Carrying control method of AGV (Automatic Guided Vehicle) stacking machine for feeding and discharging carrying of flexible machining production line

Abstract

The invention discloses a carrying control method of an AGV stacking machine for feeding and discharging carrying of a flexible machining production line, and relates to the technical field of AGVs. The carrying control method of the AGV stacking machine for flexible machining production line feeding and discharging carrying comprises the steps that a main controller controls an AGV chassis to travel to a clamp storage area from the current position according to first navigation information; the stacking device is controlled to move to the target position of the clamp according to the three-dimensional position information of the clamp, so that the stacking device clamps the clamp; and according to the second navigation information, the AGV chassis is controlled to run from the clamp storage area to a clamp clamping area, and the stacking device is controlled to place the clamps in the clamp clamping area. According to the technical scheme provided by the invention, loading and unloading of goods are accurately controlled, so that the carrying efficiency of the AGV stacker is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of AGV vehicles, and particularly to a handling control method for an AGV stacker used for loading and unloading and transporting on a flexible machining production line. Background Art

[0002] In modern flexible machining production lines, the demand for automated logistics operations is increasing day by day to improve production efficiency and reduce labor costs.

[0003] Although existing AGV vehicles can move the goods placed on them, there is a significant limitation, that is, the AGV vehicles themselves do not have the function of loading and unloading goods; therefore, during the process of loading and unloading goods by existing AGV vehicles, due to the lack of control experience in loading and unloading goods, the loading and unloading of goods is inaccurate and the handling efficiency is low. Summary of the Invention

[0004] The main object of the present invention is to propose a handling control method for an AGV stacker used for loading and unloading and transporting on a flexible machining production line, aiming to achieve precise control of loading and unloading goods, thereby improving the handling efficiency of the AGV stacker.

[0005] To achieve the above object, a handling control method for an AGV stacker used for loading and unloading and transporting on a flexible machining production line is proposed by the present invention. The AGV stacker includes an AGV chassis, a stacking device and a main controller. The main controller is fixed on the AGV chassis. The stacking device includes a device housing, a lifting mechanism and a telescopic mechanism. The device housing is installed at the top of the AGV chassis. The lifting mechanism is arranged inside the device housing. The telescopic mechanism is arranged on the lifting mechanism. The main controller is electrically connected to the lifting mechanism and the telescopic mechanism. The handling control method for the AGV stacker used for loading and unloading and transporting on a flexible machining production line includes: The main controller controls the AGV chassis to travel from the current position to the fixture storage area according to the first navigation information. The stacking device is controlled to move to the fixture target position according to the three-dimensional position information of the fixture, so that the stacking device clamps the fixture. The AGV chassis is controlled to travel from the fixture storage area to the fixture clamping area according to the second navigation information, and the stacking device is controlled to place the fixture in the fixture clamping area.

[0006] In an embodiment, the step of controlling the stacking device to move to the fixture target position according to the three-dimensional position information of the fixture, so that the stacking device clamps the fixture includes: Controlling the lifting mechanism to rise to a first preset height according to the three-dimensional position information of the clamp, so that the telescopic mechanism is flush with the clamp; The telescopic mechanism is controlled to extend to a first preset length, so that the telescopic mechanism moves to a target position of the clamp and clamps the clamp.

[0007] In one embodiment, the stacking device further comprises a central control rotating mechanism provided on the AGV chassis, and the device housing is transmission-connected to the central control rotating mechanism; Before the step of controlling the lifting mechanism to rise to a first preset height according to the three-dimensional position information of the clamp so that the telescopic mechanism is flush with the clamp, the step further includes: The central control rotating mechanism is controlled to rotate to a first preset angle according to the three-dimensional position information of the clamp, so that the telescopic mechanism faces the clamp.

[0008] In one embodiment, the step of controlling the central control rotating mechanism to rotate to a first preset angle according to the three-dimensional position information of the clamp so that the telescopic mechanism faces the clamp further includes: Get the fixture weight information and output the corresponding gripping force information; The telescopic mechanism is controlled to grasp the clamp according to the grasping force information.

[0009] In one embodiment, before the step of controlling the stacking device to move to the target position of the clamp according to the three-dimensional position information of the clamp so that the stacking device clamps the clamp, the step further includes: receiving a call signal sent by an external processing device, and converting the call signal into the first navigation information; Outputting a corresponding driving path according to the first navigation information to control the AGV chassis to drive to the fixture storage area along the driving path; When the AGV chassis moves to the fixture storage area, the three-dimensional position information stored in the electronic tag set on the fixture storage area is obtained.

[0010] In one embodiment, the AGV chassis is provided with an RFID card reader electrically connected to the main controller; When the AGV chassis moves to the fixture storage area, the step of obtaining the three-dimensional position information stored in the electronic tag set on the fixture storage area includes: When the AGV chassis moves to the fixture storage area, the main controller controls the RFID card reader to transmit a radio frequency signal, so that the electronic tag receives the radio frequency signal and reflects the three-dimensional position signal back to the RFID card reader; The RFID reader receives and decodes the reflected three-dimensional position signal, and transmits the decoded three-dimensional position information to the master controller.

[0011] In one embodiment, after the step that the master controller controls the AGV chassis to travel from the current position to the fixture storage area according to the first navigation information, the following steps are further included: During the process that the AGV chassis travels from the current position to the fixture storage area, obstacle avoidance signals are continuously acquired; The AGV chassis is controlled to move for obstacle avoidance according to the obstacle avoidance signals.

