Interaction method, device and system for automatic guided vehicle and carrying equipment

Abstract

The invention relates to the technical field of automatic guided vehicle transportation, in particular to an interaction method, device and system for an automatic guided vehicle and carrying equipment, and the interaction method is applied to an interaction control device, is used for guiding the automatic guided vehicle to interact with the carrying equipment, and comprises the steps: receiving the arrival information of the automatic guided vehicle arriving at a target operation position, indicating the carrying equipment to start loading and unloading operation on the automatic guided vehicle; in the loading and unloading operation process of the carrying equipment, weighing sensing data on the carrying equipment are continuously received; after the operation completion signal is received, a position sensing signal is received to determine whether the carrying equipment is located at a preset safety interaction position or not; and based on the weighing sensing data and the position sensing signal, guiding the carrying equipment or the automatic guided vehicle to execute operation. The safety of interaction between the carrying equipment and the automatic guided vehicle can be guaranteed.

Description

Technical Field

[0001] This invention relates to the field of automated guided vehicle (AGV) transportation technology, and in particular to a method, apparatus, and system for interaction between an AGV and a handling equipment. Background Technology

[0002] In modern logistics and industry, AGVs (Automated Guided Vehicles) are increasingly used for material handling as a highly efficient automated material transport tool. In road transport scenarios involving large AGVs, automated equipment is typically used for interaction with them due to safety, operability, and efficiency considerations. However, in scenarios limited by cost or space, manually operated handling equipment such as reach stackers or forklifts may be used to load and unload AGVs. In these scenarios, because AGVs move autonomously within their working environment, improper coordination with manually operated reach stackers or forklifts can lead to collisions. Therefore, ensuring the safety of reach stacker or forklift drivers when directly operating large AGVs is a pressing issue that needs to be addressed. Summary of the Invention

[0003] In view of the above-mentioned problems in the prior art, the purpose of the present invention is to provide a method, device and system for interaction between automated guided vehicles and handling equipment, which can solve the safety problems when handling equipment and automated guided vehicles interact.

[0004] To solve the above problems, the present invention adopts the following technical solution:

[0005] According to a first aspect of the present invention, an interaction method between an automated guided vehicle (AGV) and a transport equipment is provided. This method is applied to an interaction control device for guiding the AAV and the transport equipment to interact, comprising:

[0006] Receive arrival information of the automated guided vehicle (AGV) to the target work position and instruct the handling equipment to start loading and unloading operations for the AGV;

[0007] During the loading and unloading operation of the handling equipment, the weighing sensor data on the handling equipment is continuously received;

[0008] After receiving the work completion signal, the system receives a position sensing signal to determine whether the handling equipment is in the preset safe interaction position;

[0009] Based on weighing sensor data and position sensing signals, the system guides handling equipment or automated guided vehicles to perform operations.

[0010] Furthermore, based on weighing sensor data and position sensor signals, the system guides handling equipment or automated guided vehicles to perform operations, including:

[0011] Verify that both the weighing sensor data and the position sensor signal have passed the safety check. If they have not both passed the safety check, instruct the handling equipment to adjust its operation until both the weighing sensor data and the position sensor signal have passed the safety check.

[0012] If both the weighing sensor data and the position sensor signal pass the safety verification, a request signal is sent to guide the automated guided vehicle to leave the target work position.

[0013] Furthermore, verify whether both the weighing sensor data and the position sensor signal have passed security checks, including:

[0014] If the weighing sensor data reaches the preset weighing value, and the position sensor signal indicates that the handling equipment is in the preset safe interaction position, then the safety verification is passed.

[0015] If the weighing sensor data does not reach the preset weighing value, or if the position sensor signal emits an abnormal position signal, the safety verification will fail.

[0016] Furthermore, sending a request signal to guide the automated guided vehicle to leave the target work position includes:

[0017] The request signal includes the authentication information of the handling equipment that interacts with the automated guided vehicle (AGV); based on the authentication information, it verifies whether the handling equipment is consistent with the handling equipment that performs loading and unloading operations on the AGV, and after the verification is successful, it instructs the AGV to leave the target work position.

[0018] Furthermore, the arrival information of the automated guided vehicle (AGV) at the target work position is obtained, including:

[0019] Whether the automated guided vehicle has reached the target work position, and the estimated arrival time of the automated guided vehicle.

