Material putting control method, device and equipment based on AGV (Automatic Guided Vehicle)

Abstract

The invention provides a material putting control method, device and equipment based on an AGV (Automatic Guided Vehicle). According to the method, environment sensing information around the environment where the AGV is located is collected, and the environment sensing information comprises laser radar data, ultrasonic data and image data; the environment sensing information, the material barrel identification of the loaded target material barrel and the position information of the AGV are reported to a control system; receiving a driving path issued by the control system, wherein the driving path is a path planned by the control system based on the environment sensing information, the charging barrel identifier and the position information; and the AGV runs according to the running path to complete the putting of the materials in the target charging barrel, so that the accuracy of navigation and positioning during the material putting of the AGV is improved.

Description

Technical Field

[0001] The present application relates to the field of automation, and in particular to an AGV-based material delivery control method, device and equipment. Background Art

[0002] In recent years, with the continuous improvement of production automation level, the application of automatic guided vehicles (AGV) has become increasingly widespread. As an important automation equipment in the fields of logistics, manufacturing and production, AGV can accurately carry out transportation according to the preset path, avoiding the waiting and errors in manual transportation, and significantly improving production efficiency.

[0003] In the prior art, AGV mainly uses various navigation technologies to determine its position and transportation path in the working environment, thereby realizing the positioning and delivery of materials. For example, in a production line factory, AGV uses laser navigation to transport raw materials or semi-finished products between different processes to ensure the smoothness of the production process. Among them, the layout of the production line in the factory environment, the layout of machinery and equipment, and other factors will directly affect the navigation accuracy of the AGV.

[0004] However, the existing AGVs have low navigation and positioning accuracy when delivering materials, resulting in the inability to accurately deliver materials. Summary of the invention

[0005] The present application provides an AGV-based material delivery control method, device and equipment to solve the technical problem in the prior art that the AGV has low navigation and positioning accuracy when delivering materials, resulting in the inability to accurately deliver materials.

[0006] In a first aspect, the present application provides an AGV-based material delivery control method, which is applied to the AGV, comprising:

[0007] Collect environmental perception information around the AGV, including lidar data, ultrasonic data, and image data;

[0008] Report environmental perception information, barrel identification of the loaded target barrel, and AGV position information to the control system;

[0009] Receive the driving path sent by the control system. The driving path is the path planned by the control system based on environmental perception information, barrel identification and location information;

[0010] The vehicle drives according to the driving path to complete the delivery of materials into the target barrel.

[0011] Optionally, the method further comprises:

[0012] During driving, the weight of the target barrel is reported in real time;

[0013] If a stop driving command is received from the control system, the vehicle stops driving at the current position;

[0014] The stop driving instruction is an instruction generated by the control system when material leakage occurs according to the weight of the target barrel.

[0015] Optionally, as in the above method, driving according to the driving path to complete the delivery of the material in the target barrel includes:

[0016] During the driving process according to the driving path, new environmental perception information is uploaded to the control system in real time;

[0017] Receive a new driving path sent by the control system, where the new driving path is obtained by the control system updating the driving path according to new environmental perception information;

[0018] Continue driving according to the new driving path to complete the delivery of materials into the target barrel.

[0019] Optionally, as in the above method, before reporting the environmental perception information, the barrel identification of the loaded target barrel and the position information of the AGV to the control system, the method further includes:

[0020] Receiving a barrel transport instruction issued by a control system, wherein the barrel transport instruction includes identification information and weight of a target barrel to be transported;

[0021] Determine a target barrel from a plurality of barrels according to identification information and weight of the target barrel to be transported;

[0022] Load the target barrel.

[0023] In the second aspect, the present application proposes a material delivery control method based on AGV, which is applied to a control system, including:

[0024] Receive environmental perception information reported by the AGV, barrel information of the loaded target barrel, and position information of the AGV. The barrel information includes the barrel identification of the target barrel. The environmental perception information includes laser radar data, ultrasonic data, and image data.

[0025] Determine the target position for material delivery according to the barrel identification of the target barrel;

[0026] Path planning is performed based on the AGV's location information, target location, and environmental perception information to obtain the AGV's driving path;

[0027] Send the driving path to the AGV.

