AGV-based spinning waste cotton collaborative carrying method and system

Abstract

The invention belongs to the technical field of industrial automation. The invention provides a spinning waste cotton collaborative carrying method and system based on an AGV. The method comprises the steps that packaging data of target waste cotton bales in a stacking yard are obtained, the packaging data comprise packaging size data and packaging form data, the weight value of the target waste cotton bales is obtained through prediction according to the packaging size data, and a plurality of target AGVs used for collaborative carrying are determined according to the weight value; determining a distribution scheme of each target AGV according to the packaging data, and controlling each target AGV to move to a corresponding point position according to the distribution scheme so as to form a collaborative carrying body; and after the target waste cotton bales are placed on the cooperative carrying body, all the target AGVs are controlled to act synchronously so as to carry the target waste cotton bales to the storage destination. The waste cotton bales are cooperatively carried through the multiple AGVs, the distribution scheme of all the AGVs is optimized, and the carrying speed and carrying stability can be improved.

Description

Technical Field

[0001] The present invention relates to the field of industrial automation technology, and in particular to an AGV-based collaborative handling method and system for spinning waste cotton. Background Art

[0002] Spinning factories generate a certain amount of waste cotton during the production process. For example, in the cotton cleaning process, the fiber raw materials are loosened, mixed and cleaned, which will produce some fiber fragments and impurities that do not meet the requirements, which are usually treated as waste cotton; in the spinning process, broken ends and waste yarn (that is, waste yarn generated during the spinning process) are also important sources of waste cotton; in the combing process, in order to improve the quality of the yarn, some short fibers and impurities will be removed, and these removed parts will also become waste cotton, and so on.

[0003] Using AGV to automatically transport waste cotton can significantly improve the operating efficiency of the spinning factory. However, the existing transportation method is that a single AGV carries out the transportation by itself, and there is a lack of a method for multiple AGVs to carry out collaborative transportation, which is not conducive to further improving the transportation efficiency. The present invention aims to improve this technical problem. Summary of the invention

[0004] In this regard, the present invention provides an AGV-based collaborative handling method, system, electronic equipment, computer storage medium and computer program product for spinning waste to solve the above-mentioned technical problems.

[0005] The present invention discloses a method for collaboratively transporting waste cotton for spinning based on AGV, and the method comprises the following steps: Acquire packaging data of a target waste cotton bale in a storage yard, the packaging data including packaging size data and packaging shape data, predict a weight value of the target waste cotton bale according to the packaging size data, and determine a number of target AGVs for collaborative handling according to the weight value; Determine the distribution plan of each target AGV according to the packaging data, and control each target AGV to move to a corresponding point according to the distribution plan to form a coordinated transport body; After the target waste cotton bale is placed on the cooperative transport body, each target AGV is controlled to act synchronously to transport the target waste cotton bale to a storage destination.

[0006] In some embodiments, obtaining packaging data of a target waste cotton bale in a storage yard includes: Acquire packaging data of each waste cotton bale in the storage yard, determine the transport contact surface of each waste cotton bale based on the transport stability principle, and calculate the first area of ​​the transport contact surface; The second area of ​​the carrying surface of all idle AGVs is obtained, and the area difference between the maximum values ​​of the first area and the second area is calculated respectively, and the waste cotton bale whose area difference is greater than the difference threshold is determined as the target waste cotton bale, and then the packaging data of the target waste cotton bale is obtained.

[0007] In some embodiments, obtaining the packaging data of the target waste cotton bale includes: Retrieving a set of image data of the target waste cotton bale during the latter stage of packing, and constructing a three-dimensional structure of the target waste cotton bale according to the set of image data; The packaging size data of the target waste cotton bale is extracted from the three-dimensional structure, and the packaging shape data of the target waste cotton bale is determined according to the packaging size data.

