissor mechanism. Thus, the M curves corresponding to the M known loads can be obtained in advance. The weight of the target load can be determined based on the target curve and the preset M curves. For example, it can be found in the M curves whether there is a curve that matches the target curve. If there is a j-th curve that matches the target curve, the weight of the load corresponding to the j-th curve among the M loads can be determined as the weight of the target load. In this embodiment, by determining the target curve when the scissor lift mechanism performs the first lifting operation on a pallet loaded with the target load, and combining this with the M curves corresponding to M loads of known weight, the weight of the target load can be determined. This avoids the problem in related technologies where the method mainly uses load cells to determine the load weight, which is easily affected by the placement of the load cells and the offset or eccentricity of the load, resulting in large errors. It also saves on the cost of load cells. Therefore, it solves the technical problem of low accuracy in determining load weight in related technologies, achieving the effect of improving the accuracy of load weight determination.

[0042] In an optional embodiment, determining the target curve based on the N pairs of displacements includes: obtaining multiple line segments based on the N pairs of displacements, wherein the multiple line segments are obtained by sequentially connecting the coordinate points represented by each pair of displacements in the N pairs of displacements; fitting the multiple line segments to obtain the target curve; or fitting the coordinate points represented by each pair of displacements in the N pairs of displacements to obtain the target curve. In this embodiment, multiple line segments can be obtained based on the N coordinate points corresponding to the N pairs of displacements, for example, obtaining N-1 line segments, and then fitting the multiple line segments to obtain the target curve; optionally, the target curve can also be obtained by fitting the N coordinate points corresponding to the N pairs of displacements, for example, by fitting the N coordinate points using the least squares method to obtain a smoother target curve. Through this embodiment, the purpose of obtaining the target curve based on the acquired N pairs of displacements is achieved.

[0043] In an optional embodiment, before the scissor lift mechanism of the automated guided vehicle performs the first lifting operation, the method further includes: for the i-th load among the M loads, performing the following operations to obtain the i-th curve corresponding to the i-th load, where i is a positive integer greater than or equal to 1 and less than or equal to M, the M curves including the i-th curve: when the pallet is loaded with the i-th load, in response to a received second target instruction, controlling the scissor lift mechanism to perform the first lifting operation, and acquiring P pairs of displacements, where the P pairs of displacements represent the horizontal displacement of the lead screw and the vertical displacement of the pallet collected at P moments during the execution of the first lifting operation when the weight of the i-th load causes the i-th type of deformation to the joint nodes in the scissor lift mechanism, P is a positive integer greater than or equal to 2; obtaining the i-th curve based on the P pairs of displacements, where the i-th curve corresponds to the weight of the i-th load; and obtaining the M curves based on the i-th curve. In this embodiment, the above operation is performed for any one of the M loads, such as the i-th load, to obtain the i-th curve corresponding to the i-th load. This operation includes controlling the scissor lift mechanism to perform the first lifting operation when the i-th load is loaded on the pallet, and obtaining P pairs of displacements. P can be greater than N or less than N, and is not limited thereto. In practical applications, loads of different weights placed on the pallet may cause different deformations to the joints in the scissor lift mechanism. For example, the weight of the i-th load causes the i-th type of deformation to the joints in the scissor lift mechanism. The above P pairs of displacements are obtained under the condition of deformation, and the i-th curve can be obtained based on the P pairs of displacements. Similarly, curves corresponding to the other loads among the M loads can also be obtained, thus obtaining the aforementioned preset M curves. In practical applications, the above operation process can be called a calibration process, that is, using loads of known weight to perform detection to obtain the corresponding calibration curves.

