AGV linkage system and method, linkage AGV and storage medium

Abstract

The invention provides an AGV linkage system and method, a linkage AGV and a storage medium, the system comprises a plurality of linkage AGVs, and the linkage AGVs have a single-vehicle mode and a multi-vehicle mode; the linkage AGVs are used for responding to a received multi-vehicle linkage instruction and switching from a single-vehicle mode to a multi-vehicle mode, and the multi-vehicle linkage instruction carries the number of the linkage AGVs and the number sequence of the AGVs; determining the vehicle type of the linkage AGV according to the AGV number sequence; generating operation parameters of the linkage AGV according to the vehicle category and an operation parameter calculation strategy corresponding to the vehicle category; and moving based on the operation parameters to realize AGV linkage. According to the technical scheme provided by the embodiment of the invention, the visual identification sensor and the visual identification tag are arranged on the linkage AGV, so that accurate identification between the linkage AGVs is realized. Meanwhile, motion control is carried out on the whole AGV linkage system through the main vehicle, and the uniformity and safety of the AGV linkage system in the linkage process are improved.

Description

Technical Field

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

[0002] With the continuous development of automation technology, Automated Guided Vehicle (AGV) technology has been gradually applied to all aspects of life. In related technologies, AGV usually completes product transfer tasks independently. However, in the actual application of AGV, many tasks cannot be completed by a single vehicle independently, resulting in great limitations in the application of AGV. Summary of the invention

[0003] In view of the above problems, the embodiments of the present invention provide an AGV linkage system, method, linkage AGV and storage medium to solve the problem in the prior art that many tasks cannot be completed by a single vehicle independently, resulting in great limitations in the application of AGV.

[0004] In a first aspect, an embodiment of the present invention provides an automatic guided vehicle (AGV) linkage system, wherein the AGV linkage system includes a plurality of linkage AGVs, wherein the linkage AGVs have a single vehicle mode and a multi-vehicle mode;

[0005] The linked AGV is used to switch from a single-vehicle mode to a multi-vehicle mode in response to a received multi-vehicle linkage instruction, wherein the multi-vehicle linkage instruction carries the number of linked AGVs and the AGV numbering sequence; the vehicle category of the linked AGV is determined according to the AGV numbering sequence; the operating parameters of the linked AGV are generated according to the vehicle category and the operating parameter calculation strategy corresponding to the vehicle category; and movement is performed based on the operating parameters to realize AGV linkage.

[0006] In a possible implementation, the vehicle category of the linkage AGV includes a main vehicle or an auxiliary vehicle, and the AGV linkage system includes a main vehicle and at least one auxiliary vehicle;

[0007] The main vehicle is used to generate main vehicle operating parameters according to the multi-vehicle linkage instruction, and send the main vehicle operating parameters to the auxiliary vehicle;

[0008] The auxiliary vehicle is used to calculate the positional relationship between the auxiliary vehicle center and the AGV linkage system center according to the number of AGV linkages, the AGV numbering sequence, and the size parameters of each linkage AGV in the preset AGV linkage system; and generate the auxiliary vehicle operating parameters according to the positional relationship and the main vehicle operating parameters.

[0009] In a possible implementation, the operating parameters include forward speed, lateral speed and rotation speed.

[0010] In a possible implementation, the auxiliary vehicle is further used to send auxiliary vehicle operating parameters to the main vehicle;

[0011] The main vehicle is also used to determine whether the received auxiliary vehicle operating parameters of each auxiliary vehicle are consistent; if the main vehicle determines that there are inconsistent auxiliary vehicle operating parameters, a stop command is sent to each auxiliary vehicle in the AGV linkage system to control all auxiliary vehicles to stop running.

[0012] In a possible implementation, a visual recognition sensor is installed in front of the linkage AGV, and a visual recognition tag is installed at the rear of the linkage AGV;

[0013] The visual recognition sensor is used to identify the tag information stored in the visual recognition tag of the front linkage AGV when docking with the front linkage AGV.

[0014] In a possible implementation, the linked AGV number is used to indicate the vehicle model of the AGV and the vehicle number of the vehicle model.