[0008] In some embodiments, determining a number of target AGVs for collaborative transport according to the weight value includes: Determine the rated load values ​​of all idle AGVs, and calculate the average rated load value based on the rated load values; The target number of AGVs for collaborative handling is determined based on the weight value and the average rated load value, and a group of target AGVs corresponding to the target number is selected from all idle AGVs so that the sum of the rated load values ​​of the group of AGVs is greater than the weight value.

[0009] In some embodiments, determining the distribution scheme of each target AGV according to the packaging data includes: Determining a third area of ​​the transport contact surface of the target waste cotton bale according to the packaging size data; The first distribution position of each target AGV is calculated according to the third area and the preset rule, and the spacing between the first distribution positions is the first distance; wherein the preset rule means that the exposed size of the target waste cotton bale on the target AGV located at the side is lower than the specified size, and the target AGVs are evenly distributed; The structural strength of the target waste cotton bale is evaluated according to the dimension data of the transport contact surface, the packaging shape data, and the weight value, a first adjustment coefficient is determined according to the structural strength, and the spacing of the first distribution positions of each target AGV located in the middle area is adjusted to a second distance using the first adjustment coefficient; wherein the second distance is smaller than the first distance; The distribution plan is generated according to the first distance and the second distance of each target AGV.

[0010] In some embodiments, the step of evaluating the structural strength of the target waste cotton bale according to the size data of the transport contact surface, the packaging shape data, and the weight value includes: Evaluate and obtain a first structural strength of the target waste cotton bale according to the packaging size data and the weight value of the transport contact surface; If the packaging shape data is a circular body, the first structural strength is adjusted to the second structural strength using the second adjustment coefficient; if the packaging shape data is a rectangular body, the first structural strength is adjusted to the third structural strength using the second adjustment coefficient; the second adjustment coefficient is smaller than the third adjustment coefficient.

[0011] The present invention also discloses an AGV-based coordinated cotton waste handling system for spinning, the system comprising a first analysis module, a second analysis module, and a control module; The first analysis module is used to obtain packaging data of a target waste cotton bale in the storage yard, wherein the packaging data includes packaging size data and packaging shape data, predict a weight value of the target waste cotton bale according to the packaging size data, and determine a number of target AGVs for collaborative handling according to the weight value; The second analysis module is used to determine the distribution plan of each target AGV according to the packaging data, and control each target AGV to move to a corresponding point according to the distribution plan to form a coordinated transport body; The control module is used to control each target AGV to act synchronously to transport the target waste cotton bale to a storage destination after the target waste cotton bale is placed on the cooperative transport body.

[0012] The present invention also discloses an electronic device, comprising: at least one processor, a memory, and a computer program stored in the memory and executable on the at least one processor, wherein the processor executes the computer program to implement the method described in any of the preceding items.

[0013] The present invention also discloses a computer storage medium, wherein the computer-readable storage medium stores a computer program, and the computer program is executed by a processor to implement any of the above methods.

[0014] The present invention also discloses a computer program product. When the computer program product is run on a terminal, the terminal implements any of the above methods when executing the computer program product.

[0015] The present invention uses multiple AGVs to collaboratively transport waste cotton bales and optimizes the distribution scheme of each AGV, thereby improving the transport rate and transport stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0017] Figure 1 It is a schematic flow chart of a method for collaboratively transporting waste cotton for spinning based on AGV disclosed in an embodiment of the present invention; Figure 2 is a schematic diagram of a distribution scheme of target AGVs disclosed in an embodiment of the present invention; Figure 3 is a schematic diagram of another distribution scheme of the target AGV disclosed in an embodiment of the present invention; Figure 4 It is a structural schematic diagram of an AGV-based collaborative handling system for waste cotton for spinning disclosed in an embodiment of the present invention. DETAILED DESCRIPTION

[0018] The following is a description of the implementation of the present application by specific specific embodiments. People familiar with the technology can easily understand other advantages and effects of the present application from the contents disclosed in this specification. 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 the field without creative work are within the scope of protection of the present application.

[0019] In addition, the technical features involved in the different embodiments of the present application described below can be combined with each other as long as they do not conflict with each other.