[0044] In an optional embodiment, determining the weight of the target load based on the target curve and a preset set of M curves includes: finding a curve among the M curves that matches the target curve; and if a curve that matches the target curve is found, determining the weight of the target load based on the weight corresponding to the curve that matches the target curve. In this embodiment, a curve matching the target curve can be found among the M curves. When a matching curve is found, the weight of the target load can be determined based on the weight corresponding to the matching curve. In practical applications, one or more curves among the M curves may match the target curve. For example, when one curve (such as the j-th curve) matches the target curve, the weight of the load corresponding to the j-th curve (such as the j-th load among M loads) is determined as the weight of the target load. Alternatively, when two curves (such as the k-th and r-th curves) match the target curve, the weight of the target load can be determined by combining the weights corresponding to the k-th curve (such as the k-th load among M loads) and the weights corresponding to the r-th curve (such as the r-th load among M loads). During the process of finding whether each curve among the M curves matches the target curve, the error or distance between each curve and the target curve can be used for determination. For example, multiple points can be selected on the two curves, and the difference in the ordinates when the abscissas are the same can be compared to determine the error or distance between the two curves. This embodiment achieves the goal of determining the weight of the target load by comparing the target curve with M preset curves.

[0045] In an optional embodiment, the step of finding a curve matching the target curve among the M curves includes: performing the following operations on each of the M curves, wherein each curve is the current curve during the operation: determining a first set of points on the current curve and a second set of points on the target curve, wherein both the first set of points and the second set of points include Q points, and the abscissas of the Q points in the first set of points are the same as the abscissas of the Q points in the second set of points, wherein Q is a positive integer greater than or equal to 1; determining the difference between the ordinates of the Q points in the first set of points and the ordinates of the Q points in the second set of points, obtaining a total of Q differences; determining the average or cumulative value of the Q differences as the distance between the current curve and the target curve; determining that the current curve is a curve matching the target curve if the distance between the current curve and the target curve is less than or equal to a preset threshold; and determining that the current curve is not a curve matching the target curve if the distance between the current curve and the target curve is greater than the preset threshold. In this embodiment, when the x-coordinates of Q points on the current curve are the same as the x-coordinates of Q points on the target curve, the y-coordinates of the Q points on the current curve and the Q points on the target curve are compared to obtain Q difference values. The distance between the current curve and the target curve is then determined based on these Q difference values. For example, the average of the Q difference values ​​can be used as the distance between the two curves (i.e., the current curve and the target curve), or the cumulative value (or summation) of the Q difference values ​​can be used as the distance between the two curves. When the distance between the two curves is less than or equal to a preset threshold, it can be determined that the current curve and the target curve are matched; when the distance between the two curves is greater than the preset threshold, it can be determined that the current curve and the target curve are not matched. This embodiment achieves the goal of finding whether a curve matching a target curve exists among M curves.

[0046] In an optional embodiment, determining the weight of the target load based on the weight corresponding to the curve matching the target curve includes: if a curve matching the target curve is found, determining the weight corresponding to the curve matching the target curve as the weight of the target load; or if two adjacent curves matching the target curve are found, performing a weighted summation of the weights corresponding to the two adjacent curves to obtain the weight of the target load. In this embodiment, when one of the M curves (e.g., the j-th curve) matches the target curve, the weight of the load corresponding to the j-th curve can be determined as the weight of the target load. Alternatively, when two of the M curves (e.g., the k-th and r-th curves) match the target curve, the weight of the target load can be determined by combining the weights corresponding to the k-th curve (e.g., Qk) and the r-th curve (e.g., Qr). For example, Qk and Qr can be weighted and summed to obtain the weight of the target load. The weighting coefficients can be determined based on the distances between the target curve and the k-th curve, and between the target curve and the r-th curve. Optionally, the weighting coefficients can also be set by comprehensively considering the distances between the target curve and the k-th curve, the distances between the target curve and the r-th curve, and the weights of the k-th and r-th loads. This embodiment achieves the goal of determining the weight of the target load when a curve matching the target curve is found.

