AGV (Automatic Guided Vehicle) transportation system for station transfer transportation of large workpieces

Abstract

The invention discloses an AGV (automatic guided vehicle) transportation system for station transfer transportation of large workpieces, and relates to the technical field of AGV transportation, the AGV transportation system comprises a frame, a movable lifting platform and an obstacle avoidance early warning system, and the obstacle avoidance early warning system comprises a data acquisition unit, a levelness monitoring unit, an obstacle evaluation unit, a toppling prediction unit and a master control unit; the distance between the movable table top and the horizontal table top can be adjusted according to the length of a workpiece, so that the AGV transportation system has a lifting function, meanwhile, height data of goods loaded on the AGV transportation system are obtained, a transportation stability coefficient is calculated in combination with goods size and goods weight data, and then an obstacle avoidance demand coefficient is calculated according to obstacle avoidance sensing data; the obstacle avoidance necessity is judged according to a preset obstacle avoidance requirement judgment interval, the effective obstacle avoidance distance and the effective obstacle avoidance acceleration are calculated in combination with the transportation stability coefficient, the walking mechanism is controlled to adjust the real-time speed and the walking direction of the AGV transportation system so as to achieve obstacle avoidance, and meanwhile the alarm assembly is controlled to give out an obstacle avoidance alarm prompt.

Description

Technical Field

[0001] The present invention relates to the field of AGV transportation technology, and in particular to an AGV transportation system for station-to-station sequence transportation of large workpieces. Background Art

[0002] Currently, in the manufacturing industry, the transportation of large workpieces between workshops and workstations is mostly achieved with the help of trailers or cranes. This method is easily affected by personnel and equipment in actual production, and is prone to safety accidents during transportation. At the same time, the production progress of the production line will be affected because the transportation equipment cannot be in place in time, which seriously affects the advancement of the workstation production plan; In the prior art, automated guided vehicles (AGVs) are used as transportation tools. AGVs are industrial vehicles that load goods automatically or manually, automatically drive along a set route or pull a cargo trolley to a designated location, and then load and unload goods automatically or manually. AGVs can only truly function if they are combined with automated guidance systems, automated loading and unloading systems, communication systems, safety systems, and management systems to form an automated guided vehicle system in accordance with the requirements of automation, flexibility, and punctuality in material handling operations. However, existing automated guided vehicles are relatively simple and cannot adjust the height of goods. They are only suitable for moving goods horizontally. When the height of the shelves is inconsistent, manual or other mechanical cooperation is required to move the goods, which is inconvenient to use. In view of the above technical defects, a solution is now proposed. Summary of the invention

[0003] The purpose of the present invention is to adjust the distance between the movable table and the horizontal table according to the length of the workpiece, and at the same time make it have the lifting function.

[0004] In order to achieve the above-mentioned purpose, the present invention adopts the following technical scheme: an AGV transportation system for large workpiece station transfer transportation, comprising a frame, a mobile lifting platform and an obstacle avoidance warning system, the bottom surface of the frame is fixedly provided with a walking mechanism, the outer two side surfaces of the frame are fixedly provided with turn indicator lights, one end surface of the frame is fixedly provided with an obstacle avoidance sensor group, the outer side surface of the frame is fixedly provided with an alarm assembly, the top surface of the frame is fixedly provided with a fixed lifting platform, and the mobile lifting platform is fixedly provided on the top surface of the fixed lifting platform; The obstacle avoidance warning system includes a data acquisition unit, a levelness monitoring unit, an obstacle assessment unit, a tipping prediction unit and a general control unit; The data acquisition unit includes a sensor monitoring module and a data acquisition module. The sensor monitoring module is used to obtain obstacle avoidance sensing data of the AGV transportation system during driving through an obstacle avoidance sensor group. The obstacle avoidance sensor group includes a camera, a speed sensor, and an inertial sensor, and sends the obstacle avoidance sensing data to the obstacle assessment unit. The data acquisition module is used to obtain the cargo size and cargo weight data loaded on the AGV transportation system, and send the cargo size and cargo weight data to the levelness monitoring unit The level monitoring unit is used to obtain the height data of the goods loaded on the AGV transportation system through the height sensors set on the surfaces of the mobile lifting platform and the fixed lifting platform, calculate the transportation stability coefficient based on the goods size and weight data, and send the transportation stability coefficient to the dumping prediction unit; The obstacle assessment unit is used to obtain and process obstacle avoidance sensing data, wherein the obstacle avoidance sensing data includes obstacle pictures obtained by a camera, the real-time distance between the obstacle and the AGV transport system obtained by a ranging sensor, and the real-time position, speed, and acceleration of the AGV transport system obtained by an inertial sensor, calculates an obstacle avoidance requirement coefficient based on the obstacle avoidance sensing data, and sends the obstacle avoidance requirement coefficient to the dumping prediction unit; The dumping prediction unit is used to obtain and process the transport stability coefficient and the obstacle avoidance requirement coefficient, judge the necessity of obstacle avoidance according to the preset obstacle avoidance requirement judgment interval to generate an obstacle avoidance requirement signal, calculate the effective obstacle avoidance distance and the effective obstacle avoidance acceleration in combination with the transport stability coefficient, and send the effective obstacle avoidance distance and the effective obstacle avoidance acceleration to the main control unit.