[0020] According to a second aspect of the present invention, an interactive control device for an automated guided vehicle (AGV) and a conveying equipment is provided. The interactive control device is used to guide the AGV and the conveying equipment to interact, comprising:

[0021] The start-up module is used to receive arrival information of the automated guided vehicle (AGV) to the target work position and instruct the handling equipment to start loading and unloading operations for the AGV.

[0022] The weighing data receiving module is used to continuously receive weighing sensor data from the handling equipment during loading and unloading operations.

[0023] The position signal receiving module is used to receive a position sensing signal after receiving a work completion signal to determine whether the handling equipment is in a preset safe interaction position.

[0024] The scheduling and control module is used to guide the handling equipment or automated guided vehicles to perform operations based on weighing sensor data and position sensing signals.

[0025] Furthermore, the interactive control device also includes:

[0026] The human-machine interface module is used to receive instructions from the operator on the handling equipment.

[0027] According to a third aspect of the present invention, an interaction system between an automated guided vehicle and a transport device is provided, the interaction system comprising:

[0028] The aforementioned interactive control device;

[0029] A load cell is installed on the handling equipment to continuously acquire weighing data from the handling equipment and send it to the interactive control device.

[0030] Position sensing devices are installed in the work area where the automated guided vehicle and the handling equipment interact. They are used to generate position sensing signals based on the positional relationship between the handling equipment and the preset safe interaction position, and send them to the interaction control device.

[0031] Furthermore, the weighing sensor is connected to the on-board CAN analyzer via the vehicle controller on the handling equipment. After analyzing and processing the weighing sensor data, the weighing sensor data is sent to the interactive control device.

[0032] Furthermore, the position sensing device includes: a through-beam grating and a grating controller;

[0033] A pair of through-beam gratings form an through-beam grating area. The grating controller is used to detect the positional relationship between the through-beam grating area and the conveying equipment, and generate a position sensing signal to determine whether the conveying equipment is in a preset safe interaction position.

[0034] Due to the above technical solution, the present invention has the following beneficial effects:

[0035] According to embodiments of the present invention, an interaction method, apparatus, and system for automated guided vehicles (AGVs) and handling equipment are disclosed. The interaction method is applied to an interaction control device to guide the AGV and handling equipment to interact. The method includes: receiving arrival information of the AGV at a target work position, instructing the handling equipment to initiate loading and unloading operations on the AGV; continuously receiving weighing sensor data from the handling equipment during the loading and unloading operation; receiving a work completion signal, receiving a position sensing signal to determine whether the handling equipment is in a preset safe interaction position; and guiding the handling equipment or the AGV to perform the operation based on the weighing sensor data and the position sensing signal. This application utilizes weighing sensor data to confirm whether the loading and unloading operation is complete and uses position sensing signals to confirm that the handling equipment is in a safe interaction position, thereby ensuring safety during interaction between the handling equipment and the AGV and the smooth completion of the loading and unloading operation. Attached Figure Description

[0036] To more clearly illustrate the technical solutions of the present invention, the accompanying drawings used in the description of the embodiments or prior art will be briefly introduced below. Obviously, the drawings described below are merely some embodiments of the present invention, and those skilled in the art can obtain other drawings based on these drawings without any creative effort.

[0037] Figure 1 This is a flowchart of the interaction method between the automated guided vehicle and the handling equipment in one embodiment of the present invention;

[0038] Figure 2 This is a structural diagram of the interactive control device between the automated guided vehicle and the handling equipment in one embodiment of the present invention;

[0039] Figure 3 This is a structural diagram of the interaction system between the automated guided vehicle and the handling equipment in one embodiment of the present invention;

[0040] Figure 4 This is a flowchart of the interaction method between the automated guided vehicle and the handling equipment in one embodiment of the present invention;

[0041] Figure 5 This is a block diagram of an electronic device according to one embodiment of the present invention.

[0042] Figure descriptions: 1. Through-beam grating; 2. Weighing sensor; 3. Interactive control device; 4. Vehicle controller; 5. Through-beam grating control cabinet. Detailed Implementation

[0043] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0044] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, apparatus, product, or device that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or devices.

[0045] This invention provides a method for interaction between an automated guided vehicle (AGV) and a handling equipment. This method is applied to an interaction control device to guide the AGV and the handling equipment to interact. The handling equipment can be a reach stacker or forklift, etc., responsible for loading and unloading target goods (such as containers) from the AGV. The method is as follows: Figure 1 As shown, it includes the following steps S1 to S4:

[0046] Step S1: Receive arrival information of the automated guided vehicle (AGV) to the target work position, and instruct the handling equipment to start loading and unloading operations for the AGV.