[0012] In one embodiment, the step of controlling the AGV chassis to move for obstacle avoidance according to the obstacle avoidance signals includes: The master controller receives the obstacle avoidance signals, and analyzes the obstacle types from the obstacle avoidance signals; Corresponding obstacle avoidance measures are output according to the obstacle types.

[0013] In one embodiment, the AGV chassis is provided with positioning pin holes, and the positioning pin holes are used for mating and plugging with the positioning pins in the fixture storage area; the AGV chassis is further provided with a vision sensor, and the vision sensor is electrically connected to the master controller; After the step that the master controller controls the AGV chassis to travel from the current position to the fixture storage area according to the first navigation information, the following steps are further included: The master controller receives the positioning signals sent by the vision sensor for the mating and plugging of the positioning pin holes and the positioning pins; The master controller outputs a clamping instruction for clamping the fixture to the stacking device according to the positioning signals, so that the stacking device clamps the fixture according to the clamping instruction.

[0014] In one embodiment, the AGV stacker further includes a positioning sensor, and the positioning sensor is arranged on the AGV chassis and is used for positioning the fixture clamping area; Before the step of controlling the AGV chassis to travel from the fixture storage area to the fixture clamping area according to the second navigation information and controlling the stacking device to place the fixture in the fixture clamping area, the following steps are further included: Before placing the fixture in the fixture clamping area, calibration information sent by the positioning sensor is acquired, so that the AGV stacker places the fixture in the fixture clamping area.

[0015] The handling control method of the AGV stacker for loading and unloading in a flexible machining production line according to the technical solution of the present invention includes: the main controller controls the AGV chassis to travel from the current position to the fixture storage area according to the first navigation information; controls the stacking device to move to the fixture target position according to the three-dimensional position information of the fixture, so that the stacking device grabs the fixture; controls the AGV chassis to travel from the fixture storage area to the fixture clamping area according to the second navigation information, and controls the stacking device to place the fixture in the fixture clamping area; the system obtains the three-dimensional position information of the fixture, and the main controller accurately controls the lifting mechanism and the telescopic mechanism in the stacking device according to this information, realizes precise control of the loading and unloading of goods, thereby improving the handling efficiency of the AGV stacker, effectively solving the inaccurate problem existing in the existing AGV vehicle during the loading and unloading of goods, and significantly improving the handling efficiency. Description of the Drawings

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on the structures shown in these drawings.

[0017] Figure 1 It is a schematic flowchart of the steps of the handling control method of the AGV stacker for loading and unloading in a flexible machining production line provided by the present invention; Figure 2 It is a schematic flowchart of the refined steps of S20 of the handling control method of the AGV stacker for loading and unloading in a flexible machining production line provided by the present invention; Figure 3 It is a schematic flowchart of the steps of the first embodiment of the handling control method of the AGV stacker for loading and unloading in a flexible machining production line provided by the present invention; Figure 4 It is a schematic flowchart of the refined steps of S60 of the handling control method of the AGV stacker for loading and unloading in a flexible machining production line provided by the present invention; Figure 5 It is a schematic flowchart of the steps of the second embodiment of the handling control method of the AGV stacker for loading and unloading in a flexible machining production line provided by the present invention; Figure 6 It is a schematic flowchart of the refined steps of S80 of the handling control method of the AGV stacker for loading and unloading in a flexible machining production line provided by the present invention; Figure 7Schematic diagram of the step flow of the third embodiment of the handling control method of the AGV stacker for loading and unloading handling in a flexible machining production line provided by the present invention; Figure 8 Schematic diagram of the step flow of the fourth embodiment of the handling control method of the AGV stacker for loading and unloading handling in a flexible machining production line provided by the present invention.

[0018] The realization, functional features and advantages of the object of the present invention will be further described in conjunction with the embodiments with reference to the accompanying drawings. Detailed implementation manners

[0019] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention.

[0020] It should be noted that if there are directional indications (such as up, down, left, right, front, back...) involved in the embodiments of the present invention, the directional indications are only used to explain the relative positional relationship and movement conditions between components in a specific posture. If the specific posture changes, the directional indications will also change accordingly.

[0021] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one such feature. In addition, if "and / or" or "and / or" appears throughout the text, its meaning includes three parallel solutions. Taking "A and / or B" as an example, it includes solution A, solution B, or a solution that satisfies both A and B at the same time. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the fact that those of ordinary skill in the art can implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0022] The present invention provides a handling control method for an AGV stacker for loading and unloading handling in a flexible machining production line.

[0023] Please refer to Figure 1, in an embodiment of the present invention, the AGV stacker includes an AGV chassis, a stacking device, and a main controller. The main controller is fixed to the AGV chassis. The stacking device includes a device housing, a lifting mechanism, and a telescopic mechanism. The device housing is installed at the top of the AGV chassis. The lifting mechanism is arranged inside the device housing, and the telescopic mechanism is arranged on the lifting mechanism. The main controller is electrically connected to the lifting mechanism and the telescopic mechanism; The AGV chassis is the moving foundation of the AGV stacker, responsible for traveling on the workshop floor according to a preset path. It has a certain load-bearing capacity to support heavy objects such as the stacking device and handling fixtures. In this AGV stacker, the designed load of the AGV chassis is 6000 kg, and it adopts a four-group diagonal two-steering-wheel drive mode. This drive mode provides good mobility and steering flexibility for the AGV stacker, enabling it to shuttle flexibly in narrow channels and complex workstation layouts and accurately dock at designated positions. In addition, the built-in lifting stroke of the AGV chassis is 100 mm, which is mainly used to cooperate with the vehicle body's taper pin positioning system to achieve rapid and accurate positioning and effectively prevent rollover during operation.

