AGV high-position stacking operation safety control method, device and equipment and medium

Abstract

The invention discloses an AGV high-position stacking operation safety control method and device, equipment and a medium, and relates to the field of automatic storage and logistics, and the method comprises the steps: obtaining image data collected by a TOF camera, and determining first feature point coordinates of a plurality of loading material frames and second feature point coordinates of stacking material frames based on the image data; moving a pallet fork of the AGV based on the first feature point coordinate and the second feature point coordinate, and acquiring a footing coordinate of the loading material frame and a vertex angle coordinate of the stacking material frame detected by the laser radar; the distance deviation value between the loading material frame and the stacking material frame is determined according to the footing coordinates and the vertex angle coordinates, and the loading material frame is stacked and lowered through the distance deviation value; acquiring pressure sensor data on the surface of the pallet fork, judging whether the pallet fork is separated from the loading material frame or not according to the change of the pressure sensor data, and finishing the high-position stacking operation after judging that the pallet fork is separated from the loading material frame. And the safety of the AGV in the high-position stacking operation process is guaranteed.

Description

Technical Field

[0001] The present invention relates to the field of automated warehousing and logistics, and in particular to a method, device, equipment and medium for safety control of AGV high-position stacking operations. Background Art

[0002] In the field of automated warehousing and logistics, AGV (Automated Guided Vehicle) unmanned forklifts have been widely used in cargo handling and warehouse operations. In order to save resource costs and increase warehouse storage capacity, AGV unmanned forklifts for high-level stacking operations have gradually become the norm in the industry, but at the same time, high-level stacking operations also hide various risks. Traditional AGV unmanned forklift high-level stacking operations are limited to using a visual system to identify the position of the material frame to perform operations during operations, but there is no special safety system to provide safety protection for the entire operation process. In addition, when AGV unmanned forklifts perform high-level stacking operations, they often need to carry several tons of load-bearing material frames to a height of about 10 meters for material frame stacking. The traditional AGV unmanned forklift high-level stacking operation solution will cause the AGV unmanned forklift visual system to make an incorrect judgment due to camera data errors. When the stacking conditions are not met, the load-bearing material frames are stacked and lowered, which can easily cause the bottom of the material frame to be suspended, thereby creating a risk of cargo falling. At the same time, since the visual system can only perform recognition and calculations when the loading and unloading frames are stacked, once the calculation is completed and the data is passed to the vehicle body controller, it is no longer possible to evaluate the safety of the stacking operation.

[0003] In summary, how to control the safety of high-position stacking operations of AGV unmanned forklifts is an urgent problem to be solved. Summary of the invention

[0004] In view of this, the purpose of the present invention is to provide a method, device, equipment and medium for controlling the safety of AGV high-position stacking operations, which can control the safety of AGV unmanned forklift high-position stacking operations. The specific scheme is as follows:

[0005] In a first aspect, the present application provides an AGV high-position stacking operation safety control method, comprising:

[0006] After the AGV and the load-carrying material frame have both reached the corresponding preset positions, image data of the load-carrying material frame and the stacking material frame collected by the TOF camera are obtained, and based on the image data, the coordinates of the first feature points corresponding to the load-carrying material frame and the coordinates of the second feature points corresponding to the stacking material frame are determined;

[0007] Based on the coordinates of each of the first feature points and each of the second feature points, the fork of the AGV is moved until the position of the fork after the movement meets the lowering condition, and in the process of lowering the moved fork to the target position, the base coordinates of the load material frame and the top angle coordinates of the stacking material frame determined by the laser radar are obtained;

[0008] Determine the distance deviation value between the load-carrying material frame and the stacking material frame according to the vertex coordinates and the foot coordinates, and perform corresponding stacking and lowering operations on the load-carrying material frame according to the distance deviation value;

[0009] During the stacking and lowering operation and when the fork moves downward, the pressure sensor data on the surface of the fork is obtained, and it is determined whether the fork is detached from the load-bearing material frame based on the change in the pressure sensor data. After it is determined that the fork is detached from the load-bearing material frame, the high-position stacking operation is terminated.

[0010] Optionally, the moving the fork of the AGV based on the coordinates of each of the first feature points and the coordinates of each of the second feature points includes:

[0011] Determine each difference coordinate based on the difference between each first feature point coordinate and each second feature point coordinate;

[0012] Performing expectation calculation and variance calculation on each of the difference coordinates to obtain corresponding expectation values ​​and variance values;

[0013] The target coordinates are determined based on the corresponding expected values ​​and variance values, and the forks of the AGV are moved according to the target coordinates.

[0014] Optionally, performing a corresponding stacking and lowering operation on the load-carrying material frame according to the distance deviation value includes:

[0015] Determine whether the distance deviation value is less than or equal to a preset safety distance threshold;

[0016] If the distance deviation value is less than or equal to the preset safety distance threshold, the stacking and lowering operation is directly performed on the load-carrying material frame;

[0017] If the distance deviation value is greater than the preset safety distance threshold, the fork is adjusted based on the distance deviation value until the adjusted distance deviation value between the load-carrying frame and the stacking frame is less than or equal to the preset safety distance threshold, and the stacking and lowering operation is performed on the load-carrying frame.

[0018] Optionally, judging whether the fork is separated from the load frame according to the change of the pressure sensor data includes:

[0019] If the change of the pressure sensor data meets a preset condition, it is determined that the fork is separated from the load frame; the preset condition is that the pressure sensor data decreases to zero;

[0020] If the change of the pressure sensor data does not meet the preset conditions, the process jumps back to the step of acquiring the image data of the load material frame and the stacking material frame collected by the TOF camera.

[0021] Optionally, the method further includes:

[0022] During the high-position stacking operation, the top surface image data of the load-carrying material frame collected by the RGB camera is obtained, the inclination angle of the load-carrying material frame is determined according to the top surface image data of the load-carrying material frame, and it is judged whether the inclination angle of the load-carrying material frame is greater than the preset safety inclination angle;

[0023] If the inclination angle of the load-carrying frame is less than or equal to the preset safety inclination angle, the current high-position stacking operation process continues to be executed;

[0024] If the inclination angle of the load-carrying frame is greater than the preset safety inclination angle when the AGV is in the driving state, the AGV is stopped and a first error message is sent so that the staff can adjust the load-carrying frame according to the first error message;

[0025] If the inclination angle of the load-carrying material frame is greater than the preset safety inclination angle during the stacking and lowering operation of the load-carrying material frame, the fork is lifted to a preset height and subsequent operations are stopped until the inclination angle of the load-carrying material frame is less than or equal to the preset safety inclination angle, and the high-position stacking operation is performed again.