[0020] like Figure 1 As shown, an embodiment of the present invention discloses a method for collaboratively transporting waste cotton for spinning based on AGV, and the method comprises the following steps: Acquire packaging data of a target waste cotton bale in a storage yard, the packaging data including packaging size data and packaging shape data, predict a weight value of the target waste cotton bale according to the packaging size data, and determine a number of target AGVs for collaborative handling according to the weight value; Determine the distribution plan of each target AGV according to the packaging data, and control each target AGV to move to a corresponding point according to the distribution plan to form a coordinated transport body; After the target waste cotton bale is placed on the cooperative transport body, each target AGV is controlled to act synchronously to transport the target waste cotton bale to a storage destination.

[0021] The present invention first obtains the packaging data of the target waste cotton bale in the stacking yard. The obtained packaging data includes packaging size data and packaging shape data. The packaging shape data refers to the geometric shape of the target waste cotton bale after packaging, such as a circular body, a rectangular body, etc. Then, since the general density of the waste cotton can be determined in advance, the weight value of the target waste cotton bale can be predicted according to the packaging size data of the target waste cotton bale, and the number of AGVs used for collaborative transportation is determined according to the weight value. Next, the distribution scheme of each AGV is determined according to the packaging shape data of the target waste cotton bale. The distribution scheme refers to the spacing between each AGV, which can be achieved by determining the corresponding stop point for each AGV, and controlling each AGV to move to the corresponding point according to the distribution scheme to form a collaborative transport body. Finally, the target waste cotton bale is placed on the collaborative transport body, and each AGV is controlled to act synchronously to transport the target waste cotton bale to the storage destination, such as a waste cotton storage warehouse, a waste cotton transport vehicle, etc.

[0022] It should be noted that all the waste cotton generated by the spinning mill will be concentrated in the stockpile yard, and the workers or packaging machines in the stockpile yard will pack the waste cotton into target waste cotton bales, and the target waste cotton bales can have different packaging sizes and packaging forms.

[0023] At the same time, the present invention also sets up a scheduling system in the spinning factory, which may include a controller, a communicator and a high-definition camera arranged in the stacking area. The high-definition camera can obtain the packaging data of the target waste cotton bales that need to be collaboratively transported, and the communicator can communicate with each AGV to send the scheduling instructions of the controller to each AGV.

[0024] In some embodiments, obtaining packaging data of a target waste cotton bale in a storage yard includes: Acquire packaging data of each waste cotton bale in the storage yard, determine the transport contact surface of each waste cotton bale based on the transport stability principle, and calculate the first area of ​​the transport contact surface; The second area of ​​the carrying surface of all idle AGVs is obtained, and the area difference between the maximum values ​​of the first area and the second area is calculated respectively, and the waste cotton bale whose area difference is greater than the difference threshold is determined as the target waste cotton bale, and then the packaging data of the target waste cotton bale is obtained.

[0025] In the embodiment of the present invention, many waste cotton bales are stored in the storage yard, but not all waste cotton bales need to be transported in a collaborative manner. For example, waste cotton bales with smaller volumes can be transported by a single AGV, which will increase the efficiency of the transportation.

[0026] In this regard, the present invention first obtains the packaging data of each waste cotton bale in the stacking yard, and determines the handling contact surface of each waste cotton bale based on the principle of stable handling. The handling contact surface is the surface that contacts the bearing surface of the AGV. The principle of stable handling mainly refers to that during the handling process, the height of the waste cotton bale is not higher than the preset value. For example, for a rectangular waste cotton bale, it is necessary to determine whether it is placed horizontally or vertically. Based on this, the first area of ​​the handling contact surface of the waste cotton bale can be calculated, and for a circular waste cotton bale, the first area of ​​the corresponding handling contact surface can be directly configured according to its packaging size data. Then, the second area of ​​the bearing surface of each AGV in an idle state is obtained, and the area difference between each first area and the second area is calculated, and the waste cotton bales with an area difference greater than the difference threshold are determined as target waste cotton bales, that is, the area of ​​the handling contact surface of these waste cotton bales is too large, and the AGV is either unable to carry (for example, mopping occurs) or is very unstable during the handling process. At this time, a collaborative handling method is required, that is, it is determined as a target waste cotton bale, and the corresponding packaging data is the packaging data of the target waste cotton bale.