[0024] The stacking device is a key component of the AGV stacker for grasping, handling, and stacking fixtures, including a device housing, a lifting mechanism, and a telescopic mechanism. The device housing is installed at the top of the AGV chassis, playing a role in protecting the internal mechanism and providing an installation foundation. The lifting mechanism is arranged inside the device housing, and its function is to accurately adjust the position of the telescopic mechanism and the fixture in the vertical direction to meet the clamping requirements of processing equipment or shelves at different heights. The telescopic mechanism is arranged on the lifting mechanism, mainly used to accurately move the fixture horizontally from the AGV stacker to the target position or retrieve it from the target position. Its long stroke and high-precision characteristics can meet the handling requirements at different distances and positions in the flexible machining production line.

[0025] The main controller is the control core of the AGV stacker, fixedly installed on the AGV chassis. It realizes signal transmission and control command sending with the lifting mechanism and the telescopic mechanism through electrical connection. The main controller can receive signals from devices such as the navigation system and sensors. After processing and analysis, according to the preset control logic and algorithms, it accurately controls the driving path of the AGV chassis and the actions of the lifting mechanism and the telescopic mechanism in the stacking device, thereby realizing the automated handling operation of the entire AGV stacker.

[0026] The handling control method of the AGV stacker for loading and unloading in a flexible machining production line includes: S10: The main controller controls the AGV chassis to travel from the current position to the fixture storage area according to the first navigation information; In this process, the master controller first receives the first navigation information from the navigation system. This information contains path data from the current position to the fixture storage area, such as direction, distance, turning points, etc. Based on this information, the master controller sends control instructions to the drive system of the AGV chassis, adjusting the angle and speed of the steering wheels so that the AGV chassis can travel stably and accurately to the fixture storage area along the predetermined path. At the same time, during the travel of the AGV chassis, it continuously monitors the surrounding environment through its equipped sensors, such as obstacle detection sensors, to ensure safety during travel. Once an obstacle is detected, it will automatically take avoidance or parking measures.

[0027] S20: Control the stacking device to move to the fixture destination position according to the three-dimensional position information of the fixture, so that the stacking device can clamp the fixture; After the AGV chassis reaches the fixture storage area, the system obtains the three-dimensional position information of the fixture. This information accurately describes the position coordinates of the fixture in space (in the x, y, and z axis directions). Based on this information, the master controller first controls the lifting mechanism to adjust to the corresponding height so that the telescopic mechanism can be aligned with the fixture in the vertical direction. Then, it controls the telescopic mechanism to accurately extend horizontally, and transports the fixture smoothly to the loading platform. During this process, the high-precision control of the lifting mechanism and the telescopic mechanism ensures the accurate grasping and placement of the fixture, avoiding problems such as collision between the fixture and the equipment or inaccurate placement caused by position deviation.

[0028] S30: Control the AGV chassis to travel from the fixture storage area to the fixture clamping area according to the second navigation information, and control the stacking device to place the fixture in the fixture clamping area.

[0029] After the fixture is grasped, the master controller receives the second navigation information, which indicates the travel path from the fixture storage area to the fixture clamping area. The master controller controls the AGV chassis to travel along this path to near the target clamping area. After reaching the target position, the master controller rotates the stacking device to a suitable angle through the central control rotation mechanism according to the specific requirements of the clamping area to ensure that the fixture can be accurately docked with the clamping equipment. Subsequently, the electric cylinder lifting system and the telescopic forklift work together again to accurately place the fixture in the designated clamping position, completing the entire handling task.

[0030] When implementing the handling control method of the AGV stacker for loading and unloading in a flexible machining production line, in step S10, the main controller accurately plans the path based on the first navigation information, guiding the AGV chassis to smoothly and accurately travel from the current position to the fixture storage area. This process relies on advanced navigation technology and real-time environmental monitoring to ensure that the AGV stacker can quickly reach the designated location and prepare for subsequent cargo grasping. Entering step S20, the system obtains the three-dimensional position information of the fixture, and the main controller precisely controls the lifting mechanism and telescopic mechanism in the stacking device according to this information. First, the lifting mechanism adjusts the stacking device to a position matching the height of the fixture, and then the telescopic mechanism precisely extends horizontally to ensure that the fixture can be accurately grasped. The precise control of this step not only improves the success rate of fixture grasping but also avoids problems such as fixture collision with equipment or inaccurate placement caused by position deviation, thus shortening the loading and unloading time of the cargo and improving the handling efficiency. Finally, in step S30, the main controller controls the AGV chassis to precisely transport the fixture from the storage area to the clamping area according to the second navigation information. During the transportation process, the AGV stacker continuously monitors the surrounding environment to ensure driving safety. After reaching the clamping area, the angle of the stacking device is adjusted through the central control rotation mechanism to perfectly dock with the clamping equipment. Subsequently, the lifting mechanism and the telescopic fork work together to precisely place the fixture at the designated position. The precise execution of this series of actions not only improves the accuracy of fixture placement but also ensures the efficiency of the entire handling process, avoiding time waste and production delays caused by incorrect placement.