[0047] In an optional embodiment, after determining the weight of the target load, the method further includes: determining the operating parameters of the automated guided vehicle (AGV) based on the weight of the target load, wherein the operating parameters include the operating speed of the AGV. In this embodiment, after determining the weight of the target load, for example, after determining the weight of the goods or materials currently loaded by the AGV, the operating parameters of the AGV can be further optimized based on the determined weight of the target load. Furthermore, an optimal storage rack position can be allocated to the target load based on its weight, and an optimal operating speed can be set for the AGV based on its weight, maximizing the operating speed while ensuring no tipping, thereby improving production and warehouse management efficiency.

[0048] Obviously, the embodiments described above are only some embodiments of the present invention, and not all embodiments. The present invention will be specifically described below with reference to the embodiments.

[0049] This application addresses the problem of measurement errors caused by the eccentricity of cargo position during load measurement of AGV carts using additional weighing sensors. It proposes a load measurement method based on the lifting curve of a scissor lift mechanism. First, based on the multi-joint mechanical principle and force analysis of the scissor lift mechanism, a model is established between variables such as different load weights, joint deformation, and lifting height, yielding lifting motion curves under different loads. Second, horizontal and vertical wire encoders are set up to collect the horizontal and vertical displacements of the scissor lift mechanism in real time, and correction coefficients corresponding to different load weights in the lifting motion curve are determined through multi-load calibration. Finally, during use, the actual lifting change curve is compared with the calibration value to determine the corresponding lifting curve change coefficient, thereby determining the load weight. This provides real-time data for the anti-tipping algorithm, improving the stability of the vehicle's movement, reducing the impact of material eccentricity on the weighing results, improving the accuracy of material weighing, and simultaneously reducing the use of weighing sensors, saving costs.

[0050] To better illustrate the working steps of a load measurement method based on the lifting curve of a scissor lift mechanism, the following explanation is provided in conjunction with the system composition diagram in Figure 5 and the measurement method flowchart in Figure 6.

[0051] Figure 5 is a diagram of the AGV control system according to an embodiment of the present invention. The control system mainly includes: a main board, a driver, a lifting motor, a lead screw, a scissor mechanism, a tray, a photoelectric limit sensor, a horizontal wire encoder, and a vertical wire encoder. The main board is used to send control parameters (or commands) to the driver, which drives the lifting motor to work, so that the lifting mechanism (or scissor mechanism) can perform lifting or lowering operations. The photoelectric limit sensor is used to monitor whether the lifting mechanism triggers the upper limit signal during the lifting process. The wire output end of the horizontal wire encoder is connected to the side of the lead screw slider to detect the horizontal displacement of the lead screw nut, i.e., to collect horizontal displacement data. The wire output end of the vertical wire encoder is connected to the bottom of the tray to detect the vertical displacement of the tray, i.e., to collect vertical displacement data.

[0052] Figure 6 is a flowchart of a load measurement method according to an embodiment of the present invention, the process including:

[0053] S602, start;

[0054] S604, Calibration: Before starting work, the AGV needs to be calibrated with standard loads (corresponding to the aforementioned M loads);

[0055] S606, Placing Standard Weights: Place standard weights of standard unit mass on the tray of the AGV; standard loads of different masses (or weights) can be calibrated by continuously adding standard weights.

[0056] S608, Self-test: After the goods, material basket, or standard load are placed on the lifting pallet, the photoelectric sensor (or photoelectric limit sensor) under the pallet detects a change in the distance signal and determines that the goods have been successfully picked up. The main board starts to send a self-test command to the lifting driver (corresponding to the aforementioned second target command). First, the lifting mechanism lifts upward a certain distance. If the upper limit signal is not triggered, it prepares to reverse after lifting the specified distance. If the upper limit signal is triggered, it immediately stops preparing to reverse. During the forward rotation of the lifting motor, the driver output current is monitored in real time. If the output current does not exceed the safety value, it continues to run; otherwise, it reports a lifting motor overload fault and stops the self-test command. Then, the driver sends a reverse drive signal, and the lifting mechanism begins to lower downward until the lower limit signal is triggered, at which point the self-test action stops. Similarly, during the reverse rotation of the lifting motor, the driver output current is monitored in real time. If the output current does not exceed the safety value, it continues to run; otherwise, it reports a lifting motor overload fault and stops the self-test command.

