Carrying control method and device, equipment, storage medium and program product

Abstract

The embodiment of the invention provides a carrying control method and device, equipment, a storage medium and a program product, and the method comprises the steps: determining a to-be-moved target position of an automatic guided vehicle, sending the target position to the automatic guided vehicle, and arranging a clamping mechanism at the target position; in response to the movement of the automatic guided vehicle to the target position, controlling the clamping mechanism to fix a floating platform of the automatic guided vehicle; the fixing result of the clamping mechanism on the floating platform is determined, and when the fixing result shows that fixing is successful, the cargo loading equipment is controlled to load and unload cargoes on the floating platform; and in response to a scheduling feedback signal sent by the automatic guided vehicle, the clamping mechanism is controlled to cancel fixing of the floating platform, the scheduling feedback signal is used for indicating that cargo loading and unloading of the automatic guided vehicle are successful, and the docking accuracy of the automatic guided vehicle is improved.

Description

Technical Field

[0001] The embodiments of the present application relate to the technical field of automated logistics handling, and in particular, to a handling control method, device, equipment, storage medium, and program product. Background Art

[0002] Automated Guided Vehicles (AGV) can be unmanned vehicles equipped with automatic guidance devices (such as magnetic strips, lasers, vision, etc.), which can travel along a predetermined path under computer control to complete tasks such as cargo handling.

[0003] With the continuous development of unmanned guided vehicles, unmanned guided vehicles can be used in production lines of multiple industries. For example, unmanned guided vehicles are used in automobile assembly lines. In the production line, unmanned guided vehicles can dock with third-party devices, automatically load goods through third-party devices, drive to the designated location according to the set route, and then automatically unload goods through third-party devices.

[0004] During the process of loading and unloading goods, it is easy for goods to fall from the unmanned guided vehicle, causing damage to the unmanned guided vehicle and the goods, or even injuries to people. There is a defect that the unmanned guided vehicle has low docking accuracy. Summary of the invention

[0005] The embodiments of the present application provide a transport control method, device, equipment, storage medium and program product to solve the problem in the prior art that goods are prone to fall from an unmanned guided vehicle, causing damage to the unmanned guided vehicle and the goods, or even injuries to people, and the defect that the unmanned guided vehicle has low docking accuracy.

[0006] In a first aspect, the present application provides a method for controlling transport, which is applied to a scheduling system, and the method comprises:

[0007] Determine a target position to which the unmanned guided vehicle is to move, and send the target position to the unmanned guided vehicle, wherein a clamping mechanism is provided at the target position;

[0008] In response to the unmanned guided vehicle moving to the target position, controlling the clamping mechanism to fix the floating platform of the unmanned guided vehicle;

[0009] Determining the fixing result of the floating platform by the clamping mechanism, and when the fixing result is successful, controlling the cargo loading equipment to load and unload cargo on the floating platform;

[0010] In response to a dispatch feedback signal sent by the unmanned guided vehicle, the clamping mechanism is controlled to cancel fixing of the floating platform, wherein the dispatch feedback signal is used to indicate that cargo loading and unloading of the unmanned guided vehicle is successful.

[0011] In a possible implementation manner, determining a fixing result of the floating platform by the clamping mechanism includes:

[0012] Acquire a first detection result sent by the clamping mechanism, where the first detection result includes a clamping success or a clamping failure;

[0013] Obtaining a second detection result sent by the unmanned guided vehicle, where the second detection result includes a docking success or a docking failure;

[0014] The fixing result is determined according to the first detection result and the second detection result.

[0015] In a possible implementation, determining the fixing result according to the first detection result and the second detection result includes:

[0016] If the first detection result is a clamping failure or the second detection result is a docking failure, determining that the fixing result of the clamping mechanism on the floating platform is a fixing failure;

[0017] If the first detection result is successful clamping and the second detection result is successful docking, determine whether the clamping mechanism has an overcurrent phenomenon; if so, determine that the fixing result of the clamping mechanism on the floating platform is a fixation failure; if not, determine that the fixing result of the clamping mechanism on the floating platform is a fixation success.

[0018] In a possible implementation manner, after determining that the clamping mechanism fails to fix the floating platform, the method further includes:

[0019] Controlling the clamping mechanism to re-clamp the floating platform at least once until the clamping mechanism successfully fixes the floating platform;

[0020] The re-clamping process includes: controlling the clamping mechanism to cancel fixing of the floating platform, controlling the unmanned guided vehicle to drive away from the target position and move to the target position, and in response to the unmanned guided vehicle moving to the target position, controlling the clamping mechanism to fix the floating platform of the unmanned guided vehicle.

[0021] In a possible implementation, in response to the unmanned guided vehicle moving to the target position, controlling the clamping mechanism to fix the floating platform of the unmanned guided vehicle includes:

[0022] Acquire an arrival signal sent by the unmanned guided vehicle, where the arrival signal is used to instruct the unmanned guided vehicle to move to the target location;

[0023] According to the arrival signal, a clamping instruction is sent to the clamping mechanism to control the clamping mechanism to fix the floating platform of the unmanned guided vehicle.

[0024] In a possible implementation, in response to the dispatch feedback signal sent by the unmanned guided vehicle, controlling the clamping mechanism to cancel fixing the floating platform includes:

[0025] Obtaining a dispatch feedback signal sent by the unmanned guided vehicle;

[0026] A release instruction is sent to the clamping mechanism according to the scheduling feedback signal, and the release instruction is used to control the clamping mechanism to cancel fixing of the floating platform.

[0027] In a second aspect, the present application provides a method for controlling transportation, which is applied to an unmanned guided vehicle, wherein a floating platform is provided on the unmanned guided vehicle, and the floating platform is used to place goods, and the method comprises:

[0028] Receiving a target position sent by a dispatching system, and controlling the unmanned guided vehicle to move to the target position, wherein a clamping mechanism is provided at the target position, and the clamping mechanism is used to fix the floating platform after the unmanned guided vehicle moves to the target position;

[0029] After the unmanned guided vehicle moves to the target location, determining the loading and unloading status of the cargo on the floating platform;

[0030] If the loading and unloading status is successful, a dispatching feedback signal is sent to the dispatching system, and the dispatching feedback signal is used to indicate that the cargo loading and unloading of the unmanned guided vehicle is successful.

[0031] In a possible implementation, the floating platform includes a micro switch sensor, and determining the loading and unloading status of the cargo on the floating platform includes:

[0032] Acquiring a sensor state of the micro switch sensor within a preset time period, wherein the sensor state is a no-force state or a force-force state;

[0033] The loading and unloading status of the cargo on the floating platform is determined according to the sensor status of the micro switch sensor within a preset time period.

[0034] In a possible implementation manner, determining the loading and unloading status of the cargo on the floating platform according to the sensor status of the micro switch sensor within a preset time period includes:

[0035] If the sensor state of the micro switch sensor is converted from the no-force state to the force state, or from the force state to the no-force state within the preset time, it is determined that the loading and unloading state of the cargo on the floating platform is successful;

[0036] If the sensor state of the micro switch sensor is the stressed state or the unstressed state within the preset time period, it is determined that the loading and unloading state of the cargo on the floating platform is a loading and unloading failure.

