AGV (Automatic Guided Vehicle) cluster carrying control method and device for collaborative operation
By determining the target AGV combination based on the cargo weight and AGV load-bearing capacity in the AGV cluster, and controlling the motion path and attitude of the AGV, the problem of collaborative control of the AGV cluster in complex environments is solved, and efficient, stable and flexible cargo handling is achieved.
Patent Information
- Application Number
- CN202510184485.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-02-19
- Publication Date
- 2025-06-06
AI Technical Summary
In the prior art, multiple AGV clusters with coordinated operations are difficult to achieve coordinated control in complex environments when carrying out transport operations, resulting in problems such as path conflicts and unreasonable task allocation, which are inefficient.
By determining the target AGV combination based on the weight of the cargo and the load-bearing capacity of the individual AGV, controlling the pilot AGV and following the AGV to travel along the set motion path at the target distance and target angle, dynamic adjustment and target angle adjustment are achieved to ensure the stability of the cargo and the optimal path to complete the handling task.
It realizes efficient, stable and flexible cargo handling of AGV clusters in complex environments, improves overall performance, and provides intelligent solutions for modern warehousing and logistics systems.
Smart Images
Figure CN120103831A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the field of warehousing logistics technology, and in particular to a collaborative AGV cluster handling control method and device. Background Art
[0002] In modern warehousing and logistics systems, AGV (Automated Guided Vehicle) is an important automation equipment and is widely used in the handling and sorting of goods. With its flexibility and degree of automation, AGV has greatly improved logistics efficiency and reduced labor costs. However, the design of traditional AGVs is often optimized for specific load capacities. When encountering heavy objects that exceed the carrying capacity of a single AGV, it is usually necessary to replace an AGV with a larger carrying capacity or use manual assistance. This solution not only increases operating costs, but also reduces logistics efficiency. Especially when faced with frequent heavy object handling tasks, the limitations of traditional AGVs become more and more obvious.
[0003] In response to this problem, although some AGVs on the market support simple parallel operations, they lack intelligent collaborative control mechanisms. When multiple AGVs work together, if there is no effective collaborative control mechanism, problems such as path conflicts and unreasonable task allocation are prone to occur, resulting in overall low efficiency. In addition, most existing collaborative control technologies can only achieve simple task allocation and path planning, and it is difficult to cope with dynamic changes in complex environments. For example, when multiple AGVs are working at the same time, there may be a risk of collision at intersections, or it may not be possible to respond quickly when task priorities are adjusted.
[0004] In order to solve this problem, it is necessary to develop an intelligent collaborative control mechanism that can achieve efficient and stable collaborative handling. Summary of the invention
[0005] In view of this, it is necessary to provide a collaborative AGV cluster handling control method and device to solve the technical problem in the prior art that multiple collaborative AGV clusters are difficult to achieve collaborative control in a complex environment when performing handling operations.
[0006] In order to solve the above problems, in a first aspect, the present invention provides a collaborative AGV cluster handling control method, comprising: Determine the target AGV combination based on the weight of the goods to be transported and the load-bearing capacity of a single AGV; According to the weight information and size information of the cargo to be transported, the position relationship of the pilot AGV and the follower AGV in the target AGV combination relative to the cargo is determined, and according to the position relationship of the pilot AGV and the follower AGV relative to the cargo, the target distance and target angle between the pilot AGV and the follower AGV are determined; Control the pilot AGV and the follower AGV to travel along the set motion path at the target distance and target angle.
[0007] In a possible implementation, determining the target AGV combination according to the weight of the cargo to be transported and the load-bearing capacity of a single AGV includes: Determine the theoretical total weight that the AGV combination needs to carry based on the sum of the weight of the goods to be transported and the load margin threshold; The target AGV combination is determined according to the load-bearing capacity of a single AGV and the theoretical total weight that the AGV combination needs to bear.