[0057] S610, Dual-wire encoder for detecting displacement: During the self-test of the lifting motor, both the horizontal and vertical wire encoders begin to detect displacement changes in real time (corresponding to the aforementioned N pairs of displacements, or P pairs of displacements).

[0058] S612, Calculate the lift change curve (equivalent to each of the aforementioned M curves): After collecting the lift change curve under load, the curvature coefficient A and zero drift coefficient B of the lift function in the model are obtained by fitting the mathematical model established according to the present invention using the least squares method.

[0059] S614, determine whether the weight is greater than the full scale, that is, determine whether the weight of the above standard load exceeds the full scale.

[0060] If the judgment result is negative, return to step S606 and continue to add standard weights of unit mass for calibration; if the judgment result is positive, proceed to step S616; that is, if the calibrated weight is greater than the maximum measurement value, the calibration ends and the task mode is entered, otherwise the cycle of steps S606-S612 continues.

[0061] S616, calibration complete.

[0062] S618, Entering Task Mode: After completing the calibration actions, the AGV officially enters the working mode and can accept instructions from the platform.

[0063] S620, travels to the designated location to dock with materials: After the AGV passes through the handling node, the logistics system places the goods on the AGV's pallet using a robotic arm or conveyor belt, and then the AGV begins a self-inspection under load;

[0064] S622, Self-inspection command: After the AGV detects the goods, it begins to execute a self-inspection command (corresponding to the aforementioned first target command);

[0065] S624 calculates the load weight based on the lifting model: after the load self-test, the load lifting curve collected by the dual-wire encoder is matched with the closest calibration model to obtain the corresponding load weight.

[0066] S626 provides data to subsequent algorithms: the calculated load weight can be used in the optimization algorithm for vehicle operating parameters;

[0067] S628, Calculate the optimal placement of goods: The best storage shelf location can be allocated based on the load weight;

[0068] S630 calculates the most efficient and stable driving speed: It can set the maximum operating speed based on the load weight, while ensuring that the vehicle does not overturn or tip over, thereby improving production efficiency;

[0069] S632, End, task completed, entering idle mode.

[0070] It should be noted that steps S602-S616 above are not required to be performed every time. For example, calibration can be performed only when the AGV is first put into use, and the calibration curves corresponding to all standard loads can be recorded. Alternatively, the AGV can be calibrated once every cycle. After the AGV has completed the calibration, it can be put into use directly and can be used to determine the weight of the load to be tested. That is, in each subsequent handling and weight determination process, only the operation after step S616 above needs to be performed.

[0071] Originally, the force analysis of the scissor mechanism based on virtual displacement did not consider the joint deformation, but this will exist in the actual process. Therefore, this invention will introduce the joint deformation when constructing the force equation of the scissor mechanism.

[0072] The dual-stage scissor lift mechanism used in this embodiment has a symmetrical structure, meaning that the forces acting on each node are symmetrical. There are four connection points between the scissor lift mechanism and the pallet; therefore, the force on each node is one-quarter of the load. Based on the principle of virtual displacement: Where Q represents the load weight, F represents the screw thrust, dy0 represents the virtual displacement in the vertical direction, and dx0 represents the virtual displacement in the horizontal direction. Expressing the load Q as other variables, we get: Where dy0 / dx0 can be considered as the curvature k of the lifting curve. Therefore, a relationship can be established between the lifting height and the horizontal displacement: y1=x1tanθ1, as shown in Figure 7, where x1 represents the theoretical lateral displacement of the scissor lift mechanism, y1 (corresponding to h1 in Figure 7) represents the theoretical lifting height of the scissor lift mechanism, θ1 represents the angle between the connecting rod of the theoretical scissor lift mechanism and the horizontal plane (not shown in Figure 7), and P11 (P12), P21, P31 (P32), P41, P51 (P52) in the figure represent the joint nodes of the scissor lift mechanism, and ι is the length of the outer connecting rod.

