AGV double-vehicle linkage system, method and device and storage medium

Abstract

The invention provides an AGV double-vehicle linkage system, method and device and a storage medium, the system comprises a main vehicle and an auxiliary vehicle, and the AGV double-vehicle linkage system is used for calculating relative attitude deviation and relative position deviation between the main vehicle and the auxiliary vehicle according to obtained linkage parameters; judging whether the relative posture deviation and the relative position deviation are zero or not; if it is judged that the relative posture deviation and the relative position deviation are not zero, an adjusting speed is generated according to the relative posture deviation and the relative position deviation; and performing motion control on the auxiliary vehicle based on the adjusting speed and the running speed until the relative posture deviation and the relative position deviation are zero. According to the AGV double-vehicle linkage method and device, damage to transferred products or vehicles is avoided, the safety of the transferred products and the vehicles in the linkage process is improved, and therefore the AGV double-vehicle linkage efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the field of automatic control technology, and in particular to an AGV dual-vehicle linkage system, method, device and storage medium. Background Art

[0002] With the continuous development of automation technology, Automated Guided Vehicle (AGV) has been gradually applied to various fields of life. In the single-vehicle transfer mode, AGV can quickly and conveniently transfer products, but it cannot transfer heavy products. At this time, AGV's dual-vehicle linkage technology was proposed. AGV dual-vehicle linkage can not only realize the fast and convenient transfer of products, but also be applied to the joint transfer of heavy products. It has a good effect on the flexible and multifunctional application of logistics transportation.

[0003] In the related technology, there are two types of dual-vehicle linkage: contact linkage and non-contact linkage. Among them, the contact linkage can mechanically lock the two vehicles through the form of a mechanism, which can ensure that the relative posture between the two vehicles does not change during the movement of the two vehicles, so the force on the product is small and will not cause damage to the product. As for the non-contact linkage of two vehicles, due to the insufficient control accuracy of the AGV itself or due to environmental factors, the position and posture between the two vehicles will continue to increase with the increase of mileage. Even if sensors are added to measure the posture, the transfer products or vehicles will be damaged due to sensor accuracy errors or insufficient adjustment speed. Summary of the invention

[0004] In view of the above problems, the embodiments of the present invention provide an AGV dual-vehicle linkage system, method, device and storage medium to solve the problem in the prior art that the dual-vehicle non-contact linkage method may cause damage to the transported products or vehicles.

[0005] In a first aspect, an embodiment of the present invention provides an AGV dual-vehicle linkage system, wherein the AGV dual-vehicle linkage system includes a main vehicle and an auxiliary vehicle;

[0006] The AGV dual-vehicle linkage system is used to calculate the relative posture deviation and relative position deviation between the main vehicle and the auxiliary vehicle according to the acquired linkage parameters; determine whether the relative posture deviation and the relative position deviation are zero; if it is determined that the relative posture deviation and the relative position deviation are not zero, generate an adjustment speed according to the relative posture deviation and the relative position deviation; and control the motion of the auxiliary vehicle based on the adjustment speed and the running speed until the relative posture deviation and the relative position deviation are zero.

[0007] In a possible implementation, the main vehicle includes:

[0008] Main vehicle body;

[0009] The main vehicle slewing mechanism is installed on the main vehicle body and is used to realize 360-degree rotation on the main vehicle body;

[0010] The main vehicle sliding guide rail is installed on the main vehicle slewing mechanism and is used to rotate with the main vehicle slewing mechanism when the main vehicle slewing mechanism rotates;

[0011] The main vehicle support platform is mounted on the main vehicle sliding guide rail through four guide rail sliders and is used to move along the main vehicle sliding guide rail;

[0012] The main vehicle absolute value encoder is installed below the main vehicle slewing mechanism and is used to measure the rotation angle of the main vehicle slewing mechanism;

[0013] A laser distance measuring sensor is installed at the end of the main vehicle sliding guide rail and is used to measure the sliding distance. The sliding distance is used to indicate the sliding distance of the main vehicle support platform on the main vehicle sliding guide rail.