[0008] In a possible implementation, determining the positional relationship of the pilot AGV and the follower AGV in the target AGV combination relative to the cargo according to the weight information and the size information of the cargo to be transported includes: Define the head and tail ends of the goods to be transported, and place the head end of the goods to be transported on the pilot AGV; Construct a cargo weight distribution map based on the acquired weight information and cargo size information to be transported; According to the principle of evenly dividing the weight of the goods to be transported by the AGV, the weight that each AGV in the target AGV combination should carry is determined, and according to the cargo weight distribution diagram and the weight that each AGV should carry, the position relationship of the following AGV relative to the cargo is determined.
[0009] In a possible implementation, determining the target distance and target angle between the pilot AGV and the follower AGV according to the positional relationship between the pilot AGV and the follower AGV relative to the cargo includes: According to the cargo weight distribution diagram, determine the position of each following AGV relative to the cargo center of gravity; A reference coordinate system is defined, and a target distance and a target angle between the following AGV and the following AGV are determined according to the distance between the center of gravity and the pilot AGV and the angle in the reference coordinate system.
[0010] In a possible implementation, controlling the pilot AGV and the follower AGV to travel along a set motion path at a target distance and a target angle includes: Get the initial positions of the leading AGV and the following AGV; Control the pilot AGV to travel based on the set motion path and obtain the real-time position information of the pilot AGV; Taking the target distance and target angle as the target quantities, the posture of the following AGV is adjusted according to the real-time posture information of the leading AGV.
[0011] In a possible implementation, the method further includes: Obtain the real-time load of each AGV during the driving process of the target AGV combination; Compare the real-time load of each AGV with the load deviation threshold; If the real-time load is greater than the load deviation threshold, the load of each following AGV is redistributed.
[0012] In a possible implementation, the method further includes: Obtain the real-time status of each AGV during the driving process of the target AGV combination; Determining whether the real-time status is normal; If the real-time status is abnormal, the substitute AGV is called to replace the abnormal AGV.
[0013] In a second aspect, the present invention further provides a collaborative AGV cluster handling control device, comprising: An AGV combination determination module is used to determine a target AGV combination according to the weight of the goods to be transported and the load-bearing capacity of a single AGV; The AGV distance and angle determination module is used to determine the positional relationship between the pilot AGV and the follower AGV in the target AGV combination relative to the goods according to the weight information and the size information of the goods to be transported, and determine the target distance and target angle between the pilot AGV and the follower AGV according to the positional relationship between the pilot AGV and the follower AGV relative to the goods; The operation module is used to control the pilot AGV and the follower AGV to travel along the set motion path at the target distance and target angle.
[0014] In a third aspect, the present invention further provides an electronic device, comprising: a processor and a memory; The memory stores a computer-readable program executable by the processor; When the processor executes the computer-readable program, the steps in the collaborative AGV cluster transport control method as described above are implemented.
[0015] In a fourth aspect, the present invention also provides a computer-readable storage medium, which stores one or more programs, and the one or more programs can be executed by one or more processors to implement the steps in the collaborative AGV cluster transport control method as described above.
[0016] The beneficial effects of the present invention are as follows: first, by determining the target AGV combination according to the weight of the goods and the load-bearing capacity of a single AGV, the system can accurately select the most suitable number and configuration of AGVs, avoid resource waste caused by insufficient or excessive AGV carrying capacity, and thus improve handling efficiency; after selecting the target AGV combination, according to the weight information and size information of the goods to be transported, determine the positional relationship between the pilot AGV and the follower AGV in the target AGV combination relative to the goods, thereby determining the positional relationship between the pilot AGV and the follower AGV, and being able to achieve the purpose of dynamically adjusting the target distance and target angle, reducing the risk of shaking caused by irregular shape of the goods or uneven weight distribution, and improving the stability of the cluster AGV transporting goods. Further, controlling the pilot AGV and the follower AGV to travel along the set motion path at the target distance and target angle can ensure that the target AGV combination cluster completes the handling task with the optimal path. Furthermore, because the present invention is based on the intelligent scheduling and collaborative control of the AGV cluster, it can achieve efficient, stable and flexible cargo handling, which not only improves the overall performance of the AGV cluster handling system, but also provides an intelligent solution for modern warehousing and logistics systems. BRIEF DESCRIPTION OF THE DRAWINGS
[0017] Figure 1 A method flow chart of an embodiment of a collaborative AGV cluster handling control method provided by the present invention; Figure 2 for Figure 1 A method flow chart of step S101 in an embodiment; Figure 3 for Figure 1 A method flow chart of an embodiment of step S102; Figure 4 for Figure 1 A method flow chart of another embodiment of step S102; Figure 5 A schematic diagram of the position and posture of the pilot AGV in the collaborative AGV cluster handling control method provided by the present invention; Figure 6 A schematic diagram of the positions and postures of the pilot AGV and the follower AGV in the collaborative AGV cluster handling control method provided by the present invention; Figure 7 for Figure 1 A method flow chart of an embodiment of step S103; Figure 8 It is a schematic diagram of an embodiment of a collaborative AGV cluster handling control device provided by the present invention; Fig. 9 It is a schematic diagram of the operating environment of an electronic device provided by the present invention. DETAILED DESCRIPTION
[0018] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.