[0031] In summary, the handling control method of the AGV stacker for loading and unloading in the flexible machining production line according to the present invention realizes the full-automatic and precise handling of goods from the storage area to the clamping area by executing steps S10, S20, and S30. It effectively solves the problems of inaccuracy and low efficiency existing in the existing AGV vehicle during the loading and unloading process of goods, significantly improves the handling efficiency, and meets the requirements of modern flexible machining production lines for automated logistics operations.

[0032] In one embodiment, please refer to Figure 2 , S20: The step of controlling the stacking device to move to the target position of the fixture according to the three-dimensional position information of the fixture so that the stacking device clamps the fixture includes: S21: Controlling the lifting mechanism to rise to a first preset height according to the three-dimensional position information of the fixture so that the telescopic mechanism is flush with the fixture; In step S21, the main controller first controls the lifting mechanism to rise to a first preset height according to the three-dimensional position information of the fixture. This height is set to ensure that the telescopic mechanism can be aligned with the fixture in the vertical direction. The lifting mechanism usually uses a precisely controlled device such as an electric cylinder or a hydraulic cylinder. Through the control signal sent by the main controller, the lifting mechanism can accurately adjust its height to ensure that the telescopic mechanism matches the height of the fixture.

[0033] By precisely controlling the height of the lifting mechanism, the AGV stacker can ensure the precise vertical alignment of the telescopic mechanism and the fixture. This not only improves the accuracy of the fixture grabbing, but also avoids the problem of the fixture colliding with the equipment or inaccurate placement due to height deviation, thereby shortening the time for loading and unloading goods and improving handling efficiency.

[0034] S22: Control the telescopic mechanism to extend to a first preset length, so that the telescopic mechanism moves to a target position of the clamp and clamps the clamp.

[0035] In step S22, the main controller controls the telescopic mechanism to extend to a first preset length. This length is set to ensure that the telescopic mechanism can accurately move to the target position of the clamp and clamp the clamp. The telescopic mechanism usually uses an electric telescopic cylinder or a similar device. Through the control signal of the main controller, the telescopic mechanism can accurately adjust its extension length to ensure that the clamp can be accurately grasped.

[0036] By precisely controlling the extension length of the telescopic mechanism, the AGV stacker can ensure that the telescopic mechanism accurately moves to the target position of the fixture and clamps the fixture. This not only improves the success rate of fixture grabbing, but also avoids the problem of collision between the fixture and the equipment or inaccurate placement due to position deviation, thereby shortening the time for loading and unloading goods and improving handling efficiency.

[0037] By executing steps S21 and S22, the AGV stacker achieves precise grasping and handling of the fixture. Specifically, the precise height adjustment of the lifting mechanism and the precise length control of the telescopic mechanism ensure the precise alignment and grasping of the fixture in three-dimensional space. This precise control not only improves the success rate of fixture grasping, but also reduces the waste of handling time and the risk of equipment collision caused by position deviation, significantly improving the handling efficiency of the AGV stacker.

[0038] In one embodiment, see Figure 2 , the stacking device also includes a central control rotating mechanism provided on the AGV chassis, and the device housing is transmission-connected to the central control rotating mechanism; S21: before the step of controlling the lifting mechanism to rise to a first preset height according to the three-dimensional position information of the clamp so that the telescopic mechanism is flush with the clamp, the step further includes: S23: Control the central control rotating mechanism to rotate to a first preset angle according to the three-dimensional position information of the fixture, so that the telescopic mechanism faces the fixture.

[0039] In step S23, the main controller accurately calculates the angle that the central control rotating mechanism needs to rotate (i.e., the first preset angle) according to the three-dimensional position information of the fixture, so as to ensure that the telescopic mechanism can accurately face the fixture. The central control rotating mechanism is usually equipped with high-precision rotating bearings and driving devices, and can achieve precise angle adjustment through the control signal of the main controller. The execution of this step enables the stacking device to flexibly adjust its own direction before grasping the fixture to adapt to the placement requirements of fixtures at different positions and angles.

[0040] Through the precise rotation of the central control rotating mechanism, the telescopic mechanism can accurately face the fixture, ensuring the matching of the position and angle with the fixture during the grasping process, thereby improving the success rate and accuracy of grasping. In the processing production line, the placement positions and angles of the fixtures may be diverse. The flexible adjustment ability of the central control rotating mechanism enables the AGV stacking machine to adapt to the handling requirements of fixtures at different workstations and different placement angles, improving the versatility and adaptability of the equipment.

[0041] In a limited space, the fixtures may be located in different directions and positions. The rotation function of the central control rotating mechanism enables the stacking device to adjust the direction of the stacking device by rotating without moving the AGV chassis, and flexibly align with the fixture, reducing the extra time and complex operations caused by vehicle body adjustment.

[0042] In an embodiment, please refer to Figure 2 , after the step of S23: Control the central control rotating mechanism to rotate to a first preset angle according to the three-dimensional position information of the fixture, so that the telescopic mechanism faces the fixture, it further includes: S24: Obtain the fixture weight information and output the corresponding grasping force information; In step S24, the AGV stacking machine obtains the weight information of the fixture in various ways. This can directly measure the weight of the fixture through sensors installed on the device (such as pressure sensors, weight sensors, etc.), or obtain the pre-stored fixture weight data by connecting to the production management system or database. After obtaining the weight information, the main controller calculates the grasping force information that matches the fixture weight according to the preset algorithms and rules. This process ensures that the stacking device can apply just the right force when grasping the fixture, neither causing the fixture to slip due to too small a force nor damaging the fixture or workpiece due to too large a force.

