AGV (Automatic Guided Vehicle) transfer system with multiple layers of storage locations and control method

Abstract

The invention provides an AGV transfer system with multiple layers of storage locations and a control method, and relates to the technical field of PCB manufacturing, and the AGV transfer system with the multiple layers of storage locations comprises a first-layer storage location, a second-layer storage location, a third-layer storage location and a fourth-layer storage location, the at least one layer of upper-layer storage location is arranged above the first-layer storage location; the temporary storage positions are arranged at the two ends of the arrangement direction of the first-layer storage positions and used for temporarily storing goods shelves transferred between the first-layer storage positions and the upper-layer storage positions; the latent AGV is used for carrying the goods shelves located at the first-layer storage location and the temporary storage location; the stacking type AGV is used for carrying the goods shelf between the upper-layer storage location and the temporary storage location; and the MES system is used for controlling the operation of the latent AGV and the stacking AGV. The two or more layers of storage positions are arranged, the temporary storage positions are arranged at the two ends of the first layer of storage position, cooperative operation of the latent AGV and the stacking type AGV is matched, and the automation level and the operation efficiency of material carrying are greatly improved. The space utilization rate is greatly increased, and the material carrying efficiency is remarkably improved.

Description

Technical Field

[0001] The present invention relates to the technical field of PCB production, and in particular to an AGV transfer system with multi-layer storage locations and a control method. Background Art

[0002] In the modern PCB (printed circuit board) manufacturing industry, the production cycle is fast and the degree of automation is high. The efficiency and reliability of material handling directly affect the production efficiency and product quality. As an efficient material handling equipment, the automatic guided vehicle (AGV) is widely used in all aspects of PCB production.

[0003] The existing AGV transfer system in PCB production usually uses a single-layer storage location to store and transport shelves carrying PCB boards. The single-layer storage location is only arranged in the horizontal direction, and the space is not fully utilized, resulting in low space utilization of the factory. When the factory area is fixed, the storage capacity of the single-layer storage location is limited and it is difficult to meet the storage needs.

[0004] Therefore, it is necessary to improve the existing AGV transfer system related technologies to overcome the defects of the existing technologies. Summary of the invention

[0005] In order to overcome the problems existing in the related art, one of the objects of the present invention is to provide an AGV transfer system with multi-layer storage locations. The AGV transfer system with multi-layer storage locations sets up two or more layers of storage locations, sets up temporary storage locations at both ends of the first-layer storage locations, and cooperates with the latent AGV and the stacking AGV to work together, so as to overcome the problem of low space utilization of the single-layer storage location AGV transfer system existing in the prior art.

[0006] An AGV transfer system with multi-layer storage locations, comprising:

[0007] First floor storage location;

[0008] At least one upper storage location is arranged above the first storage location;

[0009] At least one temporary storage location is arranged at both ends of the first-layer storage location arrangement direction, and is used to temporarily store the shelves transferred between the first-layer storage location and the upper-layer storage location;

[0010] Lurking AGV, used to transport the shelves located at the first-floor storage location and temporary storage location;

[0011] A stacking AGV, used for transporting shelves between the upper storage location and the temporary storage location;

[0012] The MES system is used to control the operation of the latent AGV and the stacking AGV.

[0013] By setting up upper storage locations, the storage space is significantly increased without increasing the floor space, and the space utilization rate is improved. Through the coordinated operation of temporary storage locations and lurking AGVs and stacking AGVs, the pick-and-place of generated storage locations is realized, the storage space is expanded in the vertical direction, the space utilization rate is improved, and the problem of low space utilization rate of the traditional single-layer storage location AGV transfer system is solved.

[0014] Furthermore, there are two temporary storage locations, which are respectively arranged at the two ends of the arrangement direction of the first-floor storage locations, and there is one layer of upper-floor storage locations, and the number of the upper-floor storage locations is the same as the number of the first-floor storage locations.