[0019] In the description of the embodiments of the present invention, unless otherwise specified, "multiple" means two or more than two. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, "A and / or B" may mean: A exists alone, A and B exist at the same time, and B exists alone.
[0020] The descriptions of "first", "second", etc. involved in the embodiments of the present invention are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the technical features defined as "first" and "second" may explicitly or implicitly include at least one of the features.
[0021] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present invention. The appearance of the phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.
[0022] Before presenting the embodiments, the following terms are explained.
[0023] AGV: AGV, or automated guided vehicle, is an automated transport device that can autonomously travel in a preset path or environment. It is usually equipped with sensors, navigation systems, and communication modules, and can complete cargo handling tasks according to a central control system or preset programs. AGV is widely used in warehousing, logistics, manufacturing and other fields to improve transportation efficiency and reduce manual intervention.
[0024] Collaborative operation: Collaborative operation refers to the mutual cooperation and coordination of multiple AGVs to complete complex tasks or tasks beyond the capabilities of a single AGV. This operation mode requires real-time communication, task allocation, and path planning between AGVs to ensure the efficient operation of the entire system. The core of collaborative operation is to achieve seamless cooperation between multiple AGVs through intelligent control, thereby improving overall operation efficiency and flexibility.
[0025] Cluster handling: Cluster handling refers to a method of operation in which multiple AGVs form a cluster to jointly carry one or a group of goods. This method is usually used to carry heavy or large goods that a single AGV cannot complete independently. Cluster handling needs to consider multiple factors such as the weight distribution of the goods, the relative position between AGVs, path planning, and load balancing to ensure the stability and safety of the handling process.
[0026] The present invention provides a collaborative AGV cluster handling control method and device, which are described below respectively.
[0027] Figure 1 A flow chart of an embodiment of the collaborative AGV cluster handling control method provided by the present invention is as follows: Figure 1 As shown, the collaborative AGV cluster handling control method includes: S101, determining a target AGV combination according to the weight of the cargo to be transported and the load-bearing capacity of a single AGV; It should be noted that the weight of the goods to be transported and the weighing capacity of a single AGV are both known quantities, and the weight of the goods can be known based on the transport task issued by the system.
[0028] Furthermore, based on the cluster handling and AGV collaborative operation involved in the research background of this application, in this embodiment, the number of AGVs in the target AGV combination is at least 2, and two AGVs form a cluster to achieve collaborative operation.
[0029] In some embodiments of the present invention, Figure 2 As shown, step S101 includes: S201, determining the theoretical total weight that the AGV combination needs to carry according to the sum of the weight of the goods to be transported and the load margin threshold; S202: Determine the target AGV combination according to the load-bearing capacity of a single AGV and the theoretical total weight that the AGV combination needs to bear.
[0030] Among them, each AGV is designed with a certain amount of load margin. The load of an AGV under standard conditions does not include the load margin. Therefore, in order to ensure that a single AGV will not be overweight, a load margin threshold is introduced as a weight margin to improve the safety of AGV cargo transportation.
[0031] By calculating the "theoretical total weight" (cargo weight + load margin threshold), the embodiment of the present invention can accurately determine the required number and combination of AGVs, while avoiding waste of resources. For example, it avoids idleness caused by over-allocation of AGVs, and also prevents the situation where the task cannot be completed due to insufficient number of AGVs, thereby achieving optimal allocation of resources.