[0073] In actual operation, under load compression, as shown in Figure 8 under the pressure of gravity Ga, the joints of the scissor mechanism will experience deformation and misalignment errors due to the force. The relationship between the actual lifting height and the horizontal displacement is: y2 = x2tanθ2, where x2 represents the actual lateral displacement of the scissor mechanism, y2 (corresponding to h2 in Figure 8) represents the actual lifting height of the scissor mechanism, and θ2 represents the angle between the actual scissor mechanism link and the horizontal plane (not shown in Figure 8). As shown in Figure 8, through the analysis of the double-stage scissor lift mechanism structure, the error of the actual lifting height h2 of the scissor lift mechanism relative to the theoretical lifting height h1 mainly arises from the deformation and misalignment errors of five joint points: P11 (P12), P21, P31 (P32), P41, and P51 (P52) (corresponding to the deformed joint points P'11, P'12, P'21, P'31, P'32, P'41, P'51, and P'52 in Figure 8). This can be expressed as: y2 = y1 - 5(δ + ξ), where δ represents the deformation error of a single joint point, and ξ represents the misalignment error of a single joint point. Similarly, the error of the actual lateral displacement x2 of the scissor lift mechanism relative to the theoretical lateral displacement x1 mainly arises from the deformation and misalignment errors of two points: P51 and P52 (corresponding to P'51 and P'52 in Figure 8). This can be expressed as: x2 = x1 + 2(δ + ξ). After being subjected to load compression, the actual angle θ2 of the scissor lift mechanism will change due to the joint clearance and compression. Its relationship with the theoretical angle θ1 is as follows: Simplified to: Its presentation:

[0074]

[0075] Expressed in the form related to the fundamental function tanθ: y1=Ax1+B, where This represents the curvature coefficient of the actual lift function. This represents the zero-drift coefficient of the actual lift function. Therefore, after obtaining the lift function slope k, the load Q can be expressed in a form related to the lift function curve k: The curvature coefficient A and zero drift coefficient B of the actual lift function can be obtained by fitting the displacement data collected during the self-test process. Then, by performing a bisection subtraction with the calibration function Q(m)=f{A,B}, it is matched with the calibration model (or calibration function). Figure 9 is a schematic diagram of the calibration function curve according to an embodiment of the present invention. In Figure 9, A1, A2, and A3 are the curvature coefficients corresponding to loads of different weights, respectively. The calibration function that is closest to the actual lift function is determined, thereby obtaining the actual load mass m and weight Q.

[0076] The embodiments of this application have the following beneficial effects: 1) Compared with the traditional AGV method of measuring load by adding weighing sensors, the present invention can measure the load weight based on the changing trend of the scissor mechanism, reducing the need for sensor setup and saving related costs; 2) Compared with the traditional AGV weighing method, based on the analysis of the force situation of the scissor mechanism, a multi-joint clearance variable is introduced to establish a mathematical model of the lifting load and the lifting change curve, providing a theoretical basis for the load measurement method; 3) Compared with the traditional AGV weighing method of using a single-point slope for weighing, the standard weight is pre-calibrated, and the load weight is determined based on the curvature change of the lifting curve, which can significantly reduce the amount of calculation and improve the measurement accuracy.

[0077] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods according to the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods described in the various embodiments of the present invention.

[0078] This embodiment also provides a load weight determination device. FIG10 is a structural block diagram of the load weight determination device according to an embodiment of the present invention. As shown in FIG10, the device includes:

[0079] The control module 1002 is used to control the scissor mechanism of the automated guided vehicle to perform a first lifting operation in response to a received first target command when the pallet of the automated guided vehicle is loaded with a target load. The pallet is placed on the scissor mechanism. The first lifting operation is used to control the lead screw in the automated guided vehicle to move a first distance in the horizontal direction and drive the scissor mechanism to move a second distance in the vertical direction.