[0015] In a possible implementation, the auxiliary vehicle is further configured to send multi-vehicle mode activation information to the main vehicle after switching from the single-vehicle mode to the multi-vehicle mode;

[0016] The main vehicle is also used to determine whether the number of the multi-vehicle mode activation information received is consistent with the number of the linked AGVs; if the main vehicle determines that the number of the multi-vehicle mode activation information is inconsistent with the number of the linked AGVs, a stationary command is sent to each auxiliary vehicle in the AGV linkage system to control the auxiliary vehicle to remain stationary.

[0017] In a second aspect, an embodiment of the present invention provides an AGV linkage method, the method comprising:

[0018] In response to a received multi-vehicle linkage instruction, switching from a single-vehicle mode to a multi-vehicle mode, wherein the multi-vehicle linkage instruction carries the number of linked AGVs and the sequence of AGV numbers;

[0019] Determine the vehicle category of the linked AGV according to the AGV number sequence;

[0020] generating the operating parameters of the linked AGV according to the vehicle category and the operating parameter calculation strategy corresponding to the vehicle category;

[0021] The movement is performed based on the operating parameters to realize AGV linkage.

[0022] In the third aspect, an embodiment of the present invention provides a linked AGV, which includes one or more processors; a memory; and one or more computer programs, wherein the one or more computer programs are stored in the memory, and the one or more computer programs include instructions, which, when executed by the linked AGV, enable the linked AGV to execute the AGV linkage method as described in the first aspect or any possible implementation of the first aspect.

[0023] 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 linkage method as described in the first aspect or any possible implementation method of the first aspect.

[0024] In the technical solution provided by the embodiment of the present invention, by installing visual recognition sensors and visual recognition tags on the linked AGVs, accurate recognition between linked AGVs is achieved. At the same time, the main vehicle controls the motion of the entire AGV linkage system, thereby improving the uniformity and safety of the AGV linkage system during the linkage process.

[0025] In the embodiments of the present invention, emergency handling mechanisms are respectively provided for situations where the motion states of the linked AGVs are inconsistent, and where there are still auxiliary vehicles in the AGV linkage system that have not successfully switched to the multi-vehicle mode. This avoids damage to the transported products, vehicles or the ground due to continued linkage under emergency situations, thereby improving the safety of the AGV linkage. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 A schematic diagram of an AGV linkage system provided in an embodiment of the present invention.

[0027] Figure 2 The present invention provides a flowchart of an AGV linkage method.

[0028] Figure 3 A schematic structural diagram of an AGV linkage device provided in an embodiment of the present invention.

[0029] Figure 4 A schematic diagram of a linked AGV provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0030] 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.

[0031] In an embodiment of the present invention, the AGV linkage system includes multiple linked AGVs, and the linked AGVs have a single-vehicle mode and a multi-vehicle mode. In the single-vehicle mode, the linked AGV cannot achieve linkage; in the multi-vehicle mode, the linked AGV can achieve AGV linkage. The linked AGV is used to switch from the single-vehicle mode to the multi-vehicle mode in response to the received multi-vehicle linkage instruction, and the multi-vehicle linkage instruction carries the number of linked AGVs and the AGV numbering sequence; the vehicle category of the linked AGV is determined according to the AGV numbering sequence; the operating parameters of the linked AGV are generated according to the vehicle category and the operating parameter calculation strategy corresponding to the vehicle category; movement is performed based on the operating parameters to achieve AGV linkage.

[0032] Figure 1 A schematic diagram of an AGV linkage system provided by an embodiment of the present invention is shown in FIG. Figure 1 As shown, the AGV linkage system includes 6 linkage AGVs, namely A1, B2, C3, B1, C1 and C2. Among them, A1 is docked with B2, B2 is docked with C3, C3 is docked with B1, B1 is docked with C1, and C1 is docked with C2. Each linkage AGV in the AGV linkage system is equipped with a visual recognition sensor 11 in front and a visual recognition tag 12 in the rear. The visual recognition sensor 11 is used to identify the label information stored in the visual recognition tag 12 of the front linkage AGV when docking with the front linkage AGV. Among them, the front linkage AGV refers to the adjacent AGV located in front of the linkage AGV. The label information includes the linkage AGV number, and the linkage AGV number of each linkage AGV is unique. In other words, the front linkage AGV of B2 is A1, the front linkage AGV of C3 is B2, the front linkage AGV of B1 is C3, and so on.