[0037] In a possible implementation, the unmanned guided vehicle includes a locking mechanism, and the locking mechanism is used to control the platform state of the floating platform. After sending a scheduling feedback signal to the scheduling system, the locking mechanism includes:

[0038] Determining whether the clamping mechanism cancels fixing of the floating platform;

[0039] If so, within the preset time period, the sensor state of the microswitch sensor is converted from the unstressed state to the stressed state, and the locking mechanism is controlled to open so that the platform state of the floating platform is a stable state; within the preset time period, the sensor state of the microswitch sensor is converted from the stressed state to the unstressed state, and the locking mechanism is controlled to close so that the platform state of the floating platform is a floating state.

[0040] In a possible implementation manner, the floating platform includes a proximity sensor, and before determining the loading and unloading status of the cargo on the floating platform, the method further includes:

[0041] Determine a second detection result according to the proximity sensor, wherein the second detection result is docking success or docking failure;

[0042] The second detection result is sent to the scheduling system.

[0043] In a third aspect, the present application provides a transport control device, which is applied to a dispatching system, and the device includes:

[0044] A moving module, used for determining a target position to which the unmanned guided vehicle is to move, and sending the target position to the unmanned guided vehicle, wherein a clamping mechanism is provided at the target position;

[0045] a first control module, configured to control the clamping mechanism to fix the floating platform of the unmanned guided vehicle in response to the unmanned guided vehicle moving to the target position;

[0046] A second control module is used to determine the fixing result of the clamping mechanism on the floating platform, and when the fixing result is successful, control the cargo loading equipment to load and unload cargo on the floating platform;

[0047] The first control module is further used to control the clamping mechanism to cancel fixing of the floating platform in response to a dispatch feedback signal sent by the unmanned guided vehicle, wherein the dispatch feedback signal is used to indicate that cargo loading and unloading of the unmanned guided vehicle is successful.

[0048] In a possible implementation manner, the second control module is specifically configured to:

[0049] Acquire a first detection result sent by the clamping mechanism, where the first detection result includes a clamping success or a clamping failure;

[0050] Obtaining a second detection result sent by the unmanned guided vehicle, where the second detection result includes a docking success or a docking failure;

[0051] The fixing result is determined according to the first detection result and the second detection result.

[0052] In a possible implementation manner, the second control module is specifically configured to:

[0053] If the first detection result is a clamping failure or the second detection result is a docking failure, determining that the fixing result of the clamping mechanism on the floating platform is a fixing failure;

[0054] If the first detection result is successful clamping and the second detection result is successful docking, determine whether the clamping mechanism has an overcurrent phenomenon; if so, determine that the fixing result of the clamping mechanism on the floating platform is a fixation failure; if not, determine that the fixing result of the clamping mechanism on the floating platform is a fixation success.

[0055] In a possible implementation manner, after determining that the clamping mechanism fails to fix the floating platform, the second control module is further configured to:

[0056] Controlling the clamping mechanism to re-clamp the floating platform at least once until the clamping mechanism successfully fixes the floating platform;

[0057] The re-clamping process includes: controlling the clamping mechanism to cancel fixing of the floating platform, controlling the unmanned guided vehicle to drive away from the target position and move to the target position, and in response to the unmanned guided vehicle moving to the target position, controlling the clamping mechanism to fix the floating platform of the unmanned guided vehicle.

[0058] In a possible implementation manner, the first control module is specifically configured to:

[0059] Acquire an arrival signal sent by the unmanned guided vehicle, where the arrival signal is used to instruct the unmanned guided vehicle to move to the target location;

[0060] According to the arrival signal, a clamping instruction is sent to the clamping mechanism to control the clamping mechanism to fix the floating platform of the unmanned guided vehicle.

[0061] In a possible implementation manner, the first control module is specifically configured to:

[0062] Obtaining a dispatch feedback signal sent by the unmanned guided vehicle;

[0063] A release instruction is sent to the clamping mechanism according to the scheduling feedback signal, and the release instruction is used to control the clamping mechanism to cancel fixing of the floating platform.

[0064] In a fourth aspect, the present application provides a control device for transport, which is applied to an unmanned guided vehicle, wherein the unmanned guided vehicle is provided with a floating platform, and the floating platform is used to place goods, and the device comprises:

[0065] A control module, used for receiving a target position sent by a dispatching system, and controlling the unmanned guided vehicle to move to the target position, wherein a clamping mechanism is provided at the target position, and the clamping mechanism is used for fixing the floating platform after the unmanned guided vehicle moves to the target position;

[0066] a determination module, configured to determine the loading and unloading status of the cargo on the floating platform after the unmanned guided vehicle moves to the target location;

[0067] The sending module is used to send a dispatching feedback signal to the dispatching system if the loading and unloading status is successful, and the dispatching feedback signal is used to indicate that the cargo loading and unloading of the unmanned guided vehicle is successful.

[0068] In a possible implementation, the floating platform includes a micro switch sensor, and the determination module is specifically used for:

[0069] Acquiring a sensor state of the micro switch sensor within a preset time period, wherein the sensor state is a no-force state or a force-force state;

[0070] The loading and unloading status of the cargo on the floating platform is determined according to the sensor status of the micro switch sensor within a preset time period.

[0071] In a possible implementation manner, the determination module is specifically configured to:

[0072] If the sensor state of the micro switch sensor is converted from the no-force state to the force state, or from the force state to the no-force state within the preset time, it is determined that the loading and unloading state of the cargo on the floating platform is successful;

[0073] If the sensor state of the micro switch sensor is the stressed state or the unstressed state within the preset time period, it is determined that the loading and unloading state of the cargo on the floating platform is a loading and unloading failure.

[0074] In a possible implementation, the unmanned guided vehicle includes a locking mechanism, the locking mechanism is used to control the platform state of the floating platform, and the device also includes a locking module, the locking module is used to:

[0075] Determining whether the clamping mechanism cancels fixing of the floating platform;

[0076] If so, within the preset time period, the sensor state of the microswitch sensor is converted from the unstressed state to the stressed state, and the locking mechanism is controlled to open so that the platform state of the floating platform is a stable state; within the preset time period, the sensor state of the microswitch sensor is converted from the stressed state to the unstressed state, and the locking mechanism is controlled to close so that the platform state of the floating platform is a floating state.

[0077] In a possible implementation, the floating platform includes a proximity sensor, and the device further includes a detection module, wherein the detection module is used to:

[0078] Determine a second detection result according to the proximity sensor, wherein the second detection result is docking success or docking failure;

[0079] The second detection result is sent to the scheduling system.

[0080] In a fifth aspect, the present application provides an electronic device, comprising: a processor, and a memory communicatively connected to the processor;

[0081] The memory stores computer-executable instructions;

[0082] The processor executes the computer-executable instructions stored in the memory to implement the method described in any one of the first aspects.

[0083] In a sixth aspect, the present application provides an electronic device, comprising: a processor, and a memory communicatively connected to the processor;

[0084] The memory stores computer-executable instructions;

[0085] The processor executes the computer-executable instructions stored in the memory to implement the method described in any one of the second aspects.

[0086] In a seventh aspect, the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer-executable instructions, and when the computer-executable instructions are executed by a processor, they are used to implement the method as described in any one of the first aspects.

[0087] In an eighth aspect, the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer-executable instructions, and when the computer-executable instructions are executed by a processor, they are used to implement the method as described in any one of the second aspects.

[0088] In a ninth aspect, the present application provides a computer program product, comprising a computer program, which, when executed by a computer, implements the method as described in any one of the first aspects.

[0089] In a tenth aspect, the present application provides a computer program product, comprising a computer program, which, when executed by a computer, implements the method as described in any one of the second aspects.