[0026] Optionally, the method further includes:

[0027] During the high-position stacking operation, if the AGV performs a retraction process, the safety level coefficients of the load-carrying material frame and the stacking material frame are increased respectively; the retraction process is to jump back to the process of obtaining the image data of the load-carrying material frame and the stacking material frame collected by the TOF camera after the AGV and the load-carrying material frame have reached the corresponding preset positions;

[0028] If the AGV does not perform the operation of the retraction process, the safety level coefficient of the load material frame and the stacking material frame remains unchanged.

[0029] Optionally, the method further includes:

[0030] Obtaining codes corresponding to the load-carrying material frame and the stacking material frame, respectively, and determining safety level coefficients corresponding to the load-carrying material frame and the stacking material frame, respectively, according to the codes;

[0031] If the safety level coefficient of the material frame is greater than a preset coefficient threshold, a second error message is sent so that the staff can detect the material frame based on the second error message.

[0032] In a second aspect, the present application provides an AGV high-position stacking operation safety control device, comprising:

[0033] A feature point coordinate determination module is used to obtain image data of the load-carrying frame and the stacking frame collected by the TOF camera after the AGV and the load-carrying frame have reached corresponding preset positions, and determine the first feature point coordinates corresponding to a plurality of the load-carrying frame and the second feature point coordinates corresponding to the stacking frame based on the image data;

[0034] A coordinate acquisition module, used for moving the fork of the AGV based on the coordinates of each of the first feature points and the coordinates of each of the second feature points until the position of the fork after the movement meets the lowering condition, and in the process of lowering the moved fork to the target position, acquiring the bottom coordinates of the load-carrying frame and the top angle coordinates of the stacking frame determined by the laser radar;

[0035] A material frame stacking and lowering module is used to determine the distance deviation value between the load material frame and the stacking material frame according to the vertex coordinates and the foot coordinates, and perform corresponding stacking and lowering operations on the load material frame according to the distance deviation value;

[0036] The judgment module is used to obtain the pressure sensor data on the surface of the fork during the stacking and lowering operation and the downward movement of the fork, and judge whether the fork is separated from the load-bearing material frame according to the change of the pressure sensor data, and end the high-position stacking operation after it is determined that the fork is separated from the load-bearing material frame.

[0037] In a third aspect, the present application provides an electronic device, including:

[0038] Memory, used to store computer programs;

[0039] The processor is used to execute the computer program to implement the AGV high-position stacking operation safety control method as described above.

[0040] In a fourth aspect, the present application provides a computer-readable storage medium for storing a computer program; wherein, when the computer program is executed by a processor, the aforementioned AGV high-position stacking operation safety control method is implemented.

[0041] In summary, after the AGV and the load-carrying frame arrive at the corresponding preset positions, the present application obtains the image data of the load-carrying frame and the stacking frame collected by the TOF camera, and determines the first feature point coordinates corresponding to several of the load-carrying frame and the second feature point coordinates corresponding to the stacking frame based on the image data; moves the fork of the AGV based on the first feature point coordinates and the second feature point coordinates until the position of the moved fork meets the lowering condition, and in the process of lowering the moved fork to the target position, obtains the base coordinates of the load-carrying frame and the vertex coordinates of the stacking frame determined by the laser radar; determines the distance deviation value between the load-carrying frame and the stacking frame according to the vertex coordinates and the base coordinates, and performs the corresponding stacking and lowering operation on the load-carrying frame according to the distance deviation value; in the process of performing the stacking and lowering operation and the fork moving downward, obtains the pressure sensor data on the surface of the fork, and determines whether the fork is detached from the load-carrying frame according to the change of the pressure sensor data, and ends the high-position stacking operation after determining that the fork is detached from the load-carrying frame. It can be seen that this application completely covers all process steps of AGV in high-position stacking operations, can monitor the safety status of the entire AGV high-position stacking operation process in real time, ensure that the AGV safely completes the stacking operation, and effectively avoid various risks caused by AGV performing high-position stacking of load frames. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0043] Figure 1 This is a framework diagram of an AGV high-position stacking operation safety control system disclosed in the present invention;

[0044] Figure 2 This is a flow chart of a safety control method for AGV high-position stacking operations disclosed in the present invention;

[0045] Figure 3 A flow chart of a specific AGV high-position stacking operation safety control method disclosed in the present invention;

[0046] Figure 4 A flow chart of a specific AGV high-position stacking operation safety control method disclosed in the present invention;

[0047] Figure 5 This is a schematic structural diagram of a safety control device for AGV high-position stacking operations disclosed in the present invention;

[0048] Figure 6 The present invention is a structural diagram of an electronic device disclosed in the present invention. DETAILED DESCRIPTION

[0049] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0050] The traditional AGV unmanned forklift high-position stacking operation is limited to using a visual system to identify the position of the material frame to perform the operation, but there is no special safety system to provide safety protection for the entire operation process. In addition, when performing high-position stacking operations, the AGV unmanned forklift often needs to carry several tons of load-bearing material frames to a height of about 10 meters to stack the material frames. The traditional AGV unmanned forklift high-position stacking operation scheme will cause the AGV unmanned forklift visual system to make incorrect judgments due to camera data errors. When the stacking conditions are not met, the load-bearing material frames are stacked and lowered, which can easily cause the bottom feet of the material frame to be suspended, thereby creating a risk of cargo falling. At the same time, since the visual system can only perform recognition and calculation when the upper and lower material frames are stacked, when the calculation is completed and the data is passed to the body controller, the safety of the stacking operation can no longer be evaluated. In order to solve the above technical problems, the present application discloses a method, device, equipment and medium for safety control of AGV high-position stacking operations, which can control the safety of high-position stacking operations of AGV unmanned forklifts.

[0051] In the AGV high-position stacking operation safety control method of the present application, the system framework used can be specifically referred to in Figure 1 As shown, it may specifically include: a server and a sensor. The server includes an edge computing module, a vehicle control module and a communication module, and the sensor includes a TOF (time of flight) camera, an RGB (Red Green Blue, visible light imaging sensor) camera, a laser radar and a pressure sensor.