[0043] S25: Control the telescopic mechanism to grasp the fixture according to the grasping force information.

[0044] In step S25, the master controller sends the calculated grasping force information to the control system of the telescopic mechanism. Based on this information, the telescopic mechanism adjusts the force of its grasping action. Usually, the telescopic mechanism is equipped with a grasping device with adjustable force, such as an electric gripper, a pneumatic gripper, etc. These devices can accurately adjust the clamping force according to the control signal. The master controller ensures that the telescopic mechanism firmly grasps the fixture with an appropriate force by controlling the drivers of these devices, while avoiding unnecessary damage to the fixture and the workpiece.

[0045] In this embodiment, by accurately obtaining the weight of the fixture and adjusting the grasping force accordingly, the AGV stacker can ensure stable grasping of the fixture under different weight conditions, avoid the slipping or displacement of the fixture caused by improper grasping force, and significantly improve the reliability of the handling process. The reasonable grasping force control effectively avoids damage to the fixture and the workpiece caused by over-clamping, extends the service life of the equipment and the workpiece, and reduces the production cost. Through precise grasping force control, the AGV stacker can quickly and stably complete the grasping and handling tasks of the fixture, reduce the time waste caused by grasping failure or improper adjustment, and significantly improve the overall handling efficiency.

[0046] In one embodiment, please refer to Figure 3 , before step S20 of controlling the stacker to move to the target position of the fixture according to the three-dimensional position information of the fixture so that the stacker clamps the fixture, it further includes: S40: Receive a call signal sent by an external processing device and convert the call signal into the first navigation information; In step S40, the AGV stacker receives a call signal from an external processing device through its communication system. The call signal usually contains basic information about the task, such as the task ID, the target position, etc. After receiving the call signal, the master controller of the AGV stacker analyzes and processes it, and converts it into the first navigation information. The first navigation information is an instruction that the AGV stacker can understand and execute, and is used to guide the AGV chassis to drive from the current position to the fixture storage area. This conversion process usually involves identifying and decoding the task information in the call signal, and combining this information with the navigation map and path planning algorithm inside the AGV stacker to generate specific driving path instructions.

[0047] S50: Output a corresponding driving path according to the first navigation information to control the AGV chassis to drive to the fixture storage area according to the driving path; In step S50, the master controller calls the path planning algorithm according to the first navigation information, combines the workshop layout and real-time environment data, and calculates the optimal driving path from the current position to the fixture storage area. The planning of the driving path needs to consider various factors, such as avoiding obstacles, selecting the shortest path, considering traffic flow, etc. The master controller sends the planned driving path to the control system of the AGV chassis, and the AGV chassis adjusts the angle and speed of the steering wheels according to these instructions, and drives stably and accurately to the fixture storage area along the predetermined path. During the driving process, the AGV stacker continuously monitors the surrounding environment through sensors to ensure the safety and accuracy during driving.

[0048] S60: After the AGV chassis moves to the fixture storage area, obtain the three-dimensional position information stored in the electronic tag set on the fixture storage area.

[0049] In step S60, after the AGV chassis reaches the fixture storage area, the system obtains the three-dimensional position information stored in the electronic tag set on the fixture storage area through a reading device (such as an RFID reader) installed on the AGV stacker. The electronic tag usually contains accurate coordinate data about the fixture position, and these data are pre-written into the electronic tag through a positioning system when the fixture is stored. After the master controller reads this three-dimensional position information, it is used to guide the subsequent fixture grasping operation to ensure that the stacking device can accurately position and grasp the fixture.

[0050] By receiving the call signal from the external processing equipment and converting it into navigation information, the AGV stacker can quickly respond to the requirements of production tasks, accurately plan the driving path and drive to the fixture storage area, reducing the task response time and the possibility of path planning errors. In summary, after performing steps S40, S50 and S60, the AGV stacker realizes the full-automatic process from task reception, path planning to fixture position information acquisition. The entire process, from task reception, path planning to position information acquisition, is automatically completed by the master controller without manual intervention. This not only improves the continuity and efficiency of the production process, but also reduces the dependence on manual operations and enhances the intelligent level of the equipment.

[0051] In one embodiment, please refer to Figure 4 , an RFID reader electrically connected to the master controller is provided on the AGV chassis; S60: After the AGV chassis moves to the fixture storage area, the step of obtaining the three-dimensional position information stored in the electronic tag set on the fixture storage area includes: S61: After the AGV chassis moves to the fixture storage area, the main controller controls the RFID reader to emit a radio frequency signal, so that the electronic tag receives the radio frequency signal and reflects the three-dimensional position signal back to the RFID reader. In step S61, after the AGV chassis reaches the fixture storage area, the main controller will activate the RFID reader to emit a radio frequency signal. After receiving the radio frequency signal, the electronic tags in the fixture storage area will reflect back the stored three-dimensional position signals. These electronic tags are usually embedded in the ground or shelves of the fixture storage area and pre-written with the precise position information of the fixtures. The RFID reader obtains these three-dimensional position information by receiving the reflected signals.