[0090] The embodiment of the present application provides a control method, device, equipment, storage medium and program product for handling, wherein the target position to be moved to by the unmanned guided vehicle is determined by the dispatching system, and the target position is sent to the unmanned guided vehicle, a clamping mechanism is arranged at the target position, the unmanned guided vehicle receives the target position sent by the dispatching system, and controls the unmanned guided vehicle to move to the target position, the dispatching system responds to the unmanned guided vehicle moving to the target position, controls the clamping mechanism to fix the floating platform of the unmanned guided vehicle, determines the fixing result of the clamping mechanism on the floating platform, and controls the cargo loading equipment to load and unload the cargo on the floating platform when the fixing result is successful, after the unmanned guided vehicle moves to the target position, the unmanned guided vehicle determines the loading and unloading status of the cargo on the floating platform, and if the loading and unloading status is successful, sends a dispatching feedback signal to the dispatching system, the dispatching feedback signal is used to indicate that the cargo loading and unloading of the unmanned guided vehicle is successful, and the dispatching system responds to the dispatching feedback signal sent by the unmanned guided vehicle to control the clamping mechanism to cancel the fixing of the floating platform. In this way, by fixing the clamping mechanism and the floating platform, the position error of the unmanned guided vehicle is reduced, the high-precision docking of the unmanned guided vehicle and the cargo is achieved, and the docking accuracy of the unmanned guided vehicle is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0091] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0092] Figure 1A schematic diagram of an application scenario provided for an embodiment of the present application;

[0093] Figure 2 A schematic diagram of a flow chart of a method for controlling transport provided in an embodiment of the present application;

[0094] Figure 3 A schematic diagram of the structure of an unmanned guided vehicle provided in an embodiment of the present application;

[0095] Figure 4 A structural schematic diagram of a floating platform provided in an embodiment of the present application;

[0096] Figure 5 A structural schematic diagram of a locking mechanism provided in an embodiment of the present application;

[0097] Figure 6 A schematic diagram of the structure of a clamping mechanism provided in an embodiment of the present application;

[0098] Figure 7 A schematic diagram of the structure of a clamping mechanism and an unmanned guided vehicle provided in an embodiment of the present application;

[0099] Figure 8 A flow chart of another method for controlling transport provided in an embodiment of the present application;

[0100] Fig. 9 A flow chart of another method for controlling transport provided in an embodiment of the present application;

[0101] Fig.10 A flow chart of another method for controlling transport provided in an embodiment of the present application;

[0102] Fig.11 A schematic diagram of the structure of a transport control device provided in an embodiment of the present application;

[0103] Fig.12 A schematic diagram of the structure of another transport control device provided in an embodiment of the present application;

[0104] Fig.13 A schematic diagram of the structure of another transport control device provided in an embodiment of the present application;

[0105] Fig.14 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application.

[0106] The above drawings have shown clear embodiments of the present application, which will be described in more detail later. These drawings and text descriptions are not intended to limit the scope of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0107] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0108] It should be noted that, although the terms "first", "second", etc. are used to describe various information in the embodiments of the present application, such information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. Optionally, without departing from the scope of the present application, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information.

[0109] It should be understood that the terms "comprises" and "includes" indicate the presence of the previously mentioned features, steps, operations, but do not exclude the presence, occurrence or addition of one or at least one other feature, step, operation. The terms "and / or" and the like used in this application may be interpreted as inclusive, or mean any one or any combination. Optionally, "A and / or B" means "any of the following: A; B; A and B". In addition, the character " / " in this article generally indicates that the objects associated before and after are in an "or" relationship.

[0110] Automated Guided Vehicles (AGV) can be unmanned vehicles equipped with automatic guidance devices (such as magnetic strips, lasers, vision, etc.), which can travel along a predetermined path under computer control to complete tasks such as cargo handling.

[0111] In related technologies, as unmanned guided vehicles continue to develop, they can be used in production lines in multiple industries. For example, unmanned guided vehicles are used in automobile assembly lines. In the production line, unmanned guided vehicles can dock with third-party devices, automatically load goods through the third-party devices, drive to the designated location according to the set route, and then automatically unload goods through the third-party devices.

[0112] Next, combine Figure 1 , giving examples of application scenarios in production lines.

[0113] Figure 1 This is a schematic diagram of an application scenario provided by the embodiment of this application. Figure 1 , Figure 1 It may include a scheduling system 101 , an unmanned guided vehicle 102 , a warehouse control system 103 , a warehouse management system 104 and a stopping accuracy detection system 105 .

[0114] The dispatching system 101 can be connected to the unmanned guided vehicle 102 , the warehouse control system 103 , and the stopping accuracy detection system 105 respectively, and the warehouse control system 103 can be connected to the warehouse management system 104 .

[0115] The dispatching system 101 may be a software system for managing and coordinating the efficient operation of multiple unmanned guided vehicles, so as to ensure that the unmanned guided vehicles can efficiently, safely and accurately complete tasks such as material handling, loading and unloading when performing tasks.

[0116] The unmanned guided vehicle 102 can be used to obtain the dispatching instructions sent by the dispatching system 101, and perform tasks such as cargo transportation and docking according to the dispatching instructions.

[0117] The warehouse control system 103 can be used for specific operations and equipment control within the warehouse. Specific operations may include task allocation, route planning, equipment monitoring, etc.

[0118] The warehouse management system 104 can manage information, resources, behaviors, inventory and distribution operations more perfectly and improve efficiency according to the business rules and algorithms of the operation.

[0119] The warehouse control system 103 and the warehouse management system 104 can work together, the warehouse management system 104 can be used to generate tasks and manage inventory, and the warehouse control system 103 can be used to execute tasks and control equipment generated by the warehouse management system 104. Through the cooperation of the two, efficient management and automated operation of the warehouse can be achieved.

[0120] The stopping accuracy detection system 105 can be used to measure and evaluate the error between the actual stopping position and the target stopping position of the automated guided vehicle after executing a stop command.

[0121] During the process of loading and unloading goods, it is easy for goods to fall from the unmanned guided vehicle, causing damage to the unmanned guided vehicle and the goods, or even injuries to people. There is a defect that the unmanned guided vehicle has low docking accuracy.

[0122] In order to solve the above technical problems, the embodiment of the present application provides a method for controlling transportation, wherein the dispatching system controls the clamping mechanism to fix the floating platform of the unmanned guided vehicle, and then controls the cargo loading equipment to load and unload the cargo on the floating platform. In this way, by fixing the clamping mechanism and the floating platform, the position error of the unmanned guided vehicle is reduced, the high-precision docking of the unmanned guided vehicle and the cargo is achieved, and the docking accuracy of the unmanned guided vehicle is improved.

[0123] The technical solution shown in the present application is described in detail below through specific embodiments. It should be noted that the following embodiments can exist independently or in combination with each other, and the same or similar contents will not be described repeatedly in different embodiments.

[0124] Figure 2 A flow chart of a method for controlling a transport provided in an embodiment of the present application. Figure 2 , the method comprising:

[0125] S201: The dispatching system determines a target location to which the unmanned guided vehicle is to move, and sends the target location to the unmanned guided vehicle.

[0126] A clamping mechanism is provided at the target position, and the clamping mechanism is used to fix the floating platform after the unmanned guided vehicle moves to the target position.

[0127] Next, combine Figure 3-Figure 5 , explain the unmanned guided vehicle.