[0028] Optionally, the method further comprises:

[0029] Receive the weight of the target barrel reported by AGV in real time;

[0030] According to the weight of the target barrel, determine whether the target barrel is leaking;

[0031] If it is determined that the target barrel is leaking, a stop driving instruction is generated;

[0032] The stop driving instruction is sent to the AGV, and the maintenance reminder information is pushed to the terminal device.

[0033] Optionally, the above method further includes:

[0034] Receive new environmental perception information reported by AGV;

[0035] The driving path is updated according to the new environmental perception information to obtain a new driving path;

[0036] Send the new driving path to the AGV.

[0037] Optionally, as in the above method, before receiving the environmental perception information reported by the AGV, the barrel information of the loaded target barrel and the position information of the AGV, the method further includes:

[0038] In response to the user's material delivery operation, obtaining identification information and weight of the target barrel to be transported;

[0039] Determine an AGV that transports a target barrel to be transported from a plurality of AGVs;

[0040] According to the identification information and weight of the target barrel to be transported, the target barrel transportation instruction is issued to the AGV.

[0041] In a third aspect, the present application provides a computer device, comprising: a processor, and a memory communicatively connected to the processor;

[0042] The memory stores computer-executable instructions;

[0043] The processor executes the computer-executable instructions stored in the memory to implement any method as described in the second aspect.

[0044] In a fourth aspect, the present application provides an AGV, comprising: a processor, a memory, a communication module, an environment perception module and a weighing module;

[0045] The environmental perception module includes a camera, a laser radar and an ultrasonic sensor, which are used to collect environmental perception information around the environment where the AGV is located;

[0046] The weighing module is used to collect the weight of the barrel loaded by the AGV;

[0047] The memory stores computer-executable instructions;

[0048] The processor executes the computer-executable instructions stored in the memory to implement the method as described in any one of the first aspects.

[0049] The present application provides an AGV-based material delivery control method, device and equipment, which collects environmental perception information around the AGV, including lidar data, ultrasonic data and image data; reports the environmental perception information, the barrel identification of the loaded target barrel and the position information of the AGV to the control system; receives the driving path issued by the control system, which is the path planned by the control system based on the environmental perception information, the barrel identification and the position information; drives according to the driving path to complete the delivery of materials in the target barrel, thereby realizing the precise transportation and delivery of materials. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0051] Figure 1 A schematic diagram of a scenario of the AGV-based material delivery control method provided by the present invention;

[0052] Figure 2 A schematic diagram of a flow chart of a first embodiment of a material delivery control method based on AGV provided by the present invention;

[0053] Figure 3 A schematic flow chart of a second embodiment of the AGV-based material delivery control method provided by the present invention;

[0054] Figure 4 A schematic flow chart of Embodiment 3 of the AGV-based material delivery control method provided by the present invention;

[0055] Figure 5 A schematic flow chart of a fourth embodiment of the material delivery control method based on AGV provided by the present invention;

[0056] Figure 6 A schematic diagram of the structure of the computer device provided for this application;

[0057] Figure 7 This is a schematic diagram of the structure of the AGV provided in this application.

[0058] 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

[0059] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0060] With the continuous improvement of the level of production automation, AGV is increasingly used in material handling systems. However, when delivering barrels to the production line, existing AGVs often face problems such as difficulty in accurate positioning, poor adaptability, and susceptibility to environmental interference, resulting in low delivery efficiency and increased misoperation rate. Especially in scenarios where accurate delivery and rapid response of materials are required, traditional AGV systems are difficult to meet the needs of efficient and flexible production. Therefore, it is particularly urgent to develop an AGV control method that can intelligently identify workstations, accurately locate delivery, and autonomously adapt to changes in production lines.

[0061] In response to the above technical problems, the inventors have thought of integrating multiple sensors on the AGV to identify the surrounding environment of the AGV from various angles, so as to improve the accuracy of positioning and ensure that the AGV can operate safely in complex environments; in addition, a central control system can be deployed to receive various data information collected on the AGV in real time, and plan a reasonable driving path for the AGV based on the various data information. At the same time, the driving path can be optimized and updated according to the real-time data collected during the AGV's material handling process to avoid failures during the AGV's material handling process, thereby improving the accuracy and efficiency of the AGV's material handling.

