AMR control method and device

Abstract

The invention relates to an AMR (Advanced RISC Machines) control method which is characterized in that an ARM drags a cage trolley, and the AMR control method comprises the following steps: acquiring motion attribute information of the cage trolley; determining control information of the AMR according to the motion attribute information; and controlling the AMR to execute the motion of pulling the cage trolley according to the control information. According to the scheme, the motion attribute information of the cage trolley in the process of pulling the cage trolley by the ARM is considered, the control information of the AMR is determined according to the motion attribute information of the cage trolley, and the AMR is controlled to execute the motion of the cage trolley according to the control information of the AMR, so that the influence of the motion attribute of the cage trolley in the pulling process can be considered, and the cage trolley pulling process is ensured to be safe and smooth by the AMR.

Description

Technical Field

[0001] The present application relates to the technical field of AMR intelligent control, and in particular to a control method and device for AMR. Background Art

[0002] At present, in the AMR (Automated Mobile Robot) industry, traction AMRs are generally used in conjunction with unpowered tail-traction cage trucks, and the items to be transported are placed in the cage trucks. When in use, the traction AMR tows the cage truck and moves autonomously in the corresponding site to complete the transportation of items.

[0003] In the case of towing a cage car, the objects that the AMR needs to control are greatly changed compared to the AMR itself. First, the size of the cage car is usually larger than that of the AMR, and the size of the cage car may be different each time it is loaded. In the process of towing the cage car, the cargo may be displaced, and the size of the cargo and the cage car may also change; secondly, when the cage car is loaded, the weight (for example, 600kg-1000kg) is generally greater than the weight of the AMR itself (for example, 100-200kg), and the weight also changes with loading and unloading, and the range of this change may be large; in addition, if there is a problem with the wheels of the cage car, such as asymmetry, it will cause a huge change in friction.

[0004] The inventor of this application found that in the process of hauling caged vehicles, the existing AMR uses its own motion control model to control its own motion, without considering the impact of the caged vehicles, that is, without considering the motion properties of the caged vehicles. In fact, the size of the caged vehicles, the load capacity, and even the friction of different caged vehicles will affect the safety and smoothness of the AMR hauling caged vehicles. Summary of the invention

[0005] In order to solve the problem that only the AMR itself is considered and the movement properties of the cage car are not considered during the AMR towing cage car transportation, the present application provides a control solution for the ARM towing cage car process, making the towing process safer and smoother.

[0006] According to a first aspect of the present application, a control method for an AMR is provided, wherein the ARM traction cage vehicle is characterized by comprising:

[0007] Acquiring motion attribute information of the cage vehicle;

[0008] Determining control information of the AMR according to the motion attribute information; and

[0009] The AMR is controlled according to the control information to execute the movement of pulling the cage vehicle.

[0010] According to a second aspect of the present application, a control device of an AMR is provided, wherein the AMR traction cage vehicle is characterized by comprising:

[0011] An acquisition module, used for acquiring motion attribute information of the cage vehicle;

[0012] a determination module, configured to determine control information of the AMR according to the motion attribute information; and

[0013] An execution module is used to control the AMR to execute the movement of pulling the cage vehicle according to the control information.

[0014] According to a third aspect of the present application, there is provided an electronic device, comprising:

[0015] Processor; and

[0016] A memory storing computer instructions, which, when executed by the processor, causes the processor to execute the method described in the first aspect.

[0017] According to a fourth aspect of the present application, a non-transitory computer storage medium is provided, storing a computer program, which, when executed by multiple processors, enables the processors to execute the method described in the first aspect.

[0018] According to the AMR control method and device provided in the present application, the motion attribute information of the cage car is taken into consideration during the ARM towing the cage car, the control information of the AMR is determined based on the motion attribute information of the cage car, and the AMR is controlled to tow the cage car to move according to the control information of the AMR. This can take into account the influence of the motion attributes of the cage car during the towing process, thereby ensuring the safety and smoothness of the AMR towing the cage car. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without exceeding the scope of protection required by the present application.

[0020] Figure 1 is a flow chart of a control method of an AMR according to an embodiment of the present application.

[0021] Figure 2 It is a flowchart of the process of determining the control information of the AMR when the motion attribute information includes the actual size information of the cage car.