[0027] The first area of ​​each transport contact surface should be subtracted from the maximum value of the second areas of the carrying surfaces of the plurality of AGVs, thereby obtaining the above-mentioned area difference.

[0028] In some embodiments, obtaining the packaging data of the target waste cotton bale includes: Retrieving a set of image data of the target waste cotton bale during the latter stage of packing, and constructing a three-dimensional structure of the target waste cotton bale according to the set of image data; The packaging size data of the target waste cotton bale is extracted from the three-dimensional structure, and the packaging shape data of the target waste cotton bale is determined according to the packaging size data.

[0029] In an embodiment of the present invention, after the target waste cotton bale is packaged and placed, due to the problem of shooting angle, the complete size data of each angle of view of the target waste cotton bale cannot be obtained. In this regard, the present invention is provided with a camera in the stacking area, and the camera is used to capture the image data of the waste cotton bale during the packaging process. Then, a group of image data related to the back-end process of the waste cotton bale being packaged is extracted from the image data, and the group of image data contains images of each side of the waste cotton bale. The back-end process here refers to the basic form of the waste cotton bale has been completed, and the back-end process can also be a specified time before the waste cotton bale is placed. Based on the group of image data, the three-dimensional structure of the target waste cotton bale can be constructed through three-dimensional construction technology, and then the packaging size data of each side of the target waste cotton bale can be directly extracted from the three-dimensional structure, and then the packaging shape data of the target waste cotton bale can be determined based on the packaging size data. At this point, the acquisition of the packaging data of the target waste cotton bale is completed.

[0030] In some embodiments, determining a number of target AGVs for collaborative transport according to the weight value includes: Determine the rated load values ​​of all idle AGVs, and calculate the average rated load value based on the rated load values; The target number of AGVs for collaborative handling is determined based on the weight value and the average rated load value, and a group of target AGVs corresponding to the target number is selected from all idle AGVs so that the sum of the rated load values ​​of the group of AGVs is greater than the weight value.

[0031] In an embodiment of the present invention, after determining the weight value of the target waste cotton bale, the number of AGVs that match the weight value can be determined. First, all AGVs in the idle state are screened out, and then the rated load values ​​of these AGVs are retrieved. The rated load value is the maximum load value of the AGV calibrated at the factory, and then the average value of the rated load values ​​of all idle AGVs is calculated, that is, the average rated load value. Finally, the weight value is divided by the average rated load value to obtain the target number of AGVs for collaborative handling; then a group of AGVs is selected from all the idle AGVs, so that the number of AGVs in this group is the target number, and the sum of the rated load values ​​of the group of AGVs is greater than the weight value. Obviously, the selection can be achieved through multiple selections, and the difference between the sum of the rated load values ​​of a group of AGVs finally determined and the weight value of the target waste cotton bale should be the smallest, so as to reduce the waste of AGV load capacity.

[0032] In some embodiments, determining the distribution scheme of each target AGV according to the packaging data includes: Determining a third area of ​​the transport contact surface of the target waste cotton bale according to the packaging size data; The first distribution position of each target AGV is calculated according to the third area and the preset rule, and the spacing between the first distribution positions is the first distance; wherein the preset rule means that the exposed size of the target waste cotton bale on the target AGV located at the side is lower than the specified size, and the target AGVs are evenly distributed; The structural strength of the target waste cotton bale is evaluated according to the dimension data of the transport contact surface, the packaging shape data, and the weight value, a first adjustment coefficient is determined according to the structural strength, and the spacing of the first distribution positions of each target AGV located in the middle area is adjusted to a second distance using the first adjustment coefficient; wherein the second distance is smaller than the first distance; The distribution plan is generated according to the first distance and the second distance of each target AGV.