[0015] The number of upper-level storage locations is the same as that of the first-level storage locations, maximizing the use of vertical space. The two temporary storage locations are located at both ends to achieve two-way material flow, further optimize the handling path, avoid mutual interference during AGV handling, and improve handling efficiency.

[0016] Further, the two temporary storage locations include an upper level shipping location and an upper level incoming location;

[0017] The upper shipping storage location is used to temporarily place the shelves moved out from the upper storage location;

[0018] The upper loading storage location is used for temporarily storing shelves to be moved into the upper storage location.

[0019] The two temporary storage locations are defined as upper-level outbound and upper-level inbound, respectively, to clarify their respective functions, avoid confusion during shelf handling, and improve handling efficiency and accuracy. The separation of outbound and inbound processes allows the lurking AGV and stacking AGV to work together more efficiently, reducing waiting time and further optimizing the handling process.

[0020] Furthermore, the first-floor storage location, the upper-floor storage location and the temporary storage location all include a support structure for supporting the shelves, and the support structure is provided with entrances and exits for the latent AGV or stacking AGV to enter and exit and pick up and place the shelves, and the entrances and exits all face the same side.

[0021] The entrance and exit face the same side, which simplifies the AGV's driving path planning, reduces the control difficulty, and improves the AGV's driving efficiency and safety. The unified direction makes it easier for the AGV to align the storage location to pick up and place the shelves, improving the accuracy and efficiency of the operation. It is convenient for the compact layout of the storage location, which is conducive to improving the space utilization of the factory building.

[0022] Furthermore, the support structure of the first-floor storage location and the temporary storage location includes a first support frame and a horizontal support plane, and the horizontal support plane is arranged on the top of the first support frame;

[0023] The support structure of the upper storage location includes a second support frame and a horizontal support bar, and the horizontal support bar is arranged on the top of the second support frame along the direction of the entrance and exit.

[0024] The horizontal support plane and horizontal support bar provide stable support for the shelf, ensuring the stable placement of the shelf and improving the safety of storage. Different support structures adapt to the operation requirements of different types of AGVs. Lurking AGVs require horizontal support planes for lifting, while stacking AGVs need to fork between support bars.

[0025] Furthermore, the second supporting frame also includes a reinforcement member for enhancing structural stability and load-bearing capacity.

[0026] The setting of reinforcements enhances the stability and load-bearing capacity of the upper storage support structure, ensures the safety of the upper storage during long-term use, and prevents structural deformation or damage caused by insufficient load-bearing. A more stable structure reduces the probability of failure, thereby improving the reliability of the entire AGV transfer system.

[0027] Furthermore, the reinforcement member includes an oblique support column and a reinforcement column, the oblique support column corresponds to the top of the second support frame and the horizontal support bar, and the reinforcement column corresponds to the horizontal support bar.

[0028] The diagonal bracing columns and reinforcing columns further enhance the stability of the upper storage support structure, enabling it to withstand greater loads and impacts. They can effectively disperse stress and distribute the weight of the shelf to the entire frame, improving the overall load-bearing capacity of the upper storage.

[0029] Furthermore, the stacking AGV is positioned by laser and QR code;

[0030] The upper storage location is provided with a QR code for positioning and identification of the stacking AGV;

[0031] A QR code for positioning and identifying the latent AGV is provided on the ground of the first-floor storage location.

[0032] The stacking AGV uses a combination of laser positioning and QR code positioning, and the lurking AGV uses QR code positioning, which can achieve high-precision positioning and ensure the accuracy and safety of shelf handling.

[0033] A second object of the present invention is to provide a control method for a multi-storey AGV transfer system, which is used to control the transfer system as described above, comprising:

[0034] The MES system acquires a shelf handling task, wherein the shelf handling task includes a starting position and a target position;

[0035] If the shelf handling task involves the upper storage location, perform the following steps:

[0036] The MES system assigns a task to the AGV corresponding to the starting position, and controls it to move the target shelf from the starting position to the temporary storage location;

[0037] Assign a task to the AGV corresponding to the target location, and control it to move the target shelf from the temporary storage location to the target location.