[0014] In a possible implementation, the auxiliary vehicle includes:

[0015] Auxiliary vehicle body;

[0016] Auxiliary vehicle slewing mechanism, installed on the auxiliary vehicle body, used to realize 360-degree rotation on the auxiliary vehicle body;

[0017] The auxiliary vehicle support platform is installed on the auxiliary vehicle slewing mechanism and is used to rotate with the auxiliary vehicle slewing mechanism when the auxiliary vehicle slewing mechanism rotates;

[0018] The auxiliary vehicle absolute value encoder is installed below the auxiliary vehicle rotation mechanism and is used to measure the rotation angle of the auxiliary vehicle rotation mechanism.

[0019] In a possible implementation, the dual-vehicle linkage mode between the main vehicle and the auxiliary vehicle includes a serial linkage mode or a parallel linkage mode;

[0020] In the serial linkage mode, the main vehicle and the auxiliary vehicle travel in a single row, and the relative position relationship between the main vehicle and the auxiliary vehicle is a front-to-back relationship;

[0021] In the parallel linkage mode, the main vehicle and the auxiliary vehicle travel side by side, and the relative position relationship between the main vehicle and the auxiliary vehicle is a left-right relationship.

[0022] In a possible implementation, the system is also used to adjust the relative position relationship between the main vehicle and the auxiliary vehicle from a front-to-back relationship to a left-to-right relationship, so as to switch the dual-vehicle linkage mode from a serial linkage mode to a parallel linkage mode; or, to adjust the relative position relationship between the main vehicle and the auxiliary vehicle from a left-to-right relationship to a front-to-back relationship, so as to switch the dual-vehicle linkage mode from a parallel linkage mode to a serial linkage mode.

[0023] In a second aspect, an embodiment of the present invention provides an AGV dual-vehicle linkage method, which is applied to an AGV dual-vehicle linkage system, wherein the AGV dual-vehicle linkage system includes a main vehicle and an auxiliary vehicle, and the method includes:

[0024] Calculating the relative posture deviation and relative position deviation between the main vehicle and the auxiliary vehicle according to the acquired linkage parameters;

[0025] Determining whether the relative posture deviation and the relative position deviation are zero;

[0026] If it is determined that the relative posture deviation and the relative position deviation are not zero, an adjustment speed is generated according to the relative posture deviation and the relative position deviation; and the auxiliary vehicle is motion controlled based on the adjustment speed and the running speed until the relative posture deviation and the relative position deviation are zero.

[0027] In one possible implementation, the linkage parameters include the rotation angle of the main vehicle slewing mechanism, the rotation angle of the auxiliary vehicle slewing mechanism, the distance of the double vehicle non-contact linkage and the sliding distance, and the sliding distance is used to indicate the distance that the main vehicle support platform slides on the main vehicle sliding guide rail.

[0028] In a possible implementation, the relative position deviation includes a first position deviation and a second position deviation;

[0029] The step of calculating the relative posture deviation and relative position deviation between the main vehicle and the auxiliary vehicle according to the acquired linkage parameters includes:

[0030] Generating the relative posture deviation according to the rotation angle of the main vehicle slewing mechanism and the rotation angle of the auxiliary vehicle slewing mechanism;

[0031] generating the first position deviation according to the rotation angle of the main vehicle slewing mechanism, the distance of the non-contact linkage of the two vehicles and the sliding distance;

[0032] The second position deviation is generated according to the rotation angle of the main vehicle slewing mechanism, the distance of the double vehicle non-contact linkage and the sliding distance.

[0033] In a third aspect, an embodiment of the present invention provides an AGV dual-vehicle linkage device, the device comprising:

[0034] A calculation module, used to calculate the relative posture deviation and relative position deviation between the main vehicle and the auxiliary vehicle according to the acquired linkage parameters;

[0035] A judgment module is used to judge whether the relative posture deviation and the relative position deviation are zero; if the judgment module judges that the relative posture deviation and the relative position deviation are not zero, the generation module is triggered to execute the steps of generating an adjustment speed according to the relative posture deviation and the relative position deviation; and controlling the motion of the auxiliary vehicle based on the adjustment speed and the running speed until the relative posture deviation and the relative position deviation are zero.

