AGV ton bag material picking and placing control system and control method

Abstract

The invention discloses an AGV ton bag material picking and placing control system which comprises a lifting hook assembly arranged on an AGV forklift, a controller and a battery used for supplying power. The controller is in signal connection with a pressure sensor, a lifting electromagnetic valve, a descending electromagnetic valve and a reset confirmation switch; the controller is in signal communication with the lifting hook assembly through a lifting hook relay; according to the ton bag material hanging system, locking and releasing of a lifting hook are achieved by controlling the motor of the lifting hook assembly to rotate forwards and backwards, ton bag materials are fixed and released, a door frame button prompts that hanging of the ton bag materials is completed, and state information of the ton bag materials is displayed through a stay wire encoder and a pressure sensor. The traction motor and the pump motor are used for moving between the goods taking and placing stations and executing the goods taking and placing actions, and then the AGV ton bag material carrying problem is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of AGV forklifts, and in particular to a control system and a control method for taking and placing ton-bag materials by an AGV forklift. Background Art

[0002] An AGV is an intelligent robot that transports goods based on navigation at a fixed site or along a path through upper-level instructions, and is widely used in the material loading and unloading of automated production lines and automatic assembly lines in the manufacturing industry, as well as in automatic handling scenarios such as material palletizing and handling, container handling, automatic picking, and intelligent parking in circulation enterprises. Usually, AGV transports goods by placing materials on a pallet and using the AGV forklift to shovel the pallet. For some special materials such as ton-bag materials, traditional pallets are not convenient for handling.

[0003] Since ton-bag materials are relatively large, the existing technical solution is to use a specially made enlarged pallet. When taking goods, the ton-bag material is placed on the pallet, and then the ton-bag opening is manually tightened to prevent the material in the ton-bag from leaking and falling. When placing goods, the ton-bag opening is untied. This is time-consuming and laborious, and the efficiency is low. Summary of the Invention

[0004] The purpose of the present invention is to provide a control system and a control method for taking and placing ton-bag materials by an AGV forklift to solve the problems raised in the above background art.

[0005] To achieve the above purpose, the present invention provides the following technical solutions:

[0006] A control system for taking and placing ton-bag materials by an AGV forklift includes a hook assembly, a controller, and a battery for power supply, which are arranged on the AGV forklift;

[0007] The controller is signal-connected to a pressure sensor, a lifting solenoid valve, a lowering solenoid valve, and a reset confirmation switch;

[0008] The controller is signal-connected to the hook assembly through a hook relay;

[0009] The battery is connected to a pump motor for driving the hook assembly.

[0010] As a further solution of the present invention: The hook assembly is provided with a forward rotation motor, a reverse rotation motor, and a position switch. The forward rotation motor is used to control the hooking and unhooking of the hook, and the position switch is used to feedback the state signals of the hooking and unhooking.

[0011] As a further solution of the present invention: The pressure sensor is installed on the mast cylinder to detect the weight of the material on the forklift forks, and the pressure sensor is signal-connected to the input port of the controller.

[0012] As a further solution of the present invention: The controller is signal-connected to a warning light. The lifting solenoid valve and the lowering solenoid valve control the lifting or lowering of the AGV fork by controlling the on / off of the hydraulic oil. The confirmation reset switch and the warning light are installed on the gantry.

[0013] As a further solution of the present invention: The controller is signal-connected to an electromagnetic brake, a buzzer, and a lifting encoder;

[0014] The electromagnetic brake is installed on the traction motor shaft, is de-energized and locked to control the walking state of the AGV;

[0015] The buzzer is a CAN buzzer, which gives corresponding warning sounds for problems occurring under different working conditions;

[0016] The lifting encoder is a CAN absolute encoder, which is used to detect the height of the fork rising or falling.

[0017] As a further solution of the present invention: The hook relay includes a hook forward rotation relay coil, a hook reverse rotation relay coil, a normally open contact of the hook forward rotation relay, and a normally open contact of the hook reverse rotation relay. The hook relay includes a hook forward rotation relay coil and a hook reverse rotation relay coil, which are signal-connected to the controller. The normally open contact of the hook forward rotation relay and the normally open contact of the hook reverse rotation relay are signal-connected to the hook assembly.

[0018] As a further solution of the present invention: The battery is connected to a traction controller and a pump controller. The traction controller is connected to a traction motor, and the pump controller is signal-connected to a pump motor.