[0005] Furthermore, the mobile lifting platform includes a horizontal platform surface and a hydraulic pump. A mounting groove is provided on the top surface of the frame. The hydraulic pump is fixedly arranged on the inner wall of the mounting groove. Two mounting seats are fixedly arranged on the inner wall of the mounting groove. Lifting support shafts are movably connected to the inner walls of the two mounting seats. The output ends of the hydraulic pump are respectively connected to the bottom end surfaces of the lifting support shafts. The horizontal platform surface is fixedly arranged on the top end surfaces of the two lifting support shafts.

[0006] Furthermore, the mobile lifting platform includes a lifting component and a moving table top, the top surface of the frame is provided with two parallel sliding long grooves, the two lifting components are fixed on the inner walls of the sliding long grooves, and the two moving table tops are respectively fixed on the top surface of the moving component.

[0007] Furthermore, the lifting component includes a limiting rail and a lifting platform, the two limiting rails are fixed in parallel on the inner wall of the sliding long groove, the outer surfaces of the two limiting rails are movably connected with the sliding platforms respectively, the lifting platform is fixed on the outer surfaces of the two sliding platforms, the top surface of the lifting platform is fixed with a lifting motor, the outer surface of the output end of the lifting motor is fixed with a lifting vertical shaft, the moving table surface is fixed on the top surface of the lifting vertical shaft, and the bottom surface of the lifting platform is connected with a moving component.

[0008] Furthermore, the moving component includes a servo motor and a hinge, the servo motor is fixedly mounted on the inner wall of the sliding long slot, a driving hinge wheel is fixedly mounted on the outer surface of the output end of the servo motor, a driven hinge wheel is fixedly mounted on the inner wall of the sliding long slot, the hinge is movably connected to the outer surfaces of the driving hinge wheel and the driven hinge wheel, and the hinge wheel is connected to the bottom end surface of the lifting platform as a whole through a connecting piece.

[0009] Furthermore, the general control unit includes an instruction generation module and an execution module. The instruction generation module generates corresponding adjustment instructions according to the effective obstacle avoidance distance and the effective obstacle avoidance acceleration, and sends them to the execution module. After obtaining the adjustment instructions, the execution module controls the walking mechanism to adjust the real-time speed and walking direction of the AGV transportation system to achieve obstacle avoidance, and at the same time controls the alarm assembly to issue an obstacle avoidance alarm prompt.

[0010] Furthermore, the specific process of calculating the transport stability coefficient is as follows: S101, obtaining height data of goods loaded on the AGV transportation system, wherein the height data includes height data Hm of the mobile lifting platform and height data Hn of the fixed lifting platform; S102, obtaining the cargo size and cargo weight data mk loaded on the AGV transportation system, wherein the cargo size includes the cargo length data, height data and thickness data, and calculating the cargo volume data Vk according to the volume formula; S103. Calculate the transport stability coefficient Pi according to the following formula: , where e1 and e2 are preset weight coefficients. The transportation stability coefficient is used to reflect the stability of the AGV transportation system during cargo transportation. The larger the transportation stability coefficient, the more stable the AGV transportation system is during cargo transportation. Conversely, the smaller the transportation stability coefficient, the more unstable the AGV transportation system is during cargo transportation.