[0036] In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium, wherein the computer-readable storage medium includes a stored program, wherein when the program is running, the device where the computer-readable storage medium is located is controlled to execute the AGV dual-vehicle linkage method as described in the second aspect or any possible implementation method of the second aspect.

[0037] In the technical solution provided by the embodiment of the present invention, a high-precision sensor is used to measure the distance and sliding distance of the non-contact linkage of the two vehicles, so as to obtain a relatively high-precision relative posture deviation and relative position deviation, so as to obtain a relatively accurate adjustment speed, so as to achieve precise control of the auxiliary vehicle. At the same time, it avoids damage to the transported products or vehicles, improves the safety of the transported products and vehicles during the linkage process, and thus improves the efficiency of the AGV two-vehicle linkage.

[0038] In the embodiment of the present invention, fast and convenient switching between the serial linkage mode and the parallel linkage mode can be completed without changing the system structure, thereby improving the linkage mode switching efficiency and thus improving the AGV dual-vehicle linkage efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 A schematic structural diagram of a main vehicle provided in an embodiment of the present invention.

[0040] Figure 2 A schematic structural diagram of an auxiliary vehicle provided in an embodiment of the present invention.

[0041] Figure 3 A schematic diagram of non-contact parallel linkage provided by an embodiment of the present invention.

[0042] Figure 4 A schematic diagram of another non-contact parallel linkage provided by an embodiment of the present invention.

[0043] Figure 5 A schematic diagram of a contactless serial linkage provided by an embodiment of the present invention.

[0044] Figure 6A schematic diagram of another contactless serial linkage provided by an embodiment of the present invention.

[0045] Figure 7 A flowchart of an AGV dual-vehicle linkage method provided in an embodiment of the present invention.

[0046] Figure 8 A schematic structural diagram of an AGV dual-vehicle linkage device provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0047] In order to make the purpose, technical solution and advantages of the present invention clearer and more understandable, the present invention is further described below in conjunction with the accompanying drawings and specific implementation methods. 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.

[0048] An automated guided vehicle (AGV) is a transport vehicle equipped with an electromagnetic or optical automatic guidance device that can travel along a specified guidance path and has safety protection and various transfer functions. AGV is a special application of a wheeled mobile robot. AGV is a battery-powered, unmanned vehicle equipped with a non-contact guidance device. Its main function is to accurately travel and dock at a designated location under computer monitoring according to path planning and operation requirements to complete a series of operation functions.

[0049] An embodiment of the present invention provides an AGV dual-vehicle linkage system, which includes a main vehicle and an auxiliary vehicle. The AGV dual-vehicle linkage system is used to calculate the relative posture deviation and relative position deviation between the main vehicle and the auxiliary vehicle according to the acquired linkage parameters; determine whether the relative posture deviation and the relative position deviation are zero; if it is determined that the relative posture deviation and the relative position deviation are not zero, generate an adjustment speed according to the relative posture deviation and the relative position deviation; and control the motion of the auxiliary vehicle based on the adjustment speed and the running speed until the relative posture deviation and the relative position deviation are zero.

[0050] Figure 1 A schematic diagram of the structure of a main vehicle provided by an embodiment of the present invention is shown in FIG. Figure 1As shown, the main vehicle 1 includes a main vehicle body 11; a main vehicle slewing mechanism 12, which is installed on the main vehicle body 11 and is used to realize 360-degree rotation on the main vehicle body 11; a main vehicle sliding guide rail 13, which is installed on the main vehicle slewing mechanism 12 and is used to rotate with the main vehicle slewing mechanism 12 when the main vehicle slewing mechanism 12 rotates; a main vehicle support platform 14, which is installed on the main vehicle sliding guide rail 13 through four guide rail sliders and is used to move along the main vehicle sliding guide rail 13; a main vehicle absolute value encoder 15 (not shown in the figure), which is installed below the main vehicle slewing mechanism 12 and is used to measure the rotation angle of the main vehicle slewing mechanism 12; a laser distance sensor 16 (not shown in the figure), which is installed at the end of the main vehicle sliding guide rail 13 and is used to measure the sliding distance, and the sliding distance is used to indicate the sliding distance of the main vehicle support platform 14 on the main vehicle sliding guide rail 13. Among them, the main vehicle absolute value encoder 15 and the laser distance sensor 16 are both high-precision sensors. The angle detection accuracy of the main vehicle absolute encoder 15 can reach 360° / 2^16=0.0056°, and the distance detection accuracy of the laser ranging sensor 16 can reach 0.1 mm.