[0032] S102, determining the positional relationship of the pilot AGV and the follower AGV in the target AGV combination relative to the cargo according to the weight information and the size information of the cargo to be transported, and determining the target distance and target angle between the pilot AGV and the follower AGV according to the positional relationship of the pilot AGV and the follower AGV relative to the cargo; It should be noted that by clarifying the positional relationship between the pilot AGV and the follower AGV relative to the cargo, the system can accurately control the movement of the AGV to ensure that the cargo remains stable during the handling process. Even if the cargo is irregular in shape or unevenly distributed in weight, the AGV can maintain the balance of the cargo by dynamically adjusting the target distance and target angle.
[0033] Furthermore, the cargo weight information and cargo size information are obtained through the task to be transported. In this embodiment, the cargo weight distribution can be uniform or non-uniform; the cargo size information can be the size of a standard geometric body or irregularly shaped cargo. Whether it is regular cargo or cargo with irregular shapes and uneven weight distribution, the target distance and target angle are dynamically adjusted to adapt to different handling requirements, so that the AGV cluster can handle a wider range of cargo types without the need to customize special equipment for special cargo.
[0034] In some embodiments of the present invention, Figure 3 As shown, step S102 includes: S301, defining the head end and the tail end of the goods to be transported by the belt, and placing the head end of the goods to be transported by the belt on the pilot AGV; S302, constructing a cargo weight distribution map according to the acquired weight information and cargo size information to be transported; S303. According to the principle of evenly dividing the weight of the goods to be transported by the AGV, determine the weight that each AGV in the target AGV combination should carry, and determine the position relationship of the following AGV relative to the goods according to the cargo weight distribution diagram and the weight that each AGV should carry.
[0035] The head and tail of the cargo are relative concepts. Whether it is regular cargo or irregular cargo, the two farthest sides are used as the head and tail. Other positions can also be selected as the head and tail.
[0036] It should be noted that each AGV is equipped with a high-precision weight sensor that can detect the weight of the goods it carries in real time. Before the goods are loaded onto the AGV, a pre-detection step is performed to measure the overall weight of the goods using multiple weight sensors, analyze the distribution of the weight of the goods, and calculate the center of gravity and weight distribution of the goods. For irregularly shaped goods, they can be divided into multiple small areas, and the weight of each area can be measured separately to obtain a detailed weight distribution map.
[0037] In the embodiment of the present invention, the control system dynamically distributes the load of each AGV according to the weight distribution diagram of the cargo. The system calculates the weight that each AGV should carry according to the center of gravity position and weight distribution of the cargo to ensure overall load balance.
[0038] The embodiment of the present invention adopts a load balancing algorithm (such as a genetic algorithm, a particle swarm optimization algorithm, etc.) to optimize the load distribution of AGVs. The goal of the algorithm is to minimize the load difference between AGVs while ensuring the stability of the center of gravity of the goods and avoiding the risk of overturning of goods due to load imbalance.
[0039] S103, controlling the pilot AGV and the follower AGV to travel along the set motion path at the target distance and target angle.
[0040] The movement path is set by controlling an AGV to travel the route to be traveled and saving the coordinates to the central control system. The path is set according to the actual transportation needs and is not limited here.
[0041] In summary, the collaborative AGV cluster handling control method provided by the embodiment of the present invention first determines the target AGV combination according to the weight of the goods and the load-bearing capacity of a single AGV. The system can accurately select the most suitable number and configuration of AGVs to avoid resource waste caused by insufficient or excessive AGV carrying capacity, thereby improving handling efficiency; after selecting the target AGV combination, the position relationship of the pilot AGV and the follower AGV in the target AGV combination relative to the goods is determined according to the weight information and size information of the goods to be transported, thereby determining the position relationship between the pilot AGV and the follower AGV, and can achieve the purpose of dynamically adjusting the target distance and target angle, reduce the risk of shaking caused by irregular shape of the goods or uneven weight distribution, and improve the stability of the cluster AGV transporting goods. Furthermore, controlling the pilot AGV and the follower AGV to travel along the set motion path at the target distance and target angle can ensure that the target AGV combination cluster completes the handling task with the optimal path. Furthermore, since the present invention is based on intelligent scheduling and collaborative control of AGV clusters, it can achieve efficient, stable and flexible cargo handling, which not only improves the overall performance of the AGV cluster handling system, but also provides an intelligent solution for modern warehousing and logistics systems.