[0011] Furthermore, the specific process of calculating the obstacle avoidance requirement coefficient is as follows: S201, obtaining an obstacle image, performing feature extraction based on the obstacle image, obtaining a contour line of the target obstacle, and inputting the contour line into a three-dimensional simulation software to obtain an obstacle model; S202, obtaining distribution data of the environment in which the AGV transportation system is located, establishing a spatial coordinate system according to the environmental distribution data, and importing the AGV transportation system into the spatial coordinate system as a target model, obtaining real-time coordinate data of the target model according to the real-time position of the AGV transportation system, and importing the obstacle model into the spatial coordinate system, intercepting a plane image 1 of the obstacle model according to the nearest edge of the opposite surface of the obstacle model and the target model, and intercepting a plane image 2 of the nearest edge of the opposite surface of the target model and the obstacle model; S203, overlap the plane image 1 and the plane image 2, draw the edge line of the overlapped part, and perform grid processing to obtain the overlapped area S i ; S204, obtaining the speed v0 and acceleration a of the AGV transportation system, and calculating the movement route x(t) of the AGV transportation system according to the following formula: , where x0 is the horizontal coordinate value in the real-time coordinate data of the target model; S205. According to the preset prediction period T, the real-time coordinate position of the AGV transportation system along the movement route is obtained to obtain a number of overlap areas S i , calculate the obstacle avoidance requirement coefficient Wi according to the following formula: , where i = 1, 2, 3, …, n, and the obstacle avoidance requirement coefficient is used to reflect the necessity of obstacle avoidance of the AGV transportation system along the movement route. The larger the obstacle avoidance requirement coefficient, the greater the necessity of obstacle avoidance. Conversely, the smaller the obstacle avoidance requirement coefficient, the smaller the necessity of obstacle avoidance.

[0012] Furthermore, the specific process of calculating the effective obstacle avoidance distance and the effective obstacle avoidance acceleration is as follows: S301, obtaining an obstacle avoidance requirement coefficient and a preset obstacle avoidance requirement judgment interval (Wmin, Wmax), if the obstacle avoidance requirement coefficient Wi is less than or equal to Wmin, no signal is generated; If the obstacle avoidance requirement coefficient Wi is greater than Wmin and less than Wmax, an obstacle avoidance requirement signal is generated; If the obstacle avoidance requirement coefficient Wi is greater than or equal to Wmax, a shutdown signal is generated and sent to the execution module; S302, obtain the real-time distance Li between the obstacle and the AGV transportation system, and simultaneously obtain the speed v0 and acceleration a of the AGV transportation system, and calculate the effective obstacle avoidance time ts according to the following formula: , S303, further calculating the effective obstacle avoidance acceleration as according to the acceleration formula: .

[0013] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are: 1. The AGV transport system used for the transfer and transport of large workpiece stations drives the lifting support shaft to move up and down along the mounting seat through a hydraulic pump, thereby driving the horizontal platform to move up and down. At the same time, the lifting motor drives the lifting vertical shaft to move up and down, thereby driving the mobile table to move up and down. The horizontal platform and the mobile table move up and down synchronously, which can realize the horizontal movement of the goods and adjust the height of the goods. The horizontal platform and the mobile table move synchronously and staggered, which can realize the tilt adjustment of the goods and facilitate the placement of goods.

[0014] 2. The AGV transport system used for the transfer and transport of large workpieces uses a servo motor to drive the active hinge wheel to rotate, and cooperates with the driven hinge wheel to drive the hinge to rotate, thereby driving the lifting platform to move horizontally along the sliding long groove. The distance between the moving table and the horizontal table surface can be adjusted according to the length of the workpiece. At the same time, it has a lifting function, leaving sufficient space at the bottom of the workpiece, and can also be easily adapted to shelves of different heights.