[0080] The processing module 1004 is used to acquire N pairs of displacement quantities during the execution of the first lifting operation, and to determine a target curve based on the N pairs of displacement quantities. The N pairs of displacement quantities are used to represent the horizontal displacement of the lead screw and the vertical displacement of the pallet collected at N moments during the execution of the first lifting operation, where N is a positive integer greater than or equal to 2. The target curve represents the relationship between the horizontal displacement of the lead screw and the vertical displacement of the pallet during the process of controlling the scissor mechanism to perform the first lifting operation when the pallet is loaded with the target load.

[0081] The first determining module 1006 is used to determine the weight of the target load based on the target curve and the preset M curves. The M curves represent the different changes in the horizontal displacement of the lead screw and the vertical displacement of the pallet during the process of controlling the scissor mechanism to perform the first lifting operation when the pallet is loaded with M loads of known and different weights. The different changes are related to the different deformations of the joint nodes in the scissor mechanism caused by the weight of the M loads. M is a positive integer greater than or equal to 2.

[0082] In an optional embodiment, the processing module 1004 includes: an obtaining unit, configured to obtain multiple line segments based on the N pairs of displacements, wherein the multiple line segments are obtained by sequentially connecting the coordinate points represented by each pair of displacements in the N pairs of displacements; a first fitting unit, configured to fit the multiple line segments to obtain the target curve; or a second fitting unit, configured to fit the coordinate points represented by each pair of displacements in the N pairs of displacements to obtain the target curve.

[0083] In an optional embodiment, the above-described apparatus further includes: an execution module, configured to perform the following operations for the i-th load among the M loads before the scissor mechanism of the automated guided vehicle performs the first lifting operation, to obtain the i-th curve corresponding to the i-th load, where i is a positive integer greater than or equal to 1 and less than or equal to M, the M curves including the i-th curve: when the pallet is loaded with the i-th load, in response to a received second target instruction, controlling the scissor mechanism to perform the first lifting operation and acquiring P pairs of displacements, wherein the P pairs of displacements represent the horizontal displacement of the lead screw and the vertical displacement of the pallet collected at P moments during the execution of the first lifting operation when the weight of the i-th load causes the i-th type of deformation to the joint nodes in the scissor mechanism, P is a positive integer greater than or equal to 2; based on the P pairs of displacements, obtaining the i-th curve, wherein the i-th curve corresponds to the weight of the i-th load; and an acquisition module, configured to obtain the M curves according to the i-th curve.

[0084] In an optional embodiment, the first determining module 1006 includes: a searching unit, configured to search for a curve that matches the target curve among the M curves; and a determining unit, configured to determine the weight of the target load based on the weight corresponding to the curve that matches the target curve when a curve that matches the target curve is found.

[0085] In an optional embodiment, the search unit includes an operation subunit, configured to perform the following operations on each of the M curves: determining a first set of points on the current curve and a second set of points on the target curve, wherein both the first and second sets of points include Q points, and the abscissas of the Q points in the first set are the same as the abscissas of the Q points in the second set, where Q is a positive integer greater than or equal to 1; determining the differences between the ordinates of the Q points in the first set and the Q points in the second set, resulting in a total of Q differences; determining the average or cumulative value of the Q differences as the distance between the current curve and the target curve; determining that the current curve matches the target curve if the distance between the current curve and the target curve is less than or equal to a preset threshold; and determining that the current curve does not match the target curve if the distance between the current curve and the target curve is greater than the preset threshold.

[0086] In an optional embodiment, the determining unit includes: a determining subunit, configured to determine the weight corresponding to the curve matching the target curve as the weight of the target load when a curve matching the target curve is found; or an obtaining subunit, configured to perform a weighted summation of the weights corresponding to the two adjacent curves matching the target curve to obtain the weight of the target load when two adjacent curves matching the target curve are found.