[0019] An AGV ton bag material picking and placing control method includes the following steps:

[0020] Step 1: Hang the ton bag and press the confirmation key.

[0021] Step 2: The hook assembly motor rotates forward to lift the ton bag. The pump motor works, the lifting solenoid valve opens, and it rises to the set height H1.

[0022] Step 3: Judge whether the load of the fork reaches the set parameter G1 through the pressure sensor parameter.

[0023] Step 4: If the set parameter is reached, the traction motor works, the electromagnetic brake is released, and it runs to the goods discharging site. During the running process, the pressure sensor parameter is detected at all times. When the pressure sensing parameter is abnormal, there is a voice prompt.

[0024] Step 5: When reaching the goods discharging site, the traction motor stops working, and the electromagnetic brake is locked.

[0025] Step 6: The lowering solenoid valve opens and descends to the set height H2.

[0026] Step 7: Detect that the pressure sensor data is less than G2;

[0027] Step 8: The motor of the hook assembly rotates in reverse, the release signal is triggered, the hook motor stops rotating in reverse, and the ton-bag material is lowered;

[0028] Step 9: The AGV has completed discharging the goods.

[0029] As a further solution of the present invention: in the above step 2, the hook motor rotates forward. When the locking signal is triggered, the hook reaches the limit, and the hook motor stops rotating forward. The lifting set height in the above step 2 is 2000 mm, and the G1 parameter value in the above step 3 is 2000.

[0030] As a further solution of the present invention: the descending set height H2 in the above step 6 is 1000 mm, and the G2 parameter value in the above step 7 is 200.

[0031] Compared with the prior art, the beneficial effects of the present invention are as follows: this invention patent realizes the locking and release of the hook by controlling the forward and reverse rotation of the hook assembly motor to fix and release the ton-bag material. The gantry button prompts that the ton-bag material has been hung. The wire-pulling encoder and pressure sensor are used to display the state information of the ton-bag material. The traction motor and pump motor are used to move between the loading and unloading stations and execute the loading and unloading actions, thereby solving the problem of handling ton-bag materials by the AGV. Description of the Drawings

[0032] Figure 1 It is a schematic diagram of the control system principle for this embodiment;

[0033] Figure 2 、 Figure 3 It is a schematic diagram of the control flow for this embodiment.

[0034] In the figure: 1 - battery, 2 - hook assembly, 3 - normally open contact of the hook forward rotation relay, 4 - normally open contact of the hook reverse rotation relay, 5 - pressure sensor, 6 - hook forward rotation relay coil, 7 - hook reverse rotation relay coil, 8 - controller, 9 - lifting solenoid valve, 10 - descending solenoid valve, 11 - reset confirmation switch, 12 - indicator light, 13 - electromagnetic brake, 14 - buzzer, 15 - lifting encoder, 16 - traction controller, 17 - traction motor, 18 - pump controller, 19 - pump motor. Detailed Embodiment

[0035] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to 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. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0036] Please refer to Figure 1 , in the embodiment of the present invention, an AGV ton bag material picking and placing control system includes:

[0037] The battery 1 is a lithium battery, which supplies power to the entire control system. B+ is the positive electrode of the battery, and B- is the negative electrode of the battery, providing a 24V regulated power supply to devices such as the controller.

[0038] The hook assembly 2 is installed on the forklift fork and includes a forward and reverse motor and a position switch. The forward hook mechanism is locked, and the reverse hook mechanism is released. The forward and reverse motors are controlled by the VCU controller to rotate, and the position switch signal controls the forward and reverse motors to stop. The forward and reverse motors are controlled through the input ports DI1 and DI2 of the hook assembly. High level is valid. When there is a high level voltage at the input port, the forward and reverse motors work. The position switch is a common PNP type proximity switch, with a high level output, and is output to the input ports DI3 and DI4 of the VCU controller through the output ports DO1 and DO2 of the hook assembly.

[0039] The hook relay is a common 5-contact intermediate relay, including a coil and a pair of normally open and normally closed contacts.

[0040] The normally open contact 3 of the hook forward relay is connected to the input port DI1 of the hook assembly 2 and the 24V positive power supply B+. By closing or disconnecting the normally open contact 3 of the hook forward relay, whether there is a high level signal at the input port DI1 of the hook assembly is used to control the forward rotation or stop of the forward motor of the hook assembly 2.