[0033] In an embodiment of the present invention, when multiple AGVs carry the target waste cotton bale in a coordinated manner, the stability during the transportation process needs to be considered. In this regard, the third area of ​​the transportation contact surface of the target waste cotton bale is determined based on the packaging size data of the target waste cotton bale. The method for determining the transportation contact surface is the same as the above method and will not be repeated here. At the same time, a preset rule is preset, and the preset rule is that the exposed size of the target waste cotton bale on the target AGV located on the side is lower than the specified size. Such a setting can reduce the contact probability between the edge area of ​​the target waste cotton bale and the ground, thereby reducing the transportation resistance of the target AGV and reducing the undesired contact with other objects on the ground (such as cables). The first distribution position of each target AGV is calculated based on the third area and the preset rule. The spacing between each first distribution position is the first distance, and each first distribution position constitutes the relative position of each target AGV during the transportation process.

[0034] In addition, in addition to preventing the edge of the target waste cotton bale from contacting the ground, it is also necessary to prevent the middle area of ​​the target waste cotton bale from making undesired contact with the ground. To this end, the present invention is configured to evaluate the structural strength of the target waste cotton bale based on the packaging size data and packaging form data of the handling contact surface, determine a first adjustment coefficient based on the structural strength, and then use the first adjustment coefficient to adjust the spacing of the first distribution positions of each target AGV located in the middle area to a smaller second distance.

[0035] It should be noted that the edge area is Figure 2 The areas where the 10 target AGVs are located around the center. Figure 3 The two target AGVs at the two ends of the middle area are located; the middle area is Figure 2 The area where the two target AGVs are located in the center, Figure 3 The area where the two target AGVs are located in the middle. Of course, the distribution pattern presented by the target AGV is not limited to Figure 2 , Figure 3 However, they are generally evenly arranged according to the third area of ​​the handling contact surface of the target waste cotton bale, which is conducive to improving the handling stability.

[0036] In addition, multiple sets of comparison relationships between structural strength and the first adjustment coefficient can be preset, and the two are positively correlated. That is, the higher the structural strength of the target waste cotton bale, the larger the first adjustment coefficient is set (for example, 0.9, 1.0), and the corresponding second distance is closer to the first distance; and when the structural strength of the target waste cotton bale is lower, the smaller the first adjustment coefficient is set (for example, 0.7, 0.6), and the corresponding second distance is smaller than the first distance, and the sagging degree of the middle area of ​​the target waste cotton bale is reduced by the short spacing between the target AGVs.

[0037] In some embodiments, the step of evaluating the structural strength of the target waste cotton bale according to the size data of the transport contact surface, the packaging shape data, and the weight value includes: Evaluate and obtain a first structural strength of the target waste cotton bale according to the packaging size data and the weight value of the transport contact surface; If the packaging shape data is a circular body, the first structural strength is adjusted to the second structural strength using the second adjustment coefficient; if the packaging shape data is a rectangular body, the first structural strength is adjusted to the third structural strength using the second adjustment coefficient; the second adjustment coefficient is smaller than the third adjustment coefficient.

[0038] In the embodiment of the present invention, this step is divided into two stages, namely: Stage 1: Evaluate and obtain the first structural strength based on the size data of the handling contact surface of the target waste cotton bale and the weight value of the target waste cotton bale. When the weight value of the target waste cotton bale is fixed, the larger the size of its handling contact surface, that is, the longer and wider it is, the lower the structural strength of the middle area is, the easier it is to sag, and thus mop the ground; and when the size of the handling contact surface is smaller, that is, the shorter and narrower it is, the higher the structural strength of the middle area is, the less likely it is to sag, and it is more difficult to mop the ground. This stage can be achieved through a preset functional module, such as a structural strength analysis module based on a neural network. The trained structural strength analysis module can evaluate and obtain the above-mentioned first structural strength based on the size data of the handling contact surface of the target waste cotton bale and the weight value of the target waste cotton bale. It should be noted that the training data for the structural strength analysis module should be the same as the material of the waste cotton in the storage yard, so as to ensure the accuracy of the first structural strength obtained.