[0052] Furthermore, the sensor module is the core of data acquisition, in which the TOF camera is used to acquire images and perform feature point detection. Through the principle of light flight time, it can accurately capture the depth information in the scene, and then extract key feature points. These feature point data are used for subsequent positioning and operation judgment. The RGB camera focuses on real-time monitoring of the horizontality of the top surface of the loading frame, and provides intuitive data on whether the top surface of the loading frame is flat through color and image analysis technology. LiDAR is mainly used to check the distance deviation between the bottom of the load-bearing frame and the top surface of the stacking frame when the material frames are stacked and lowered. The pressure sensor is responsible for obtaining the pressure data of the load-bearing frame on the surface of the fork, which is of great significance for judging the load condition of the fork and ensuring operational safety.

[0053] The edge computing module is connected to the sensor module through the communication module, receives data from various sensors, has powerful computing power and logical judgment capabilities, and performs complex processing and analysis on these raw data. For example, the edge computing module can integrate the feature point data of the TOF camera, the horizontality data of the RGB camera, the distance deviation data of the lidar, and the pressure data of the pressure sensor to perform multi-dimensional calculations and evaluations. Based on these processing results, the edge computing module can make accurate decisions and pass these decisions to the vehicle control module through the communication module. After receiving the instructions, the vehicle control module can accurately control the movement of the vehicle body, such as adjusting the height, angle, and moving speed of the fork, to ensure that the stacking operation of the material frame can be completed safely and efficiently. Through this collaborative working method, the entire system realizes an intelligent operation process from data acquisition to motion control.

[0054] See also Figure 2 As shown, an embodiment of the present invention discloses a method for controlling the safety of AGV high-position stacking operations, including:

[0055] Step S11, after the AGV and the load-carrying frame have reached the corresponding preset positions, obtain image data of the load-carrying frame and the stacking frame collected by the TOF camera, and determine several first feature point coordinates corresponding to the load-carrying frame and second feature point coordinates corresponding to the stacking frame based on the image data.

[0056] In this embodiment, when the AGV arrives at the unloading point, the fork lifts the load material frame to the specified height, and the fork moves forward to drive the material frame to move directly above the stacked material frame. After the fork moves forward to the position, the TOF camera starts to collect image data of the load material frame and the stacked material frame. First, the TOF camera emits light pulses in the direction of the load material frame and the stacked material frame. When the light pulse contacts the surface of the material frame, reflection occurs. The receiving device in the TOF camera will capture these reflected light pulses. By accurately measuring the time interval between the emission and reception of the light pulse, the distance traveled by the light pulse can be calculated, and then the distance information between the camera and each point on the surface of the material frame can be determined. As the distance information of different positions of the material frame is continuously obtained, the sensor and related processing unit inside the camera will construct three-dimensional space information based on these distance data. In this process, in order to ensure the accuracy and integrity of the image data, the TOF camera can scan and collect the load material frame and the stacked material frame from multiple angles, and will automatically adjust the parameters such as the intensity and frequency of the emitted light pulse according to factors such as ambient light, and finally obtain comprehensive and accurate image data of the load material frame and the stacked material frame.

[0057] In this embodiment, after the image data of the load-carrying material frame and the stacking material frame are obtained, the image data is calculated by multi-threading to obtain the feature point coordinates corresponding to a preset number of load-carrying material frames and the feature point coordinates corresponding to the stacking material frame. Specifically, the edge computing module obtains the image data of the load-carrying material frame and the stacking material frame from the TOF camera at a rate of 10 frames per second. When the edge computing module receives these image data, it quickly starts the multi-threaded computing mechanism. In a multi-threaded environment, independent computing threads can be assigned to the calculation of the feature point coordinates of the bottom of the load-carrying material frame and the top of the stacking material frame at the same time. Then, through multi-threaded parallel computing, multiple sets of feature point coordinates corresponding to the load-carrying material frame and the feature point coordinates corresponding to the stacking material frame can be obtained in a short time.

[0058] Step S12, moving the fork of the AGV based on the coordinates of each of the first feature points and the coordinates of each of the second feature points until the position of the fork after moving meets the lowering condition, and in the process of lowering the moved fork to the target position, obtaining the bottom coordinates of the load-bearing material frame and the top corner coordinates of the stacking material frame determined by the laser radar.

[0059] In this embodiment, after obtaining the coordinates of each first feature point corresponding to the load-carrying material frame and the coordinates of each second feature point corresponding to the stacking material frame, the fork of the AGV can be moved based on the coordinates of the first feature point and the coordinates of the second feature point. Specifically, the edge computing module obtains the image data of the load-carrying material frame and the stacking material frame from the TOF camera at a rate of 10 frames per second. In the first frame, the coordinates of the load-carrying material frame and the coordinates of the stacking material frame can be calculated. By comparing these two coordinates, a difference coordinate (x, y) will be obtained. The meaning of this difference coordinate is that the load-carrying material frame moves forward and backward by an x ​​distance and moves left and right by a y distance, so that the load-carrying material frame and the stacking material frame can be adjusted to align. In this way, a difference coordinate will be calculated for each frame of data, and all the difference coordinates form a data set, and then the expectation and variance calculations are performed to solve an optimal target coordinate. The AGV starts to move the fork according to the final target coordinates and adjusts the position of the load-carrying material frame. After the adjustment, the TOF camera takes pictures again, obtains data, repeats the previous calculation process, and determines whether the newly obtained fork position after the move meets the lowering conditions. If satisfied, the fork is controlled to descend. During the descent process, a docking detection instruction is sent to the edge computing module. After receiving the instruction, the edge computing module uses the laser radar to obtain the position information of the bottom foot of the load-bearing material frame at a rate of 50 frames per second. As the fork descends, it gradually approaches the top corner position of the stacking material frame. When the laser radar line scan plane touches the top corner of the stacking material frame, the edge computing module can obtain the coordinates of the top corner of the stacking material frame scanned by the laser radar. During the descent of the fork, the bottom foot of the load-bearing material frame will gradually disappear within the range that the laser radar can scan, but the position information before it disappears, the edge computing module and the laser radar can also calculate the coordinates of the bottom foot of the load-bearing material frame.