[0038] Through the MES system, based on the acquired shelf handling tasks, when the tasks involve upper storage locations, the latent AGV and stacking AGV are coordinated to work together. One of the AGVs transports the items to the temporary storage location, and then the other AGV transports the items to the target storage location, thus realizing the control of multi-layer AGV storage locations.

[0039] Furthermore, if the starting position is an upper storage location, the following steps are performed:

[0040] The MES system assigns a task to the stacking AGV, controlling it to move the target shelf from the upper storage location where the starting position is located to one of the temporary storage locations;

[0041] Assigning a task to the latent AGV to control it to move the target shelf from the temporary storage location to the target location;

[0042] If the target location is an upper level location, perform the following steps:

[0043] The MES system assigns a task to the latent AGV, controlling it to move the target shelf from the starting position to one of the temporary storage locations;

[0044] Assign a task to the stacking AGV and control it to move the target shelf from the temporary storage location to the upper storage location where the target position is located.

[0045] When the starting or target location is the upper storage location, the stacking AGV or the lurking AGV will first move the shelf to one of the temporary storage locations, and then another AGV will move the shelf in the temporary storage location to the target. The other temporary storage location has the same function. The two AGVs at both ends can reduce the waiting time between AGVs, optimize the transportation path, improve the transportation efficiency, and obtain higher space utilization.

[0046] The beneficial effects of the present invention are:

[0047] The present invention provides an AGV transfer system with multi-layer storage locations. By setting at least one upper storage location above the first-layer storage location, the space utilization rate is greatly improved. Without increasing the floor area, the storage capacity is doubled, and the storage pressure during the transfer of PCB materials is effectively alleviated. By using two different types of automatic guided vehicles, the lurking AGV and the stacking AGV, and using the temporary storage location as a transfer, the efficient transfer of different layers of storage locations is achieved. The lurking AGV is good at plane transportation and is responsible for the shelf transportation of the first-layer storage location and the temporary storage location; the stacking AGV has the ability to lift vertically and is responsible for the shelf transfer between the upper storage location and the temporary storage location. The two work together to greatly improve the automation level and operation efficiency of material handling. Through the optimization of the spatial structure, the collaborative operation of various types of AGVs, and the intelligent control of the MES system, the space utilization rate is greatly improved and the material handling efficiency is significantly improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 is a schematic diagram of an AGV transfer system with multi-layer storage locations provided in this application;

[0049] Figure 2 It is a flow chart of the control method of the multi-storey AGV transfer system provided in this application.

[0050] Reference numerals:

[0051] 100, first floor storage location; 200, upper floor storage location; 300, temporary storage location; 410, horizontal support plane; 420, horizontal support bar; 430, diagonal support column; 440, reinforcement column. DETAILED DESCRIPTION

[0052] The preferred embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although the preferred embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided to make the present invention more thorough and complete, and to fully convey the scope of the present invention to those skilled in the art.

[0053] Example 1

[0054] like Figure 1 to Figure 2 As shown, this embodiment provides an AGV transfer system with multi-layer storage locations, which includes a first-layer storage location 100, an upper-layer storage location 200, a temporary storage location 300, a lurking AGV, a stacking AGV and an MES system.

[0055] The first-floor storage location 100 is set on the ground, and a QR code for the latent AGV to locate and identify is affixed on the ground.

[0056] The upper storage locations 200 are arranged above the first-layer storage locations 100 , correspond one-to-one to the first-layer storage locations 100 , and have the same number. The upper storage locations 200 are provided with QR codes for positioning and identification of the stacking AGV.

[0057] In this embodiment, one layer of upper storage locations 200 is provided, and the first-layer storage locations 100 include three open storage locations. Accordingly, there are three upper storage locations 200 .