[0087] In an optional embodiment, the above apparatus further includes: a second determining module, configured to determine the operating parameters of the automated guided vehicle based on the weight of the target load after the weight of the target load is determined, wherein the operating parameters include the operating speed of the automated guided vehicle.

[0088] It should be noted that the above modules can be implemented by software or hardware. For the latter, they can be implemented in the following ways, but are not limited to: all the above modules are located in the same processor; or, the above modules are located in different processors in any combination.

[0089] Embodiments of the present invention also provide a computer-readable storage medium storing a computer program, wherein the computer program is configured to perform the steps in any of the above method embodiments when executed.

[0090] In one exemplary embodiment, the aforementioned computer-readable storage medium may include, but is not limited to, various media capable of storing computer programs, such as a USB flash drive, read-only memory (ROM), random access memory (RAM), portable hard disk, magnetic disk, or optical disk.

[0091] Embodiments of the present invention also provide an electronic device including a memory and a processor, the memory storing a computer program and the processor being configured to run the computer program to perform the steps in any of the above method embodiments.

[0092] In one exemplary embodiment, the electronic device may further include a transmission device and an input / output device, wherein the transmission device is connected to the processor and the input / output device is connected to the processor.

[0093] Specific examples in this embodiment can be found in the examples described in the above embodiments and exemplary implementations, and will not be repeated here.

[0094] It is obvious to those skilled in the art that the modules or steps of the present invention described above can be implemented using general-purpose computing devices. They can be centralized on a single computing device or distributed across a network of multiple computing devices. They can be implemented using computer-executable program code, and thus can be stored in a storage device for execution by a computing device. In some cases, the steps shown or described can be performed in a different order than those described herein, or they can be fabricated as separate integrated circuit modules, or multiple modules or steps can be fabricated as a single integrated circuit module. Thus, the present invention is not limited to any particular combination of hardware and software.

[0095] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A method for determining load weight, characterized in that, include: When the pallet of the automated guided vehicle (AGV) is loaded with a target load, in response to a received first target command, the scissor lift mechanism of the AGV is controlled to perform a first lifting operation. The pallet is positioned on the scissor lift mechanism. The first lifting operation controls the lead screw in the AGV to move a first distance horizontally, and the lead screw drives the scissor lift mechanism to move a second distance vertically. N pairs of displacement values ​​are acquired during the execution of the first lifting operation, and a target curve is determined based on these N pairs of displacement values. The N pairs of displacement values ​​represent the horizontal displacement of the lead screw and the vertical displacement of the pallet collected at N moments during the execution of the first lifting operation, where N is a positive integer greater than or equal to 2. The target curve represents the relationship between the horizontal displacement of the lead screw and the vertical displacement of the pallet during the first lifting operation controlled by the scissor mechanism when the pallet is loaded with the target load. Based on the target curve and M preset curves, the weight of the target load is determined. The M curves represent the different relationships between the horizontal displacement of the lead screw and the vertical displacement of the pallet during the first lifting operation controlled by the scissor mechanism when the pallet is loaded with M loads of known and different weights. These different relationships are related to the different deformations of the joint nodes in the scissor mechanism caused by the weights of the M loads, where M is a positive integer greater than or equal to 2.

2. The method according to claim 1, characterized in that, The step of determining the target curve based on the N pairs of displacements includes: obtaining multiple line segments based on the N pairs of displacements, wherein the multiple line segments are obtained by sequentially connecting the coordinate points represented by each pair of displacements in the N pairs of displacements; fitting the multiple line segments to obtain the target curve; or fitting the coordinate points represented by each pair of displacements in the N pairs of displacements to obtain the target curve.