[0022] Figure 3 is a schematic diagram of a control device of an AMR according to an embodiment of the present application.

[0023] Figure 4 It is a schematic diagram of the composition of the module determined when the motion attribute information includes the actual size information of the cage truck.

[0024] Figure 5 It is a structural diagram of an electronic device provided by this application. DETAILED DESCRIPTION

[0025] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present application.

[0026] According to one aspect of the present application, a control method for an AMR that pulls a cage vehicle is provided, such as Figure 1 As shown, the method comprises the following steps:

[0027] Step S101, obtaining motion attribute information of the cage vehicle;

[0028] Step S102, determining the control information of the AMR according to the motion attribute information; and

[0029] Step S103: Control the AMR to pull the cage vehicle according to the control information.

[0030] According to some embodiments, the motion attribute information of the cage car may involve all aspects of the description of the motion of the cage car, such as the weight, resistance, friction of the wheels on both sides of the cage car, etc. Different motion attribute information will result in different determined control information, thereby involving different aspects and methods of traction motion.

[0031] According to some embodiments of the present application, the motion attribute information of the cage car is the weight and resistance of the cage car. Among them, the weight of the cage car can be obtained through the management system or operator input, and can also be measured by the AMR autonomously. According to one embodiment, the measurement method can be measured by the different state values ​​of the motor when it is empty and dragging the cage car. The simplest, for example, based on F=ma, where F represents the force corresponding to the output power, m represents the total mass, and a represents the acceleration, measures different accelerations a at the same output power, and thus estimates the weight of the cage car when the dead weight of the AMR is known. In addition, the resistance of the cage car can also be used as one of the motion attribute information, and the resistance of the cage car can be calculated in various ways, for example, the resistance can be obtained based on F=f+ma, where f represents the resistance.

[0032] The weight and / or resistance of the cage car can be used to determine the motion parameters of the AMR, wherein the motion parameters include speed, acceleration, obstacle avoidance distance, etc. According to one embodiment, the motion speed, acceleration, obstacle avoidance distance, etc. of the AMR can be adjusted according to the weight and / or resistance of the cage car to improve safety. According to another embodiment, in order to adjust the motion parameters of the AMR such as the motion speed, acceleration, obstacle avoidance distance, etc., the output power of the AMR motor can be adjusted (increased or decreased) to achieve an improvement in energy efficiency or transportation time.

[0033] In this way, step S102 may specifically include: determining the motion parameters of the AMR according to the motion attribute information, and the motion parameters include one or more of speed, acceleration and obstacle avoidance distance.

[0034] According to some embodiments, some control modes may be preset so that the AMR can select the most appropriate control mode according to the current motion attribute information. Table 1 shows the correspondence between motion attribute information and control modes.

[0035] Table 1

[0036]

[0037] As shown in Table 1, for different weights and resistances, the corresponding speed, acceleration, obstacle avoidance distance, motor power, Lidar field of view, and walking mode are determined. Among them, free navigation in the walking mode indicates that the AMR can walk freely, road network navigation indicates that the AMR must follow the preset path, and hybrid navigation is between the two, indicating that the AMR can walk freely while following the preset path.

[0038] According to the embodiment shown in Table 1, after obtaining the weight and resistance of the cage car, the corresponding control mode can be determined, and then the corresponding motion parameters can be determined. For example, when the weight and resistance are 265kg and 50N respectively, the second control mode in Table 1 is determined, and the corresponding motion parameters are speed of 1.5m / s, acceleration of 0.8 / s^2, obstacle avoidance distance of 4m, motor power of 600W, Lidar field of view of 6m, and walking mode of hybrid navigation.

[0039] It should be noted that the weight and resistance shown in Table 1 are specific values, but those skilled in the art will appreciate that the weight and resistance can be set to a numerical range, and the motion attribute information falling within a range has a corresponding control mode. Those skilled in the art will also appreciate that more control modes can be set according to actual needs, or different control modes can be set for the same range of weight and resistance, all of which are within the scope of this application.