[0062] Figure 1 The following is a schematic diagram of a scenario of the AGV-based material delivery control method provided by the present invention. Figure 1 As shown, the application scenario of the solution provided by the present application includes a control system 101, at least one AGV 102 and at least one terminal device 103. Among them, the control system 101 is used to dynamically plan the optimal path for the AGV based on the surrounding environment data information reported by the AGV in real time. AGV 102 is deployed with a variety of sensors for identifying the surrounding environmental data information, identifying the barrel type, measuring the load, and reporting the various data information collected to the control system 101 to obtain the driving path issued by the control system 101, and complete the automatic handling and material delivery of the barrel according to the driving path, thereby improving the accuracy and flexibility of material handling. The terminal device 103 is used to receive the maintenance information sent by the control system 101 when the material transported by AGV 102 leaks or other abnormal conditions occur, so as to inspect and repair the barrel.

[0063] The technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems are described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0064] Figure 2 This is a flow chart of the first embodiment of the AGV-based material delivery control method provided in this application. Figure 2 As shown, the specific process includes:

[0065] S201, collecting environmental perception information around the environment where the AGV is located.

[0066] Among them, AGV is a robotic vehicle used to automatically transport goods in industrial environments. It usually relies on environmental perception technology and navigation systems to complete tasks and can work autonomously in warehouses, production lines or other automated facilities.

[0067] Environmental perception information refers to the real-time data about the surrounding environment obtained by the AGV through various sensors. These data help the AGV identify objects, obstacles and other environmental features related to material handling tasks around it. Among them, the real-time data obtained by various sensors can be high-precision three-dimensional spatial data provided by laser radar, that is, laser radar data, or ultrasonic data obtained by ultrasonic sensors by emitting and receiving sound waves to detect the distance of surrounding objects; or image data obtained by cameras or other imaging devices.

[0068] In this step, during the environmental perception process, the AGV can scan the surrounding environment through the laser radar to generate point cloud data, and can also calculate the distance between each object in the environment where the AGV is located and the sensor through the ultrasonic sensor, and collect road signs, obstacle types, etc. through the camera. After collecting the data collected by the above sensors, the data can be fused and processed, which can make up for the shortcomings of a single sensor, improve the accuracy of the AGV's environmental perception, and enable the AGV to work efficiently in a more complex and changeable environment.

[0069] S202: Report the environmental perception information, the barrel identification of the loaded target barrel, and the position information of the AGV to the control system.

[0070] Among them, the barrel refers to the container for loading materials. The barrel identification includes descriptive information about the contents of the barrel, such as material type, weight or size, etc. It is usually identified by QR code or other means to ensure that the AGV can plan the path and accurately deliver materials according to specific material requirements.

[0071] In this step, the AGV reports each data in the collected environmental perception information to the control system so that the control system can accurately calculate the driving path. Specifically, the AGV pre-filters, denoises, and fuses the collected sensor data to obtain effective environmental perception information. For example, the collected target barrel identification information and loading status are recorded, and the real-time position information obtained by laser positioning and other technologies is recorded; then the identification information, loading status information, and position information of the target barrel are encapsulated into a data packet, and the data packet is sent to the control system through the communication module using a suitable communication protocol. After receiving the data, the control system performs real-time processing and adjusts the driving path of the AGV according to the actual situation.

[0072] The control system refers to the central computing platform that dispatches and directs AGVs. The control system receives environmental perception information from AGVs, is responsible for path planning, task allocation, and sends instructions to AGVs, ensuring the accuracy and safety of material transportation.

[0073] S203, receiving the environmental perception information reported by the AGV, the barrel information of the loaded target barrel, and the position information of the AGV.

[0074] In this step, based on step S202, after the AGV reports the environmental perception information, the barrel information of the loaded target barrel, and the position information of the AGV to the control system, the control system will receive various information reported by the AGV.

[0075] Optionally, the control system first receives environmental perception information collected by multiple sensors on the AGV, identification information of the target barrel collected by the camera, and the current position of the AGV collected by laser radar and other equipment uploaded by the AGV. Among them, the identification information may include a QR code, a barcode, etc. By reading the identification of the target barrel, the control system can query or determine the type of material and the target delivery location, and the location information of the AGV can help the control system understand the current precise location of the AGV in the warehouse or production area.