[0015] 3. The AGV transport system used for the transfer transport of large workpiece stations obtains the height data of the goods loaded on the AGV transport system, calculates the transport stability coefficient based on the goods size and weight data, and then calculates the obstacle avoidance demand coefficient based on the obstacle avoidance sensing data, determines the necessity of obstacle avoidance based on the preset obstacle avoidance demand judgment interval, calculates the effective obstacle avoidance distance and the effective obstacle avoidance acceleration based on the transport stability coefficient, controls the walking mechanism to adjust the real-time speed and walking direction of the AGV transport system to achieve obstacle avoidance, and at the same time controls the alarm assembly to issue an obstacle avoidance alarm prompt, issues an early warning within the corresponding range, and reminds people within the range to pay attention to oncoming vehicles. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 The overall external structure schematic diagram of the present invention is shown; Figure 2 Another schematic diagram of the overall external structure of the present invention is shown; Figure 3 The overall internal structure schematic diagram of the present invention is shown; Figure 4 Another schematic diagram of the overall internal structure of the present invention is shown; Figure 5 A schematic diagram of the structure of the obstacle avoidance warning system of the present invention is shown; Figure 6 The present invention is shown Figure 3 A schematic diagram of the structure enlargement of part A; Figure 7 The present invention is shown Figure 4 A schematic diagram of the structure of part B in the middle is enlarged; Legend: 1. Frame; 2. Turn signal light; 3. Alarm assembly; 4. Hydraulic pump; 5. Mounting slot; 6. Mounting seat; 7. Lifting support shaft; 8. Horizontal platform; 9. Sliding long slot; 10. Limiting track; 11. Slide; 12. Lifting platform; 13. Lifting motor; 14. Lifting vertical shaft; 15. Moving table; 16. Servo motor; 17. Driving hinge wheel; 18. Driven hinge wheel; 19. Hinge; 20. Connector. DETAILED DESCRIPTION

[0017] 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.

[0018] Embodiment 1: like Figure 1-4 , 6 and 7, an AGV transport system for the transfer transport of large workpiece stations, including a frame 1, a mobile lifting platform and an obstacle avoidance warning system, a walking mechanism is fixedly provided on the bottom surface of the frame 1, turn signal lights 2 are fixedly provided on the outer two side surfaces of the frame 1, an obstacle avoidance sensor group is fixedly provided on one end surface of the frame 1, an alarm assembly 3 is fixedly provided on the outer surface of the frame 1, a fixed lifting platform is fixedly provided on the top surface of the frame 1, and the mobile lifting platform is fixedly provided on the top surface of the fixed lifting platform; The mobile lifting platform includes a horizontal surface 8 and a hydraulic pump 4. A mounting groove 5 is opened on the top surface of the frame 1. The hydraulic pump 4 is fixedly arranged on the inner wall of the mounting groove 5. Two mounting seats 6 are fixedly arranged on the inner wall of the mounting groove 5. The inner walls of the two mounting seats 6 are respectively movably connected with lifting support shafts 7. The output ends of the hydraulic pump 4 are respectively connected to the bottom end surfaces of the lifting support shafts 7. The horizontal surface 8 is fixedly arranged on the top surfaces of the two lifting support shafts 7.

[0019] The mobile lifting platform includes a lifting component and a moving table top 15. The top surface of the frame 1 is provided with two parallel sliding long grooves 9. The two lifting components are fixed on the inner walls of the sliding long grooves 9, and the two moving tables 15 are respectively fixed on the top surfaces of the moving components.

[0020] The lifting component includes a limiting rail 10 and a lifting platform 12. The two limiting rails 10 are fixedly arranged in parallel on the inner wall of the sliding long groove 9. The outer surfaces of the two limiting rails 10 are movably connected with the slides 11 respectively. The lifting platform 12 is fixedly arranged on the outer surfaces of the two slides 11. The top surface of the lifting platform 12 is fixedly provided with a lifting motor 13. The outer surface of the output end of the lifting motor 13 is fixedly provided with a lifting vertical shaft 14. The moving table 15 is fixedly arranged on the top surface of the lifting vertical shaft 14. The bottom surface of the lifting platform 12 is connected with a moving component.

[0021] The moving component includes a servo motor 16 and a hinge 19. The servo motor 16 is fixedly arranged on the inner wall of the sliding long slot 9. An active hinge wheel 17 is fixedly arranged on the outer surface of the output end of the servo motor 16. A driven hinge wheel 18 is fixedly arranged on the inner wall of the sliding long slot 9. The hinge 19 is movably connected to the outer surfaces of the active hinge wheel 17 and the driven hinge wheel 18. The hinge wheel and the bottom end surface of the lifting platform 12 are connected as a whole through a connecting piece 20.