[0128] Figure 3 This is a schematic diagram of the structure of an unmanned guided vehicle provided in an embodiment of the present application. Figure 3 , Figure 3 The unmanned guided vehicle may include a steering wheel assembly 301 and a floating platform 302 .

[0129] The steering wheel assembly 301 can be used to achieve the steering and movement of the unmanned guided vehicle.

[0130] The floating platform 302 may be used to place cargo.

[0131] Next, combine Figure 4 , explaining the floating platform.

[0132] Figure 4 This is a structural diagram of a floating platform provided in an embodiment of the present application. Figure 4 , Figure 4 The floating platform may include a proximity sensor 401 , a micro switch sensor 402 , a clamping hole 403 and a locking mechanism 404 .

[0133] A plurality of clamping holes 403 may be provided, and the clamping holes 403 may be used for the clamping mechanism to fix the floating platform. The clamping mechanism may fix the floating platform by docking with the clamping holes 403 .

[0134] The proximity sensor 401 may be disposed near the clamping hole 403 , and the proximity sensor 401 may be used to detect whether the clamping mechanism is fixed to the floating platform.

[0135] The micro switch sensor 402 can be used to detect the loading and unloading status of the cargo on the floating platform.

[0136] The locking mechanism 404 can be used to control the platform state of the floating platform, and the platform state includes a stable state and a floating state.

[0137] Next, combine Figure 5 , explain the locking mechanism.

[0138] Figure 5 This is a schematic diagram of a locking mechanism provided in an embodiment of the present application. Figure 5 , Figure 5 A locking mechanism may be included. The locking mechanism may include a locking motor 501 , a photoelectric sensor 502 and a floating spring 503 .

[0139] The locking motor 501 can be used to control whether the floating spring 503 is deformed to control the state of the locking mechanism.

[0140] The photoelectric sensor 502 can be used to detect the state of the locking mechanism.

[0141] The floating spring 503 can automatically adjust its own deformation according to the change of external force to provide a stable supporting force.

[0142] The dispatching system can obtain the vehicle status of the unmanned guided vehicle, determine the target position to which the unmanned guided vehicle is to move based on the vehicle status, generate a docking instruction based on the target position, and send the docking instruction to the unmanned guided vehicle.

[0143] Among them, the vehicle state may include an idle state and a working state.

[0144] The idle state can be used to indicate that the locking mechanism of the unmanned guided vehicle is in a closed state and the floating platform is in a floating state. The working state can be used to indicate that the locking mechanism of the unmanned guided vehicle is in an open state and the floating platform is in a stable state.

[0145] The docking instruction may include a target location. The docking instruction may be used to instruct the unmanned guided vehicle to move to the target location to achieve the docking task.

[0146] S202: The unmanned guided vehicle receives the target location sent by the dispatching system, and controls the unmanned guided vehicle to move to the target location.

[0147] The unmanned guided vehicle can receive the target position sent by the dispatching system, control the unmanned guided vehicle to move to the target position through the steering wheel assembly and multiple positioning sensors, and send an arrival signal to the dispatching system.

[0148] Among them, the multiple positioning sensors may include multiple cameras, laser sensors, etc., which are not limited here.

[0149] The arrival signal can be used to instruct the AGV to move to the target location.

[0150] S203: In response to the unmanned guided vehicle moving to the target position, the dispatching system controls the clamping mechanism to fix the floating platform of the unmanned guided vehicle.

[0151] Next, combine Figure 6 , the clamping mechanism is explained.

[0152] Figure 6 This is a schematic diagram of a clamping mechanism provided in an embodiment of the present application. Figure 6 , Figure 6 The clamping mechanism may include a slide rail 601 , a running motor 602 , a photoelectric sensor 603 and a clamping assembly 604 .

[0153] The slide rail 601 is provided with three positions, namely, a zero position, an in-position position and a limit position.

[0154] Photoelectric sensors 603 may be respectively arranged at the three positions, and the photoelectric sensors 603 may be used to detect the position of the clamping assembly 604 .

[0155] The zero position can be used to indicate that the clamping mechanism and the floating platform are in the position when they are unfixed under normal conditions. The in-position position can be used to indicate that the clamping mechanism and the floating platform are in the position when they are fixed under normal conditions. The limit position can be used to indicate that the clamping mechanism is in an abnormal state.

[0156] The clamping assembly 604 can be slid from the zero position to the in-position or limited position by the slide rail 601 and the running motor 602, or can be slid from the limited position to the in-position or zero position, or can be slid from the in-position to the zero position.

[0157] Next, combine Figure 7 , the fixing of the floating platform to the unmanned guided vehicle by the clamping mechanism is explained.

[0158] Figure 7 This is a schematic diagram of the structure of a clamping mechanism and an unmanned guided vehicle provided in an embodiment of the present application. Figure 7 , Figure 7 It may include a clamping mechanism 701 , an unmanned guided vehicle 702 , and a floating platform 703 .

[0159] The floating platform on the unmanned guided vehicle 702 can be fixed by controlling the clamping mechanism 701 .

[0160] In response to the unmanned guided vehicle moving to the target position, the dispatching system may send a clamping instruction to the clamping mechanism to control the clamping mechanism to fix the floating platform of the unmanned guided vehicle.

[0161] Optionally, in response to the unmanned guided vehicle moving to the target position, the clamping mechanism can be controlled to fix the floating platform of the unmanned guided vehicle in the following manner: obtaining an arrival signal sent by the unmanned guided vehicle; and sending a clamping instruction to the clamping mechanism according to the arrival signal to control the clamping mechanism to fix the floating platform of the unmanned guided vehicle.

[0162] The arrival signal can be used to instruct the unmanned guided vehicle to move to the target location. The clamping instruction can be used to instruct the clamping mechanism to be fixed to the floating platform.

[0163] S204: The dispatching system determines the fixing result of the clamping mechanism on the floating platform, and when the fixing result is successful, controls the cargo loading equipment to load and unload cargo on the floating platform.

[0164] The fixing result may include a fixing success or a fixing failure.

[0165] The dispatching system can respectively obtain the first response information sent by the clamping mechanism and the second response information sent by the unmanned guided vehicle, determine the fixing result of the clamping mechanism on the floating platform according to the first response information and the second response information, and control the cargo loading equipment to load and unload cargo on the floating platform when the fixing result is successful.

[0166] The first response information may be used to indicate whether the clamping mechanism has successfully clamped, and the second response information may be used to indicate whether the unmanned guided vehicle has successfully docked.

[0167] Optionally, the fixing result of the floating platform by the clamping mechanism may be determined in the following manner: obtaining a first detection result sent by the clamping mechanism; obtaining a second detection result sent by the unmanned guided vehicle; and determining the fixing result according to the first detection result and the second detection result.

[0168] The first detection result may include a clamping success or a clamping failure, and the second detection result may include a docking success or a docking failure.

[0169] S205: After the unmanned guided vehicle moves to the target location, the unmanned guided vehicle determines the loading and unloading status of the cargo on the floating platform.

[0170] After the unmanned guided vehicle moves to the target location, the unmanned guided vehicle can obtain the sensor status of the corresponding sensor of the floating platform, and determine the loading and unloading status of the goods on the floating platform according to the sensor status.

[0171] The sensor corresponding to the floating platform may be a micro switch sensor or a pressure sensor, which is not limited here.