[0076] S204: Determine the target position for material delivery according to the barrel identification of the target barrel.

[0077] In this step, the control system can query and determine the placement location of the material in the target barrel from the database or task management system by reading the identification of the target barrel. This location is the preset location for material storage or placement, which may be a shelf in the warehouse or a specific silo on the production line.

[0078] S205: Perform path planning based on the AGV's location information, target location, and environmental perception information to obtain the AGV's driving path.

[0079] After determining the target delivery position of the material in the target barrel, the control system can perform path planning based on the current position of the AGV and environmental perception information to ensure that the AGV can move smoothly and safely from the current position to the target position.

[0080] For example, the current position of the AGV is taken as the starting point, and the target position of the AGV is taken as the end point. The obstacle position and other information in the environmental perception information help the control system understand the real-time environmental conditions of the AGV. Then, a safe driving path from the current position to the target position is generated based on the above information. This path not only needs to avoid obstacles, but also ensure that the AGV can reach the target position in the shortest time or in the most optimized way.

[0081] S206: Send the driving path to the AGV.

[0082] After completing the driving path planning, the control system sends the planned driving path to the AGV. The sent driving path usually contains a series of coordinate points, heading instructions, steering angles and other information. It may be a straight line, a curve or a complex path with multiple turns, guiding the AGV how to drive along the planned route.

[0083] S207: Receive the driving path sent by the control system.

[0084] Among them, AGV can receive the driving path issued by the control system through the communication module.

[0085] S208, driving according to the driving path to complete the delivery of materials into the target barrel.

[0086] In this step, after the AGV receives the driving path sent by the control system, it needs to accurately execute the path. In the process of driving along the driving path, it also needs to perceive the surrounding environment in real time and interact with the control system to ensure accurate driving along the above driving path.

[0087] After the AGV drives to the material delivery location according to the driving path, the AGV delivery device (such as a mechanical arm, a push device, etc.) will accurately deliver the material in the target barrel to the silo. During the delivery process, the AGV will use cameras and other equipment to determine whether the material delivery is successful. Once the material is successfully delivered, the AGV will feedback the task status to the control system to confirm that the material delivery is completed. After the task is completed, the AGV may return to the charging station or standby position to wait for the next transportation task.

[0088] The material delivery control method of AGV provided in the embodiment of the present application collects environmental perception information, target barrel identification and AGV position information and reports it to the control system. The control system plans the driving path based on this information and guides the AGV to complete the material delivery task, which effectively improves the accuracy and automation of material delivery and ensures the efficiency, safety and intelligence of the material delivery process.

[0089] Figure 3 The flowchart of the second embodiment of the material delivery control method based on AGV provided in the embodiment of the present application is as follows. Figure 3 As shown, in Figure 2 Based on the embodiment shown, in addition to path planning and material delivery control, real-time monitoring and exception handling are also involved. The method includes:

[0090] S301. During driving, the weight of the target barrel is reported in real time.

[0091] Among them, the AGV is equipped with a weight sensor, which can respond to the weight changes of the material inside the barrel when the AGV loads the barrel. For example, after the AGV loads the barrel, the weight sensor will feel the pressure and convert it into an electrical signal, and then the communication module in the AGV will upload the electrical signal to the control system so that the control system can understand the status of the material in real time and make necessary adjustments.

[0092] S302, receiving the weight of the target barrel reported in real time by the AGV.

[0093] In this step, the control system will receive the material weight changes reported by the AGV in real time through the communication module so as to make timely adjustments to the control instructions.

[0094] S303: Determine whether the target barrel is leaking according to the weight of the target barrel.

[0095] In this step, after receiving the weight information of the target barrel, the control system will perform real-time analysis based on the received weight data to determine whether the weight of the target barrel meets expectations. Specifically, the control system compares the actual weight of the target barrel with the preset standard weight to determine whether there is a leak. Normally, the standard weight of the barrel has been set before the material is loaded and can be used as a reference value. If the current weight of the target barrel is lower than the standard weight value, and this difference exceeds a preset allowable error range, the control system can determine that the target barrel may have leaked. For example, assuming that the standard weight of the barrel is 50kg, but the weight received by the system in real time is 45kg, the control system can infer that 5kg of material has leaked. Among them, an error threshold is usually set in the control system, that is, if the weight loss is within a certain range, it is not considered abnormal, and only when the leakage exceeds this threshold will it trigger an alarm or process.