[0052] S62: The RFID reader receives and decodes the reflected three-dimensional position signal, and transmits the decoded three-dimensional position information to the main controller.

[0053] In step S62, after the RFID reader receives the reflected three-dimensional position signal, it performs decoding processing on it, converts the signal into readable three-dimensional position information. This information includes the precise coordinates of the fixture in space (in the x, y, and z axis directions). The decoded three-dimensional position information is transmitted to the main controller, and the main controller will use this information to guide the stacking device to perform precise fixture grasping operations.

[0054] In this embodiment, through RFID technology, the AGV stacker can quickly and accurately obtain the three-dimensional position information of the fixture. The high-precision positioning ability of the RFID tag ensures the reliability of the position information and avoids grasping failures caused by inaccurate position information. The precise three-dimensional position information provides accurate guidance for the grasping action of the stacking device, ensuring that the telescopic mechanism can accurately align with the fixture, improving the success rate and stability of grasping.

[0055] By executing steps S61 and S62, the AGV stacker uses RFID technology to quickly and accurately obtain the three-dimensional position information of the fixture, providing reliable data support for subsequent grasping operations, significantly improving the efficiency and reliability of the handling process, and meeting the high-precision requirements of modern flexible machining production lines for automated logistics operations.

[0056] In one embodiment, please refer to Figure 5 , after step S50: outputting a corresponding driving path according to the first navigation information to control the AGV chassis to drive to the fixture storage area according to the driving path, the following steps are further included: S70: During the process of the AGV chassis driving from the current position to the fixture storage area, continuously obtain obstacle avoidance signals. In step S70, when the AGV chassis travels from the current position to the fixture storage area, it continuously monitors the surrounding environment through various sensors equipped on it (such as lidar, ultrasonic sensors, etc.) to obtain obstacle avoidance signals. These sensors can detect obstacle information within a certain range around the AGV in real time, including the distance, position, size, and motion state of the obstacles. For example, the lidar can accurately measure the distance and position of the obstacles by emitting laser beams and receiving the reflected signals; the ultrasonic sensor uses sound waves for ranging and is suitable for detecting obstacles at close range.

[0057] S80: Control the obstacle avoidance movement of the AGV chassis according to the obstacle avoidance signal.

[0058] In step S80, the main controller of the AGV stacker adjusts the driving path and speed of the AGV chassis in real time according to the obtained obstacle avoidance signal to achieve obstacle avoidance movement. The main controller determines the optimal obstacle avoidance path by analyzing the obstacle information contained in the obstacle avoidance signal and combining the preset obstacle avoidance strategy and path planning algorithm. Common obstacle avoidance strategies include decelerating to avoid, bypassing to avoid, and stopping to wait. For example, when a static obstacle is detected ahead, the main controller will control the AGV chassis to adjust the driving direction and bypass the obstacle to continue driving; when encountering a dynamic obstacle, it may take measures such as decelerating or stopping to wait until the obstacle leaves and then continue driving.

[0059] In this embodiment, by continuously obtaining the obstacle avoidance signal and adjusting the driving path in real time, the AGV stacker can avoid obstacles in time during the driving process, effectively prevent collision accidents from occurring, and ensure the safety of the equipment and the surrounding environment. The AGV stacker can operate stably in a complex workshop environment, cope with the interference of various static and dynamic obstacles, and ensure the smooth progress of the handling task.

[0060] By executing steps S70 and S80, the AGV stacker realizes intelligent obstacle avoidance during the driving process, improves the driving safety and reliability, enhances the adaptability to complex environments, and at the same time improves the overall operation efficiency and automation level, meeting the high requirements of modern flexible machining production lines for automated logistics operations.

[0061] In one embodiment, please refer to Figure 6 , S80: The step of controlling the obstacle avoidance movement of the AGV chassis according to the obstacle avoidance signal includes: S81: The main controller receives the obstacle avoidance signal and analyzes the obstacle avoidance signal to obtain the obstacle category; In step S81, after the main controller of the AGV stacker receives the obstacle avoidance signal transmitted by sensors (such as lidar, ultrasonic sensors, etc.), it analyzes the signal using signal processing and pattern recognition technologies. Through algorithms, the main controller can extract the characteristic information of the obstacle from the signal, such as shape, size, distance, and motion state, and determine the category of the obstacle based on these characteristics. For example, it can distinguish whether the obstacle is static (such as shelves, pallets) or dynamic (such as personnel, other mobile devices), as well as the specific type of the obstacle (such as small items, large equipment, etc.).

[0062] S82: Output corresponding obstacle avoidance measures according to the category of the obstacle.

[0063] In step S82, the main controller determines and outputs corresponding obstacle avoidance measures according to the analyzed obstacle category, in combination with the preset obstacle avoidance strategy and path planning algorithm. For static obstacles, the AGV stacker adjusts its driving path and bypasses the obstacle by re-planning the route to ensure continuous driving towards the target position. For dynamic obstacles, the AGV stacker may take measures such as decelerating, stopping and waiting, or dynamically avoiding after predicting its motion trajectory. For example, when encountering a slowly moving obstacle, the AGV stacker may adjust its own driving speed and path according to its speed and direction to maintain a safe distance and pass smoothly.