[0040] Those skilled in the art will understand that the values ​​shown in Table 1 are only an example of the control mode, and the actual situation is complicated. The setting of the values ​​in the control mode is related to the ground conditions, channel width, conditions of other personnel and vehicles in the usage scenario, etc.; and different wheel systems have different numbers of AMR motors and different control methods (for example, each differential wheel AMR has a motor to control the left and right differential wheels); continuous simulation and adjustment are required based on the actual situation to achieve a comprehensive improvement in safety, timeliness and energy efficiency.

[0041] Thus, the above-mentioned determining the motion parameter of the AMR according to the motion attribute information includes:

[0042] Determining a corresponding control mode according to the motion attribute information; and

[0043] The motion parameters are determined according to the control mode.

[0044] In addition, at the beginning, the values ​​in the control mode shown in Table 1 can be preset, for example, set by the operator based on experience. However, in the process of AMR traction cage car movement, the actual effect may be consistent with the expectation, or there may be deviations in the process of traction control according to the preset values ​​in the corresponding control mode. For example, in the process of controlling according to the motion parameters corresponding to the control mode, the speed is too slow, resulting in insufficient timeliness of cargo transportation. In this case, it is necessary to increase the speed on the basis of the original set speed; for another example, in the process of controlling according to the motion parameters corresponding to the control mode, the obstacle avoidance distance is too short, resulting in collision between AMR and obstacles. In this case, it is necessary to increase the obstacle avoidance distance on the basis of the original set obstacle avoidance distance, and so on. In this way, feedback information is obtained during the traction process according to the preset control mode. When the feedback information does not meet the preset expected value, such as the above-mentioned speed is too slow, the obstacle avoidance distance is too short, etc., the motion parameters in the corresponding control mode are updated according to the feedback information, and the updated motion parameters are used for control in the subsequent traction movement process. In this way, continuous feedback and updating make the set motion parameters closer to the actual requirements, and the traction process is safer and more efficient.

[0045] In this way, for the case where the corresponding control mode is determined according to the motion attribute information, Figure 1 The method shown also includes:

[0046] Acquiring feedback information during the process of controlling the AMR to pull the cage car to move according to the motion parameters; and

[0047] When the feedback information does not meet the preset expected value, the motion parameters in the control mode are updated.

[0048] According to some embodiments of the present application, the motion attribute information may include the friction of the wheels on both sides of the cage car. Whether the wheel friction on the left and right sides of the cage car is symmetrical can be estimated by the output power of the AMR motor when turning, the speed, acceleration, angular velocity, and all or part of the angular velocity parameters of the AMR, so as to more accurately control the movement of the AMR. For example, for the differential wheel AMR, the power output on the left and right differential wheels can be allocated according to the friction of the wheels on the left and right sides of the cage car, and the rotation speed of the left and right differential wheels can be fine-tuned to ensure the accuracy of the vehicle trajectory control (the accuracy of walking in a straight line, turning, avoiding obstacles, etc.); if it is a steering wheel model, the direction, speed, angular velocity and other parameters of the steering wheel are fine-tuned. For another example, a vehicle-mounted sensor facing the cage car can be used to sense the turning radius of the cage car, and the turning radius can be used as a control parameter.

[0049] Thus, step S102 may specifically include:

[0050] In the case where the AMR has left and right differential wheels, the power output to the left and right differential wheels is distributed according to the motion attribute information; or

[0051] In the case that the AMR has a steering wheel, the parameters of the steering wheel are adjusted according to the motion attribute information, and the parameters of the steering wheel include one or more of the direction, speed and angular velocity of the steering wheel.

[0052] According to some embodiments of the present application, the motion attribute information may include actual size information of the cage car. When not loaded with cargo, the actual size of the cage car is the original size of the cage car itself. When loaded with cargo, if the cargo does not exceed the original size of the cage car itself, the actual size of the cage car is the original size of the cage car itself, and when the cargo exceeds the original size of the cage car itself, the actual size of the cage car is the exceeded size, for example, the height and / or width of the cage car after loading is the exceeded size of the current cargo, wherein the exceeded size can be obtained through a vehicle-mounted sensor facing the cage car or a third-party device. Among them, the vehicle-mounted sensor facing the cage car can be one or more of RGB vision, 3D camera, and multi-line radar.