[0039] The first structural strength obtained in the above stage 1 is actually the average structural strength of the target waste cotton bale, which is different from the structural strength of the middle area of ​​the target waste cotton bale. For this, the following stage 2 processing is required.

[0040] Stage 2: If the packaging shape data of the target waste cotton bale is a circular body, the first structural strength is adjusted to the second structural strength using the second adjustment coefficient; if the packaging shape data is a rectangular body, the first structural strength is adjusted to the third structural strength using the third adjustment coefficient, and the second adjustment coefficient is less than the third adjustment coefficient.

[0041] When the packaging shape data of the target waste cotton bale is a circular body, more waste cotton is located in the middle area. At this time, the structural strength of the middle area is lower, and it is more likely to be mopped on the ground. Correspondingly, a smaller second adjustment coefficient is set to adjust the first structural strength to the second structural strength. When the packaging shape data of the target waste cotton bale is a rectangular body, the distribution of the waste cotton is uniform. At this time, the structural strength of the middle area is closer to the above-mentioned first structural strength, and it is less likely to be mopped on the ground. Correspondingly, a larger third adjustment coefficient is set to adjust the first structural strength to the third structural strength. The third adjustment coefficient is, for example, 1.0 or 0.9, and the second adjustment coefficient is, for example, 0.7 or 0.6.

[0042] like Figure 4 As shown, an embodiment of the present invention further discloses a waste cotton collaborative handling system for spinning based on AGV, the system comprising a first analysis module, a second analysis module, and a control module; The first analysis module is used to obtain packaging data of a target waste cotton bale in the storage yard, wherein the packaging data includes packaging size data and packaging shape data, predict a weight value of the target waste cotton bale according to the packaging size data, and determine a number of target AGVs for collaborative handling according to the weight value; The second analysis module is used to determine the distribution plan of each target AGV according to the packaging data, and control each target AGV to move to a corresponding point according to the distribution plan to form a coordinated transport body; The control module is used to control each target AGV to act synchronously to transport the target waste cotton bale to a storage destination after the target waste cotton bale is placed on the cooperative transport body.

[0043] An embodiment of the present invention further discloses an electronic device, comprising: at least one processor, a memory, and a computer program stored in the memory and executable on the at least one processor, wherein the processor executes the computer program to implement the method described in the above embodiment.

[0044] An embodiment of the present invention further discloses a computer storage medium, wherein the computer storage medium stores a computer program, and the computer program is executed by a processor to implement the method described in the above embodiment.

[0045] The embodiment of the present invention further discloses a computer program product. When the computer program product is run on a terminal, the terminal implements the method described in the above embodiment.

[0046] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. 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.

[0047] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising 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.

[0048] These computer program 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.

[0049] The above description is only a preferred embodiment of the present invention and is not intended to limit the protection scope of the present invention.

Claims

1. A method for collaboratively transporting waste cotton for spinning based on AGV, characterized in that: The method comprises the following steps: Acquire packaging data of a target waste cotton bale in a storage yard, the packaging data including packaging size data and packaging shape data, predict a weight value of the target waste cotton bale according to the packaging size data, and determine a number of target AGVs for collaborative handling according to the weight value; Determine the distribution plan of each target AGV according to the packaging data, and control each target AGV to move to a corresponding point according to the distribution plan to form a coordinated transport body; After the target waste cotton bale is placed on the cooperative transport body, each target AGV is controlled to act synchronously to transport the target waste cotton bale to a storage destination.

2. The AGV-based collaborative handling method for spinning waste cotton according to claim 1, characterized in that: Obtain packaging data of target waste cotton bales in the storage yard, including: Acquire packaging data of each waste cotton bale in the storage yard, determine the transport contact surface of each waste cotton bale based on the transport stability principle, and calculate the first area of ​​the transport contact surface; The second area of ​​the carrying surface of all idle AGVs is obtained, and the area difference between the maximum values ​​of the first area and the second area is calculated respectively, and the waste cotton bale whose area difference is greater than the difference threshold is determined as the target waste cotton bale, and then the packaging data of the target waste cotton bale is obtained.