[0042] In some embodiments of the present invention, Figure 4 As shown, step S102 also includes: S401, determining the position of each following AGV relative to the center of gravity of the cargo according to the cargo weight distribution diagram; S402, defining a reference coordinate system, and determining a target distance and a target angle between the following AGV and the following AGV according to the distance between the center of gravity and the pilot AGV and the angle in the reference coordinate system.
[0043] It should be noted that if the cargo is a regular object or the cargo weight is evenly distributed, the cargo center of gravity is evenly distributed, and the following AGVs are also evenly distributed. If the cargo is an irregular object or the cargo weight is unevenly distributed, the cargo center of gravity is unevenly distributed, and the following AGVs are also randomly arranged.
[0044] Therefore, the position of the following AGV can be determined according to the position of the center of gravity of the cargo, and the distance between the two can be determined according to the position of the center of gravity of the cargo and the position of the pilot AGV. The target distance and target angle of the following AGV relative to the pilot AGV can be determined in the reference coordinate system, and the pilot AGV and the following AGV can be made to move the moving cargo at the target distance and target angle.
[0045] In a specific embodiment, taking a pilot AGV and a follower AGV as examples, the centers of the two AGVs are placed at one end and one end of a weight, and the length of the weight is L. In the actual operation process, the angle between the center lines of the two AGVs is θ. Since there are UWB modules on the AGVs, the position information of each AGV is known. When the initial positions of the two AGVs are known, the pilot AGV will walk along the set route, and the tracking AGV will maintain a distance of L and an angle of θ with the pilot AGV. However, in the actual operation process, due to the influence of the environment, the position of the pilot AGV will have a certain error with the position of the set route. The error is: (Δx1, Δy1, Δθ1) like Figure 5 As shown in the figure, at a certain moment, the position of the pilot AGV is: (x1, y1, α), and the expected position is: (x2, y2, β), then: Δx1=x2-x1 Δy1=y2-y1 Δθ1=β-α At the same time, if Figure 6 As shown in the figure, when the tracking AGV is tracking the pilot AGV, the position of the tracking AGV and the position of the pilot AGV cannot be guaranteed to be in a constant state, and a certain error will be formed. At a certain moment, the position of the pilot AGV in the XOY coordinate system is: (x1, y1, α), the expected position of the slave vehicle is: (x2, y2, β), and the actual position of the slave vehicle is: (x3, y3, γ), then there is the following expression: x2=x1-Lcos(α-θ) Y2=y1-Lsin(α-θ) β=α-θ The error between the ideal position and actual position of the slave vehicle is: Δx2=x3-x2 Δy2=y3-y2 Δθ2=γ-β During the operation, the above two errors can quickly approach 0 to ensure the integrity of the transportation process.
[0046] In a specific embodiment, an adaptive sliding film control algorithm based on an exponential reaching law is used to make the control error approach 0 (an existing control algorithm).
[0047] In some embodiments of the present invention, Figure 7 As shown, step S103 also includes: S701, obtaining the initial positions of the leading AGV and the following AGV; S702, controlling the pilot AGV to travel based on the set motion path, and obtaining the real-time position information of the pilot AGV; S703: Taking the target distance and the target angle as target quantities, the position and posture of the following AGV are adjusted according to the real-time position and posture information of the leading AGV.
[0048] In this embodiment, precise coordinated control of the pilot AGV and the follower AGV can be achieved, significantly improving the accuracy, stability and safety of the handling, while enhancing the adaptability and flexibility of the system. In some embodiments of the present invention, it further comprises: Obtain the real-time load of each AGV during the driving process of the target AGV combination; Compare the real-time load of each AGV with the load deviation threshold; If the real-time load is greater than the load deviation threshold, the load of each following AGV is redistributed.