[0060] Step S13, determining a distance deviation value between the load-bearing material frame and the stacking material frame according to the vertex coordinates and the base coordinates, and performing corresponding stacking and lowering operations on the load-bearing material frame according to the distance deviation value.

[0061] In this embodiment, after obtaining the base coordinates of the load-carrying material frame and the top corner coordinates of the stacking material frame, the distance deviation values ​​between the two base coordinates and the two top corner coordinates are calculated. These distance deviation values ​​accurately reflect the relative position relationship between the load-carrying material frame and the stacking material frame in space, including the deviation in the horizontal and vertical directions. At the same time, the distance deviation is the distance deviation between the left base and the top corner and the distance deviation between the right base and the top corner, which both need to be within the safe distance range.

[0062] In this embodiment, after determining the distance deviation value between the load-carrying material frame and the stacking material frame by determining the foot posture and the top angle posture, it is necessary to determine whether to perform the corresponding stacking and lowering operation on the load-carrying material frame based on the calculated distance deviation value. First, determine whether the distance deviation value is less than or equal to the preset safety distance threshold; if the distance deviation value is less than or equal to the preset safety distance threshold, the load-carrying material frame is directly stacked and lowered; if the distance deviation value is greater than the preset safety distance threshold, the fork is adjusted based on the distance deviation value until the adjusted distance deviation value between the load-carrying material frame and the stacking material frame is less than or equal to the preset safety distance threshold, and the load-carrying material frame is stacked and lowered. Specifically, if the distance deviation value is displayed within the safety distance range, it indicates that the load-carrying material frame and the stacking material frame are aligned, and the fork can continue to descend to stack and lower the load-carrying material frame. If the distance deviation value is greater than the preset safety distance threshold, and the data deviation is positive, it means that the upper frame foot is suspended, and the data deviation is negative, which means that the upper frame foot will be placed on the top surface of the lower frame. When this happens, the edge computing module passes the data deviation value to the vehicle controller, which controls the fork to make slight adjustments, aligning the upper frame with the center of the lower frame before continuing to stack and lower.

[0063] Step S14, during the stacking and lowering operation and when the fork moves downward, obtain the pressure sensor data on the surface of the fork, and determine whether the fork is detached from the load-bearing frame based on the change in the pressure sensor data; after determining that the fork is detached from the load-bearing frame, end the high-position stacking operation.

[0064] In this embodiment, during the stacking and lowering operation and the downward movement of the fork, the contact state between the fork and the load frame begins to change, and the pressure data on the surface of the fork is obtained by the pressure sensor, and the obtained pressure data is sent to the edge computing module.

[0065] Furthermore, the pressure sensor will output the data of the loading material frame on the fork. If the change of the pressure sensor data meets the preset conditions, it is determined that the fork is separated from the loading material frame; the preset condition is that the pressure sensor data decreases to zero; if the change of the pressure sensor data does not meet the preset conditions, it jumps back to the step of obtaining the image data of the loading material frame and the stacking material frame collected by the TOF camera. Specifically, when lowered normally, the data of the pressure sensor has a stable change. Therefore, if the pressure sensor data is stable, it means that the loading material frame is successfully lowered to the stacking material frame, and the pressure sensor data decreases until it is zero, which means that the pressure of the loading material frame on the surface of the fork has completely disappeared. At this time, it can be determined that the fork has been separated from the loading material frame, which means that the current high-position stacking operation has been completed. If the loading material frame is not aligned, a foot is stuck on the top surface of the stacking material frame, and the data of the pressure sensor is not a smooth decline. The stacking material frame will instantly bear part of the pressure for the fork, causing the data of the pressure sensor to change sharply, and the pressure on the pressure sensor will decrease. In this case, the edge computing module sends an error message to the vehicle controller. After receiving the error message, the vehicle control module starts the process rollback operation, lifts the load frame to the photo height again, and performs secondary visual recognition, that is, jumps back to the initial step of acquiring the image data of the load frame and stacking frame collected by the TOF camera. By reacquiring the image data of the load frame and stacking frame, the top angle coordinates and bottom foot coordinates of the load frame and stacking frame are comprehensively analyzed and judged again to correct the deviations, until the fork successfully detaches from the load frame and the high-position stacking operation is completed.

[0066] In summary, after the AGV and the load-carrying frame arrive at the corresponding preset positions, the present application obtains the image data of the load-carrying frame and the stacking frame collected by the TOF camera, and determines the first feature point coordinates corresponding to several of the load-carrying frame and the second feature point coordinates corresponding to the stacking frame based on the image data; moves the fork of the AGV based on the first feature point coordinates and the second feature point coordinates until the position of the moved fork meets the lowering condition, and in the process of lowering the moved fork to the target position, obtains the base coordinates of the load-carrying frame and the vertex coordinates of the stacking frame determined by the laser radar; determines the distance deviation value between the load-carrying frame and the stacking frame according to the vertex coordinates and the base coordinates, and performs the corresponding stacking and lowering operation on the load-carrying frame according to the distance deviation value; in the process of performing the stacking and lowering operation and the fork moving downward, obtains the pressure sensor data on the surface of the fork, and determines whether the fork is detached from the load-carrying frame according to the change of the pressure sensor data, and ends the high-position stacking operation after determining that the fork is detached from the load-carrying frame. It can be seen that this application completely covers all process steps of AGV in high-position stacking operations, can monitor the safety status of the entire AGV high-position stacking operation process in real time, ensure that the AGV safely completes the stacking operation, and effectively avoid various risks caused by AGV performing high-position stacking of load frames.

[0067] During the entire high-position stacking operation, the RGB camera is responsible for collecting the top surface image data of the load-bearing frame. Through in-depth analysis and processing of the collected top surface image data, the tilt angle of the load-bearing frame is determined through analysis, and then the safety of the high-position stacking operation is determined based on the tilt angle. The following will provide a detailed description of how to determine the tilt angle of the load-bearing frame. Figure 3 As shown, the embodiment of the present invention discloses a specific AGV high-position stacking operation safety control method, including:

[0068] Step S21, during the high-position stacking operation, obtain the top surface image data of the load-loading material frame collected by the RGB camera, determine the inclination angle of the load-loading material frame based on the top surface image data of the load-loading material frame, and judge whether the inclination angle of the load-loading material frame is greater than the preset safety inclination angle.