[0047] The arrival information includes whether the automated guided vehicle (AGV) has reached the target work position and its estimated arrival time. One specific implementation could be that the AGV, while en route to the target work position, sends arrival information to the interactive control device via a wireless communication module; before arrival, it sends the estimated arrival time; and upon arrival, it sends a confirmation message. This process can be implemented using existing technology, and this embodiment does not limit its implementation.

[0048] By scheduling the handling equipment based on real-time arrival information, the handling equipment can be prepared in advance and respond promptly to start loading and unloading operations after the automated guided vehicle arrives at the target work position, thereby improving work efficiency and ensuring smooth operation between the automated guided vehicle and the handling equipment.

[0049] Step S2: During the loading and unloading operation of the handling equipment, continuously receive the weighing sensor data on the handling equipment.

[0050] By using weighing sensor data on the handling equipment, the loading and unloading process can be monitored in real time to ensure its normal operation. When loading or unloading automated guided vehicles (AGVs), a target weight can be preset for the operation, and the completion of the operation can be confirmed based on the target weight. The target weight can be flexibly adjusted according to different operational needs.

[0051] Step S3: After receiving the work completion signal, receive the position sensing signal to determine whether the handling equipment is in the preset safe interaction position.

[0052] The task completion signal can be issued by the operator of the handling equipment after judging the task status, or it can be issued by the automated sensors after obtaining the task status of the handling equipment.

[0053] Step S4: Based on the weighing sensor data and position sensor signal, guide the handling equipment or automated guided vehicle to perform the operation.

[0054] Furthermore, step S4 specifically includes:

[0055] Verify that both the weighing sensor data and the position sensor signal have passed the safety check. If they have not both passed the safety check, instruct the handling equipment to adjust its operation until both the weighing sensor data and the position sensor signal have passed the safety check.

[0056] If both the weighing sensor data and the position sensor signal pass the safety verification, a request signal is sent to guide the automated guided vehicle to leave the target work position.

[0057] Furthermore, verify whether both the weighing sensor data and the position sensor signal have passed security checks, including:

[0058] If the weighing sensor data reaches the preset weighing value, and the position sensor signal indicates that the handling equipment is in the preset safe interaction position, then the safety verification is passed.

[0059] If the weighing sensor data does not reach the preset weighing value, or if the position sensor signal emits an abnormal position signal, the safety verification will fail.

[0060] Furthermore, sending a request signal to guide the automated guided vehicle to leave the target work position includes:

[0061] The request signal includes authentication information of the handling equipment that interacts with the automated guided vehicle (AGV). Based on the authentication information, it verifies whether the handling equipment matches the one used for loading and unloading the AGV. If the verification is successful, the AGV is instructed to leave the target work position.

[0062] Therefore, safety verification must be carried out through two information verifications: first, by confirming the completion of the operation through weighing sensor data, and second, by using position sensing signals to move the transport equipment to a safe position. This ensures the smooth completion of the operation and the safety of the operation process.

[0063] Corresponding to the above-described interaction method, embodiments of this application also provide an interaction control device for an automated guided vehicle (AGV) and a transport equipment. This interaction control device guides the AAV and the transport equipment to interact, such as... Figure 2As shown, the interactive control device includes a start-up module, a weighing data receiving module, a position signal receiving module, and a scheduling control module.

[0064] The start-up module is used to receive arrival information of the automated guided vehicle (AGV) to the target work position and instruct the handling equipment to start loading and unloading operations for the AGV.

[0065] The weighing data receiving module is used to continuously receive weighing sensor data from the handling equipment during loading and unloading operations.

[0066] The position signal receiving module is used to receive position sensing signals after receiving the work completion signal to determine whether the handling equipment is in the preset safe interaction position.

[0067] The scheduling and control module is used to guide handling equipment or automated guided vehicles to perform operations based on weighing sensor data and position sensing signals.

[0068] It should be noted that the different modules of the interactive control device can be set separately on the automated guided vehicle or the transport equipment, or they can be uniformly packaged in a separate processing device.

[0069] Furthermore, the interactive control device also includes a human-machine interface module, which receives instructions from the operator on the handling equipment. These instructions can be stop-operation commands or requests to release the automated guided vehicle (AGV).