[0053] AMR performs global path planning based on the size of the cage car, specifically including: AMR determines the path width and turning radius required for advancement based on the actual size of the cage car; AMR performs traditional path planning to obtain multiple candidate paths from the current location to the destination; from the candidate paths, the paths that meet the passability of the cage car are screened out based on the channel properties of the constituent paths; and the screened paths are used as the global planning paths.

[0054] In addition, during the process of the cage truck carrying cargo, the cargo may change its position, which will cause the actual size of the cage truck to change. Therefore, during the global path planning process, it is necessary to obtain the actual size of the cage truck in real time. When the actual size of the cage truck changes, it is necessary to re-plan and select a path that is compatible with the actual size of the current cage truck.

[0055] When controlling the AMR to move according to the filtered global planning path, or if there is no channel attribute information in the AMR map, that is, the candidate paths cannot be screened, and the AMR is directly controlled to move forward according to the global path obtained after traditional path planning, the traffic attributes of the front channel are obtained in real time through the on-board sensors during the process of moving forward. When it is found that the current channel does not meet the traffic requirements of the cage car, the path planning is re-performed, and the path that does not include the current channel is selected as the planned path.

[0056] In this way, Figure 2 As shown, step S102 may specifically include:

[0057] Step S201, determining the path width and turning radius required for moving forward according to the actual size information of the cage vehicle;

[0058] Step S202, performing path planning to obtain candidate paths from the current location to the destination; and

[0059] Step S203, determining a planned path that is suitable for the cage vehicle to pass from the candidate paths according to the required path width and turning radius and the channel attributes of the candidate paths.

[0060] Step S103 may specifically include: controlling the AMR to pull the cage car to move along the planned path.

[0061] According to some embodiments of the present application, the AMR may obtain the motion attribute information of the cage vehicle through various means.

[0062] According to some embodiments, the cage car ID can be obtained first, and then obtained from the vehicle database or server through the cage car ID; it can also be obtained from a third-party device or system, such as a surveillance camera used in a warehouse. In particular, after the AMR obtains the current motion attribute information of the current cage car through autonomous measurement, the relevant data is synchronized to the server, and then the server synchronizes it to each AMR in the current scene, so that other AMRs do not need to measure repeatedly, or use it to correct their own measurement results.

[0063] According to some embodiments, the server generates or modifies the cage car ID and the motion attribute information of the corresponding cage car based on the relevant data uploaded by the AMR, and stores them in the vehicle database or the server. According to other embodiments, the server generates or modifies the table of the corresponding relationship between the motion attribute information and the control mode based on the relevant data uploaded by the AMR.

[0064] According to some embodiments, for an AMR without a measurement function, after receiving relevant data (including the motion attribute information of the cage car) measured by other AMRs synchronized by the server, the relevant data can be directly used. For an AMR with a measurement function, after receiving relevant data measured by other AMRs synchronized by the server, the relevant data synchronized by the server can be further corrected in combination with its own measurement results, and the corrected relevant data can be synchronized to the server.

[0065] According to other embodiments, the cage car ID can be obtained by photographing the QR code set on the cage car through the AMR's on-board camera when the AMR is docked with the cage car, thereby obtaining the cage car ID corresponding to the QR code set on the cage car.

[0066] In an optional embodiment, all or part of the cage car's motion properties can also be obtained by reading a QR code, and these motion property information are predetermined and written into the QR code; further, if a communicative electronic QR code device is used, the system can update the cage car's motion property information in real time.

[0067] Thus, step S101 may specifically include:

[0068] Obtaining identification information of the cage vehicle; and

[0069] The motion attribute information of the cage vehicle is obtained through the identification information.

[0070] According to another aspect of the present application, a control device for an AMR for traction cage vehicle is provided, such as Figure 3 As shown, the device includes the following modules:

[0071] An acquisition module 301 is used to acquire motion attribute information of the cage vehicle;

[0072] A determination module 302, configured to determine the control information of the AMR according to the motion attribute information; and

[0073] The execution module 303 is used to control the AMR to execute the movement of pulling the cage vehicle according to the control information.

[0074] According to some embodiments, the motion attribute information includes the weight and resistance of the cage car, and the determination module 302 is used to: determine the motion parameters of the AMR according to the motion attribute information, and the motion parameters include one or more of speed, acceleration and obstacle avoidance distance.