[0172] Optionally, the floating platform may include a micro switch sensor to determine the loading and unloading status of the cargo on the floating platform: obtain the sensor state of the micro switch sensor within a preset time length; determine the loading and unloading status of the cargo on the floating platform based on the sensor state of the micro switch sensor within the preset time length.

[0173] The sensor state is a no-force state or a force state.

[0174] Before determining the loading and unloading status of the cargo on the floating platform, the unmanned guided vehicle also includes sending a second detection result to the dispatching system. The second detection result can be sent to the dispatching system in the following manner: determining the second detection result according to the proximity sensor; and sending the second detection result to the dispatching system.

[0175] The second detection result may be docking success or docking failure. A docking success may be used to indicate that the proximity sensor detects that there is a clamping component in the clamping hole. A docking failure may be used to indicate that the proximity sensor detects that there is no clamping component in the clamping hole.

[0176] S206: If the loading and unloading status is successful, the unmanned guided vehicle sends a dispatch feedback signal to the dispatch system.

[0177] The dispatch feedback signal can be used to indicate the successful loading and unloading of cargo by the unmanned guided vehicle.

[0178] When the loading and unloading status of the unmanned guided vehicle is successful, a scheduling feedback signal is generated and sent to the scheduling system; when the loading and unloading status is failed, an abnormal signal is generated and sent to the scheduling system.

[0179] Among them, the abnormal signal can be used to remind the staff of abnormal loading and unloading of goods on the unmanned guided vehicle.

[0180] S207: The dispatching system controls the clamping mechanism to cancel the fixing of the floating platform in response to the dispatching feedback signal sent by the unmanned guided vehicle.

[0181] In response to the dispatch feedback signal sent by the unmanned guided vehicle, the dispatch system can send a release instruction to the clamping mechanism to control the clamping mechanism to cancel the fixing of the floating platform.

[0182] In this way, when the cargo loading and unloading of the unmanned guided vehicle is successful, the clamping mechanism and the floating platform are unfixed, thereby increasing the reliability of cargo loading and unloading.

[0183] Optionally, the clamping mechanism may be controlled to cancel fixing the floating platform in response to a dispatch feedback signal sent by the unmanned guided vehicle in the following manner: obtaining a dispatch feedback signal sent by the unmanned guided vehicle; and sending a release instruction to the clamping mechanism according to the dispatch feedback signal.

[0184] The release instruction is used to control the clamping mechanism to cancel the fixing of the floating platform.

[0185] The control method of handling provided in this embodiment determines the target position to be moved to by the unmanned guided vehicle through the scheduling system, and sends the target position to the unmanned guided vehicle. A clamping mechanism is set at the target position. The unmanned guided vehicle receives the target position sent by the scheduling system and controls the unmanned guided vehicle to move to the target position. In response to the unmanned guided vehicle moving to the target position, the scheduling system controls the clamping mechanism to fix the floating platform of the unmanned guided vehicle, determines the fixing result of the clamping mechanism on the floating platform, and controls the cargo loading equipment to load and unload the cargo on the floating platform when the fixing result is successful. After the unmanned guided vehicle moves to the target position, the unmanned guided vehicle determines the loading and unloading status of the cargo on the floating platform. If the loading and unloading status is successful, a scheduling feedback signal is sent to the scheduling system. The scheduling feedback signal is used to indicate that the cargo loading and unloading of the unmanned guided vehicle is successful. In response to the scheduling feedback signal sent by the unmanned guided vehicle, the scheduling system controls the clamping mechanism to cancel the fixing of the floating platform. In this way, by fixing the clamping mechanism and the floating platform, the position error of the unmanned guided vehicle is reduced, and the high-precision docking of the unmanned guided vehicle and the cargo is achieved, thereby improving the docking accuracy of the unmanned guided vehicle.

[0186] Next, combine Figure 8 , the process (S204) of the scheduling system determining the fixing result of the clamping mechanism on the floating platform is explained.

[0187] Figure 8 A flow chart of another method for controlling transport provided in an embodiment of the present application. Based on the above embodiment, see Figure 8 , the method is described in detail. The method comprises:

[0188] S801. Obtain a first detection result sent by a clamping mechanism.

[0189] The first detection result may include a clamping success or a clamping failure.

[0190] The clamping mechanism can determine the first detection result according to the corresponding sensor in place in the clamping mechanism, and send the first detection result to the scheduling system.

[0191] Optionally, the sensor corresponding to the in-place state may be a photoelectric sensor, and the first detection result may be determined in the following manner: whether the photoelectric sensor detects an in-place photoelectric signal; if so, the first detection result is determined to be a successful clamping; if not, the first detection result is determined to be a failed clamping.

[0192] S802: Obtain a second detection result sent by the unmanned guided vehicle.

[0193] The second detection result may include docking success or docking failure.

[0194] The unmanned guided vehicle can determine the second detection result based on the proximity sensor and send the second detection result to the dispatching system.

[0195] Optionally, the second detection result may be determined in the following manner: the unmanned guided vehicle determines whether the proximity sensor detects a proximity sensor signal, and if so, determines that the second detection result is successful docking; if not, determines that the second detection result is failed docking.

[0196] S803: Determine whether the first detection result is a clamping failure or the second detection result is a docking failure.

[0197] If yes, execute S804;

[0198] If not, execute S805.

[0199] S804: Determine that the fixing result of the clamping mechanism on the floating platform is a fixing failure.

[0200] After S804, S807 is executed.

[0201] Fixing failure may be caused by a position error greater than a threshold between the current position of the AGV and the target position, or by an angle error greater than a threshold between the current angle of the AGV and the clamping mechanism, which is not limited here.

[0202] S805, determine whether there is an overcurrent phenomenon in the clamping mechanism.

[0203] If yes, execute S804;

[0204] If not, execute S806.

[0205] Optionally, whether there is an overcurrent phenomenon in the clamping mechanism can be determined in the following manner: if the clamping mechanism sends an overcurrent signal to the scheduling system, the scheduling system determines that there is an overcurrent phenomenon in the clamping mechanism based on the overcurrent signal; if the scheduling system does not receive the overcurrent signal, it determines that there is no overcurrent phenomenon in the clamping mechanism.

[0206] Optionally, whether there is an overcurrent phenomenon in the clamping mechanism can be determined in the following manner: the scheduling system sends a first request to the clamping mechanism, the first request is used to determine whether there is an overcurrent phenomenon in the clamping mechanism, the clamping mechanism generates a first response according to the first request, the first response is used to indicate whether there is an overcurrent phenomenon in the clamping mechanism or not, and the scheduling system determines whether there is an overcurrent phenomenon in the clamping mechanism according to the first response.

[0207] It should be noted that whether an overcurrent phenomenon exists in the clamping mechanism can be determined according to any feasible implementation method, and the embodiments of the present application are not limited to this.

[0208] S806: Determine that the fixing result of the clamping mechanism on the floating platform is successful.

[0209] When there is no overcurrent phenomenon, it is determined that the fixing result of the clamping mechanism on the floating platform is successful, thus ensuring that the clamping mechanism is in a normal working state.

[0210] S807, controlling the clamping mechanism to re-clamp the floating platform at least once until the clamping mechanism successfully fixes the floating platform.

[0211] The re-clamping process includes: controlling the clamping mechanism to cancel fixing the floating platform, controlling the unmanned guided vehicle to drive away from the target position and move to the target position, and in response to the unmanned guided vehicle moving to the target position, controlling the clamping mechanism to fix the floating platform of the unmanned guided vehicle.