[0069] In this embodiment, from the time when the AGV unmanned forklift arrives at the preset position to the completion of the stacking and lowering operation, the RGB camera can clearly capture the visual features of the top surface of the load-carrying frame, including information such as color, texture, and contour, through its own imaging principle, and stably obtain the image data of the RGB camera at a rate of 10 frames per second. From the collected top surface image data, the key feature points of the top surface of the load-carrying frame, such as each top angle, the top surface midpoint, etc., are identified. The posture of the top surface of the load-carrying frame in space is determined through the coordinate information of these feature points, and the angle between the top surface of the load-carrying frame and the horizontal reference plane is calculated. This angle is the inclination angle of the load-carrying frame. After the inclination angle of the load-carrying frame is obtained, it will be compared with the preset safe inclination angle to determine whether the current inclination state of the load-carrying frame is within the safe range, thereby providing an important basis for whether to continue the high-position stacking operation or take corresponding adjustment measures in the future.

[0070] Step S22: If the tilt angle of the load-carrying frame is less than or equal to the preset safety tilt angle, continue to execute the current high-position stacking operation process.

[0071] In this embodiment, when the image data of the top surface of the load-bearing material frame collected by the RGB camera is analyzed and processed, and it is found that the tilt angle of the load-bearing material frame is less than or equal to the preset safe tilt angle, it indicates that the current state of the load-bearing material frame is within a relatively stable and safe range, and the placement of the load-bearing material frame is relatively stable, without excessive tilt that may cause safety risks such as the material frame sliding off or colliding. Therefore, the entire high-position stacking operation process can continue to proceed in an orderly manner according to the established steps; other related equipment and modules can also work together as originally planned to ensure that the entire high-position stacking operation process is successfully completed and efficient and safe material stacking tasks are achieved.

[0072] Step S23: If the inclination angle of the load-carrying frame is greater than the preset safety inclination angle when the AGV is in the driving state, the AGV is stopped and a first error message is sent so that the staff can adjust the load-carrying frame according to the first error message.

[0073] In this embodiment, during the entire high-position stacking operation, when the AGV is in a driving state, the top surface image data of the load-carrying material frame will also be collected by the RGB camera to determine its tilt angle. During the AGV driving process, excessive tilting of the load-carrying material frame will cause the material frame to lose balance, which will then cause dangerous situations such as the material frame falling from the AGV and colliding with surrounding objects, which will not only damage materials and equipment, but also threaten the personal safety of the staff. Therefore, in order to avoid the occurrence of these potential dangers, the vehicle control module will immediately take measures to stop the AGV from driving, and send the first error message at the same time. The first error message may include relevant specific data of the load-carrying material frame tilt angle exceeding the safety range, such as the specific exceeded angle value, the current driving position of the AGV, and other information. After receiving the first error message, the staff can make targeted adjustments to the load-carrying material frame according to the first error message. For example, check whether the fixed connection between the load-carrying material frame and the fork is firm, check whether there is any foreign matter affecting the balance of the material frame, or manually adjust the tilt angle of the load-carrying material frame to ensure that the load-carrying material frame is restored to a safe and stable state, and then continue the subsequent high-position stacking operation process.

[0074] Step S24: If the inclination angle of the load-bearing material frame is greater than the preset safety inclination angle during the stacking and lowering operation of the load-bearing material frame, the fork is lifted to the preset height and subsequent operations are stopped until the inclination angle of the load-bearing material frame is less than or equal to the preset safety inclination angle, and the high-position stacking operation is performed again.

[0075] In this embodiment, when the top surface image data is collected by the RGB camera and the inclination angle of the load-carrying frame is greater than the preset safety inclination angle during the stacking and lowering operation, it indicates that the state of the load-carrying frame has deviated from the safety range, and there is a great risk in continuing the lowering operation. For example, it may cause the frame to be placed unstably, collide with the stacking frame, or even fall, which will threaten the smooth progress of the entire stacking operation and the safety of equipment and materials. In this case, the vehicle control module controls the fork to be raised to a preset height. The fork is raised to escape from the current dangerous lowering situation and reduce the possibility of accidents caused by excessive tilting. In addition, after the fork is raised, all subsequent related operations will be stopped, including but not limited to further lowering of the fork, movement of the AGV, etc. The high-position stacking operation will not be re-executed until the inclination angle of the load-carrying frame is found to be less than or equal to the preset safety inclination angle through continuous monitoring. In this way, it can ensure that the load-carrying frame is in a relatively stable state, and can ensure that the high-position stacking operation can be completed safely, avoiding a series of safety accidents caused by the tilting problem of the frame.

[0076] It can be seen that the embodiment of the present application uses an RGB camera to collect image data of the top surface of the load-carrying material frame, identifies the image data to determine the inclination angle, and compares it with the preset safe inclination angle. If the inclination angle is less than or equal to the preset value, the operation process proceeds normally, and the AGV and the fork cooperate to complete the operation. If the inclination angle is greater than the preset value during the driving of the AGV, the AGV is stopped and an error message containing relevant data is sent, and the staff adjusts the material frame according to the mold error message. If the inclination angle is greater than the preset value when stacking and lowering, the fork is raised to the preset height and the operation is stopped, and the operation is resumed after the inclination angle is normal. In this way, the present application can effectively deal with the problem of inclination of the load-carrying material frame at different operation stages, avoid damage to materials and equipment and personnel safety threats caused by the inclination of the material frame, and ensure the safe and smooth completion of the operation.

[0077] In the process of high-position stacking operation, the present application also sets up a corresponding safety level coefficient adjustment mechanism, and further judges whether there is an abnormality in the material frame according to the safety level coefficient of the material frame. Next, the adjustment and application of the safety level coefficient will be described in detail. Figure 4 As shown, the embodiment of the present invention discloses a specific AGV high-position stacking operation safety control method, including:

[0078] Step S31, during the high-position stacking operation, if the AGV executes the retraction process, the safety level coefficients of the load-carrying material frame and the stacking material frame are increased respectively; the retraction process is to jump back to the step of obtaining the image data of the load-carrying material frame and the stacking material frame collected by the TOF camera after the AGV and the load-carrying material frame have reached the corresponding preset positions.