[0058] The temporary storage locations 300 are arranged at both ends of the arrangement direction of the first-floor storage locations 100. In this embodiment, two temporary storage locations 300 are arranged, one at each end, one as the upper-layer incoming goods storage location, used to temporarily store shelves to be moved into the upper-layer storage location 200; the other as the upper-layer outgoing goods storage location, used to temporarily place shelves moved out of the upper-layer storage location 200. A QR code for the latent AGV to locate and identify is also posted on the ground of the temporary storage location 300. In other words, the temporary storage location 300 is basically the same as the first-layer storage location 100, and the difference is mainly reflected in the functional difference.

[0059] The first-level storage location 100, the upper-level storage location 200 and the temporary storage location 300 all have support structures for supporting shelves.

[0060] The supporting structure of the first-floor storage location 100 and the temporary storage location 300 includes a first supporting frame and a horizontal supporting plane 410 arranged on the top of the frame.

[0061] The support structure of the upper storage location 200 includes a second support frame and a horizontal support bar 420 arranged at the top of the frame along the entrance and exit. The second support frame is also provided with reinforcement members, such as diagonal support columns 430 and reinforcement columns 440, to enhance the stability and load-bearing capacity of the structure.

[0062] The entrances and exits of all storage locations face the same side to facilitate AGV entry and exit and shelf placement.

[0063] The latent AGV is responsible for transporting the shelves located at the first-floor storage location 100 and the temporary storage location 300.

[0064] The stacking AGV is responsible for transporting shelves between the upper storage location 200 and the temporary storage location 300. It determines its position through laser positioning and QR code positioning.

[0065] The MES system is used to assign work tasks to lurking AGVs and stacking AGVs.

[0066] When the MES system receives a shelf moving task, it will assign the task based on the starting location and target location.

[0067] For example, if you want to transport the shelves in the upper storage location 200 to the corresponding process processing location, the MES system will first assign tasks to the stacking AGV to control it to move the shelves from the upper storage location 200 to the upper shipping storage location. Then, the MES system will assign tasks to the lurking AGV to control it to move the shelves from the upper shipping storage location to the target location. Conversely, if you want to move the shelves to the upper storage location 200, the MES system will first control the lurking AGV to move the shelves to the upper incoming storage location, and then control the stacking AGV to move the shelves to the target upper storage location 200.

[0068] The present embodiment provides an AGV transfer system having a single-layer upper storage location 200 and two temporary storage locations 300. The system realizes the automated handling of shelves between the upper storage location 200 and the first-layer storage location 100 through the collaborative work of the lurking AGV and the stacking AGV. The temporary storage locations 300 set at both ends are used as transfer stations for warehousing and outbound respectively, which can effectively avoid AGV conflicts and improve handling efficiency. Compared with the traditional single-layer AGV storage location, the present embodiment can multiply the storage capacity, significantly improve the space utilization rate, reduce labor costs, and improve the automation level of PCB production.

[0069] Example 2

[0070] like Figure 1 to Figure 2 As shown, this embodiment provides an AGV transfer system with multi-layer storage locations, which includes a first-layer storage location 100, an upper-layer storage location 200, a temporary storage location 300, a lurking AGV, a stacking AGV and an MES system.

[0071] The first-floor storage location 100 is set on the ground, and a QR code for the latent AGV to locate and identify is affixed on the ground.

[0072] The upper storage location 200 is arranged above the first storage location 100 .

[0073] In this embodiment, two layers of upper storage locations 200 are arranged, and the number of upper storage locations 200 on each layer is the same as the number of first-layer storage locations 100. The first-layer storage locations 100 include four open storage locations, and accordingly, each layer of upper storage locations 200 has four storage locations.

[0074] The temporary storage locations 300 are arranged at both ends of the first-floor storage locations 100. In this embodiment, four temporary storage locations 300 are arranged, two at each end of the first-floor storage location 100, two of which are used as upper-layer incoming storage locations for temporarily storing shelves to be moved into the upper-layer storage location 200; the other two are used as upper-layer outgoing storage locations for temporarily placing shelves moved out of the upper-layer storage location 200. A QR code for latent AGV positioning and identification is also posted on the ground of the temporary storage location 300.