3. The AGV-based coordinated handling method for spinning waste cotton according to claim 2, characterized in that: Obtaining the packaging data of the target waste cotton bale includes: Retrieving a set of image data of the target waste cotton bale during the latter stage of packing, and constructing a three-dimensional structure of the target waste cotton bale according to the set of image data; The packaging size data of the target waste cotton bale is extracted from the three-dimensional structure, and the packaging shape data of the target waste cotton bale is determined according to the packaging size data.

4. The AGV-based coordinated handling method for spinning waste cotton according to claim 3, characterized in that: According to the weight value, several target AGVs for collaborative transport are determined, including: Determine the rated load values ​​of all idle AGVs, and calculate the average rated load value based on the rated load values; The target number of AGVs for collaborative handling is determined based on the weight value and the average rated load value, and a group of target AGVs corresponding to the target number is selected from all idle AGVs so that the sum of the rated load values ​​of the group of AGVs is greater than the weight value.

5. The AGV-based coordinated handling method for spinning waste cotton according to claim 4, characterized in that: Determine the distribution plan of each target AGV according to the packaging data, including: Determining a third area of ​​the transport contact surface of the target waste cotton bale according to the packaging size data; The first distribution position of each target AGV is calculated according to the third area and the preset rule, and the spacing between the first distribution positions is the first distance; wherein the preset rule means that the exposed size of the target waste cotton bale on the target AGV located at the side is lower than the specified size, and the target AGVs are evenly distributed; The structural strength of the target waste cotton bale is evaluated according to the dimension data of the transport contact surface, the packaging shape data, and the weight value, a first adjustment coefficient is determined according to the structural strength, and the spacing of the first distribution positions of each target AGV located in the middle area is adjusted to a second distance using the first adjustment coefficient; wherein the second distance is smaller than the first distance; The distribution plan is generated according to the first distance and the second distance of each target AGV.

6. The AGV-based coordinated handling method for spinning waste cotton according to claim 5, characterized in that: The structural strength of the target waste cotton bale is evaluated according to the size data of the transport contact surface, the packaging shape data, and the weight value, including: Evaluate and obtain a first structural strength of the target waste cotton bale according to the packaging size data and the weight value of the transport contact surface; If the packaging shape data is a circular body, the first structural strength is adjusted to the second structural strength using the second adjustment coefficient; if the packaging shape data is a rectangular body, the first structural strength is adjusted to the third structural strength using the second adjustment coefficient; the second adjustment coefficient is smaller than the third adjustment coefficient.

7. A AGV-based coordinated handling system for waste cotton for spinning, the system comprising a first analysis module, a second analysis module, and a control module; characterized in that: The first analysis module is used to obtain packaging data of a target waste cotton bale in the storage yard, wherein the packaging data includes packaging size data and packaging shape data, predict a weight value of the target waste cotton bale according to the packaging size data, and determine a number of target AGVs for collaborative handling according to the weight value; The second analysis module is used to determine the distribution plan of each target AGV according to the packaging data, and control each target AGV to move to a corresponding point according to the distribution plan to form a coordinated transport body; The control module is used to control each target AGV to act synchronously to transport the target waste cotton bale to a storage destination after the target waste cotton bale is placed on the cooperative transport body.

8. An electronic device, comprising: At least one processor, a memory, and a computer program stored in the memory and executable on the at least one processor, wherein the processor executes the computer program to implement the method according to any one of claims 1 to 6.

9. A computer storage medium storing a computer program, characterized in that: The computer program is executed by a processor to implement the method according to any one of claims 1 to 6.

10. A computer program product comprising a computer program stored on a non-transitory computer readable medium, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 6 is implemented.

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