[0079] In this embodiment, when the load-carrying material frame starts to be stacked and put down to the AGV to complete the stacking operation, if there is a problem, the AGV starts the back-off process, which indicates that there is a problem in the previous high-position stacking operation link, and it is necessary to restart the detection and operation from the step of obtaining the image data of the load-carrying material frame and the stacking material frame collected by the TOF camera. In this case, in order to strengthen the safety monitoring of the load-carrying material frame and the stacking material frame, the safety level coefficient of the load-carrying material frame and the stacking material frame will be increased. Specifically, if the AGV starts the back-off process, when the operation is restarted, the safety level of the load-carrying material frame and the stacking material frame will be increased by one. The back-off process here specifically refers to the process of jumping back to the step of obtaining the image data of the load-carrying material frame and the stacking material frame collected by the TOF camera after the AGV and the load-carrying material frame have reached the corresponding preset positions.

[0080] Step S32: If the AGV does not perform the operation of the retraction process, the safety level coefficients of the load-carrying frame and the stacking frame are controlled to remain unchanged.

[0081] In this embodiment, when the AGV does not perform the operation of the back-off process, it means that the entire high-level stacking operation process is smoothly advanced according to the normal steps and sequence, and no abnormal situation that requires re-testing and operation from the initial link occurs. In this case, the safety level coefficient of the load frame and the stacking frame remains unchanged.

[0082] Step S33, obtaining the codes corresponding to the load-carrying material frame and the stacking material frame respectively, and determining the safety level coefficients corresponding to the load-carrying material frame and the stacking material frame respectively according to the codes.

[0083] In this embodiment, each load-carrying material frame and stacking material frame is assigned a unique code, which is used to accurately distinguish and identify different material frames in the system, so that the AGV can accurately read the coding information corresponding to the load-carrying material frame and the stacking material frame. After obtaining the corresponding code, the safety level coefficient corresponding to the load-carrying material frame and the stacking material frame can be determined according to the information corresponding to the code.

[0084] Step S34: If the safety level coefficient of the material frame is greater than the preset coefficient threshold, a second error message is sent so that the staff can detect the material frame based on the second error message.

[0085] In this embodiment, when the safety level coefficient of the material frame exceeds the preset coefficient threshold, it indicates that the material frame has a greater safety risk or is already in an unstable state. At this time, a second error message is sent to the staff. The second error message contains the basic information of the material frame and relevant data of the safety level coefficient. In a specific embodiment, when the safety level of a material frame code is greater than five, the edge computing module will send an error message to the vehicle controller. After sending the second error message, the vehicle control module controls the AGV to move the material frame to the material frame detection area for manual inspection, allowing the staff to confirm whether the material frame is deformed or the frame is missing.

[0086] It can be seen that in the embodiment of the present application, in the high-position stacking operation, if the AGV executes the back-off process, the safety level coefficient of the load-carrying material frame and the stacking material frame is increased. If the AGV does not execute the back-off process, the safety level coefficient remains unchanged. The coding of the material frame is obtained, and the safety level coefficient of the material frame is queried through the coding. When the safety level coefficient of the material frame exceeds the preset threshold, an alarm is triggered to send an error message, and the staff detects the material frame according to the error message. In this way, the present application can not only effectively detect the stacking safety during the high-position stacking operation, but also further detect the abnormality of the material frame during the high-position stacking operation, and ensure the safe and smooth progress of the operation in many aspects.

[0087] For further information, see Figure 5 As shown, the embodiment of the present application also provides an AGV high-position stacking operation safety control device, including:

[0088] The feature point coordinate determination module 11 is used to obtain the image data of the load-carrying frame and the stacking frame collected by the TOF camera after the AGV and the load-carrying frame have reached the corresponding preset positions, and determine the first feature point coordinates corresponding to a plurality of the load-carrying frame and the second feature point coordinates corresponding to the stacking frame based on the image data;

[0089] A coordinate acquisition module 12 is used to move the fork of the AGV based on the coordinates of each of the first feature points and the coordinates of each of the second feature points until the position of the fork after the movement meets the lowering condition, and in the process of lowering the moved fork to the target position, obtain the bottom coordinates of the load frame and the top angle coordinates of the stacking frame determined by the laser radar;

[0090] A material frame stacking and lowering module 13 is used to determine a distance deviation value between the load material frame and the stacking material frame according to the vertex coordinates and the foot coordinates, and perform a corresponding stacking and lowering operation on the load material frame according to the distance deviation value;

[0091] The judgment module 14 is used to obtain the pressure sensor data on the surface of the fork during the stacking and lowering operation and the downward movement of the fork, and judge whether the fork is separated from the load-bearing material frame according to the change of the pressure sensor data, and end the high-position stacking operation after determining that the fork is separated from the load-bearing material frame.

[0092] In summary, after the AGV and the load-carrying frame arrive at the corresponding preset positions, the present application obtains the image data of the load-carrying frame and the stacking frame collected by the TOF camera, and determines the first feature point coordinates corresponding to several of the load-carrying frame and the second feature point coordinates corresponding to the stacking frame based on the image data; moves the fork of the AGV based on the first feature point coordinates and the second feature point coordinates until the position of the moved fork meets the lowering condition, and in the process of lowering the moved fork to the target position, obtains the base coordinates of the load-carrying frame and the vertex coordinates of the stacking frame determined by the laser radar; determines the distance deviation value between the load-carrying frame and the stacking frame according to the vertex coordinates and the base coordinates, and performs the corresponding stacking and lowering operation on the load-carrying frame according to the distance deviation value; in the process of performing the stacking and lowering operation and the fork moving downward, obtains the pressure sensor data on the surface of the fork, and determines whether the fork is detached from the load-carrying frame according to the change of the pressure sensor data, and ends the high-position stacking operation after determining that the fork is detached from the load-carrying frame. It can be seen that this application completely covers all process steps of AGV in high-position stacking operations, can monitor the safety status of the entire AGV high-position stacking operation process in real time, ensure that the AGV safely completes the stacking operation, and effectively avoid various risks caused by AGV performing high-position stacking of load frames.

[0093] In some specific embodiments, the feature point coordinate determination module 11 may specifically include:

[0094] a difference coordinate determining unit, configured to determine each difference coordinate based on a difference between each first feature point coordinate and each second feature point coordinate;

[0095] An expectation and variance calculation unit, used for performing expectation calculation and variance calculation on each of the difference coordinates to obtain corresponding expectation values ​​and variance values;

[0096] The fork moving unit is used to determine the target coordinates based on the corresponding expected values ​​and variance values, and move the forks of the AGV according to the target coordinates.