[0033] In the embodiment of the present invention, the visual recognition sensor 11 is also used to identify information such as the relative position and relative angle between the visual recognition sensor and the visual recognition tag when docking with the front linked AGV, so as to achieve accurate docking between the linked AGVs.

[0034] Specifically, in response to the received multi-vehicle linkage instruction, before switching from single-vehicle mode to multi-vehicle mode, all linkage AGVs in the AGV linkage system are connected as a whole, and each linkage AGV identifies the linkage AGV number of the linkage AGV in front through a visual recognition sensor, and sends the identified linkage AGV number to the dispatching system. The dispatching system generates a multi-vehicle linkage instruction based on the received linkage AGV number, and the multi-vehicle linkage instruction carries the number of linkage AGVs and the order of AGV numbers.

[0035] In an embodiment of the present invention, the linkage AGV number is used to indicate the vehicle model of the AGV and the vehicle number of the vehicle model. For example, the vehicle models of the linkage AGVs in the AGV linkage system include three vehicle models, namely Model A, Model B and Model C. The AGV linkage system includes 6 linkage AGVs, including 1 Model A AGV, 2 Model B AGVs and 3 Model C AGVs. Among them, the number of 1 Model A AGV is A1, the numbers of 2 Model B AGVs are B1 and B2 respectively, and the numbers of 3 Model C AGVs are C1, C2 and C3 respectively.

[0036] Specifically, the AGV numbering sequence is used to indicate the position sequence in the AGV linkage system. The linkage AGV can determine its own position in the AGV linkage system based on the number of linkage AGVs and the numbering sequence to obtain its own vehicle category. For example, the number of AGV linkages is 6, and the AGV numbering sequence is A1B2C3B1C1C2, indicating that in the AGV linkage system, A1 is the AGV located at the front, followed by B2, C3, B1 and C1, and C2 is the AGV located at the back.

[0037] In the embodiment of the present invention, the vehicle category of the linkage AGV includes a main vehicle or a secondary vehicle, and the AGV linkage system includes a main vehicle and at least one secondary vehicle. In practical applications, the position of the main vehicle in the multi-vehicle linkage system can be set based on the actual linkage requirements. For example, the AGV corresponding to the last linkage AGV number in the AGV numbering sequence is set as the main vehicle. That is, in Figure 1 In the AGV linkage system shown in the figure, C2 is the main vehicle, and A1, B2, C3, B1 and C1 are auxiliary vehicles. For another example, the first linkage AGV number in the AGV numbering sequence is set as the main vehicle. That is, in Figure 1 In the AGV linkage system shown, A1 is the main vehicle, and B2, C3, B1, C1 and C2 are auxiliary vehicles.

[0038] In an embodiment of the present invention, the main vehicle is used to generate the main vehicle operating parameters according to the multi-vehicle linkage instruction, and send the main vehicle operating parameters to the auxiliary vehicle; the auxiliary vehicle is used to calculate the positional relationship between the auxiliary vehicle center and the AGV linkage system center according to the number of AGV linkages, the AGV numbering sequence, and the size parameters of each linkage AGV in the preset AGV linkage system; and the auxiliary vehicle operating parameters are generated according to the positional relationship and the main vehicle operating parameters. Among them, the operating parameters include forward speed, lateral speed, and rotation speed. Specifically, the main vehicle operating parameters include the overall forward speed, the overall lateral speed, and the overall rotation speed; the auxiliary vehicle operating parameters include its own forward speed, its own lateral speed, and its own rotation speed.