[0022] The working principle is as follows: the hydraulic pump 4 drives the lifting support shaft 7 to move up and down along the mounting seat 6, thereby driving the horizontal platform 8 to move up and down, and at the same time, the lifting motor 13 drives the lifting vertical shaft 14 to move up and down, thereby driving the moving table 15 to move up and down, the horizontal platform 8 and the moving table 15 move up and down synchronously, which can realize the horizontal movement of the goods and adjust the height of the goods, and the horizontal platform 8 and the moving table 15 move synchronously and staggered, which can realize the tilt adjustment of the goods, and facilitate the placement of goods; At the same time, the servo motor 16 drives the active hinge wheel 17 to rotate, and cooperates with the driven hinge wheel 18 to drive the hinge 19 to rotate, thereby driving the lifting platform 12 to move horizontally along the sliding long groove 9. The distance between the movable table 15 and the horizontal table surface 8 can be adjusted according to the length of the workpiece. At the same time, in order to facilitate the loading and unloading of the workpiece, it also has a lifting function, leaving sufficient space at the bottom of the workpiece, and can also be conveniently adapted to shelves of different heights.

[0023] Embodiment 2: like Figure 5 As shown, an AGV transportation system for large workpiece station transfer transportation includes a frame, a mobile lifting platform and an obstacle avoidance warning system, and the obstacle avoidance warning system includes a data acquisition unit, a levelness monitoring unit, an obstacle assessment unit, a dumping prediction unit and a general control unit; The data acquisition unit includes a sensor monitoring module and a data acquisition module. The sensor monitoring module is used to obtain obstacle avoidance sensing data of the AGV transportation system during driving through an obstacle avoidance sensor group. The obstacle avoidance sensor group includes a camera, a speed sensor, and an inertial sensor, and sends the obstacle avoidance sensing data to the obstacle assessment unit. The data acquisition module is used to obtain the size and weight data of the cargo loaded on the AGV transportation system, and send the size and weight data to the level monitoring unit The level monitoring unit is used to obtain the height data of the goods loaded on the AGV transportation system through the height sensors set on the surfaces of the mobile lifting platform and the fixed lifting platform, calculate the transportation stability coefficient based on the goods size and weight data, and send the transportation stability coefficient to the dumping prediction unit; The specific process of calculating the transport stability coefficient is as follows: S101, obtaining height data of the cargo loaded on the AGV transportation system, the height data including height data Hm of the mobile lifting platform and height data Hn of the fixed lifting platform; S102, obtaining the cargo size and cargo weight data mk loaded on the AGV transportation system, where the cargo size includes the cargo length data, height data and thickness data, and calculating the cargo volume data Vk according to the volume formula; S103. Calculate the transport stability coefficient Pi according to the following formula: , where e1 and e2 are preset weight coefficients. The transportation stability coefficient is used to reflect the stability of the AGV transportation system during cargo transportation. The larger the transportation stability coefficient, the more stable the AGV transportation system is during cargo transportation. Conversely, the smaller the transportation stability coefficient, the more unstable the AGV transportation system is during cargo transportation.

[0024] The obstacle assessment unit is used to obtain and process obstacle avoidance sensing data, which includes obstacle pictures obtained by cameras, real-time distances between obstacles and the AGV transport system obtained by range-finding sensors, and real-time positions, speeds, and accelerations of the AGV transport system obtained by inertial sensors. The obstacle avoidance requirement coefficient is calculated based on the obstacle avoidance sensing data, and the obstacle avoidance requirement coefficient is sent to the dumping prediction unit. The dump prediction unit is used to obtain and process the transport stability coefficient and the obstacle avoidance requirement coefficient, judge the necessity of obstacle avoidance according to the preset obstacle avoidance requirement judgment interval to generate an obstacle avoidance requirement signal, calculate the effective obstacle avoidance distance and the effective obstacle avoidance acceleration in combination with the transport stability coefficient, and send the effective obstacle avoidance distance and the effective obstacle avoidance acceleration to the general control unit; The specific process of calculating the obstacle avoidance demand coefficient is as follows: S201, obtaining an obstacle image, performing feature extraction based on the obstacle image, obtaining a contour line of the target obstacle, and inputting the contour line into a three-dimensional simulation software to obtain an obstacle model; S202, obtaining distribution data of the environment in which the AGV transportation system is located, establishing a spatial coordinate system according to the environmental distribution data, and importing the AGV transportation system into the spatial coordinate system as a target model, obtaining real-time coordinate data of the target model according to the real-time position of the AGV transportation system, and importing the obstacle model into the spatial coordinate system, intercepting a plane image 1 of the obstacle model according to the nearest edge of the opposite surface of the obstacle model and the target model, and intercepting a plane image 2 of the nearest edge of the opposite surface of the target model and the obstacle model; S203, overlap the plane image 1 and the plane image 2, draw the edge line of the overlapped part, and perform grid processing to obtain the overlapped area S i ; S204, obtaining the speed v0 and acceleration a of the AGV transportation system, and calculating the movement route x(t) of the AGV transportation system according to the following formula: , where x0 is the horizontal coordinate value in the real-time coordinate data of the target model; 205. According to the preset prediction period T, the real-time coordinate position of the AGV transportation system along the movement route is obtained to obtain several overlapping areas S i , calculate the obstacle avoidance requirement coefficient Wi according to the following formula: , where i = 1, 2, 3, …, n, and the obstacle avoidance requirement coefficient is used to reflect the necessity of obstacle avoidance of the AGV transportation system along the movement route. The larger the obstacle avoidance requirement coefficient, the greater the necessity of obstacle avoidance. Conversely, the smaller the obstacle avoidance requirement coefficient, the smaller the necessity of obstacle avoidance.