[0049] In this embodiment, during the handling process, the weight sensor on the AGV continuously monitors the weight change of the goods. If an abnormal load is detected on a certain AGV (such as the goods sliding or partial weight transfer), the system will immediately issue an alarm and dynamically adjust the load distribution of the AGV based on the real-time monitoring data. For example, by adjusting the cargo fixing device or reallocating the support points of the cargo, the load of each AGV is ensured to be always balanced.
[0050] In some embodiments of the present invention, it further comprises: Obtain the real-time status of each AGV during the driving process of the target AGV combination; Determining whether the real-time status is normal; If the real-time status is abnormal, the substitute AGV is called to replace the abnormal AGV.
[0051] In this embodiment, the operating status of the AGV can be monitored in real time through the fault detection mechanism. If an AGV fails or the load is unbalanced, the system will immediately start the backup plan, such as calling other AGVs to take over or redistribute the load to ensure the safe completion of the handling task.
[0052] Furthermore, during the load distribution process, a safety warning threshold is set. If the load of an AGV exceeds a certain percentage of its maximum carrying capacity, the system will issue a warning in advance and take corresponding adjustment measures to avoid safety accidents caused by overloading.
[0053] Based on the above-mentioned collaborative AGV cluster handling control method, the embodiment of the present invention also provides a collaborative AGV cluster handling control device 800, please refer to Figure 8 ,include: The AGV combination determination module 810 is used to determine the target AGV combination according to the weight of the goods to be transported and the load-bearing capacity of a single AGV; The AGV distance and angle determination module 820 is used to determine the positional relationship of the pilot AGV and the follower AGV in the target AGV combination relative to the cargo according to the weight information and the size information of the cargo to be transported, and determine the target distance and target angle between the pilot AGV and the follower AGV according to the positional relationship of the pilot AGV and the follower AGV relative to the cargo; The operation module 830 is used to control the pilot AGV and the follower AGV to travel along a set motion path at a target distance and a target angle.
[0054] like Fig. 9 As shown, based on the above collaborative AGV cluster handling control method, the present invention also provides an electronic device, which can be a computing electronic device such as a mobile terminal, a desktop computer, a notebook, a palm computer, and a server. The electronic device includes a processor 910, a memory 920, and a display 930. Fig. 9 Only some components of the electronic device are shown, but it should be understood that it is not required to implement all of the components shown, and more or fewer components may be implemented instead.
[0055] In some embodiments, the memory 920 may be an internal storage unit of the electronic device, such as a hard disk or memory of the electronic device. In other embodiments, the memory 920 may also be an external storage electronic device of the electronic device, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (SecureDigital, SD) card, a flash card (Flash Card), etc. equipped on the electronic device. Furthermore, the memory 920 may also include both an internal storage unit of the electronic device and an external storage electronic device. The memory 920 is used to store application software and various types of data installed in the electronic device, such as program codes for installing the electronic device. The memory 920 may also be used to temporarily store data that has been output or is to be output. In one embodiment, the memory 920 stores a collaborative AGV cluster handling control program 940, and the collaborative AGV cluster handling control program 940 can be executed by the processor 910, thereby realizing the collaborative AGV cluster handling control method of each embodiment of the present application.
[0056] In some embodiments, the processor 910 may be a central processing unit (CPU), a microprocessor or other data processing chip, used to run program codes or process data stored in the memory 920, such as executing a collaborative AGV cluster handling control method.
[0057] In some embodiments, the display 930 may be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, an OLED (Organic Light-Emitting Diode) touch device, etc. The display 930 is used to display information of the electronic device for handling and controlling the collaborative AGV cluster and to display a visual user interface. The components 910-930 of the electronic device communicate with each other via a system bus.
[0058] Those skilled in the art will appreciate that all or part of the processes of the above-mentioned embodiments can be implemented by instructing related hardware through a computer program, and the program can be stored in a computer-readable storage medium, wherein the computer-readable storage medium is a disk, an optical disk, a read-only storage memory, or a random access memory, etc.
[0059] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by any technician familiar with the technical field within the technical scope disclosed by the present invention should be covered within the protection scope of the present invention.