[0096] S304: If it is determined that the target barrel is leaking, a stop driving instruction is generated.

[0097] Optionally, when the control system detects that the weight loss of the target barrel exceeds the allowable range, the control system will automatically determine it as a leakage event. Once the leakage is confirmed, the control system will generate a "stop driving" instruction to prevent the AGV from continuing to drive to avoid further material loss or environmental pollution. The stop instruction will include requiring the AGV to immediately stop all current driving actions and enter a safe parking state. For example, the instruction may also include braking or deceleration operations to ensure that the AGV can stop smoothly to avoid severe impact or other safety risks.

[0098] S305: Send a stop driving instruction to the AGV, and push maintenance prompt information to the terminal device.

[0099] Optionally, the control system may transmit a stop command to the control unit of the AGV via wireless communication, and the AGV will immediately perform operations such as braking and stopping according to the received command to ensure that the AGV stops running.

[0100] In addition to issuing stop commands, the control system also needs to notify relevant maintenance personnel or monitoring personnel, for example, by pushing "maintenance reminder information" to terminal devices such as the staff's mobile phone, computer or special equipment through the communication network. Among them, the maintenance reminder information may include AGV information, target barrel information, specific data of leak detection, weight difference of leak, etc. This information can help maintenance personnel quickly locate the problem and deal with it.

[0101] S306: If a stop driving instruction is received from the control system, the vehicle stops driving at the current position.

[0102] Among them, after receiving the stop command, the AGV will perform corresponding operations to stop immediately. For example, the AGV will quickly decelerate through its internal brake module or motor control module according to the received stop driving command until it stops completely. The stopping action may be adjusted according to the current speed of the AGV and the distance to the target position to ensure that the stop is both stable and safe. After stopping, the AGV will use its positioning module (such as laser radar, etc.) to confirm the current position to ensure that it stops in the appropriate place. After the AGV stops, it will feedback the current status (such as "stopped") to the control system so that the control system can confirm the execution status.

[0103] The material delivery control method of the AGV provided in the embodiment of the present application can detect potential material leakage problems in a timely manner and prevent risks caused by leakage by real-time monitoring of the weight of the target barrel. The control system generates a stop command based on real-time data. After receiving the stop driving command, the AGV immediately stops and feedbacks the current status, thereby minimizing the impact of material leakage on the production process. This mechanism enhances the reliability, response speed and safety of the material delivery control method of the AGV, ensuring that problems can be handled in a timely manner in abnormal situations to avoid greater losses.

[0104] Figure 4 The flowchart of the third embodiment of the material delivery control method based on AGV provided in the embodiment of the present application is as follows. Figure 4 As shown, based on the first embodiment, the method of driving according to the driving path to complete the delivery of materials in the target barrel includes:

[0105] S401. During the driving process according to the driving route, new environmental perception information is uploaded to the control system in real time.

[0106] In this step, when the AGV starts to drive and moves along the driving path, the AGV's environmental perception module (such as laser radar, ultrasonic sensor, camera, etc.) will continuously scan and perceive the surrounding environment, and upload the real-time collected environmental perception information (such as obstacles, feasibility of the driving path, location of surrounding objects, etc.) to the control system through the communication module. This process ensures that the control system can obtain changes in the AGV's environment in real time and can respond quickly based on real-time data.

[0107] From the perspective of the control system, the control system needs to dynamically adjust the driving path of the AGV based on the environmental perception information reported by the AGV.

[0108] S402: Receive new environmental perception information reported by the AGV.

[0109] Among them, the control system receives new environmental perception information reported by AGV to ensure timely response to environmental changes.

[0110] S403: Update the driving path according to the new environment perception information to obtain a new driving path.

[0111] Among them, after the control system receives the environmental perception information reported by the AGV in real time, it will first process and analyze the information. For example, if there are obstacles on a certain section of the road, or there are other AGVs or personnel in front, the control system will identify these potential dangers or interference factors. Based on this new environmental perception information, the control system will use the path planning algorithm to recalculate the AGV's driving path. If there are new obstacles or other factors that affect driving in the environmental perception information, the control system will update the driving path in real time to avoid these obstacles and ensure that the AGV can drive safely. In addition, safety must be considered, and the path must be optimized to improve driving efficiency, avoid congested areas, or reduce unnecessary detours.