[0051] Figure 2 A schematic diagram of the structure of a secondary vehicle provided by an embodiment of the present invention, such as Figure 2 As shown, the auxiliary vehicle 2 includes an auxiliary vehicle body 21; an auxiliary vehicle slewing mechanism 22, which is installed on the auxiliary vehicle body 21 and is used to achieve 360-degree rotation on the auxiliary vehicle body 21; an auxiliary vehicle support platform 23, which is installed on the auxiliary vehicle slewing mechanism 22 and is used to rotate with the auxiliary vehicle slewing mechanism 22 when the auxiliary vehicle slewing mechanism 22 rotates; an auxiliary vehicle absolute value encoder 24 (not shown in the figure), which is installed below the auxiliary vehicle slewing mechanism 22 and is used to measure the rotation angle of the auxiliary vehicle slewing mechanism 22. Among them, the auxiliary vehicle absolute value encoder 24 is a high-precision sensor, and the angle detection accuracy of the auxiliary vehicle absolute value encoder 24 can reach 360° / 2^16=0.0056°.

[0052] In the embodiment of the present invention, the main vehicle slewing mechanism 12 and the auxiliary vehicle slewing mechanism 22 are both passively slewing, and the guide rail slider is also a passive guide rail slider. When there is a relative position deviation or relative posture deviation between the main vehicle and the auxiliary vehicle, the main vehicle slewing mechanism 12 and the auxiliary vehicle slewing mechanism 22 will passively slew, and the guide rail slider slides freely on the main vehicle sliding guide rail 13, thereby ensuring that the relative position deviation or relative posture deviation between the two vehicles will not generate a force on the transfer product, ensuring that the transfer product is not damaged, thereby ensuring the safety of the transfer product during transportation.

[0053] In the embodiment of the present invention, the dual-vehicle linkage mode between the main vehicle and the auxiliary vehicle includes a serial linkage mode or a parallel linkage mode.

[0054] Figure 3 A schematic diagram of a non-contact parallel linkage provided by an embodiment of the present invention, such as Figure 3As shown, in the parallel linkage mode, the main vehicle and the auxiliary vehicle travel side by side, and the relative position relationship between the main vehicle and the auxiliary vehicle is a left-right relationship. In the embodiment of the present invention, the linkage parameters include the rotation angle of the main vehicle slewing mechanism, the rotation angle of the auxiliary vehicle slewing mechanism, the distance of the non-contact linkage of the two vehicles, and the sliding distance. Among them, the distance of the non-contact linkage of the two vehicles is the distance between the center of the main vehicle and the center of the auxiliary vehicle, and the distance of the non-contact linkage of the two vehicles is manually measured and input through the vehicle screen.

[0055] Figure 4 A schematic diagram of another non-contact parallel linkage provided by an embodiment of the present invention, such as Figure 4 As shown in the figure, the dual-car linkage mode is a parallel linkage mode. There is a relative posture deviation and relative position deviation between the main car and the auxiliary car, which may cause damage to the transported products. α represents the rotation angle of the main car's slewing mechanism, β represents the rotation angle of the auxiliary car's slewing mechanism, D represents the distance of the dual-car non-contact linkage, and L represents the sliding distance.

[0056] Figure 5 A schematic diagram of a contactless serial linkage provided by an embodiment of the present invention, such as Figure 5 As shown, in the serial linkage mode, the main vehicle and the auxiliary vehicle travel in a single row, and the relative position relationship between the main vehicle and the auxiliary vehicle is a front-to-back relationship.

[0057] Figure 6 A schematic diagram of another contactless serial linkage provided by an embodiment of the present invention, such as Figure 6 As shown in the figure, the linkage mode of the two vehicles is a serial linkage mode. There is a relative posture deviation and relative position deviation between the main vehicle and the auxiliary vehicle, which may cause damage to the transported products. α represents the rotation angle of the main vehicle's slewing mechanism, β represents the rotation angle of the auxiliary vehicle's slewing mechanism, D represents the distance of the non-contact linkage of the two vehicles, and L represents the sliding distance.