Claims
1. A collaborative AGV cluster handling control method, characterized in that: include: Determine the target AGV combination based on the weight of the goods to be transported and the load-bearing capacity of a single AGV; According to the weight information and size information of the cargo to be transported, the position relationship of the pilot AGV and the follower AGV in the target AGV combination relative to the cargo is determined, and according to the position relationship of the pilot AGV and the follower AGV relative to the cargo, the target distance and target angle between the pilot AGV and the follower AGV are determined; Control the pilot AGV and the follower AGV to travel along the set motion path at the target distance and target angle.
2. The collaborative AGV cluster handling control method according to claim 1 is characterized in that: Determining the target AGV combination according to the weight of the cargo to be transported and the load-bearing capacity of a single AGV includes: Determine the theoretical total weight that the AGV combination needs to carry based on the sum of the weight of the goods to be transported and the load margin threshold; The target AGV combination is determined according to the load-bearing capacity of a single AGV and the theoretical total weight that the AGV combination needs to bear.
3. The collaborative AGV cluster handling control method according to claim 1, characterized in that: The determining of the positional relationship between the pilot AGV and the follower AGV in the target AGV combination relative to the cargo according to the cargo weight information and cargo size information includes: Define the head and tail ends of the goods to be transported, and place the head end of the goods to be transported on the pilot AGV; Construct a cargo weight distribution map based on the acquired weight information and cargo size information to be transported; According to the principle of evenly dividing the weight of the goods to be transported by the AGV, the weight that each AGV in the target AGV combination should carry is determined, and according to the cargo weight distribution diagram and the weight that each AGV should carry, the position relationship of the following AGV relative to the cargo is determined.
4. The collaborative AGV cluster handling control method according to claim 3 is characterized in that: Determining the target distance and target angle between the pilot AGV and the follower AGV according to the positional relationship between the pilot AGV and the follower AGV relative to the cargo includes: According to the cargo weight distribution diagram, determine the position of each following AGV relative to the cargo center of gravity; A reference coordinate system is defined, and a target distance and a target angle between the following AGV and the following AGV are determined according to the distance between the center of gravity and the pilot AGV and the angle in the reference coordinate system.
5. The collaborative AGV cluster handling control method according to claim 1, characterized in that: The controlling the pilot AGV and the following AGV to travel along the set motion path at a target distance and a target angle includes: Get the initial positions of the leading AGV and the following AGV; Control the pilot AGV to travel based on the set motion path and obtain the real-time position information of the pilot AGV; Taking the target distance and target angle as the target quantities, the posture of the following AGV is adjusted according to the real-time posture information of the leading AGV.
6. The collaborative AGV cluster handling control method according to claim 1, characterized in that: Also includes: Obtain the real-time load of each AGV during the driving process of the target AGV combination; Compare the real-time load of each AGV with the load deviation threshold; If the real-time load is greater than the load deviation threshold, the load of each following AGV is redistributed.
7. The collaborative AGV cluster handling control method according to claim 1, characterized in that: Also includes: Obtain the real-time status of each AGV during the driving process of the target AGV combination; Determining whether the real-time status is normal; If the real-time status is abnormal, the substitute AGV is called to replace the abnormal AGV.
8. A collaborative AGV cluster handling control device, characterized in that: include: An AGV combination determination module is used to determine a target AGV combination according to the weight of the goods to be transported and the load-bearing capacity of a single AGV; The AGV distance and angle determination module is used to determine the positional relationship between the pilot AGV and the follower AGV in the target AGV combination relative to the goods according to the weight information and the size information of the goods to be transported, and determine the target distance and target angle between the pilot AGV and the follower AGV according to the positional relationship between the pilot AGV and the follower AGV relative to the goods; The operation module is used to control the pilot AGV and the follower AGV to travel along the set motion path at the target distance and target angle.
9. An electronic device, characterized in that: include: Processor and memory; The memory stores a computer-readable program executable by the processor; When the processor executes the computer-readable program, the steps in the collaborative AGV cluster transportation control method as described in any one of claims 1-7 are implemented.
10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores one or more programs, and the one or more programs can be executed by one or more processors to implement the steps in the collaborative AGV cluster transportation control method as described in any one of claims 1-7.