[0212] In this way, the angle error or position error may be eliminated by the unmanned guided vehicle reaching the target position again and re-gripping the object.

[0213] The implementation content of each step in the embodiment of the present application can refer to the description of the corresponding steps or operations in the above method embodiment, and repeated content will not be repeated.

[0214] The present embodiment provides a method for controlling handling, which obtains a first detection result sent by a clamping mechanism, the first detection result includes a clamping success or a clamping failure; obtains a second detection result sent by an unmanned guided vehicle, the second detection result includes a docking success or a docking failure; if the first detection result is a clamping failure or the second detection result is a docking failure, it is determined that the result of fixing the floating platform by the clamping mechanism is a fixing failure; if the first detection result is a clamping success and the second detection result is a docking success, it is determined whether there is an overcurrent phenomenon in the clamping mechanism; if so, it is determined that the result of fixing the floating platform by the clamping mechanism is a fixing failure; if not, it is determined that the result of fixing the floating platform by the clamping mechanism is a fixing success. In this way, by fixing the clamping mechanism and the floating platform, the position error of the unmanned guided vehicle is reduced, high-precision docking between the unmanned guided vehicle and the goods is achieved, and the docking accuracy of the unmanned guided vehicle is improved.

[0215] Next, combine Fig. 9 , the process (S205) of the unmanned guided vehicle determining the loading and unloading status of the cargo on the floating platform is explained.

[0216] Fig. 9 A flow chart of another method for controlling transport provided in an embodiment of the present application. Based on the above embodiment, see Fig. 9 , the method comprising:

[0217] S901. Obtain the sensor status of the micro switch sensor within a preset time period.

[0218] The sensor state is a no-force state or a force state.

[0219] The preset duration may be a pre-set duration and is not limited here.

[0220] A sensor signal of the micro switch sensor within a preset time period may be obtained, and a sensor state of the micro switch sensor within the preset time period may be determined based on the sensor signal.

[0221] S902: Determine whether the sensor state of the micro switch sensor is converted from a non-stressed state to a stressed state, or from a stressed state to a non-stressed state within a preset time period.

[0222] If yes, execute S903;

[0223] If not, execute S904.

[0224] The transition from a no-stress state to a stressed state can indicate that the floating platform is successfully loaded.

[0225] The transition from a stressed state to a unstressed state can indicate that the floating platform has successfully unloaded.

[0226] S903: Determine that the loading and unloading status of the cargo on the floating platform is successful.

[0227] Successful loading and unloading may mean that the cargo is safely loaded onto the floating platform, or the cargo is safely unloaded from the floating platform.

[0228] S904: Determine that the loading and unloading status of the cargo on the floating platform is loading and unloading failure.

[0229] After determining that the loading and unloading status of the cargo on the floating platform is loading and unloading failure, a loading and unloading failure signal may be sent to the dispatching system to inform the staff of the loading and unloading failure.

[0230] The implementation content of each step in the embodiment of the present application can refer to the description of the corresponding steps or operations in the above method embodiment, and repeated content will not be repeated.

[0231] The control method of handling provided in this embodiment obtains the sensor state of the micro switch sensor within a preset time, and the sensor state is a no-stress state or a stressed state; if the sensor state of the micro switch sensor is converted from a no-stress state to a stressed state, or from a stressed state to a no-stress state within the preset time, the loading and unloading state of the goods on the floating platform is determined to be successful; if the sensor state of the micro switch sensor is a stressed state or a no-stress state within the preset time, the loading and unloading state of the goods on the floating platform is determined to be a loading and unloading failure. In this way, by determining the loading and unloading state of the goods on the floating platform, high-precision docking between the unmanned transport vehicle and the goods is achieved, and the docking accuracy of the unmanned transport vehicle is improved.

[0232] In a possible implementation, after sending the dispatch feedback signal to the dispatch system, it also includes a locking mechanism for controlling the floating platform. Fig.10 , the specific process of controlling the locking mechanism of the floating platform is explained.

[0233] Fig.10 A flow chart of another method for controlling transport provided in an embodiment of the present application. Based on the above embodiment, see Fig.10 , the method comprising:

[0234] S1001, determining whether the clamping mechanism cancels the fixed floating platform.

[0235] If yes, execute S1002;

[0236] If not, execute S1003.

[0237] Optionally, it can be determined in the following manner whether the clamping mechanism cancels the fixing of the floating platform: if the cancellation fixing information sent by the scheduling system is received, it is determined that the clamping mechanism cancels the fixing of the floating platform based on the cancellation fixing information; if the cancellation fixing information sent by the scheduling system is not received, it is determined that the clamping mechanism does not cancel the fixing of the floating platform.

[0238] Optionally, it may be determined in the following manner whether the clamping mechanism cancels the fixing of the floating platform: determining whether the clamping mechanism cancels the fixing of the floating platform based on a proximity sensor.

[0239] S1002. Within a preset time, the sensor state of the microswitch sensor is converted from a no-stress state to a stressed state, and the locking mechanism is controlled to be opened so that the platform state of the floating platform is a stable state; within a preset time, the sensor state of the microswitch sensor is converted from a stressed state to a no-stress state, and the locking mechanism is controlled to be closed so that the platform state of the floating platform is a floating state.

[0240] The conversion of the sensor state from a no-force state to a force state can indicate that the loading is successful. Therefore, it is necessary to switch the platform state of the floating platform to a stable state after canceling the fixed floating platform to better transport the goods.

[0241] The conversion of the sensor state from a stressed state to a unstressed state can indicate successful unloading. Therefore, after canceling the fixed floating platform, it is necessary to switch the platform state of the floating platform to a floating state, so that the unmanned transport vehicle is in an idle state and performs the next transport task.

[0242] S1003. Resend the scheduling feedback signal to the scheduling system.

[0243] The execution process of S1003 is similar to the execution process of S206, and will not be repeated here.

[0244] The implementation content of each step in the embodiment of the present application can refer to the description of the corresponding steps or operations in the above method embodiment, and repeated content will not be repeated.

[0245] The control method of handling provided in this embodiment determines whether the clamping mechanism cancels the fixed floating platform; if so, the sensor state of the micro switch sensor is converted from a non-stressed state to a stressed state within a preset time, and the locking mechanism is controlled to open so that the platform state of the floating platform is a stable state; the sensor state of the micro switch sensor is converted from a stressed state to a non-stressed state within a preset time, and the locking mechanism is controlled to close so that the platform state of the floating platform is a floating state. In this way, by controlling the locking mechanism of the floating platform to control the floating platform of the unmanned transport vehicle, the safe handling of goods is achieved, and the docking accuracy of the unmanned transport vehicle is improved.

[0246] Fig.11 This is a schematic diagram of the structure of a transport control device provided in an embodiment of the present application. Fig.11 , applied to a dispatching system, the device 1100 comprises a moving module 1101, a first control module 1102 and a second control module 1103, wherein,

[0247] A moving module 1101 is used to determine a target position to which the unmanned guided vehicle is to move, and send the target position to the unmanned guided vehicle, where a clamping mechanism is provided;

[0248] A first control module 1102 is configured to control the clamping mechanism to fix the floating platform of the unmanned guided vehicle in response to the unmanned guided vehicle moving to the target position;

[0249] The second control module 1103 is used to determine the fixing result of the clamping mechanism on the floating platform, and when the fixing result is successful, control the cargo loading equipment to load and unload cargo on the floating platform;

[0250] The first control module 1102 is further configured to control the clamping mechanism to cancel fixing of the floating platform in response to a dispatch feedback signal sent by the unmanned guided vehicle, wherein the dispatch feedback signal is used to indicate that cargo loading and unloading of the unmanned guided vehicle is successful.