[0075] According to some embodiments, in the case where the motion attribute information has a corresponding control mode, the determination module 302 is further used to: determine the corresponding control mode according to the motion attribute information; and determine the motion parameters according to the control mode.

[0076] According to some embodiments, in the case where the motion attribute information has a corresponding control mode, Figure 3 The device shown also includes:

[0077] A feedback information acquisition module, used to acquire feedback information in the process of controlling the AMR to pull the cage car according to the motion parameters; and

[0078] The motion parameter updating module is used to update the motion parameters in the control mode when the feedback information does not meet the preset expected value.

[0079] According to some embodiments, the motion attribute information includes the friction of wheels on both sides of the cage vehicle, and the determination module 302 is used to:

[0080] In the case where the AMR has left and right differential wheels, the power output to the left and right differential wheels is distributed according to the motion attribute information; or

[0081] In the case that the AMR has a steering wheel, the parameters of the steering wheel are adjusted according to the motion attribute information, and the parameters of the steering wheel include one or more of the direction, speed and angular velocity of the steering wheel.

[0082] According to some embodiments, the motion attribute information includes actual size information of the cage vehicle, such as Figure 4 As shown, the determination module 302 includes:

[0083] A first determining unit 401 is used to determine the path width and turning radius required for moving forward according to the actual size information of the cage vehicle;

[0084] An execution unit 402 is used to execute path planning to obtain a candidate path from the current location to the destination; and

[0085] A second determining unit 403 is used to determine a planned path that meets the passage of the cage vehicle from the candidate paths according to the required path width and turning radius and the channel attributes of the candidate paths;

[0086] The execution module 303 is used for:

[0087] The AMR is controlled to pull the cage vehicle to move along the planned path.

[0088] According to some embodiments, the acquisition module 301 is used to:

[0089] Obtaining identification information of the cage vehicle; and

[0090] The motion attribute information of the cage vehicle is obtained through the identification information.

[0091] According to the AMR control method and device provided in the present application, the motion attribute information of the cage car is taken into consideration during the ARM towing the cage car, the control information of the AMR is determined based on the motion attribute information of the cage car, and the AMR is controlled to tow the cage car to move according to the control information of the AMR. This can take into account the influence of the motion attributes of the cage car during the towing process, thereby ensuring the safety and smoothness of the AMR towing the cage car.

[0092] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0093] It should be noted that, for the aforementioned method embodiments, for the sake of simplicity, they are all expressed as a series of action combinations, but those skilled in the art should be aware that the present application is not limited by the described order of actions, because according to the present application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all optional embodiments, and the actions and modules involved are not necessarily required by the present application.

[0094] In the several embodiments provided in the present application, it should be understood that the disclosed device can be implemented in other ways. For example, the device embodiments described above are only schematic, such as the division of the units, which is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, and the indirect coupling or communication connection of the device or unit can be electrical connection or other forms.

[0095] See also Figure 5 , Figure 5 An electronic device is provided, comprising a processor and a memory. The memory stores computer instructions, and when the computer instructions are executed by the processor, the processor executes the computer instructions to achieve the following Figure 1 and Figure 2The method and refinement scheme shown.

[0096] It should be understood that the above device embodiments are only illustrative, and the device disclosed in the present invention can also be implemented in other ways. For example, the division of units / modules described in the above embodiments is only a logical function division, and there may be other division methods in actual implementation. For example, multiple units, modules or components can be combined, or can be integrated into another system, or some features can be ignored or not executed.

[0097] In addition, unless otherwise specified, each functional unit / module in each embodiment of the present invention may be integrated into one unit / module, each unit / module may exist physically separately, or two or more units / modules may be integrated together. The above-mentioned integrated unit / module may be implemented in the form of hardware or in the form of a software program module.

[0098] If the integrated unit / module is implemented in the form of hardware, the hardware may be a digital circuit, an analog circuit, etc. The physical implementation of the hardware structure includes but is not limited to transistors, memristors, etc. If not otherwise specified, the processor or chip may be any appropriate hardware processor, such as a CPU, a GPU, an FPGA, a DSP, an ASIC, etc. If not otherwise specified, the on-chip cache, the off-chip memory, and the memory may be any appropriate magnetic storage medium or magneto-optical storage medium, such as a resistive random access memory RRAM (Resistive Random Access Memory), a dynamic random access memory DRAM (Dynamic Random Access Memory), a static random access memory SRAM (Static Random-Access Memory), an enhanced dynamic random access memory EDRAM (Enhanced Dynamic Random Access Memory), a high-bandwidth memory HBM (High-Bandwidth Memory), a hybrid memory cube HMC (Hybrid Memory Cube), etc.