[0058] In an embodiment of the present invention, the system is also used to adjust the relative position relationship between the main vehicle and the auxiliary vehicle from a front-to-back relationship to a left-to-right relationship, so as to switch the dual-vehicle linkage mode from a serial linkage mode to a parallel linkage mode; or, to adjust the relative position relationship between the main vehicle and the auxiliary vehicle from a left-to-right relationship to a front-to-back relationship, so as to switch the dual-vehicle linkage mode from a parallel linkage mode to a serial linkage mode. Specifically, when switching the dual-vehicle linkage mode, the transfer product and other components of the main vehicle and the auxiliary vehicle are controlled to rotate, and the transfer product and other components of the main vehicle and the auxiliary vehicle do not rotate, so as to realize the conversion between the serial linkage mode and the parallel linkage mode. At this time, the posture of the transfer product will not change, and the dual-vehicle linkage mode can be switched without lifting the transfer product, thereby improving the efficiency of switching the linkage mode.

[0059] In the technical solution provided by the embodiment of the present invention, a high-precision sensor is used to measure the distance and sliding distance of the non-contact linkage of the two vehicles, so as to obtain a relatively high-precision relative posture deviation and relative position deviation, so as to obtain a relatively accurate adjustment speed, so as to achieve precise control of the auxiliary vehicle. At the same time, it avoids damage to the transported products or vehicles, improves the safety of the transported products and vehicles during the linkage process, and thus improves the efficiency of the AGV two-vehicle linkage.

[0060] In the embodiment of the present invention, fast and convenient switching between the serial linkage mode and the parallel linkage mode can be completed without changing the system structure, thereby improving the linkage mode switching efficiency and thus improving the AGV dual-vehicle linkage efficiency.

[0061] Figure 7 A flowchart of an AGV dual-vehicle linkage method provided by an embodiment of the present invention is shown in FIG. Figure 7 As shown, the method includes:

[0062] Step 101: Calculate the relative posture deviation and relative position deviation between the main vehicle and the auxiliary vehicle according to the acquired linkage parameters.

[0063] Each step in the embodiment of the present invention is executed by an AGV dual-vehicle linkage system, and the AGV dual-vehicle linkage system includes a main vehicle and an auxiliary vehicle.

[0064] In this step, the linkage parameters include the rotation angle of the main vehicle slewing mechanism, the rotation angle of the auxiliary vehicle slewing mechanism, the distance of the non-contact linkage of the two vehicles, and the sliding distance. Among them, the distance of the non-contact linkage of the two vehicles is the distance between the center of the main vehicle and the center of the auxiliary vehicle, and the distance of the non-contact linkage of the two vehicles is measured manually and input through the on-board screen. The sliding distance refers to the distance that the main vehicle support platform slides on the main vehicle sliding guide rail. The relative position deviation includes a first position deviation and a second position deviation. Among them, the first position deviation is the position deviation relative to the left and right directions, and the second position deviation is the position deviation relative to the forward direction.

[0065] Specifically, the relative posture deviation and relative position deviation between the main vehicle and the auxiliary vehicle are calculated based on the acquired linkage parameters, including: generating a relative posture deviation based on the rotation angle of the main vehicle slewing mechanism and the rotation angle of the auxiliary vehicle slewing mechanism; generating a first position deviation based on the rotation angle of the main vehicle slewing mechanism, the distance of the non-contact linkage of the two vehicles and the sliding distance; generating a second position deviation based on the rotation angle of the main vehicle slewing mechanism, the distance of the non-contact linkage of the two vehicles and the sliding distance.

[0066] Specifically, in the embodiment of the present invention, the relative posture deviation and relative position deviation between the main vehicle and the auxiliary vehicle are calculated according to the acquired linkage parameters through the deviation calculation formula. In the embodiment of the present invention, the deviation calculation formula includes the deviation calculation formula under the serial linkage mode and the deviation calculation formula under the parallel linkage mode.