[0041] The normally open contact 4 of the hook forward relay is connected to the input port DI2 of the hook assembly 2 and the 24V positive power supply B+. By closing or disconnecting the normally open contact 4 of the hook forward relay, whether there is a high level signal at the input port DI2 of the hook assembly is used to control the reverse rotation or stop of the reverse motor of the hook assembly 2.

[0042] The pressure sensor 5 is a ring-shaped force measuring sensor, outputting an analog signal with a numerical value range of 0 - 3000, detecting 0 - 3 tons of goods, installed on the oil cylinder at the top of the gantry, and the signal is output to the analog input port AI1 of the VCU controller.

[0043] The coil 6 of the hook forward relay is connected to the output port DO3 of the VCU controller and the 24V positive power supply B+. The voltage state of the coil 5 of the hook forward relay is controlled by the voltage signal of the output port DO3 of the VCU controller, thereby controlling the state of the normally open contact 3 of the hook forward relay.

[0044] The coil 7 of the hook reverse relay is connected to the output port DO4 of the VCU controller and the positive power supply B+ of 24V. The voltage state of the coil 7 of the hook reverse relay is controlled by the voltage signal of the output port DO4 of the VCU controller, and then the state of the normally open contact 4 of the hook reverse relay is controlled.

[0045] The VCU controller is the core controller of the entire AGV, receiving and processing various working signals.

[0046] The lift solenoid valve 9 controls the on-off of the oil circuit of the fork lift solenoid valve to realize the fork lift function.

[0047] The lowering solenoid valve 10 controls the on-off of the oil circuit of the fork lowering solenoid valve to realize the fork lowering function.

[0048] The lift and lowering solenoid valve is a two-way multi-way valve. The coil of the lift solenoid valve 9 is connected to the output port DO5 of the VCU controller and the negative pole B- of the battery. The coil of the lowering solenoid valve 10 is connected to the output port DO6 of the VCU controller and the negative pole B- of the battery. The VCU controller realizes the on-off of the lift solenoid valve 9 and the lowering solenoid valve 10 by controlling the voltage signals of the output ports DO5 and DO6.

[0049] The reset confirmation switch 11 is a self-resetting switch, installed on the side of the gantry, connected to the input port DI3 of the VCU controller and the negative pole B- of the battery, and is valid at low level.

[0050] The warning light 12 is an ordinary warning light, connected to the output port DO7 of the VCU controller and the negative pole B- of the battery, to confirm whether the reset confirmation switch 11 is correctly pressed, installed on the side of the gantry, and realizes the lighting or extinguishing of the warning light through the voltage signal of the output port DO7 of the VCU controller.

[0051] The electromagnetic brake 13 is an electromagnetic friction brake, which is locked when powered off, installed on the shaft of the traction motor 17, realizes the braking function of the traction motor, and the signal is controlled by the output port DO8 of the VCU controller.

[0052] The buzzer 14 is a CAN buzzer, with different voice prompt tones pre-recorded, communicates with the VCU controller through the CAN network, receives abnormal messages, executes different prompt tones, and realizes different fault reminders under different working conditions.

[0053] The lift encoder 15 is a CAN absolute encoder, which does not require zero position calibration, installed at the bottom of the gantry, communicates with the VCU controller through the CAN network, and real-time detects the fork height and feeds it back to the VCU controller for corresponding actions.

[0054] The traction controller 16 controls the traction motor 17, receives the instructions from the VCU controller and sends the rotation speed to the traction motor 17 to realize the rotation speed control and information detection of the traction motor 17.

[0055] The pump controller 18 controls the pump motor 19, receives the instructions from the VCU controller, and issues the rotational speed to the pump motor 19 to achieve the rotational speed control and information detection of the pump motor 19.

[0056] The traction motor 17 is an AC motor, which is connected to the traction controller 16 through a three-phase cable to achieve the AGV driving function.

[0057] The pump motor 19 is an AC motor, which is connected to the pump controller 18 through a three-phase cable to achieve the lifting and lowering function of the AGV forklift.

[0058] An AGV ton-bag material picking and placing control method includes the following steps:

[0059] Step 1: Hang the ton-bag and press the confirmation key.

[0060] Step 2: The hook assembly motor rotates forward. When the locking signal is triggered, the hook reaches the limit, the hook motor stops rotating forward, the pump motor works, the lifting solenoid valve opens, and it lifts to the set height H1.