[0064] By accurately analyzing the obstacle category, the AGV stacker can take the most appropriate obstacle avoidance measures. For example, for small obstacles, it may only need to slightly adjust the driving path to avoid them; while for large obstacles, it will make a larger detour, thus improving the success rate and efficiency of obstacle avoidance. Directly associating the obstacle avoidance measures with the obstacle category simplifies the decision-making process, enables the AGV stacker to quickly respond to environmental changes, take effective obstacle avoidance actions in a timely manner, and improves the real-time performance and adaptability of the system.

[0065] In this embodiment, by executing steps S81 and S82, the AGV stacker realizes the intelligent recognition and precise avoidance of obstacles, improves the operation efficiency and safety in a complex environment, and meets the high requirements of modern flexible machining production lines for automated logistics operations.

[0066] In one embodiment, please refer to Figure 7 , the AGV chassis is provided with positioning pin holes for mating and plugging with the positioning pins in the fixture storage area; the AGV chassis is also provided with a vision sensor, and the vision sensor is electrically connected to the main controller; After step S50: Output the corresponding driving path according to the first navigation information to control the AGV chassis to drive to the fixture storage area according to the driving path, the following steps are further included: S90: The master controller receives the positioning signal sent by the vision sensor indicating the mating insertion of the positioning pin hole and the positioning pin. In step S90, the master controller of the AGV stacker receives the positioning signal from the vision sensor. The vision sensor is installed on the AGV chassis and is used to detect the mating condition of the positioning pin hole and the ground positioning pin. When the AGV chassis reaches the fixture storage area, the vision sensor captures the relative position information of the positioning pin hole and the pin and sends this information as a positioning signal to the master controller. The master controller processes these signals to confirm whether the AGV chassis has been accurately aligned, preparing for the subsequent fixture grasping operation.

[0067] S100: The master controller outputs a grasping instruction for grasping the fixture to the stacking device according to the positioning signal, so that the stacking device grasps the fixture according to the grasping instruction.

[0068] In step S100, after the master controller determines that the AGV chassis has been accurately aligned according to the received positioning signal, it outputs a grasping instruction to the stacking device. After receiving the instruction, the stacking device activates the central control rotation mechanism, the lifting mechanism, and the telescopic mechanism, and moves precisely to the fixture position and performs the grasping according to the preset control logic and action sequence. This process ensures that the stacking device performs the fixture grasping operation at the correct position and angle, improving the accuracy and success rate of grasping.

[0069] Through the precise detection of the vision sensor, the master controller can obtain the mating condition of the positioning pin hole and the pin in real time, ensuring the accurate alignment of the AGV chassis in the fixture storage area. This high-precision positioning provides a solid foundation for the subsequent fixture grasping and avoids grasping failures caused by position deviations.

[0070] By executing steps S90 and S100, the master controller outputs a grasping instruction according to the positioning signal, and the stacking device performs fixture grasping at the precise position and angle, improving the success rate and stability of grasping. This not only reduces the time waste caused by grasping failures but also improves the overall handling efficiency. The AGV stacker realizes the full-automatic process from positioning to grasping, improves the accuracy and reliability of the handling task, enhances the intelligent level of the equipment, and meets the high requirements of modern flexible machining production lines for automated logistics operations.

[0071] In an embodiment, please refer to Figure 8 , the AGV stacker further includes a positioning sensor, and the positioning sensor is arranged on the AGV chassis for positioning the fixture clamping area; S30: Before the step of controlling the AGV chassis to travel from the fixture storage area to the fixture clamping area according to the second navigation information and controlling the stacking device to place the fixture in the fixture clamping area, it further includes: S110: Before placing the fixture in the fixture clamping area, obtain the calibration information sent by the positioning sensor so that the AGV stacker places the fixture in the fixture clamping area.

[0072] In step S110, before the AGV stacker places the fixture in the fixture clamping area, it obtains calibration information through the positioning sensor. The positioning sensor can be a vision sensor, a laser sensor, or other high-precision positioning devices. These sensors can detect the position and attitude information of the fixture clamping area in real time and send this information to the main controller. The main controller adjusts the position and attitude of the AGV stacker according to this calibration information to ensure that the fixture can be accurately placed in the clamping area.

[0073] In this embodiment, through the real-time calibration of the positioning sensor, the AGV stacker can accurately adjust its own position and attitude to ensure the accurate placement of the fixture in the clamping area. This avoids inaccurate placement of the fixture caused by position deviation, improves production efficiency and processing quality. Calibrating before placing the fixture ensures the precise docking of the fixture and the clamping equipment, reduces equipment damage or production delays caused by inaccurate alignment, and improves the overall reliability of the system.

[0074] The above are only exemplary embodiments of the present invention and do not limit the patent scope of the present invention. Any equivalent structural transformation made under the technical concept of the present invention by using the content of the specification and drawings of the present invention, or any direct / indirect application in other related technical fields is included in the patent protection scope of the present invention.

Claims

1. A method for controlling the handling of an AGV stacker for loading and unloading materials in a flexible machining production line, characterized in that: The AGV stacker includes an AGV chassis, a stacking device and a main controller, the main controller is fixed to the AGV chassis, the stacking device includes a device housing, a lifting mechanism and a telescopic mechanism, the device housing is installed on the top of the AGV chassis, the lifting mechanism is arranged in the device housing, and the telescopic mechanism is arranged on the lifting mechanism; the main controller is electrically connected to the lifting mechanism and the telescopic mechanism; The handling control method of the AGV stacker used for loading and unloading materials in a flexible machining production line includes: The main controller controls the AGV chassis to travel from the current position to the fixture storage area according to the first navigation information; Controlling the stacking device to move to the target position of the fixture according to the three-dimensional position information of the fixture, so that the stacking device can clamp the fixture; The AGV chassis is controlled to travel from the fixture storage area to the fixture clamping area according to the second navigation information, and the stacking device is controlled to place the fixture in the fixture clamping area.