[0025] The specific process of calculating the effective obstacle avoidance distance and effective obstacle avoidance acceleration is as follows: S301, obtaining an obstacle avoidance requirement coefficient and a preset obstacle avoidance requirement judgment interval (Wmin, Wmax), if the obstacle avoidance requirement coefficient Wi is less than or equal to Wmin, no signal is generated; If the obstacle avoidance requirement coefficient Wi is greater than Wmin and less than Wmax, an obstacle avoidance requirement signal is generated; If the obstacle avoidance requirement coefficient Wi is greater than or equal to Wmax, a shutdown signal is generated and sent to the execution module; S302, obtain the real-time distance Li between the obstacle and the AGV transportation system, and simultaneously obtain the speed v0 and acceleration a of the AGV transportation system, and calculate the effective obstacle avoidance time ts according to the following formula: , S303, further calculating the effective obstacle avoidance acceleration as according to the acceleration formula: .

[0026] The general control unit includes an instruction generation module and an execution module. The instruction generation module generates corresponding adjustment instructions according to the effective obstacle avoidance distance and the effective obstacle avoidance acceleration, and sends them to the execution module. After obtaining the adjustment instructions, the execution module controls the walking mechanism to adjust the real-time speed and walking direction of the AGV transportation system to achieve obstacle avoidance, and at the same time controls the alarm assembly 3 to issue an obstacle avoidance alarm prompt.

[0027] The present invention obtains the height data of the goods loaded on the AGV transport system, calculates the transport stability coefficient in combination with the goods size and weight data, and then calculates the obstacle avoidance demand coefficient according to the obstacle avoidance sensing data, determines the necessity of obstacle avoidance according to the preset obstacle avoidance demand judgment interval, calculates the effective obstacle avoidance distance and the effective obstacle avoidance acceleration in combination with the transport stability coefficient, controls the walking mechanism to adjust the real-time speed and walking direction of the AGV transport system to achieve obstacle avoidance, and at the same time controls the alarm assembly 3 to issue an obstacle avoidance alarm prompt, issues an early warning within the corresponding range, and reminds people within the range to pay attention to oncoming vehicles.

[0028] The size of the interval is set to facilitate comparison. The size of the interval range depends on the amount of sample data and the number of bases set by technical personnel in this field for each group of sample data; as long as it does not affect the proportional relationship between the parameter and the quantized value.