[0112] S404: Send the new driving path to the AGV.

[0113] After path updating and planning, the control system will generate a new driving path and send the new path information to the AGV through the communication module.

[0114] S405: Receive a new driving path sent by the control system.

[0115] The new driving path is obtained by the control system updating the driving path according to new environmental perception information.

[0116] S406: Continue driving according to the new driving path to complete the delivery of materials into the target barrel.

[0117] After the AGV receives the new driving path, it will continue to drive according to the updated driving path to ensure that it can successfully reach the target location and complete the material delivery. For example, the AGV will parse the new driving path issued, act according to the new driving path issued and its own real-time positioning information, adjust the driving direction, speed and other control parameters according to the new path, so as to accurately reach the target location and finally successfully deliver the materials to the silo.

[0118] The material delivery control method of the AGV provided in the embodiment of the present application describes the driving path update and adjustment mechanism of the AGV during the task execution process. The AGV uploads environmental perception information to the control system in real time, and the control system updates the driving path based on this information to ensure that the AGV avoids obstacles and reaches the target location smoothly. According to the new path, the AGV continues to drive and complete the material delivery task, ensuring the accuracy and efficiency of the entire process.

[0119] Figure 5The flowchart of the fourth embodiment of the material delivery control method based on AGV provided in the embodiment of the present application is as follows. Figure 5 As shown, based on the first embodiment, before the environmental perception information, the barrel identification of the loaded target barrel and the position information of the AGV are reported to the control system, there is another material delivery situation, that is, when the AGV is not currently loaded with a barrel, the control system can send the identification information, position information and weight information of the target barrel to be transported to the AGV, and control the AGV to grab the corresponding target barrel and transport it. The specific method includes:

[0120] S501. In response to a material delivery operation by a user, obtain identification information and weight of a target barrel to be transported.

[0121] In this embodiment, the user can trigger the material delivery action through the display or other input device of the control system. At this time, the control system needs to record and obtain the target barrel information corresponding to the material to be delivered, including barrel identification information and weight information.

[0122] S502 , determining an AGV that transports a target barrel to be transported from a plurality of AGVs.

[0123] When multiple AGVs are available, the control system needs to evaluate the most suitable AGV from all available AGVs and assign the transportation task to the AGV. The control system monitors and analyzes the current status of all AGVs (such as position, load, task, etc.) to make a final decision. For example, the selection of AGV is usually based on the following factors: availability: which AGVs are currently idle and can receive tasks; load capacity: whether the load capacity of the AGV is suitable for the weight of the material; path planning: select the AGV with the best path to avoid traffic jams or obstacles; task priority: some AGVs may have undertaken other high-priority tasks, and the control system will decide based on the priority of the task.

[0124] S503: According to the identification information and weight of the target barrel to be transported, a target barrel transport instruction is issued to the AGV.

[0125] The control system not only transmits material information, but also needs to ensure that the instructions can be correctly passed to the AGV, and that the AGV can understand and execute these tasks. Specifically, when a suitable AGV is selected, the control system will send instructions for the transportation task to the AGV through the communication module. These instructions can include material identification information, that is, the AGV needs to know what material is being transported, and can confirm the type and quantity of the material through the identification information; it can also be weight information, which is used to remind the AGV of the weight of the material. The AGV may need to adjust the speed, acceleration or whether additional drive power is needed based on the weight information; it can also be a target position, that is, indicating the end position of the target barrel. In addition, the control system may provide a predetermined path for the AGV, or allow the AGV to perform dynamic planning based on real-time conditions.

[0126] S504, receiving the barrel transportation instruction issued by the control system.

[0127] In this step, the AGV first receives a barrel transport instruction from the control system through the communication module, and the barrel transport instruction includes the identification information and weight of the target barrel to be transported.

[0128] S505 . Determine a target barrel from multiple barrels according to the identification information and weight of the target barrel to be transported.