2. The method for controlling the handling of an AGV stacker for loading and unloading materials in a flexible machining production line according to claim 1, characterized in that: The step of controlling the stacking device to move to the target position of the clamp according to the three-dimensional position information of the clamp so that the stacking device clamps the clamp comprises: Controlling the lifting mechanism to rise to a first preset height according to the three-dimensional position information of the clamp, so that the telescopic mechanism is flush with the clamp; The telescopic mechanism is controlled to extend to a first preset length, so that the telescopic mechanism moves to a target position of the clamp and clamps the clamp.

3. The method for controlling the handling of an AGV stacker for loading and unloading materials in a flexible machining production line according to claim 2, characterized in that: The stacking device further comprises a central control rotating mechanism disposed on the AGV chassis, and the device housing is transmission-connected to the central control rotating mechanism; Before the step of controlling the lifting mechanism to rise to a first preset height according to the three-dimensional position information of the clamp so that the telescopic mechanism is flush with the clamp, the step further includes: The central control rotating mechanism is controlled to rotate to a first preset angle according to the three-dimensional position information of the clamp, so that the telescopic mechanism faces the clamp.

4. The method for controlling the handling of an AGV stacker for loading and unloading materials in a flexible machining production line according to claim 3, characterized in that: After the step of controlling the central control rotating mechanism to rotate to a first preset angle according to the three-dimensional position information of the fixture so that the telescopic mechanism faces the fixture, the step further includes: Get the fixture weight information and output the corresponding gripping force information; The telescopic mechanism is controlled to grasp the clamp according to the grasping force information.

5. The method for controlling the handling of an AGV stacker for loading and unloading materials in a flexible machining production line according to claim 1, characterized in that: Before the step of controlling the stacking device to move to the target position of the fixture according to the three-dimensional position information of the fixture so that the stacking device clamps the fixture, the step further includes: receiving a call signal sent by an external processing device, and converting the call signal into the first navigation information; Outputting a corresponding driving path according to the first navigation information to control the AGV chassis to drive to the fixture storage area along the driving path; When the AGV chassis moves to the fixture storage area, the three-dimensional position information stored in the electronic tag set on the fixture storage area is obtained.

6. The method for controlling the handling of an AGV stacker for loading and unloading materials in a flexible machining production line according to claim 5, characterized in that: The AGV chassis is provided with an RFID card reader electrically connected to the main controller; When the AGV chassis moves to the fixture storage area, the step of obtaining the three-dimensional position information stored in the electronic tag set on the fixture storage area includes: When the AGV chassis moves to the fixture storage area, the main controller controls the RFID card reader to transmit a radio frequency signal, so that the electronic tag receives the radio frequency signal and reflects the three-dimensional position signal back to the RFID card reader; The RFID card reader receives and decodes the reflected three-dimensional position signal, and transmits the decoded three-dimensional position information to the main controller.

7. The method for controlling the handling of an AGV stacker for loading and unloading materials in a flexible machining production line according to claim 1, characterized in that: After the step of the main controller controlling the AGV chassis to travel from the current position to the fixture storage area according to the first navigation information, the following step further includes: The AGV chassis continuously obtains obstacle avoidance signals during the process of traveling from the current position to the fixture storage area; The AGV chassis is controlled to move in an obstacle-avoiding manner according to the obstacle-avoiding signal.

8. The method for controlling the handling of an AGV stacker for loading and unloading materials in a flexible machining production line according to claim 7, characterized in that: The step of controlling the AGV chassis to avoid obstacles according to the obstacle avoidance signal comprises: The main controller receives the obstacle avoidance signal and analyzes the obstacle avoidance signal to identify the obstacle category; Output corresponding obstacle avoidance measures according to the obstacle category.

9. The method for controlling the handling of an AGV stacker for loading and unloading materials in a flexible machining production line according to claim 1, characterized in that: The AGV chassis is provided with a positioning pin hole, and the positioning pin hole is used to cooperate and plug with the positioning pin of the fixture storage area; the AGV chassis is also provided with a visual sensor, and the visual sensor is electrically connected to the main controller; After the step of the main controller controlling the AGV chassis to travel from the current position to the fixture storage area according to the first navigation information, the following step further includes: The main controller receives a positioning signal sent by the visual sensor indicating that the positioning pin hole is matingly plugged with the positioning pin; The main controller outputs a clamping instruction for clamping a clamp to the stacking device according to the positioning signal, so that the stacking device clamps the clamp according to the clamping instruction.

10. The method for controlling the handling of an AGV stacker for loading and unloading materials in a flexible machining production line according to claim 1, characterized in that: The AGV stacker also includes a positioning sensor, which is arranged on the AGV chassis and is used to position the clamping area of ​​the fixture; Before the step of controlling the AGV chassis to travel from the fixture storage area to the fixture clamping area according to the second navigation information and controlling the stacking device to place the fixture in the fixture clamping area, the step further includes: Before placing the fixture in the fixture clamping area, calibration information sent by the positioning sensor is obtained so that the AGV stacker places the fixture in the fixture clamping area.

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