[0099] If the integrated unit / module is implemented in the form of a software program module and sold or used as an independent product, it can be stored in a computer-readable memory. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, which is stored in a memory and includes several instructions for a computer electronic device (which can be a personal computer, a server or a network electronic device, etc.) to perform all or part of the steps of the method described in each embodiment of the present disclosure. The aforementioned memory includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, disk or optical disk, etc. Various media that can store program codes.

[0100] The present application also provides a non-transitory computer storage medium storing a computer program. When the computer program is executed by a plurality of processors, the processors execute the following Figure 1 and Figure 2 The method and refinement scheme shown.

[0101] The embodiments of the present application are described in detail above. Specific examples are used herein to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method and its core idea of ​​the present application. At the same time, changes or deformations made by those skilled in the art based on the ideas of the present application, the specific implementation methods and the scope of application of the present application, all belong to the scope of protection of the present application. In summary, the content of this specification should not be construed as a limitation on the present application.

Claims

1. A control method for an AMR, wherein the ARM traction cage vehicle is characterized in that: include: Acquiring motion attribute information of the cage vehicle; Determining control information of the AMR according to the motion attribute information; as well as The AMR is controlled according to the control information to execute the movement of pulling the cage vehicle.

2. The method according to claim 1, characterized in that The motion attribute information includes the weight and resistance of the cage vehicle, and the control information of the AMR is determined according to the motion attribute information, including: The motion parameters of the AMR are determined according to the motion attribute information, where the motion parameters include one or more of speed, acceleration, and obstacle avoidance distance.

3. The method according to claim 2, characterized in that The determining the motion parameter of the AMR according to the motion attribute information includes: Determine a corresponding control mode according to the motion attribute information; The motion parameters are determined according to the control mode.

4. The method according to claim 3, characterized in that Also includes: Acquiring feedback information during the process of controlling the AMR to pull the cage car to move according to the motion parameters; as well as When the feedback information does not meet the preset expected value, the motion parameters in the control mode are updated.

5. The method according to claim 1, characterized in that The motion attribute information includes the friction of the wheels on both sides of the cage car, and the control information of the AMR is determined according to the motion attribute information, including: In the case where the AMR has left and right differential wheels, the power output to the left and right differential wheels is distributed according to the motion attribute information; or In the case that the AMR has a steering wheel, the parameters of the steering wheel are adjusted according to the motion attribute information, and the parameters of the steering wheel include one or more of the direction, speed and angular velocity of the steering wheel.

6. The method according to claim 1, characterized in that The motion attribute information includes actual size information of the cage vehicle, and the control information of the AMR is determined according to the motion attribute information, including: Determine the path width and turning radius required for moving forward according to the actual size information of the cage vehicle; Perform path planning to obtain candidate paths from the current location to the destination; and Determine a planned path that is suitable for the passage of the cage vehicle from the candidate paths according to the required path width and turning radius and the channel attributes of the candidate paths; The step of controlling the AMR to pull the cage vehicle according to the control information includes: The AMR is controlled to pull the cage vehicle to move along the planned path.

7. The method according to claim 1, characterized in that The obtaining of the motion attribute information of the cage vehicle comprises: Obtaining identification information of the cage vehicle; and The motion attribute information of the cage vehicle is obtained through the identification information.

8. A control device for an AMR, wherein the ARM traction cage vehicle is characterized in that: include: An acquisition module, used for acquiring motion attribute information of the cage vehicle; A determination module, configured to determine control information of the AMR according to the motion attribute information; as well as An execution module is used to control the AMR to execute the movement of pulling the cage vehicle according to the control information.

9. An electronic device, characterized in that: The invention comprises a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the method according to any one of claims 1 to 7 when executing the computer program in the memory.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method according to any one of claims 1 to 7 is implemented.

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