3. The method according to claim 1, characterized in that, Before the scissor lift mechanism of the automated guided vehicle performs the first lifting operation, the method further includes: for the i-th load among the M loads, performing the following operations to obtain the i-th curve corresponding to the i-th load, where i is a positive integer greater than or equal to 1 and less than or equal to M, and the M curves include the i-th curve: when the pallet is loaded with the i-th load, in response to a received second target instruction, controlling the scissor lift mechanism to perform the first lifting operation, and acquiring P pairs of displacements, where the P pairs of displacements represent the horizontal displacement of the lead screw and the vertical displacement of the pallet collected at P moments during the execution of the first lifting operation when the weight of the i-th load causes the i-th type of deformation to the joint nodes in the scissor lift mechanism, where P is a positive integer greater than or equal to 2; obtaining the i-th curve based on the P pairs of displacements, where the i-th curve corresponds to the weight of the i-th load; and obtaining the M curves based on the i-th curve.

4. The method according to claim 1, characterized in that, The step of determining the weight of the target load based on the target curve and the preset M curves includes: finding a curve among the M curves that matches the target curve; and if a curve that matches the target curve is found, determining the weight of the target load based on the weight corresponding to the curve that matches the target curve.

5. The method according to claim 4, characterized in that, The step of finding a curve that matches the target curve among the M curves includes: performing the following operations on each of the M curves, wherein each curve is the current curve during the operation: determining a first set of points on the current curve and a second set of points on the target curve, wherein both the first set of points and the second set of points include Q points, and the x-coordinates of the Q points in the first set of points are the same as the x-coordinates of the Q points in the second set of points, where Q is a positive integer greater than or equal to 1; determining the difference between the y-coordinates of the Q points in the first set of points and the y-coordinates of the Q points in the second set of points, obtaining a total of Q differences; determining the average or cumulative value of the Q differences as the distance between the current curve and the target curve; if the distance between the current curve and the target curve is less than or equal to a preset threshold, determining that the current curve is a curve that matches the target curve; if the distance between the current curve and the target curve is greater than the preset threshold, determining that the current curve is not a curve that matches the target curve.

6. The method according to claim 4, characterized in that, The step of determining the weight of the target load based on the weight corresponding to the curve that matches the target curve includes: if a curve that matches the target curve is found, determining the weight corresponding to the curve that matches the target curve as the weight of the target load; or if two adjacent curves that match the target curve are found, performing a weighted summation on the weights corresponding to the two adjacent curves to obtain the weight of the target load.

7. The method according to any one of claims 1 to 6, characterized in that, After determining the weight of the target load, the method further includes: determining the operating parameters of the automated guided vehicle based on the weight of the target load, wherein the operating parameters include the operating speed of the automated guided vehicle.

8. A device for determining load weight, characterized in that, include: A control module, configured to, in response to a received first target command, control the scissor lift mechanism of the automated guided vehicle (AGV) to perform a first lifting operation when the pallet of the AGV is loaded with a target load. The pallet is positioned on the scissor lift mechanism. The first lifting operation controls a lead screw in the AGV to move horizontally a first distance, and the lead screw drives the scissor lift mechanism to move vertically a second distance. A processing module is configured to acquire N pairs of displacement values ​​during the execution of the first lifting operation, and determine a target curve based on the N pairs of displacement values. The N pairs of displacement values ​​represent the horizontal displacement of the lead screw and the vertical displacement of the pallet collected at N moments during the execution of the first lifting operation, where N is a positive integer greater than or equal to 2. The target curve represents the relationship between the horizontal displacement of the lead screw and the vertical displacement of the pallet during the first lifting operation controlled by the scissor mechanism when the pallet is loaded with the target load. The first determining module is used to determine the weight of the target load based on the target curve and M preset curves, wherein the M curves represent the different relationships between the horizontal displacement of the lead screw and the vertical displacement of the pallet during the first lifting operation controlled by the scissor mechanism when the pallet is loaded with M loads of known and different weights, and the different relationships are related to the different deformations of the joint nodes in the scissor mechanism caused by the weight of the M loads, where M is a positive integer greater than or equal to 2.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, wherein the computer program, when executed by a processor, implements the steps of the method described in any one of claims 1 to 7.

10. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the method described in any one of claims 1 to 7.

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