[0039] In the embodiment of the present invention, the auxiliary vehicle is also used to send the auxiliary vehicle operating parameters to the main vehicle; the main vehicle is also used to determine whether the auxiliary vehicle operating parameters received from each auxiliary vehicle are consistent; if the main vehicle determines that there are inconsistent auxiliary vehicle operating parameters, it sends a stop command to each auxiliary vehicle in the AGV linkage system to control all auxiliary vehicles to stop running; if the main vehicle determines that the operating parameters of each auxiliary vehicle are consistent, it continues to execute the AGV linkage process. In actual applications, the main vehicle operating parameters and the auxiliary vehicle operating parameters must be consistent to ensure the safety of AGV linkage.

[0040] It should be noted that when multiple vehicles are linked, inconsistent motion states between linked AGVs are prone to occur. At this time, if not handled, it may cause damage to the ground, vehicles or transported products. In the embodiment of the present invention, during the AGV linkage process, the main vehicle can promptly control all the auxiliary vehicles in the AGV linkage system to stop running when the operating parameters of the auxiliary vehicles are inconsistent, thereby avoiding the situation where inconsistent AGV motion states cause damage to the ground, vehicles or transported products, and improving the safety of AGV linkage.

[0041] In an embodiment of the present invention, the auxiliary vehicle is also used to send multi-vehicle mode activation information to the main vehicle after switching from single-vehicle mode to multi-vehicle mode; the main vehicle is also used to determine whether the number of multi-vehicle mode activation information received is consistent with the number of linked AGVs; if the main vehicle determines that the number of multi-vehicle mode activation information is inconsistent with the number of linked AGVs, a stationary instruction is sent to each auxiliary vehicle in the AGV linkage system to control the auxiliary vehicle to remain stationary. Specifically, if the main vehicle determines that the number of multi-vehicle mode activation information received is consistent with the number of linked AGVs, it indicates that all auxiliary vehicles in the AGV linkage system have successfully switched to multi-vehicle mode; if the main vehicle determines that the number of multi-vehicle mode activation information is inconsistent with the number of linked AGVs, it indicates that there are still auxiliary vehicles in the AGV linkage system that have not successfully switched to multi-vehicle mode. In the actual linkage process, if there are still auxiliary vehicles in the AGV linkage system that have not successfully switched to multi-vehicle mode, it may cause the auxiliary vehicle to be unable to achieve autonomous driving, but to be dragged by the AGVs in front and behind, which will cause damage to the vehicle, resulting in low safety of the AGV.

[0042] In an embodiment of the present invention, the multi-vehicle linkage instruction also carries the target endpoint. The main vehicle is also used to accurately locate the posture of the linkage AGV after determining that all the linkage AGVs in the AGV linkage system have reached the target endpoint. After the posture meets the linkage end requirements, the linkage end information is generated, and the linkage end information is sent to the scheduling system. The scheduling system generates a linkage end instruction based on the linkage end information, and sends the linkage end instruction to all linkage AGVs in the AGV linkage system. The linkage AGV responds to the linkage end instruction and switches from the multi-vehicle mode to the single-vehicle mode, and this AGV linkage ends.

[0043] In the technical solution provided by the embodiment of the present invention, by installing visual recognition sensors and visual recognition tags on the linked AGVs, accurate recognition between linked AGVs is achieved. At the same time, the main vehicle controls the motion of the entire AGV linkage system, thereby improving the uniformity and safety of the AGV linkage system during the linkage process.

[0044] In the embodiments of the present invention, emergency handling mechanisms are respectively provided for situations where the motion states of the linked AGVs are inconsistent, and where there are still auxiliary vehicles in the AGV linkage system that have not successfully switched to the multi-vehicle mode. This avoids damage to the transported products, vehicles or the ground due to continued linkage under emergency situations, thereby improving the safety of the AGV linkage.

[0045] Figure 2 A flowchart of an AGV linkage method provided by an embodiment of the present invention is shown in FIG. Figure 2 As shown, the method includes:

[0046] Step 101: In response to a received multi-vehicle linkage instruction, switch from a single-vehicle mode to a multi-vehicle mode, where the multi-vehicle linkage instruction carries the number of linked AGVs and the sequence of AGV numbers.

[0047] Each step in the embodiment of the present invention is executed by the linkage AGV in the AGV linkage system. The AGV linkage system includes multiple linkage AGVs. For a detailed description, please refer to the embodiment of the AGV linkage system above. For the sake of simplicity, the description will not be repeated here.