[0061] Step 3: Judge whether the load of the forklift reaches the set parameter G1 through the pressure sensor parameters.

[0062] Step 4: If the set parameter is reached, the traction motor works, the electromagnetic brake is released, and it runs to the goods discharging site. During the running process, the pressure sensor parameters are detected at all times, and voice prompts are given when the pressure sensing parameters are abnormal.

[0063] Step 5: When reaching the goods discharging site, the traction motor stops working and the electromagnetic brake is locked.

[0064] Step 6: The lowering solenoid valve opens and it lowers to the set height H2.

[0065] Step 7: Detect that the pressure sensor data is less than G2.

[0066] Step 8: The hook assembly motor rotates in reverse. When the release signal is triggered, the hook motor stops rotating in reverse and the ton-bag material is put down.

[0067] Step 9: The AGV finishes discharging goods.

[0068] Embodiment 1

[0069] Goods picking:

[0070] When the AGV is at the picking station, after the operator manually passes the registered ton-bag materials and presses the reset confirmation switch 11 on the gantry, after the switch is closed, the input port DI3 of the VCU controller receives a low-level signal, controls the output port DO7 to output a high-level signal, and outputs a low-level signal after a 5-second delay. At this time, the indicator light 12 is powered on and illuminated. After 5 seconds, the indicator light 12 is powered off and dimmed. After seeing the indicator light, the operator confirms that the ton-bag materials are hung. If the indicator light 12 does not change, the reset confirmation switch 11 needs to be pressed again. Then proceed to the next hook-locking action.

[0071] The output port DO3 of the VCU controller outputs a high-level signal, the coil 5 of the hook forward relay is energized, the normally open contact 3 of the hook forward relay is closed, the input port DI1 of the hook assembly 2 inputs a high-level signal, the forward motor of the hook assembly 2 is energized and rotates, the hook fixing part extends. After extending a certain distance, the hook forward in-place switch is triggered, and the forward in-place signal is output through the output port D01 of the hook assembly 2. After the input port DI3 of the VCU controller receives the high-level signal output from the output port D01 of the hook assembly 2, the controller output port DO3 outputs a low-level signal, the coil 5 of the hook forward relay loses power, the normally open contact 3 of the hook forward relay disconnects, the input port DI1 of the hook assembly 2 inputs a low-level signal, and the forward motor loses power and stops rotating. The hook is locked to prevent the goods from falling, and then proceed to the next lifting action.

[0072] The VCU controller sends a 2000 rpm instruction and a 2000 mm lifting instruction to the pump controller 18. The pump controller 18 controls the pump motor 19 to rotate, and the VCU controller controls the output port DO5 to output a high-level signal. The lifting solenoid valve 9 is energized and opened, and the hydraulic oil enters the oil cylinder through the lifting solenoid valve 9, and the forklift forks are lifted. The value of the lifting encoder 15 is detected. When the lifting height of the forklift forks reaches 2000 mm, the VCU controller sends a 0 rpm instruction to the pump controller 18. The pump controller 18 controls the pump motor 19 to stop rotating, and the VCU controller controls the output port DO5 to output a low-level signal. The lifting solenoid valve 9 loses power and closes, and the forklift forks stop lifting. Then proceed to the next step of detecting whether the picking of the ton-bag materials is completed.

[0073] Detect the value of the pressure sensor 5 at this time. When the pressure sensor 5 is less than 2000, the ton-bag goods fall off or there is a problem with the placement. The VCU controller sends a 01 message instruction to the buzzer 14 through the CAN network, and the buzzer 14 emits a picking-fault prompt sound, waiting for the operator to check and handle the problem. When the pressure sensor 5 is greater than 2000, the picking of the ton-bag materials is completed. Then proceed to the next step, go to the discharging station.

[0074] The VCU controller sends a 2000 rpm command to the traction controller 16. The traction controller 16 controls the rotation of the traction motor 17. At the same time, the VCU controller controls the output port DO8 to output a high-level signal, and the electromagnetic brake 13 is powered on and opened, and the AGV travels normally. During the travel, the value of the pressure sensor 5 is detected at all times. When the pressure sensor 5 is less than 2000, the ton bag cargo may fall off. The VCU controller sends a 0 rpm command to the traction controller 16. The traction controller 16 controls the traction motor 17 to stop rotating. At the same time, the VCU controller controls the output port DO8 to output a low-level signal, and the electromagnetic brake 13 is powered off and locked, and the AGV stops running. The VCU controller sends a 02 message command to the buzzer 14 through the CAN network, and the buzzer 14 emits a fault prompt sound during driving, waiting for manual inspection and problem handling. When the pressure sensor 5 is greater than 2000, it runs normally to the goods unloading station. Proceed to the next goods unloading action.