[0067] In the embodiment of the present invention, the deviation calculation formula in the serial linkage mode is:

[0068] Δθ=α-β

[0069] Δx=(DL)·sinα

[0070] Δy=D-(DL)(1-cosα)

[0071] Among them, Δθ represents the relative posture deviation, Δx represents the first position deviation, Δy represents the second position deviation, α represents the rotation angle of the main vehicle slewing mechanism, β represents the rotation angle of the auxiliary vehicle slewing mechanism, D represents the distance of the non-contact linkage of the two vehicles, and L represents the sliding distance.

[0072] In the embodiment of the present invention, the deviation calculation formula in the parallel linkage mode is:

[0073] Δθ=α-β

[0074] Δx=D-(DL)·sinα

[0075] Δy=(DL)·cosα

[0076] Among them, Δθ represents the relative posture deviation, Δx represents the first position deviation, Δy represents the second position deviation, α represents the rotation angle of the main vehicle slewing mechanism, β represents the rotation angle of the auxiliary vehicle slewing mechanism, D represents the distance of the non-contact linkage of the two vehicles, and L represents the sliding distance.

[0077] In the embodiment of the present invention, based on the proportional-integral-derivative (PID) control algorithm, the relative posture deviation, the first position deviation and the second position deviation are adjusted to zero, so that the non-contact linkage of the two vehicles can be achieved.

[0078] Step 102, determine whether the relative posture deviation and the relative position deviation are zero; if it is determined that the relative posture deviation and the relative position deviation are not zero, execute step 103; if it is determined that the relative posture deviation and the relative position deviation are both zero, execute step 104.

[0079] In this step, if it is determined that the relative posture deviation and the relative position deviation are not zero, it indicates that there is a relative posture deviation and / or relative position deviation between the main vehicle and the auxiliary vehicle, which may cause damage to the transferred products or vehicles; if it is determined that the relative posture deviation and the relative position deviation are both zero, it indicates that there is no relative posture deviation and relative position deviation between the main vehicle and the auxiliary vehicle, and no damage will be caused to the transferred products and vehicles.

[0080] Step 103: Generate an adjustment speed according to the relative posture deviation and the relative position deviation; and control the motion of the auxiliary vehicle based on the adjustment speed and the running speed until the relative posture deviation and the relative position deviation are zero.

[0081] Specifically, the adjustment speed and the running speed are superimposed to generate a correction speed; the auxiliary vehicle is controlled to travel according to the correction speed until the relative posture deviation and the relative position deviation are zero.

[0082] In an embodiment of the present invention, when the directions of the guide paths of the main vehicle and the auxiliary vehicle change, such as when the vehicles turn, the linkage parameters can be changed and step 103 can be executed, thereby achieving a complex operation trajectory while stably transporting and transferring products, thereby overcoming the limitations of the operation trajectory and expanding the application scenarios.

[0083] Step 104: Control the main vehicle and the auxiliary vehicle to continue traveling at the operating speed.

[0084] In the technical solution provided by the embodiment of the present invention, a high-precision sensor is used to measure the distance and sliding distance of the non-contact linkage of the two vehicles, so as to obtain a relatively high-precision relative posture deviation and relative position deviation, so as to obtain a relatively accurate adjustment speed, so as to achieve precise control of the auxiliary vehicle. At the same time, it avoids damage to the transported products or vehicles, improves the safety of the transported products and vehicles during the linkage process, and thus improves the efficiency of the AGV two-vehicle linkage.

[0085] In the embodiment of the present invention, fast and convenient switching between the serial linkage mode and the parallel linkage mode can be completed without changing the system structure, thereby improving the linkage mode switching efficiency and thus improving the AGV dual-vehicle linkage efficiency.

[0086] Figure 8 A schematic diagram of the structure of an AGV dual-vehicle linkage device provided by an embodiment of the present invention is shown in FIG. Figure 8 As shown, the device includes a calculation module 31, a judgment module 32, a generation module 33 and a control module 34. The calculation module 31 is connected to the judgment module 32, and the judgment module 32 is connected to the generation module 33 and the control module 34. The calculation module 31 is used to calculate the relative posture deviation and relative position deviation between the main vehicle and the auxiliary vehicle according to the acquired linkage parameters. The judgment module 32 is used to judge whether the relative posture deviation and the relative position deviation are zero; if the judgment module 32 judges that the relative posture deviation and the relative position deviation are not zero, the generation module 33 is triggered to execute the steps of generating an adjustment speed according to the relative posture deviation and the relative position deviation; and controlling the movement of the auxiliary vehicle based on the adjustment speed and the running speed until the relative posture deviation and the relative position deviation are zero; if the judgment module 32 judges that the relative posture deviation and the relative position deviation are both zero, the control module 34 is triggered to execute the steps of controlling the main vehicle and the auxiliary vehicle to continue driving at the running speed.