[0029] The above formulas are all dimensionless and numerical calculations. The formula is a formula obtained by collecting a large amount of data and performing software simulation to obtain the most recent real situation. The preset parameters in the formula are set by technicians in this field according to actual conditions. In the two embodiments provided in the present application, it should be understood that the disclosed devices and systems can be implemented in other ways; for example, the device embodiments described above are only schematic, for example, the division of the modules is only a logical function division, and there may be other division methods in actual implementation, such as multiple modules or components can be combined or integrated into another system, or some features can be ignored or not executed; another point, the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, the indirect coupling or communication connection of devices or modules can be electrical, mechanical or other forms; The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. An AGV transportation system for large workpiece station transfer transportation, characterized in that: The vehicle comprises a vehicle frame (1), a mobile lifting platform and an obstacle avoidance warning system, wherein a walking mechanism is fixedly provided on the bottom surface of the vehicle frame (1), turn signal lights (2) are fixedly provided on the outer two side surfaces of the vehicle frame (1), an obstacle avoidance sensor group is fixedly provided on one end surface of the vehicle frame (1), an alarm assembly (3) is fixedly provided on the outer side surface of the vehicle frame (1), a fixed lifting platform is fixedly provided on the top surface of the vehicle frame (1), and the mobile lifting platform is fixedly provided on the top surface of the fixed lifting platform; The obstacle avoidance warning system includes a data acquisition unit, a levelness monitoring unit, an obstacle assessment unit, a tipping prediction unit and a general control unit; The data acquisition unit includes a sensor monitoring module and a data acquisition module. The sensor monitoring module is used to obtain obstacle avoidance sensing data of the AGV transportation system during driving through an obstacle avoidance sensor group. The obstacle avoidance sensor group includes a camera, a speed sensor, and an inertial sensor, and sends the obstacle avoidance sensing data to the obstacle assessment unit. The data acquisition module is used to obtain the cargo size and cargo weight data loaded on the AGV transportation system, and send the cargo size and cargo weight data to the levelness monitoring unit The levelness monitoring unit is used to obtain the height data of the goods loaded on the AGV transportation system through the height sensors set on the surfaces of the mobile lifting platform and the fixed lifting platform, calculate the transportation stability coefficient in combination with the goods size and weight data, and send the transportation stability coefficient to the dumping prediction unit; The obstacle assessment unit is used to obtain and process obstacle avoidance sensing data, wherein the obstacle avoidance sensing data includes obstacle pictures obtained by a camera, the real-time distance between the obstacle and the AGV transport system obtained by a ranging sensor, and the real-time position, speed, and acceleration of the AGV transport system obtained by an inertial sensor, calculates an obstacle avoidance requirement coefficient based on the obstacle avoidance sensing data, and sends the obstacle avoidance requirement coefficient to the dumping prediction unit; The dumping prediction unit is used to obtain and process the transport stability coefficient and the obstacle avoidance requirement coefficient, judge the necessity of obstacle avoidance according to the preset obstacle avoidance requirement judgment interval to generate an obstacle avoidance requirement signal, calculate the effective obstacle avoidance distance and the effective obstacle avoidance acceleration in combination with the transport stability coefficient, and send the effective obstacle avoidance distance and the effective obstacle avoidance acceleration to the main control unit.

2. The AGV transportation system for large workpiece station transfer transportation according to claim 1 is characterized in that: The mobile lifting platform comprises a horizontal platform surface (8) and a hydraulic pump (4); a mounting groove (5) is provided on the top surface of the frame (1); the hydraulic pump (4) is fixedly mounted on the inner wall of the mounting groove (5); two mounting seats (6) are fixedly mounted on the inner wall of the mounting groove (5); the inner walls of the two mounting seats (6) are respectively movably connected with lifting support shafts (7); the output ends of the hydraulic pump (4) are respectively connected to the bottom end surfaces of the lifting support shafts (7); and the horizontal platform surface (8) is fixedly mounted on the top end surfaces of the two lifting support shafts (7).

3. The AGV transportation system for large workpiece station transfer transportation according to claim 1 is characterized in that: The mobile lifting platform comprises a lifting assembly and a moving table top (15); the top surface of the vehicle frame (1) is provided with two mutually parallel long sliding grooves (9); the two lifting assemblies are fixedly arranged on the inner walls of the long sliding grooves (9); and the two moving table tops (15) are respectively fixedly arranged on the top surfaces of the moving assemblies.

4. The AGV transportation system for large workpiece station transfer transportation according to claim 3 is characterized in that: The lifting component comprises a limiting rail (10) and a lifting platform (12); the two limiting rails (10) are fixedly arranged in parallel on the inner wall of the sliding long groove (9); the outer surfaces of the two limiting rails (10) are movably connected to the sliding platforms (11) respectively; the lifting platform (12) is fixedly arranged on the outer surfaces of the two sliding platforms (11); a lifting motor (13) is fixedly arranged on the top surface of the lifting platform (12); a lifting vertical shaft (14) is fixedly arranged on the outer surface of the output end of the lifting motor (13); the moving table (15) is fixedly arranged on the top surface of the lifting vertical shaft (14); and the bottom surface of the lifting platform (12) is connected to the moving component.