[0070] Through the human-machine interface module, operators can obtain real-time equipment status information, such as the AGV's location, work progress, and safety warnings. This intuitive information display helps operators quickly understand the current environment, enabling them to make correct decisions and ensuring timely control of the equipment, thus enhancing work flexibility.

[0071] It should be noted that the apparatus provided in the above embodiments is only illustrated by the division of the above functional modules when implementing its functions. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. In addition, the apparatus provided in the above embodiments and the corresponding method embodiments belong to the same concept, and the specific implementation process can be found in the corresponding method embodiments, which will not be repeated here.

[0072] Corresponding to the above-described interaction method, embodiments of this application also provide an interaction system between an automated guided vehicle (AGV) and a transport equipment. This interaction system includes, in addition to the aforementioned interaction control device, a weighing sensor and a position sensing device. The interaction control device is the core component of the entire system, responsible for coordinating and managing communication between the various modules and making scheduling decisions. This device processes data from the weighing sensor and the position sensing device and uses this information to guide the interactive operation between the AGV and the transport equipment.

[0073] The system comprises several components: a load cell installed on the transport equipment to continuously acquire weighing data and transmit it to the interactive control device; and a position sensor installed in the work area where the automated guided vehicle (AGV) interacts with the transport equipment to generate position signals based on the positional relationship between the transport equipment and a preset safe interaction position, which are then sent to the interactive control device. Each component is positioned conveniently around the transport equipment and can communicate with each other via methods such as Wi-Fi.

[0074] The interactive system is designed so that each sensor, controller, and software module can be updated and maintained independently, facilitating future expansion and technological upgrades to adapt to ever-changing industrial needs.

[0075] Furthermore, the weighing sensor is connected to the on-board CAN analyzer via the vehicle controller on the handling equipment. After analyzing and processing the weighing sensor data, the weighing sensor data is sent to the interactive control device.

[0076] The onboard CAN analyzer, based on the CAN (Controller Area Network) protocol, is used for efficient data communication between various control units within a vehicle or automated equipment. Through the CAN bus, multiple electronic control units (ECUs) can send and receive information to each other in a highly reliable and real-time manner. The raw data collected by the load cells needs to be processed before it can be understood by other systems. The onboard CAN analyzer is responsible for integrating this data and converting it into a suitable format for transmission, broadcasting it within the vehicle network.

[0077] Furthermore, the position sensing device can be a through-beam grating and a grating controller.

[0078] A pair of through-beam gratings form an through-beam grating area. The grating controller is used to detect the positional relationship between the through-beam grating area and the conveying equipment, and generate a position sensing signal to determine whether the conveying equipment is in a preset safe interaction position.

[0079] Reference manual attached Figure 3 This diagram illustrates the interaction system structure of an automated guided vehicle and a transport device according to an embodiment of the present invention. It should be noted that... Figure 3 This is merely an example and does not constitute a limitation on the interactive system of the embodiments of the present invention.

[0080] like Figure 3 As shown, a pair of beam gratings 1 are installed in the working area of ​​each handling equipment (such as a reach stacker or forklift). The grating controller 5 detects whether there are obstacles within the area of ​​the beam gratings 1. A load cell 2 is installed on the handling equipment, and the vehicle controller 4 can acquire the weighing data measured by the load cell 2 in real time. An interactive control device 3 is installed on the handling equipment. Specifically, the interactive control device 3 can be an industrial tablet terminal, and the vehicle controller 4 can be a vehicle-mounted PLC.

[0081] Furthermore, in this interactive system, the industrial tablet terminal can be loaded with vehicle-mounted tablet software. This software guides the automated guided vehicle (AGV) to interact with the material handling equipment, as follows: Figure 4 As shown, it includes:

[0082] Weighing sensors weigh the loaded and unloaded goods. The vehicle controller collects the weighing data from the weighing sensors and then transmits it to the onboard tablet software via a CAN analyzer. The CAN analyzer can monitor and capture data frames transmitted through the CAN bus in real time, including sent and received information, and can process and convert the data to ensure that the data is read by the onboard tablet software.

[0083] Meanwhile, the through-beam gratings and grating control cabinet installed in the work area identify whether there are obstacles in the work area, generating position sensing signals to confirm whether the handling equipment has left the work area or returned to a safe position. The position sensing signals are also transmitted to the vehicle-mounted tablet software.

[0084] Finally, the onboard tablet software determines whether the handling equipment has completed the loading and unloading operation and passed the safety verification based on the weighing sensor data and position sensor signals. If the loading and unloading operation has been completed and the safety verification has been passed, a release request signal is sent to the Automated Guided Vehicle (AGV) scheduling system, allowing the AGV to leave.