[0129] After the AGV receives the transport instruction, it will identify the correct target barrel from multiple barrels based on the identification information and weight in the instruction. Specifically, multiple barrels may be waiting for processing in the transport area, and the AGV needs to accurately select the target barrel to be transported. The identification information and weight information help the AGV confirm which barrel is the target, and the weight information may be used to evaluate the loading method of the barrel.

[0130] S50, loading the target barrel.

[0131] After determining the target barrel, the AGV will load the target barrel into its own vehicle's pallet, shelf or container according to physical conditions and transportation requirements. It should be noted that the loading process needs to ensure that the target barrel is firmly and safely fixed on the AGV to avoid shaking or falling during transportation.

[0132] The material delivery control method of the AGV provided in the embodiment of the present application ensures that the AGV can accurately identify and safely load the target barrel to be transported according to the instructions of the control system, and prepare for the subsequent material transportation and delivery tasks in the target barrel.

[0133] Figure 6 This is a schematic diagram of the structure of a computer device provided in an embodiment of the present application. Figure 6 As shown, the computer device 600 includes:

[0134] The computer device 600 may include a processor 601 with one or more processing cores, a memory 602 with one or more computer-readable storage media, a communication component 603 and other components. The processor 601 , the memory 602 and the communication component 603 are connected via a bus 604 .

[0135] In the specific implementation process, at least one processor 601 executes the computer execution instructions stored in the memory 602, so that at least one processor 601 executes the above-mentioned AGV-based material delivery control method.

[0136] The specific implementation process of the processor 601 can be found in the above method embodiment, and its implementation principle and technical effect are similar, so this embodiment will not be repeated here.

[0137] Figure 7 This is a schematic diagram of the structure of the AGV provided in the embodiment of the present application. Figure 7 As shown, the AGV700 includes:

[0138] The AGV 700 may include components such as a processor 701 with one or more processing cores, a memory 702 with one or more computer-readable storage media, a communication module 703, an environment perception module 704, and a weighing module 705. The processor 701, the memory 702, the communication module 703, the environment perception module 704, and the weighing module 705 are connected via a bus 706.

[0139] In the specific implementation process, the environment perception module 704 includes a camera, a laser radar and an ultrasonic sensor, which are used to collect the environment perception information around the environment where the AGV is located;

[0140] The weighing module 705 is used to collect the weight of the barrel loaded by the AGV;

[0141] Memory 702 stores computer executable instructions;

[0142] The processor 701 executes the computer-executable instructions stored in the memory 702 to implement the AGV-based material delivery control method in the above embodiment.

[0143] The specific implementation of the above operations can be found in the previous embodiments, which will not be described in detail here.

[0144] A person of ordinary skill in the art will appreciate that all or part of the steps in the various methods of the above embodiments may be completed by instructions, or by controlling related hardware through instructions. The instructions may be stored in a computer-readable storage medium and loaded and executed by a processor.

[0145] To this end, an embodiment of the present application provides an AGV-based material delivery control system, in which multiple instructions are stored, and the instructions can be loaded by a processor to execute the steps of any AGV-based material delivery control method provided in the embodiment of the present application.

[0146] Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the invention disclosed herein. The present application is intended to cover any modification, use or adaptation of the present application, which follows the general principles of the present application and includes common knowledge or customary techniques in the art that are not disclosed in the present application. The specification and examples are intended to be exemplary only, and the true scope and spirit of the present application are indicated by the following claims.

[0147] It should be noted that, for the aforementioned method embodiments, for the sake of simplicity, they are all expressed as a series of action combinations, but those skilled in the art should be aware that the present application is not limited by the described order of actions, because according to the present application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all optional embodiments, and the actions and modules involved are not necessarily required by the present application.

[0148] It should be further noted that, although the various steps in the flowchart are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence in the order indicated by the arrows. Unless there is a clear description in this article, the execution of these steps is not strictly limited in order, and these steps can be executed in other orders. Moreover, at least a portion of the steps in the flowchart may include multiple sub-steps or multiple stages, and these sub-steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these sub-steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a portion of the sub-steps or stages of other steps.

[0149] It should be understood that the above-mentioned device embodiments are only illustrative, and the device of the present application can also be implemented in other ways. For example, the division of units / modules in the above-mentioned embodiments is only a logical function division, and there may be other division methods in actual implementation. For example, multiple units, modules or components can be combined, or can be integrated into another system, or some features can be ignored or not executed.