[0251] In a possible implementation manner, the second control module 1103 is specifically configured to:

[0252] Acquire a first detection result sent by the clamping mechanism, where the first detection result includes a clamping success or a clamping failure;

[0253] Obtaining a second detection result sent by the unmanned guided vehicle, where the second detection result includes a docking success or a docking failure;

[0254] The fixing result is determined according to the first detection result and the second detection result.

[0255] In a possible implementation manner, the second control module 1103 is specifically configured to:

[0256] If the first detection result is a clamping failure or the second detection result is a docking failure, determining that the fixing result of the clamping mechanism on the floating platform is a fixing failure;

[0257] If the first detection result is successful clamping and the second detection result is successful docking, determine whether the clamping mechanism has an overcurrent phenomenon; if so, determine that the fixing result of the clamping mechanism on the floating platform is a fixation failure; if not, determine that the fixing result of the clamping mechanism on the floating platform is a fixation success.

[0258] In a possible implementation manner, after determining that the clamping mechanism fails to fix the floating platform, the second control module 1103 is further configured to:

[0259] Controlling the clamping mechanism to re-clamp the floating platform at least once until the clamping mechanism successfully fixes the floating platform;

[0260] The re-clamping process includes: controlling the clamping mechanism to cancel fixing of the floating platform, controlling the unmanned guided vehicle to drive away from the target position and move to the target position, and in response to the unmanned guided vehicle moving to the target position, controlling the clamping mechanism to fix the floating platform of the unmanned guided vehicle.

[0261] In a possible implementation, the first control module 1102 is specifically configured to:

[0262] Acquire an arrival signal sent by the unmanned guided vehicle, where the arrival signal is used to instruct the unmanned guided vehicle to move to the target location;

[0263] According to the arrival signal, a clamping instruction is sent to the clamping mechanism to control the clamping mechanism to fix the floating platform of the unmanned guided vehicle.

[0264] In a possible implementation, the first control module 1102 is specifically configured to:

[0265] Obtaining a dispatch feedback signal sent by the unmanned guided vehicle;

[0266] A release instruction is sent to the clamping mechanism according to the scheduling feedback signal, and the release instruction is used to control the clamping mechanism to cancel fixing of the floating platform.

[0267] Fig.12 This is a schematic diagram of another structure of a transport control device provided in an embodiment of the present application. Fig.12 , applied to an unmanned guided vehicle, the unmanned guided vehicle is provided with a floating platform, the floating platform is used to place goods, the device 1200 includes a control module 1201, a determination module 1202 and a sending module 1203, wherein,

[0268] The control module 1201 is used to receive the target position sent by the dispatching system and control the unmanned guided vehicle to move to the target position, wherein the target position is provided with a clamping mechanism, and the clamping mechanism is used to fix the floating platform after the unmanned guided vehicle moves to the target position;

[0269] A determination module 1202 is used to determine the loading and unloading status of the cargo on the floating platform after the unmanned guided vehicle moves to the target location;

[0270] The sending module 1203 is used to send a dispatching feedback signal to the dispatching system if the loading and unloading status is successful, and the dispatching feedback signal is used to indicate that the cargo loading and unloading of the unmanned guided vehicle is successful.

[0271] In a possible implementation, the floating platform includes a micro switch sensor, and the determination module 1202 is specifically configured to:

[0272] Acquiring a sensor state of the micro switch sensor within a preset time period, wherein the sensor state is a no-force state or a force-force state;

[0273] The loading and unloading status of the cargo on the floating platform is determined according to the sensor status of the micro switch sensor within a preset time period.

[0274] In a possible implementation, the determination module 1202 is specifically configured to:

[0275] If the sensor state of the micro switch sensor is converted from the no-force state to the force state, or from the force state to the no-force state within the preset time, it is determined that the loading and unloading state of the cargo on the floating platform is successful;

[0276] If the sensor state of the micro switch sensor is the stressed state or the unstressed state within the preset time period, it is determined that the loading and unloading state of the cargo on the floating platform is a loading and unloading failure.

[0277] Fig.13This is a structural diagram of another type of transport control device provided in an embodiment of the present application. Fig.13 The device 1200 includes a locking mechanism, which is used to control the platform state of the floating platform. The device also includes a locking module 1204, which is used to:

[0278] Determining whether the clamping mechanism cancels fixing of the floating platform;

[0279] If so, within the preset time period, the sensor state of the microswitch sensor is converted from the unstressed state to the stressed state, and the locking mechanism is controlled to open so that the platform state of the floating platform is a stable state; within the preset time period, the sensor state of the microswitch sensor is converted from the stressed state to the unstressed state, and the locking mechanism is controlled to close so that the platform state of the floating platform is a floating state.

[0280] In a possible implementation, the floating platform includes a proximity sensor, and the device further includes a detection module 1205, wherein the detection module 1205 is used to:

[0281] Determining a second detection result according to the proximity sensor, wherein the second detection result is docking success or docking failure;

[0282] The second detection result is sent to the scheduling system.

[0283] Fig.14 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. Fig.14 , the electronic device 1400 may include: a memory 1401 , a processor 1402 , and a transceiver 1403 .

[0284] The memory 1401 is used to store program instructions;

[0285] The processor 1402 is used to execute the program instructions stored in the memory, so as to enable the electronic device 1400 to execute the above method.

[0286] The transceiver 1403 may include: a transmitter and / or a receiver. The transmitter may also be referred to as a transmitter, a transmitter, a transmission port, a transmission interface, or the like, and the receiver may also be referred to as a receiver, a reception port, a reception interface, or the like. Exemplarily, the memory 1401, the processor 1402, and the transceiver 1403 are interconnected via a bus 1404.

[0287] The embodiment of the present application also provides a computer program product, which can be executed by a processor. When the computer program product is executed, the above method can be implemented.

[0288] The transport control device, electronic device, computer-readable storage medium and computer program product of the embodiments of the present application can execute the technical solutions shown in the above-mentioned transport control method embodiments, and their implementation principles and beneficial effects are similar, which will not be repeated here.

[0289] All or part of the steps of the above-mentioned method embodiments can be completed by hardware related to program instructions. The aforementioned program can be stored in a readable memory. When the program is executed, the steps of the above-mentioned method embodiments are executed; and the aforementioned memory (storage medium) includes: read-only memory (ROM), random access memory (RAM), flash memory, hard disk, solid state drive, magnetic tape, floppy disk, optical disc and any combination thereof.

[0290] The embodiments of the present application are described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer-executable instructions. These computer-executable instructions can be provided to a processing unit of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processing unit of the computer or other programmable data processing device generate instructions for implementing the process in the flowchart. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0291] These computer executable instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0292] These computer executable instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process in the computer or other programmable device. Figure 1 A process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0293] Obviously, those skilled in the art can make various changes and modifications to the embodiments of the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the embodiments of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

Claims

1. A method for controlling transport, characterized in that: Applied to a dispatching system, the method comprises: Determine a target position to which the unmanned guided vehicle is to move, and send the target position to the unmanned guided vehicle, wherein a clamping mechanism is provided at the target position; In response to the unmanned guided vehicle moving to the target position, controlling the clamping mechanism to fix the floating platform of the unmanned guided vehicle; Determining the fixing result of the floating platform by the clamping mechanism, and when the fixing result is successful, controlling the cargo loading equipment to load and unload cargo on the floating platform; In response to a dispatch feedback signal sent by the unmanned guided vehicle, the clamping mechanism is controlled to cancel fixing of the floating platform, wherein the dispatch feedback signal is used to indicate that cargo loading and unloading of the unmanned guided vehicle is successful.