[0097] In some specific embodiments, the material frame stacking and lowering module 13 may specifically include:

[0098] A distance deviation value judging unit, used to judge whether the distance deviation value is less than or equal to a preset safety distance threshold;

[0099] A first stacking and lowering operation execution unit, configured to directly perform the stacking and lowering operation on the load-carrying material frame if the distance deviation value is less than or equal to a preset safety distance threshold;

[0100] The second stacking and lowering operation execution unit is used to adjust the fork based on the distance deviation value if the distance deviation value is greater than the preset safety distance threshold, until the adjusted distance deviation value between the load-bearing material frame and the stacking material frame is less than or equal to the preset safety distance threshold, and the stacking and lowering operation is performed on the load-bearing material frame.

[0101] In some specific embodiments, the determination module 14 may specifically include:

[0102] a load material frame separation judgment unit, used to judge that the fork is separated from the load material frame if the change of the pressure sensor data meets a preset condition; the preset condition is that the pressure sensor data decreases to zero;

[0103] A step jump unit is used to jump back to the step of acquiring the image data of the load material frame and the stacking material frame collected by the TOF camera if the change of the pressure sensor data does not meet the preset conditions.

[0104] In some specific embodiments, the device may further include:

[0105] An inclination angle judgment module is used to obtain the top surface image data of the load-carrying material frame collected by the RGB camera during the high-position stacking operation, determine the inclination angle of the load-carrying material frame according to the top surface image data of the load-carrying material frame, and judge whether the inclination angle of the load-carrying material frame is greater than a preset safety inclination angle;

[0106] A high-position stacking operation process execution module, used for continuing to execute the current high-position stacking operation process if the inclination angle of the load-bearing material frame is less than or equal to the preset safety inclination angle;

[0107] A load material frame adjustment module, used for stopping the AGV and sending a first error message if the inclination angle of the load material frame is greater than the preset safety inclination angle when the AGV is in the driving state, so that the staff can adjust the load material frame according to the first error message;

[0108] The high-position stacking operation re-execution module is used to lift the fork to a preset height and stop subsequent operations if the inclination angle of the load-bearing material frame is greater than the preset safety inclination angle during the stacking and lowering operation of the load-bearing material frame, and re-execute the high-position stacking operation.

[0109] In some specific embodiments, the device may further include:

[0110] A safety level coefficient increasing module is used to increase the safety level coefficients of the load-carrying frame and the stacking frame respectively if the AGV performs a retraction process during the high-position stacking operation; the retraction process is to jump back to the process of obtaining the image data of the load-carrying frame and the stacking frame collected by the TOF camera after the AGV and the load-carrying frame have reached the corresponding preset positions;

[0111] The safety level coefficient unchanged module is used to control the safety level coefficients of the load material frame and the stacking material frame to remain unchanged if the AGV does not perform the operation of the retraction process.

[0112] In some specific embodiments, the device may further include:

[0113] A safety level coefficient acquisition module, used to acquire the codes corresponding to the load-carrying material frame and the stacking material frame, and determine the safety level coefficients corresponding to the load-carrying material frame and the stacking material frame according to the codes;

[0114] The material frame detection module is used to send a second error message if the safety level coefficient of the material frame is greater than a preset coefficient threshold, so that the staff can detect the material frame based on the second error message.

[0115] Furthermore, the present application also discloses an electronic device. Figure 6 This is a structural diagram of an electronic device 20 according to an exemplary embodiment. The content in the diagram cannot be regarded as any limitation on the scope of use of the present application.

[0116] Figure 6 A schematic diagram of the structure of an electronic device 20 provided in an embodiment of the present application. The electronic device 20 may specifically include: at least one processor 21, at least one memory 22, a power supply 23, a communication interface 24, an input / output interface 25, and a communication bus 26. The memory 22 is used to store a computer program, which is loaded and executed by the processor 21 to implement the relevant steps in the AGV high-position stacking operation safety control method disclosed in any of the aforementioned embodiments. In addition, the electronic device 20 in this embodiment may specifically be an electronic computer.

[0117] In this embodiment, the power supply 23 is used to provide working voltage for each hardware device on the electronic device 20; the communication interface 24 can create a data transmission channel between the electronic device 20 and the external device, and the communication protocol it follows is any communication protocol that can be applied to the technical solution of the present application, and is not specifically limited here; the input and output interface 25 is used to obtain external input data or output data to the outside world, and its specific interface type can be selected according to specific application needs and is not specifically limited here.

[0118] In addition, the memory 22, as a carrier for storing resources, can be a read-only memory, a random access memory, a disk or an optical disk, etc. The resources stored thereon can include an operating system 221, a computer program 222, etc., and the storage method can be temporary storage or permanent storage.

[0119] The operating system 221 is used to manage and control the hardware devices and computer programs 222 on the electronic device 20, which can be Windows Server, Netware, Unix, Linux, etc. In addition to including a computer program that can be used to complete a method for safely controlling an AGV high-position stacking operation performed by the electronic device 20 disclosed in any of the aforementioned embodiments, the computer program 222 can further include a computer program that can be used to complete other specific tasks.

[0120] Furthermore, the present application also discloses a computer-readable storage medium for storing a computer program; wherein, when the computer program is executed by a processor, the aforementioned disclosed AGV high-position stacking operation safety control method is implemented. The specific steps of the method can refer to the corresponding contents disclosed in the aforementioned embodiments, and will not be repeated here.

[0121] In this specification, each embodiment is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the embodiments can be referred to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part.

[0122] Professionals may further appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in the above description according to function. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians may use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0123] The steps of the method or algorithm described in conjunction with the embodiments disclosed herein may be implemented directly using hardware, a software module executed by a processor, or a combination of the two. The software module may be placed in a random access memory (RAM), a memory, a read-only memory (ROM), an electrically programmable ROM, an electrically erasable programmable ROM, a register, a hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.