[0087] In an embodiment of the present invention, the linkage parameters include the rotation angle of the main vehicle slewing mechanism, the rotation angle of the auxiliary vehicle slewing mechanism, the distance of the non-contact linkage of the two vehicles and the sliding distance, and the sliding distance is used to indicate the distance that the main vehicle support platform slides on the main vehicle sliding guide rail.

[0088] In the embodiment of the present invention, the relative position deviation includes a first position deviation and a second position deviation. The calculation module 31 is specifically used to generate a relative posture deviation according to the rotation angle of the main vehicle slewing mechanism and the rotation angle of the auxiliary vehicle slewing mechanism; generate a first position deviation according to the rotation angle of the main vehicle slewing mechanism, the distance of the non-contact linkage of the two vehicles, and the sliding distance; generate a second position deviation according to the rotation angle of the main vehicle slewing mechanism, the distance of the non-contact linkage of the two vehicles, and the sliding distance.

[0089] In the technical solution provided by the embodiment of the present invention, a high-precision sensor is used to measure the distance and sliding distance of the non-contact linkage of the two vehicles, so as to obtain a relatively high-precision relative posture deviation and relative position deviation, so as to obtain a relatively accurate adjustment speed, so as to achieve precise control of the auxiliary vehicle. At the same time, it avoids damage to the transported products or vehicles, improves the safety of the transported products and vehicles during the linkage process, and thus improves the efficiency of the AGV two-vehicle linkage.

[0090] In the embodiment of the present invention, fast and convenient switching between the serial linkage mode and the parallel linkage mode can be completed without changing the system structure, thereby improving the linkage mode switching efficiency and thus improving the AGV dual-vehicle linkage efficiency.

[0091] An embodiment of the present invention provides a computer-readable storage medium, which includes a stored program. When the program is running, the device where the computer-readable storage medium is located is controlled to execute the steps of the embodiment of the above-mentioned AGV dual-vehicle linkage method. For a specific description, please refer to the embodiment of the above-mentioned AGV dual-vehicle linkage method.

[0092] The above is only a preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed by the present invention should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. An automatic guided vehicle (AGV) dual-vehicle linkage system, characterized in that: The AGV dual-vehicle linkage system includes a main vehicle and a secondary vehicle; The AGV dual-vehicle linkage system is used to calculate the relative posture deviation and relative position deviation between the main vehicle and the auxiliary vehicle according to the acquired linkage parameters; determine whether the relative posture deviation and the relative position deviation are zero; if it is determined that the relative posture deviation and the relative position deviation are not zero, generate an adjustment speed according to the relative posture deviation and the relative position deviation; The auxiliary vehicle is motion-controlled based on the adjustment speed and the running speed until the relative posture deviation and the relative position deviation are zero.

2. The system according to claim 1, characterized in that The main vehicle comprises: Main vehicle body; The main vehicle slewing mechanism is installed on the main vehicle body and is used to realize 360-degree rotation on the main vehicle body; The main vehicle sliding guide rail is installed on the main vehicle slewing mechanism and is used to rotate with the main vehicle slewing mechanism when the main vehicle slewing mechanism rotates; The main vehicle support platform is mounted on the main vehicle sliding guide rail through four guide rail sliders and is used to move along the main vehicle sliding guide rail; The main vehicle absolute value encoder is installed below the main vehicle slewing mechanism and is used to measure the rotation angle of the main vehicle slewing mechanism; A laser distance measuring sensor is installed at the end of the main vehicle sliding guide rail and is used to measure the sliding distance. The sliding distance is used to indicate the sliding distance of the main vehicle support platform on the main vehicle sliding guide rail.