[0075] The first-level storage location 100, the upper-level storage location 200 and the temporary storage location 300 all have support structures for supporting shelves.

[0076] The supporting structure of the first-floor storage location 100 and the temporary storage location 300 includes a first supporting frame and a horizontal supporting plane 410 arranged on the top of the frame.

[0077] The support structure of the upper storage location 200 includes a second support frame and a horizontal support bar 420 arranged at the top of the frame along the entrance and exit. The second support frame is also provided with reinforcement members, such as diagonal support columns 430 and reinforcement columns 440, to enhance the stability and load-bearing capacity of the structure.

[0078] The entrances and exits of all storage locations face the same side to facilitate AGV entry and exit and shelf placement.

[0079] The latent AGV is responsible for transporting the shelves located at the first-floor storage location 100 and the temporary storage location 300.

[0080] The stacking AGV is responsible for transporting shelves between the upper storage location 200 and the temporary storage location 300, and determines the position through laser positioning.

[0081] The MES system is used to assign work tasks to lurking AGVs and stacking AGVs.

[0082] When the MES system receives a shelf moving task, it will assign the task based on the starting location and target location.

[0083] For example, if you want to transport the shelves on the third-layer storage location to the corresponding process processing location, the MES system will first assign tasks to the stacking AGV to control it to move the shelves from the corresponding storage location on the third layer to one of the upper-layer shipping storage locations. After the stacking AGV is completed, the MES system will assign tasks to the lurking AGV to control it to move the shelves from the corresponding upper-layer shipping storage location to the target location. Conversely, if you want to move the shelves from the process processing location to the third-layer storage location, the MES system will first control the lurking AGV to move the shelves from the process processing location to one of the upper-layer incoming storage locations, and then control the stacking AGV to move the shelves from the corresponding upper-layer incoming storage location to the target second-layer storage location.

[0084] This embodiment increases the number of upper storage locations 200 and correspondingly increases the number of temporary storage locations 300. By setting two upper storage locations 200 and four temporary storage locations 300 (two at each end, used for warehousing and outbound respectively), the storage capacity and handling efficiency can be further improved. The design of multiple upper storage locations 200 maximizes the use of vertical space, so that more shelves can be stored within a limited floor space. The setting of four temporary storage locations 300 further optimizes the operation path of the AGV, reduces the waiting time and empty driving distance of the AGV, and improves the handling efficiency.

[0085] Example 3

[0086] like Figure 1 to Figure 2 As shown, this embodiment provides an AGV transfer system with multi-layer storage locations, three first-floor storage locations 100 are provided, and the first support frame adopts a steel frame structure. The top of the frame is a steel plate, which serves as a horizontal support plane 410 for the latent AGV to perform lifting operations. Each first-floor storage location 100 is affixed with a unique QR code on the ground for the latent AGV positioning. The steel frame structure includes four vertical support columns, one side is an entrance and exit, and the other three sides except the entrance and exit contain two horizontal support columns. The horizontal support columns on both sides of the entrance and exit are located at the top and the other is located at the bottom. The horizontal support columns on the remaining side are located at the top and the other is located near the middle.

[0087] The upper storage location 200 is also provided with three, and the second support frame also adopts a steel frame structure. Several horizontal support bars 420 are arranged on the top of the frame along the entrance and exit direction, and the support bars are used for inserting the forks of the forklift AGV and supporting the shelves. In order to enhance the stability and load-bearing capacity of the upper storage location 200, reinforcements are arranged on the second support frame. Each upper storage location 200 is provided with a unique QR code for forklift AGV positioning. The second support frame includes four vertical support columns. Except for the entrance and exit, the other three sides include two horizontal support columns, and one horizontal support column is located at the top and the other is located in the middle. The reinforcements of the support frame of the upper storage location 200 include diagonal support columns 430 and reinforcement columns 440. Two horizontal support bars 420 are provided, and the two horizontal support bars 420 are evenly arranged on the top of the second support frame. The horizontal support bar 420 and the two horizontal support columns located at the top parallel to the horizontal support bar 420 are provided with diagonal support columns 430. The diagonal support columns 430 are connected backward from their lower position to the horizontal support bar 420 or the vertical support columns obliquely below. The reinforcement columns 440 are arranged below the horizontal support bar 420, corresponding to the horizontal support bar 420 one by one, and are made of square steel.