[0048] Step 102: Determine the vehicle category of the linked AGV according to the AGV number sequence.

[0049] Step 103: Generate operating parameters of the linked AGV according to the vehicle category and the operating parameter calculation strategy corresponding to the vehicle category.

[0050] Step 104: Perform movement based on the operating parameters to achieve AGV linkage.

[0051] In the technical solution provided by the embodiment of the present invention, by installing visual recognition sensors and visual recognition tags on the linked AGVs, accurate recognition between linked AGVs is achieved. At the same time, the main vehicle controls the motion of the entire AGV linkage system, thereby improving the uniformity and safety of the AGV linkage system during the linkage process.

[0052] In the embodiments of the present invention, emergency handling mechanisms are respectively provided for situations where the motion states of the linked AGVs are inconsistent, and where there are still auxiliary vehicles in the AGV linkage system that have not successfully switched to the multi-vehicle mode. This avoids damage to the transported products, vehicles or the ground due to continued linkage under emergency situations, thereby improving the safety of the AGV linkage.

[0053] Figure 3 A schematic diagram of the structure of an AGV linkage device provided by an embodiment of the present invention is shown in FIG. Figure 3 As shown, the AGV linkage device includes a switching module 21, a determination module 22, a generation module 23 and a linkage module 24. The switching module 21 is connected to the determination module 22, the determination module 23 is connected to the generation module 24, and the generation module 23 is connected to the linkage module 24. The switching module 21 is used to switch from the single-vehicle mode to the multi-vehicle mode in response to the received multi-vehicle linkage instruction, and the multi-vehicle linkage instruction carries the number of linked AGVs and the AGV numbering sequence. The determination module 22 is used to determine the vehicle category of the linked AGV according to the AGV numbering sequence. The generation module 23 is used to generate the operating parameters of the linked AGV according to the vehicle category and the operating parameter calculation strategy corresponding to the vehicle category. The linkage module 24 is used to move based on the operating parameters to achieve AGV linkage.

[0054] In the technical solution provided by the embodiment of the present invention, by installing visual recognition sensors and visual recognition tags on the linked AGVs, accurate recognition between linked AGVs is achieved. At the same time, the main vehicle controls the motion of the entire AGV linkage system, thereby improving the uniformity and safety of the AGV linkage system during the linkage process.

[0055] In the embodiments of the present invention, emergency handling mechanisms are respectively provided for situations where the motion states of the linked AGVs are inconsistent, and where there are still auxiliary vehicles in the AGV linkage system that have not successfully switched to the multi-vehicle mode. This avoids damage to the transported products, vehicles or the ground due to continued linkage under emergency situations, thereby improving the safety of the AGV linkage.

[0056] An embodiment of the present invention provides a computer-readable storage medium, which 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 steps of the embodiment of the above-mentioned AGV linkage method. For a specific description, please refer to the embodiment of the above-mentioned AGV linkage method.

[0057] Figure 4 A schematic diagram of a linkage AGV provided by an embodiment of the present invention. Figure 4 As shown, the linkage AGV 3 of this embodiment includes: a processor 301, a memory 302, and a computer program 303 stored in the memory 302 and executable on the processor 301. When the processor 301 executes the computer program 303, the steps in the above-mentioned method embodiments are implemented. Alternatively, when the processor 301 executes the computer program 303, the functions of each module / unit in the above-mentioned device embodiments are implemented.

[0058] The linkage AGV 3 may be an electronic device such as a desktop computer, a notebook, a PDA, or a cloud server. The linkage AGV 3 may include but is not limited to a processor 301 and a memory 302. Those skilled in the art will appreciate that Figure 4 The above is only an example of the linked AGV 3 and does not constitute a limitation on the linked AGV 3 , which may include more or fewer components than those shown in the figure, or different components.

[0059] The processor 301 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.