[0124] Finally, it should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0125] The technical solution provided by the present application is introduced in detail above. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method of the present application and its core idea. At the same time, for general technicians in this field, according to the idea of ​​the present application, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A safety control method for AGV high-position stacking operations, characterized in that: include: After the AGV and the load-carrying material frame have both reached the corresponding preset positions, image data of the load-carrying material frame and the stacking material frame collected by the TOF camera are obtained, and based on the image data, the coordinates of the first feature points corresponding to the load-carrying material frame and the coordinates of the second feature points corresponding to the stacking material frame are determined; Based on the coordinates of each of the first feature points and each of the second feature points, the fork of the AGV is moved until the position of the fork after the movement meets the lowering condition, and in the process of lowering the moved fork to the target position, the base coordinates of the load material frame and the top angle coordinates of the stacking material frame determined by the laser radar are obtained; Determine the distance deviation value between the load-carrying material frame and the stacking material frame according to the vertex coordinates and the foot coordinates, and perform corresponding stacking and lowering operations on the load-carrying material frame according to the distance deviation value; During the stacking and lowering operation and when the fork moves downward, the pressure sensor data on the surface of the fork is obtained, and it is determined whether the fork is detached from the load-bearing material frame based on the change in the pressure sensor data. After it is determined that the fork is detached from the load-bearing material frame, the high-position stacking operation is terminated.

2. The AGV high-position stacking operation safety control method according to claim 1 is characterized in that: The method of moving the fork of the AGV based on the coordinates of each of the first feature points and the coordinates of each of the second feature points includes: Determine each difference coordinate based on the difference between each first feature point coordinate and each second feature point coordinate; Performing expectation calculation and variance calculation on each of the difference coordinates to obtain corresponding expectation values ​​and variance values; The target coordinates are determined based on the corresponding expected values ​​and variance values, and the forks of the AGV are moved according to the target coordinates.

3. The AGV high-position stacking operation safety control method according to claim 1 is characterized in that: The stacking and lowering operation of the load-carrying material frame is performed accordingly according to the distance deviation value, including: Determine whether the distance deviation value is less than or equal to a preset safety distance threshold; If the distance deviation value is less than or equal to the preset safety distance threshold, the stacking and lowering operation is directly performed on the load-carrying material frame; If the distance deviation value is greater than the preset safety distance threshold, the fork is adjusted based on the distance deviation value until the adjusted distance deviation value between the load-carrying frame and the stacking frame is less than or equal to the preset safety distance threshold, and the stacking and lowering operation is performed on the load-carrying frame.

4. The AGV high-position stacking operation safety control method according to claim 1 is characterized in that: The determining whether the fork is separated from the load frame according to the change of the pressure sensor data includes: If the change of the pressure sensor data meets a preset condition, it is determined that the fork is separated from the load frame; the preset condition is that the pressure sensor data decreases to zero; If the change of the pressure sensor data does not meet the preset conditions, the process jumps back to the step of acquiring the image data of the load material frame and the stacking material frame collected by the TOF camera.

5. The AGV high-position stacking operation safety control method according to claim 1 is characterized in that: Also includes: During the high-position stacking operation, the top surface image data of the load-carrying material frame collected by the RGB camera is obtained, the inclination angle of the load-carrying material frame is determined according to the top surface image data of the load-carrying material frame, and it is judged whether the inclination angle of the load-carrying material frame is greater than the preset safety inclination angle; If the inclination angle of the load-carrying frame is less than or equal to the preset safety inclination angle, the current high-position stacking operation process is continued; If the inclination angle of the load-carrying frame is greater than the preset safety inclination angle when the AGV is in the driving state, the AGV is stopped and a first error message is sent so that the staff can adjust the load-carrying frame according to the first error message; If the inclination angle of the load-carrying material frame is greater than the preset safety inclination angle during the stacking and lowering operation of the load-carrying material frame, the fork is lifted to a preset height and subsequent operations are stopped until the inclination angle of the load-carrying material frame is less than or equal to the preset safety inclination angle, and the high-position stacking operation is performed again.

6. The AGV high-position stacking operation safety control method according to any one of claims 1 to 5, characterized in that: Also includes: During the high-position stacking operation, if the AGV performs a retraction process, the safety level coefficients of the load-carrying material frame and the stacking material frame are increased respectively; the retraction process is to jump back to the process of obtaining the image data of the load-carrying material frame and the stacking material frame collected by the TOF camera after the AGV and the load-carrying material frame have reached the corresponding preset positions; If the AGV does not perform the operation of the retraction process, the safety level coefficient of the load material frame and the stacking material frame remains unchanged.

7. The AGV high-position stacking operation safety control method according to claim 6 is characterized in that: Also includes: Obtaining codes corresponding to the load-carrying material frame and the stacking material frame, respectively, and determining safety level coefficients corresponding to the load-carrying material frame and the stacking material frame, respectively, according to the codes; If the safety level coefficient of the material frame is greater than a preset coefficient threshold, a second error message is sent so that the staff can detect the material frame based on the second error message.

8. An AGV high-position stacking operation safety control device, characterized in that: include: A feature point coordinate determination module is used to obtain image data of the load-carrying frame and the stacking frame collected by the TOF camera after the AGV and the load-carrying frame have reached corresponding preset positions, and determine the first feature point coordinates corresponding to a plurality of the load-carrying frame and the second feature point coordinates corresponding to the stacking frame based on the image data; A coordinate acquisition module, used for moving the fork of the AGV based on the coordinates of each of the first feature points and the coordinates of each of the second feature points until the position of the fork after the movement meets the lowering condition, and in the process of lowering the moved fork to the target position, acquiring the bottom coordinates of the load-carrying frame and the top angle coordinates of the stacking frame determined by the laser radar; A material frame stacking and lowering module is used to determine the distance deviation value between the load material frame and the stacking material frame according to the vertex coordinates and the foot coordinates, and perform corresponding stacking and lowering operations on the load material frame according to the distance deviation value; The judgment module is used to obtain the pressure sensor data on the surface of the fork during the stacking and lowering operation and the downward movement of the fork, and judge whether the fork is separated from the load-bearing material frame according to the change of the pressure sensor data, and end the high-position stacking operation after it is determined that the fork is separated from the load-bearing material frame.

9. An electronic device, characterized in that: include: Memory, used to store computer programs; A processor is used to execute the computer program to implement the AGV high-position stacking operation safety control method as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: Used to store computer programs; wherein, when the computer program is executed by a processor, the AGV high-position stacking operation safety control method as described in any one of claims 1 to 7 is implemented.

Images