[0150] In the above embodiments, the description of each embodiment has its own emphasis. For parts not described in detail in a certain embodiment, please refer to the relevant description of other embodiments. The technical features of the above embodiments can be combined arbitrarily. In order to make the description concise, all possible combinations of the technical features in the above embodiments are not described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0151] Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the invention disclosed herein. The present application is intended to cover any modification, use or adaptation of the present application, which follows the general principles of the present application and includes common knowledge or customary techniques in the art that are not disclosed in the present application. The specification and examples are intended to be exemplary only, and the true scope and spirit of the present application are indicated by the following claims.

[0152] It should be understood that the present application is not limited to the precise structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present application is limited only by the appended claims.

Claims

1. A material delivery control method based on AGV, characterized in that: Applied to AGV, including: Collecting environmental perception information around the environment where the AGV is located, wherein the environmental perception information includes laser radar data, ultrasonic data, and image data; Reporting the environmental perception information, the barrel identification of the loaded target barrel, and the position information of the AGV to a control system; Receiving a driving path sent by the control system, wherein the driving path is a path planned by the control system based on the environmental perception information, the barrel identification and the position information; The material in the target barrel is delivered by driving according to the driving path.

2. The method according to claim 1, characterized in that The method further comprises: During the driving process, the weight of the target barrel is reported in real time; If a stop driving instruction issued by the control system is received, the vehicle stops driving at the current position; The stop driving instruction is an instruction generated by the control system when material leakage is determined according to the weight of the target barrel.

3. The method according to claim 1 or 2, characterized in that: The method of driving according to the driving path to complete the delivery of the material into the target barrel includes: During the driving process according to the driving path, uploading new environmental perception information to the control system in real time; Receiving a new driving path sent by the control system, where the new driving path is obtained by the control system updating the driving path according to the new environment perception information; Continue driving according to the new driving path to complete the delivery of materials into the target barrel.

4. The method according to claim 1 or 2, characterized in that: Before reporting the environmental perception information, the barrel identification of the loaded target barrel and the position information of the AGV to the control system, the method further includes: receiving a barrel transport instruction issued by the control system, wherein the barrel transport instruction includes identification information and weight of a target barrel to be transported; Determining the target barrel from a plurality of barrels according to the identification information and weight of the target barrel to be transported; The target cartridge is loaded.

5. A material delivery control method based on AGV, characterized in that: Applications in control systems, including: Receive environmental perception information reported by the AGV, barrel information of the loaded target barrel and position information of the AGV, wherein the barrel information includes a barrel identification of the target barrel, and the environmental perception information includes laser radar data, ultrasonic data and image data; Determine the target position for material delivery according to the barrel identification of the target barrel; Performing path planning according to the location information of the AGV, the target location, and the environmental perception information to obtain a driving path of the AGV; The driving path is sent to the AGV.

6. The method according to claim 5, characterized in that The method further comprises: Receiving the weight of the target barrel reported in real time by the AGV; Determining whether the target barrel is leaking according to the weight of the target barrel; If it is determined that the target barrel is leaking, a stop driving instruction is generated; The stop driving instruction is sent to the AGV, and the maintenance prompt information is pushed to the terminal device.

7. The method according to claim 5 or 6, characterized in that: The method further comprises: Receiving new environmental perception information reported by the AGV; The driving path is updated according to the new environment perception information to obtain a new driving path; The new driving path is sent to the AGV.

8. The method according to claim 5 or 6, characterized in that: Before receiving the environmental perception information reported by the AGV, the barrel information of the loaded target barrel and the position information of the AGV, the method further includes: In response to the user's material delivery operation, obtaining identification information and weight of the target barrel to be transported; Determine an AGV that transports the target barrel to be transported from a plurality of AGVs; According to the identification information and weight of the target barrel to be transported, a target barrel transport instruction is issued to the AGV.

9. A computer 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 5 to 8.

10. An AGV, characterized in that: include: Processor, memory, communication module, environmental perception module and weighing module; The environmental perception module includes a camera, a laser radar and an ultrasonic sensor, which are used to collect environmental perception information around the environment where the AGV is located; The weighing module is used to collect the weight of the barrel loaded by the AGV; 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 4.

Images