2. The method according to claim 1, characterized in that Determining a fixing result of the floating platform by the clamping mechanism includes: Acquire a first detection result sent by the clamping mechanism, where the first detection result includes a clamping success or a clamping failure; Obtaining a second detection result sent by the unmanned guided vehicle, where the second detection result includes a docking success or a docking failure; The fixing result is determined according to the first detection result and the second detection result.

3. The method according to claim 2, characterized in that Determining the fixed result according to the first detection result and the second detection result includes: If the first detection result is a clamping failure or the second detection result is a docking failure, determining that the fixing result of the clamping mechanism on the floating platform is a fixing failure; If the first detection result is successful clamping and the second detection result is successful docking, determine whether the clamping mechanism has an overcurrent phenomenon; if so, determine that the fixing result of the clamping mechanism on the floating platform is a fixation failure; if not, determine that the fixing result of the clamping mechanism on the floating platform is a fixation success.

4. The method according to claim 2 or 3, characterized in that: After determining that the clamping mechanism fails to fix the floating platform, the method further includes: Controlling the clamping mechanism to re-clamp the floating platform at least once until the clamping mechanism successfully fixes the floating platform; The re-clamping process includes: controlling the clamping mechanism to cancel fixing of the floating platform, controlling the unmanned guided vehicle to drive away from the target position and move to the target position, and in response to the unmanned guided vehicle moving to the target position, controlling the clamping mechanism to fix the floating platform of the unmanned guided vehicle.

5. The method according to any one of claims 1 to 3, characterized in that: In response to the unmanned guided vehicle moving to the target position, controlling the clamping mechanism to fix the floating platform of the unmanned guided vehicle comprises: Acquire an arrival signal sent by the unmanned guided vehicle, where the arrival signal is used to instruct the unmanned guided vehicle to move to the target location; According to the arrival signal, a clamping instruction is sent to the clamping mechanism to control the clamping mechanism to fix the floating platform of the unmanned guided vehicle.

6. The method according to any one of claims 1 to 3, characterized in that: In response to the dispatch feedback signal sent by the unmanned guided vehicle, controlling the clamping mechanism to cancel fixing the floating platform comprises: Obtaining a dispatch feedback signal sent by the unmanned guided vehicle; A release instruction is sent to the clamping mechanism according to the scheduling feedback signal, and the release instruction is used to control the clamping mechanism to cancel fixing of the floating platform.

7. A method for controlling transport, characterized in that: Applied to an unmanned guided vehicle, the unmanned guided vehicle is provided with a floating platform, the floating platform is used to place goods, the method comprises: Receiving a target position sent by a dispatching system, and controlling the unmanned guided vehicle to move to the target position, wherein a clamping mechanism is provided at the target position, and the clamping mechanism is used to fix the floating platform after the unmanned guided vehicle moves to the target position; After the unmanned guided vehicle moves to the target location, determining the loading and unloading status of the cargo on the floating platform; If the loading and unloading status is successful, a dispatching feedback signal is sent to the dispatching system, and the dispatching feedback signal is used to indicate that the cargo loading and unloading of the unmanned guided vehicle is successful.

8. The method according to claim 7, characterized in that The floating platform includes a micro switch sensor to determine the loading and unloading status of the cargo on the floating platform, including: Acquiring a sensor state of the micro switch sensor within a preset time period, wherein the sensor state is a no-force state or a force-force state; The loading and unloading status of the cargo on the floating platform is determined according to the sensor status of the micro switch sensor within a preset time period.

9. The method according to claim 8, characterized in that Determining the loading and unloading status of the cargo on the floating platform according to the sensor status of the micro switch sensor within a preset time period includes: If the sensor state of the micro switch sensor is converted from the no-force state to the force state, or from the force state to the no-force state within the preset time, it is determined that the loading and unloading state of the cargo on the floating platform is successful; If the sensor state of the micro switch sensor is the stressed state or the unstressed state within the preset time period, it is determined that the loading and unloading state of the cargo on the floating platform is a loading and unloading failure.

10. The method according to any one of claims 8 to 9, characterized in that: The unmanned guided vehicle includes a locking mechanism, which is used to control the platform state of the floating platform. After sending a scheduling feedback signal to the scheduling system, the locking mechanism includes: Determining whether the clamping mechanism cancels fixing of the floating platform; If so, within the preset time period, the sensor state of the microswitch sensor is converted from the unstressed state to the stressed state, and the locking mechanism is controlled to open so that the platform state of the floating platform is a stable state; within the preset time period, the sensor state of the microswitch sensor is converted from the stressed state to the unstressed state, and the locking mechanism is controlled to close so that the platform state of the floating platform is a floating state.

11. The method according to any one of claims 7 to 9, characterized in that: The floating platform includes a proximity sensor, and before determining the loading and unloading status of the cargo on the floating platform, further includes: Determine a second detection result according to the proximity sensor, wherein the second detection result is docking success or docking failure; The second detection result is sent to the scheduling system.

12. A transport control device, characterized in that: Applied to a dispatching system, the device comprises: A moving module, used for determining a target position to which the unmanned guided vehicle is to move, and sending the target position to the unmanned guided vehicle, wherein a clamping mechanism is provided at the target position; a first control module, configured to control the clamping mechanism to fix the floating platform of the unmanned guided vehicle in response to the unmanned guided vehicle moving to the target position; A second control module is used to determine the fixing result of the clamping mechanism on the floating platform, and when the fixing result is successful, control the cargo loading equipment to load and unload cargo on the floating platform; The first control module is further used to control the clamping mechanism to cancel fixing of the floating platform in response to a dispatch feedback signal sent by the unmanned guided vehicle, wherein the dispatch feedback signal is used to indicate that cargo loading and unloading of the unmanned guided vehicle is successful.

13. A transport control device, characterized in that: Applied to an unmanned guided vehicle, the unmanned guided vehicle is provided with a floating platform, the floating platform is used to place goods, and the device comprises: A control module, used for receiving a target position sent by a dispatching system, and controlling the unmanned guided vehicle to move to the target position, wherein a clamping mechanism is provided at the target position, and the clamping mechanism is used for fixing the floating platform after the unmanned guided vehicle moves to the target position; a determination module, configured to determine the loading and unloading status of the cargo on the floating platform after the unmanned guided vehicle moves to the target location; The sending module is used to send a dispatching feedback signal to the dispatching system if the loading and unloading status is successful, and the dispatching feedback signal is used to indicate that the cargo loading and unloading of the unmanned guided vehicle is successful.

14. An electronic device, characterized in that: include: A processor, and a memory communicatively connected to the processor; The memory stores computer-executable instructions; The processor executes the computer-executable instructions stored in the memory to implement the method according to any one of claims 1 to 6 or the method according to any one of claims 7 to 11.

15. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, are used to implement the method according to any one of claims 1 to 6 or the method according to any one of claims 7 to 11.

16. A computer program product, characterized in that The invention comprises a computer program, which, when executed by a processor, implements the method described in any one of claims 1 to 6 or the method described in any one of claims 7 to 11.

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