[0088] The structure of the temporary storage location 300 is the same as that of the first-floor storage location 100, and a QR code is attached to the ground for the latent AGV to locate. In this embodiment, two temporary storage locations 300 are set, located at both ends of the arrangement direction of the first-floor storage location 100, one as the upper-floor incoming goods storage location, and the other as the upper-floor outgoing goods storage location.

[0089] The navigation method of the latent AGV is QR code navigation, and the shelves are picked up and placed through a lifting mechanism.

[0090] The stacking AGV uses a forklift AGV, and its navigation method is a combination of laser navigation and QR code navigation.

[0091] The MES system is responsible for receiving and assigning shelf handling tasks, and controlling the collaborative work of the latent AGV and forklift AGV. The following describes a specific handling scenario:

[0092] Assume that the shelf located at the upper storage location 200A on the second floor needs to be moved to the storage location 100B on the first floor.

[0093] The MES system obtains the handling task and specifies the starting location as the upper storage location 200A on the second floor and the target location as the first-floor storage location 100B.

[0094] After receiving the task, the MES system determines whether the forklift AGV and the lurking AGV need to work together based on the starting position and the target position.

[0095] The MES system sends a task instruction to the forklift AGV, the instruction content includes: go to the upper storage location 200A on the second floor; move the shelf from the upper storage location 200A to the upper shipping storage location; place the shelf on the horizontal support plane 410 of the upper shipping storage location.

[0096] After the forklift AGV completes the task, it sends a completed task instruction to the MES system, and the MES system then sends a task instruction to the latent AGV, the instruction content includes: go to the upper shipping location; move the shelf from the upper shipping location to the first-floor location 100B; place the shelf on the horizontal support plane 410 of the first-floor location 100B.

[0097] After the latent AGV completes the task, the MES system updates the task status to "completed".

[0098] This embodiment describes in detail the design of the storage location support structure and reinforcement, as well as the control process of the AGV. By adopting the steel frame structure, horizontal support plane 410 / support bar, diagonal support column 430 and reinforcement column 440 and other designs, the stability and load-bearing capacity of the storage location are enhanced, ensuring the safe storage of the shelves. At the same time, it describes in detail how the MES system controls the collaborative work of the forklift AGV and the lurking AGV to achieve accurate, efficient and automated handling of the shelves between the upper storage location 200 and the first-floor storage location 100. The clear control process and stable storage location structure improve the reliability and safety of the system and reduce maintenance costs.

[0099] Unless otherwise specifically stated, the relative arrangement, numerical expressions and numerical values ​​of the parts and steps set forth in these embodiments do not limit the scope of the application. In all examples shown and discussed here, any specific value should be interpreted as being merely exemplary, rather than as a restriction. Therefore, other examples of exemplary embodiments can have different values. It should be noted that similar reference numerals and letters represent similar items in the following drawings, and therefore, once a certain item is defined in an accompanying drawing, it does not need to be further discussed in the subsequent accompanying drawings.

[0100] In addition, it should be noted that the use of terms such as "first" and "second" to limit is only for the convenience of distinction. Unless otherwise stated, the above terms have no special meaning and therefore cannot be understood as limiting the scope of protection of this application.