[0060] The memory 302 may be an internal storage unit of the linkage AGV3, for example, a hard disk or memory of the linkage AGV3. The memory 302 may also be an external storage device of the linkage AGV3, for example, a plug-in hard disk, a smart memory card (SmartMedia Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (FlashCard), etc. equipped on the linkage AGV3. The memory 302 may also include both an internal storage unit of the linkage AGV3 and an external storage device. The memory 302 is used to store computer programs and other programs and data required by electronic devices.

[0061] Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units.

[0062] 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) linkage system, characterized in that: The AGV linkage system includes multiple linkage AGVs, and the linkage AGVs have a single-vehicle mode and a multi-vehicle mode; The linked AGV is used to switch from a single-vehicle mode to a multi-vehicle mode in response to a received multi-vehicle linkage instruction, wherein the multi-vehicle linkage instruction carries the number of linked AGVs and the AGV numbering sequence; the vehicle category of the linked AGV is determined according to the AGV numbering sequence; the operating parameters of the linked AGV are generated according to the vehicle category and the operating parameter calculation strategy corresponding to the vehicle category; and movement is performed based on the operating parameters to realize AGV linkage.

2. The system according to claim 1, characterized in that The vehicle category of the linkage AGV includes a main vehicle or an auxiliary vehicle, and the AGV linkage system includes a main vehicle and at least one auxiliary vehicle; The main vehicle is used to generate main vehicle operating parameters according to the multi-vehicle linkage instruction, and send the main vehicle operating parameters to the auxiliary vehicle; The auxiliary vehicle is used to calculate the positional relationship between the auxiliary vehicle center and the AGV linkage system center according to the number of AGV linkages, the AGV numbering sequence, and the size parameters of each linkage AGV in the preset AGV linkage system; and generate the auxiliary vehicle operating parameters according to the positional relationship and the main vehicle operating parameters.

3. The system according to claim 1, characterized in that The operating parameters include forward speed, traverse speed and rotation speed.

4. The system according to claim 2, characterized in that The auxiliary vehicle is also used to send auxiliary vehicle operating parameters to the main vehicle; The main vehicle is also used to determine whether the received auxiliary vehicle operating parameters of each auxiliary vehicle are consistent; if the main vehicle determines that there are inconsistent auxiliary vehicle operating parameters, a stop command is sent to each auxiliary vehicle in the AGV linkage system to control all auxiliary vehicles to stop running.

5. The system according to claim 1, characterized in that A visual recognition sensor is installed in front of the linkage AGV, and a visual recognition tag is installed at the rear of the linkage AGV; The visual recognition sensor is used to identify the tag information stored in the visual recognition tag of the front linkage AGV when docking with the front linkage AGV.

6. The system according to claim 1, characterized in that The linked AGV number is used to indicate the vehicle model of the AGV and the vehicle number of the vehicle model.

7. The system according to claim 2, characterized in that The auxiliary vehicle is further used to send multi-vehicle mode activation information to the main vehicle after switching from the single-vehicle mode to the multi-vehicle mode; The main vehicle is also used to determine whether the number of the multi-vehicle mode activation information received is consistent with the number of the linked AGVs; if the main vehicle determines that the number of the multi-vehicle mode activation information is inconsistent with the number of the linked AGVs, a stationary command is sent to each auxiliary vehicle in the AGV linkage system to control the auxiliary vehicle to remain stationary.

8. An AGV linkage method, characterized in that: The method comprises: In response to a received multi-vehicle linkage instruction, switching from a single-vehicle mode to a multi-vehicle mode, wherein the multi-vehicle linkage instruction carries the number of linked AGVs and the sequence of AGV numbers; Determine the vehicle category of the linked AGV according to the AGV number sequence; generating the operating parameters of the linked AGV according to the vehicle category and the operating parameter calculation strategy corresponding to the vehicle category; The movement is performed based on the operating parameters to realize AGV linkage.

9. A linkage AGV, characterized in that: The linked AGV includes one or more processors; a memory; and one or more computer programs, wherein the one or more computer programs are stored in the memory, and the one or more computer programs include instructions, which, when executed by the linked AGV, enable the linked AGV to execute the AGV linkage method described in claim 8.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a stored program, wherein when the program is executed, the device where the computer-readable storage medium is located is controlled to execute the AGV linkage method as claimed in claim 8.

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