5. The AGV transportation system for large workpiece station transfer transportation according to claim 4 is characterized in that: The moving assembly comprises a servo motor (16) and a hinge (19); the servo motor (16) is fixedly mounted on the inner wall of the sliding long slot (9); a driving hinge wheel (17) is fixedly mounted on the outer surface of the output end of the servo motor (16); a driven hinge wheel (18) is fixedly mounted on the inner wall of the sliding long slot (9); the hinge (19) is movably connected to the outer surfaces of the driving hinge wheel (17) and the driven hinge wheel (18); and the hinge wheel and the bottom end surface of the lifting platform (12) are connected as a whole via a connecting piece (20).

6. The AGV transportation system for large workpiece station transfer transportation according to claim 1 is characterized in that: The overall control unit comprises an instruction generation module and an execution module. The instruction generation module generates corresponding adjustment instructions according to the effective obstacle avoidance distance and the effective obstacle avoidance acceleration, and sends the instructions to the execution module. After obtaining the adjustment instructions, the execution module controls the walking mechanism to adjust the real-time speed and walking direction of the AGV transportation system to achieve obstacle avoidance, and at the same time controls the alarm assembly (3) to issue an obstacle avoidance alarm prompt.

7. The AGV transportation system for large workpiece station transfer transportation according to claim 1 is characterized in that: The specific process of calculating the transport stability coefficient is as follows: S101, obtaining height data of goods loaded on the AGV transportation system, wherein the height data includes height data Hm of the mobile lifting platform and height data Hn of the fixed lifting platform; S102, obtaining the cargo size and cargo weight data mk loaded on the AGV transportation system, wherein the cargo size includes the cargo length data, height data and thickness data, and calculating the cargo volume data Vk according to the volume formula; S103. Calculate the transport stability coefficient Pi according to the following formula: , where e1 and e2 are preset weight coefficients.

8. The AGV transportation system for large workpiece station transfer transportation according to claim 1 is characterized in that: The specific process of calculating the obstacle avoidance demand coefficient is as follows: S201, obtaining an obstacle image, performing feature extraction based on the obstacle image, obtaining a contour line of the target obstacle, and inputting the contour line into a three-dimensional simulation software to obtain an obstacle model; S202, obtaining distribution data of the environment in which the AGV transportation system is located, establishing a spatial coordinate system according to the environmental distribution data, and importing the AGV transportation system into the spatial coordinate system as a target model, obtaining real-time coordinate data of the target model according to the real-time position of the AGV transportation system, and importing the obstacle model into the spatial coordinate system, intercepting a plane image 1 of the obstacle model according to the nearest edge of the opposite surface of the obstacle model and the target model, and intercepting a plane image 2 of the nearest edge of the opposite surface of the target model and the obstacle model; S203, overlap the plane image 1 and the plane image 2, draw the edge line of the overlapped part, and perform grid processing to obtain the overlapped area S i ; S204, obtaining the speed v0 and acceleration a of the AGV transportation system, and calculating the movement route x(t) of the AGV transportation system according to the following formula: , where x0 is the horizontal coordinate value in the real-time coordinate data of the target model; S205. According to the preset prediction period T, the real-time coordinate position of the AGV transportation system along the movement route is obtained to obtain a number of overlap areas S i , calculate the obstacle avoidance requirement coefficient Wi according to the following formula: , where i=1, 2, 3, …, n.

9. The AGV transportation system for large workpiece station transfer transportation according to claim 1 is characterized in that: The specific process of calculating the effective obstacle avoidance distance and effective obstacle avoidance acceleration is as follows: S301, obtaining an obstacle avoidance requirement coefficient and a preset obstacle avoidance requirement judgment interval (Wmin, Wmax), if the obstacle avoidance requirement coefficient Wi is less than or equal to Wmin, no signal is generated; If the obstacle avoidance requirement coefficient Wi is greater than Wmin and less than Wmax, an obstacle avoidance requirement signal is generated; If the obstacle avoidance requirement coefficient Wi is greater than or equal to Wmax, a shutdown signal is generated and sent to the execution module; S302, obtain the real-time distance Li between the obstacle and the AGV transportation system, and simultaneously obtain the speed v0 and acceleration a of the AGV transportation system, and calculate the effective obstacle avoidance time ts according to the following formula: , S303, further calculating the effective obstacle avoidance acceleration as according to the acceleration formula: .

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