[0101] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An AGV transfer system with multi-layer storage locations, characterized in that: include: First floor storage location (100); At least one upper storage location (200) is arranged above the first storage location (100); At least one temporary storage location (300) is arranged at both ends of the first-layer storage locations (100) in the arrangement direction, and is used to temporarily store shelves transferred between the first-layer storage locations (100) and the upper-layer storage locations (200); A latent AGV, used for transporting shelves located at the first-floor storage location (100) and the temporary storage location (300); A stacking AGV, used for transporting shelves between the upper storage location (200) and the temporary storage location (300); The MES system is used to control the operation of the latent AGV and the stacking AGV.

2. The AGV transfer system with multi-layer storage locations according to claim 1 is characterized in that: There are two temporary storage locations (300), which are respectively arranged at the two ends of the arrangement direction of the first-layer storage locations (100), and there is one layer of upper-layer storage locations (200), and the number of the upper-layer storage locations (200) is the same as the number of the first-layer storage locations (100).

3. The AGV transfer system with multi-layer storage locations according to claim 2 is characterized in that: The two temporary storage locations (300) include an upper level shipping location and an upper level incoming location; The upper shipping storage location is used to temporarily store shelves moved out from the upper storage location (200); The upper loading storage location is used for temporarily storing shelves to be moved into the upper storage location (200).

4. The AGV transfer system with multi-layer storage locations according to claim 1 is characterized in that: The first-floor storage location (100), the upper-floor storage location (200) and the temporary storage location (300) all include a support structure for supporting shelves, and the support structure is provided with an entrance and exit for a latent AGV or a stacking AGV to enter and exit and pick up and place shelves, and the entrance and exit all face the same side.

5. The AGV transfer system with multi-layer storage locations according to claim 4 is characterized in that: The support structure of the first-floor storage location (100) and the temporary storage location (300) comprises a first support frame and a horizontal support plane (410), wherein the horizontal support plane (410) is arranged on the top of the first support frame; The support structure of the upper storage location (200) comprises a second support frame and a horizontal support bar (420), wherein the horizontal support bar (420) is arranged on the top of the second support frame along the direction of the entrance and exit.

6. The AGV transfer system with multi-layer storage locations according to claim 5 is characterized in that: The second support frame also includes reinforcement members for enhancing structural stability and load-bearing capacity.

7. The AGV transfer system with multi-layer storage locations according to claim 6, characterized in that: The reinforcement member includes an oblique support column (430) and a reinforcement column (440), wherein the oblique support column (430) corresponds to the top of the second support frame and the horizontal support bar (420), and the reinforcement column (440) corresponds to the horizontal support bar (420).

8. The AGV transfer system with multi-layer storage locations according to claim 1, characterized in that: The stacking AGV is positioned by laser and QR code; The upper storage location (200) is provided with a two-dimensional code for positioning and identification of the stacking AGV; The ground of the first-floor storage location (100) is provided with a QR code for positioning and identification of the latent AGV.

9. A control method for a multi-storey AGV transfer system, characterized in that: Used to control the transport system according to any one of claims 1 to 8, comprising: The MES system acquires a shelf handling task, wherein the shelf handling task includes a starting position and a target position; If the shelf handling task involves the upper storage location (200), the following steps are performed: The MES system assigns a task to the AGV corresponding to the starting position, and controls the AGV to move the target shelf from the starting position to the temporary storage location (300); Assign a task to the AGV corresponding to the target position, and control it to move the target shelf from the temporary storage location (300) to the target position.

10. The control method of the multi-store AGV transfer system according to claim 9, characterized in that: Used to control the transfer system as claimed in claim 2 or 3; If the starting position is the upper storage location (200), perform the following steps: The MES system assigns a task to the stacking AGV, controlling it to move the target shelf from the upper storage location (200) where the starting position is located to one of the temporary storage locations (300); Assigning a task to the latent AGV to control it to move the target shelf from the temporary storage location (300) to the target location; If the target location is the upper storage location (200), perform the following steps: The MES system assigns a task to the latent AGV, controlling it to move the target shelf from the starting position to one of the temporary storage locations (300); Assigning a task to the stacking AGV and controlling it to move the target shelf from the temporary storage location (300) to the upper storage location (200) where the target position is located.

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