[0075] Goods unloading:

[0076] When the AGV reaches the goods unloading station, the VCU controller sends a 0 rpm command to the traction controller 16. The traction controller 16 controls the traction motor 17 to stop rotating. At the same time, the VCU controller controls the output port DO8 to output a low-level signal, and the electromagnetic brake 13 is powered off and locked, and the AGV stops running. The output port D06 of the VCU controller outputs a high-level signal, and the lowering solenoid valve 10 is powered on and opened. The hydraulic oil returns to the fuel tank through the lowering solenoid valve 10, and the forklift forks lower. The value of the lifting encoder 15 is detected. When the lowering height of the forklift forks reaches 1000 mm, the output port D06 of the VCU controller outputs a low-level signal, and the lowering solenoid valve 10 is powered off and closed, and the forklift forks stop lowering. Proceed to the next step of detecting whether the ton bag material has been unloaded.

[0077] Detect the value of the pressure sensor 5 at this time. When the value of the pressure sensor 5 is greater than 200, there is a problem with the placement of the ton bag cargo. The VCU controller sends a 03 message command to the buzzer 14 through the CAN network, and the buzzer 14 emits a fault prompt sound for goods unloading, waiting for manual inspection and problem handling. When the value of the pressure sensor 5 is less than 200, the ton bag cargo is placed at the goods unloading point. Proceed to the next decoupling action.

[0078] The VCU controller controls the output port DO4 to output a high-level signal. The coil 7 of the hook reverse relay is energized, and the normally open contact 4 of the hook reverse relay closes. The input port DI2 of the hook assembly 2 inputs a high-level signal, and the reverse motor of the hook assembly 2 is energized and rotates. The hook fixing part retracts. After retracting a certain distance, the hook reverse in-place switch is triggered, and the reverse in-place signal is output through the output port D02 of the hook assembly 2. After the input port DI4 of the VCU controller receives the high-level signal output from the output port D02 of the hook assembly 2, the controller output port DO4 outputs a low-level signal. The coil 7 of the hook reverse relay loses power, and the normally open contact 4 of the hook reverse relay disconnects. The input port DI2 of the hook assembly 2 inputs a low-level signal, and the reverse motor of the hook assembly 2 loses power and stops rotating, and the hook is released. The ton bag material slides down, and the goods discharging is completed. Proceed to the next detection operation.

[0079] The VCU controller sends a command of 2000 rpm and a lifting command of 2000 mm to the pump controller 18. The pump controller 18 controls the pump motor 19 to rotate. And the VCU controller controls the output port DO5 to output a high-level signal. The lifting solenoid valve 9 is energized and opened. The hydraulic oil enters the oil cylinder through the lifting solenoid valve 9, and the forklift forks are lifted. The value of the lifting encoder 15 is detected. When the lifting height of the forklift forks reaches 2000 mm, the VCU controller sends a command of 0 rpm to the pump controller 18. The pump controller 18 controls the pump motor 19 to stop rotating. And the VCU controller controls the output port DO5 to output a low-level signal. The lifting solenoid valve 9 loses power and closes, and the forklift forks stop lifting. The value of the pressure sensor 5 is detected at this time. When the value of the pressure sensor 5 is greater than 200, there is a problem with discharging the ton bag goods. The VCU controller sends a 04 message command to the buzzer 14 through the CAN network. The buzzer 14 emits a confirmation tone indicating a discharging failure, waiting for manual inspection and handling of the problem. When the value of the pressure sensor 5 is less than 200, the discharging of the ton bag material is completely successful. Then it runs to the picking station to perform the picking command.

[0080] For those skilled in the art, it is obvious that the present invention is not limited to the details of the above exemplary embodiments, and can be implemented in other specific forms without departing from the spirit or basic characteristics of the present invention. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-restrictive. The scope of the present invention is defined by the appended claims rather than the above description. Therefore, all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be included in the present invention. Any reference signs in the claims should not be regarded as limiting the claims involved.