3. The system according to claim 1, characterized in that The auxiliary vehicle comprises: Auxiliary vehicle body; Auxiliary vehicle slewing mechanism, installed on the auxiliary vehicle body, used to realize 360-degree rotation on the auxiliary vehicle body; The auxiliary vehicle support platform is installed on the auxiliary vehicle slewing mechanism and is used to rotate with the auxiliary vehicle slewing mechanism when the auxiliary vehicle slewing mechanism rotates; The auxiliary vehicle absolute value encoder is installed below the auxiliary vehicle rotation mechanism and is used to measure the rotation angle of the auxiliary vehicle rotation mechanism.

4. The system according to claim 1, characterized in that The dual-vehicle linkage mode between the main vehicle and the auxiliary vehicle includes a serial linkage mode or a parallel linkage mode; In the serial linkage mode, the main vehicle and the auxiliary vehicle travel in a single row, and the relative position relationship between the main vehicle and the auxiliary vehicle is a front-to-back relationship; In the parallel linkage mode, the main vehicle and the auxiliary vehicle travel side by side, and the relative position relationship between the main vehicle and the auxiliary vehicle is a left-right relationship.

5. The system according to claim 4, characterized in that The system is also used to adjust the relative position relationship between the main vehicle and the auxiliary vehicle from a front-to-back relationship to a left-to-right relationship, so as to switch the dual-vehicle linkage mode from a serial linkage mode to a parallel linkage mode; or, to adjust the relative position relationship between the main vehicle and the auxiliary vehicle from a left-to-right relationship to a front-to-back relationship, so as to switch the dual-vehicle linkage mode from a parallel linkage mode to a serial linkage mode.

6. An AGV dual-vehicle linkage method, characterized in that: Applied to an AGV dual-vehicle linkage system, the AGV dual-vehicle linkage system includes a main vehicle and a secondary vehicle, and the method includes: Calculating the relative posture deviation and relative position deviation between the main vehicle and the auxiliary vehicle according to the acquired linkage parameters; Determining whether the relative posture deviation and the relative position deviation are zero; If it is determined that the relative posture deviation and the relative position deviation are not zero, an adjustment speed is generated according to the relative posture deviation and the relative position deviation; and the auxiliary vehicle is motion controlled based on the adjustment speed and the running speed until the relative posture deviation and the relative position deviation are zero.

7. The method according to claim 6, characterized in that The linkage parameters include the rotation angle of the main vehicle slewing mechanism, the rotation angle of the auxiliary vehicle slewing mechanism, the distance of the double vehicle non-contact linkage and the sliding distance, and the sliding distance is used to indicate the distance that the main vehicle support platform slides on the main vehicle sliding guide rail.

8. The method according to claim 7, characterized in that The relative position deviation includes a first position deviation and a second position deviation; The step of calculating the relative posture deviation and relative position deviation between the main vehicle and the auxiliary vehicle according to the acquired linkage parameters includes: Generating the relative posture deviation according to the rotation angle of the main vehicle slewing mechanism and the rotation angle of the auxiliary vehicle slewing mechanism; generating the first position deviation according to the rotation angle of the main vehicle slewing mechanism, the distance of the non-contact linkage of the two vehicles and the sliding distance; The second position deviation is generated according to the rotation angle of the main vehicle slewing mechanism, the distance of the double vehicle non-contact linkage and the sliding distance.

9. An AGV dual-vehicle linkage device, characterized in that: The device comprises: A calculation module, used to calculate the relative posture deviation and relative position deviation between the main vehicle and the auxiliary vehicle according to the acquired linkage parameters; A judgment module is used to judge whether the relative posture deviation and the relative position deviation are zero; if the judgment module judges that the relative posture deviation and the relative position deviation are not zero, the generation module is triggered to execute the steps of generating an adjustment speed according to the relative posture deviation and the relative position deviation; and controlling the motion of the auxiliary vehicle based on the adjustment speed and the running speed until the relative posture deviation and the relative position deviation are zero.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a stored program, wherein when the program is running, the device where the computer-readable storage medium is located is controlled to execute the AGV dual-vehicle linkage method as described in any one of claims 6 to 8.

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