[0081] In addition, it should be understood that although this specification is described in terms of embodiments, not every embodiment contains only one independent technical solution. This narrative manner of the specification is only for clarity. Those skilled in the art should regard the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. An AGV ton bag material picking and placing control system, characterized in that, It includes a hook assembly (2), a controller (8), and a battery (1) for power supply, which are provided on an AGV forklift; The controller (8) is signal-connected to a pressure sensor (5), a lift solenoid valve (9), a lowering solenoid valve (10), and a reset confirmation switch (11); The controller (8) is signal-connected to the hook assembly (2) through a hook relay; The battery (1) is connected to a pump motor (19) for driving the hook assembly (2).

2. The AGV ton bag material loading and unloading control system according to claim 1, wherein, The hook assembly (2) is provided with a forward rotation motor, a reverse rotation motor, and a position switch. The forward rotation motor is used to control the hooking and unhooking of the hook, and the position switch is used to feedback the state signals of the hooking and unhooking.

3. The AGV ton bag material picking and placing control system according to claim 1, wherein, The pressure sensor (5) is installed on the mast cylinder and is used to detect the weight of the material on the fork. The pressure sensor (5) is signal-connected to the input port of the controller.

4. The AGV ton bag material loading and unloading control system according to claim 1, characterized in that, The controller (8) is signal-connected to a warning light (12). The lift solenoid valve (9) and the lowering solenoid valve (10) control the lifting or lowering of the AGV fork by controlling the on-off of the hydraulic oil. The confirmation reset switch (11) and the warning light (12) are installed on the mast.

5. The AGV ton bag material picking and placing control system according to claim 1, wherein The controller (8) is signal-connected to an electromagnetic brake (13), a buzzer (14), and a lift encoder (15); The electromagnetic brake (13) is installed on the traction motor shaft, locks up when losing power, and controls the running state of the AGV; The buzzer (14) is a CAN buzzer, which gives corresponding warning sounds for problems occurring under different working conditions; The lift encoder (15) is a CAN absolute encoder and is used to detect the height of the fork rising or falling.

6. The AGV ton bag material picking and placing control system according to claim 1, wherein The hook relay includes a hook forward rotation relay coil (6), a hook reverse rotation relay coil (7), a hook forward rotation relay normally open contact (3), and a hook reverse rotation relay normally open contact (4). The hook forward rotation relay coil (6) and the hook reverse rotation relay coil (7) of the hook relay are signal-connected to the controller (8), and the hook forward rotation relay normally open contact (3) and the hook reverse rotation relay normally open contact (4) are signal-connected to the hook assembly (2).

7. An AGV ton bag material picking and placing control system according to claim 1, characterized in that, The battery (1) is connected to a traction controller (16) and a pump controller (18). The traction controller (16) is connected to a traction motor (17), and the pump controller (18) is signal-connected to the pump motor (19).

8. A control method for taking and placing ton bag materials by an AGV, characterized in that, It includes the following steps: Step 1: Hang the ton bag well and press the confirmation key. Step 2: The motor of the hook assembly rotates forward to lift the ton bag. The pump motor works, the lift solenoid valve opens, and it lifts to the set height H1. Step 3: Judge whether the load on the fork reaches the set parameter G1 through the parameters of the pressure sensor. Step 4: If it reaches the set parameter, the traction motor works, the electromagnetic brake releases, and it runs to the goods unloading site. During the running process, the parameters of the pressure sensor are detected at all times, and voice prompt is given when the pressure sensing parameters are abnormal. Step 5: When reaching the goods unloading site, the traction motor stops working and the electromagnetic brake locks up. Step 6: The lowering solenoid valve opens and it lowers to the set height H2. Step 7: Detect that the data of the pressure sensor is less than G2. Step 8: The motor of the hook assembly rotates in reverse. When the release signal is triggered, the hook motor stops rotating in reverse, and the ton-bag material is lowered. Step 9: The AGV has completed unloading.

9. The AGV ton bag material loading and unloading control method according to claim 8, characterized in that, In step 2, the hook motor rotates forward. When the locking signal is triggered, the hook reaches the limit and the hook motor stops rotating forward. The lifting set height in step 2 is 2000 mm, and the G1 parameter value in step 3 is 2000.

10. A method for controlling the picking and placing of AGV ton bags of materials according to claim 81, characterized in that, The lowering set height H2 in step 6 is 1000 mm, and the G2 parameter value in step 7 is 200.

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