[0085] Furthermore, the AGV scheduling system allows multiple transport devices to simultaneously select the same workstation for time-sharing operations. Therefore, the AGV scheduling system can set authorization authentication for the released vehicle request signals to ensure that the operation command is issued by the transport device currently interacting with the device.

[0086] Furthermore, the onboard tablet software provides a human-machine interface (GUI) to display the status and task information of the automated guided vehicle (AGV) to the operator of the material handling equipment. The GUI can display the real-time operation status of multiple interactive workstations, including situations such as no current task, an approaching task with its estimated arrival time, and the AGV having come to a complete stop and being ready for operation. The operator can click on the GUI to send a release request signal. Before initiating the release request, the onboard tablet software reads the values ​​from the weighing sensors and the current workstation's grating detection, confirming safety before allowing the release request to be sent to the AGV scheduling system. If the safe release conditions are not met, a message will pop up on the GUI informing the driver of the reason and prompting them to operate safely.

[0087] In summary, this invention confirms the completion of loading and unloading operations based on weighing sensor data and uses position sensing signals to confirm that the handling equipment is in a safe interactive position, thereby ensuring the safety of the handling equipment during interaction with the automated guided vehicle and the smooth completion of loading and unloading operations. The interactive system is designed so that each component can be independently updated and maintained, facilitating future expansion and technological upgrades to adapt to ever-changing industrial needs.

[0088] Furthermore, one embodiment of the present invention also provides an electronic device including a processor and a memory, wherein the memory stores at least one instruction or at least one program, the at least one instruction or the at least one program being loaded and executed by the processor to implement the interaction method between the automated guided vehicle and the transport equipment as provided in the above method embodiments.

[0089] Memory can be used to store software programs and modules. The processor executes various functional applications and data processing by running the software programs and modules stored in the memory. Memory can primarily include a program storage area and a data storage area. The program storage area can store the operating system, application programs required for the functions, etc.; the data storage area can store data created based on the use of the device, etc. Furthermore, memory can include high-speed random access memory, and can also include non-volatile memory, such as at least one disk storage device, flash memory device, or other volatile solid-state storage device. Accordingly, memory can also include a memory controller to provide the processor with access to the memory.

[0090] Refer to the attached reference manual Figure 5 The diagram shown is a block diagram of an electronic device 500 according to an embodiment of the present invention. The electronic device 500 may include one or more processors 502, system control logic 508 connected to at least one of the processors 502, system memory 504 connected to the system control logic 508, non-volatile memory (NVM) 506 connected to the system control logic 508, and network interface 510 connected to the system control logic 508.

[0091] Processor 502 may include one or more single-core or multi-core processors. Processor 502 may include any combination of general-purpose processors and special-purpose processors (e.g., graphics processors, application processors, baseband processors, etc.). In embodiments herein, processor 502 may be configured to perform operations according to... Figure 1 One or more embodiments of the various embodiments shown.

[0092] In some embodiments, system control logic 508 may include any suitable interface controller to provide any suitable interface to at least one of the processors 502 and / or any suitable device or component communicating with system control logic 508.

[0093] In some embodiments, system control logic 508 may include one or more memory controllers to provide an interface to system memory 504. System memory 504 may be used to load and store data and / or instructions. In some embodiments, system memory 504 of electronic device 500 may include any suitable volatile memory, such as suitable dynamic random access memory (DRAM).

[0094] NVM / memory 506 may include one or more tangible, non-transitory computer-readable media for storing data and / or instructions. In some embodiments, NVM / memory 506 may include any suitable non-volatile memory such as flash memory and / or any suitable non-volatile storage device, such as at least one of HDD (Hard Disk Drive), CD (Compact Disc) drive, and DVD (Digital Versatile Disc) drive.

[0095] NVM / Storage 506 may include a portion of storage resources mounted on a device of Electronic Device 500, or it may be accessible by the device but is not necessarily part of the device. For example, NVM / Storage 506 may be accessed over a network via Network Interface 510.

[0096] Specifically, system memory 504 and NVM / memory 506 may each include a temporary copy and a permanent copy of instruction 520. Instruction 520 may include, when executed by at least one of processors 502, causing electronic device 500 to perform, as Figure 1 Instructions for the interaction method between the automated guided vehicle and the transport equipment. In some embodiments, instructions 520, hardware, firmware and / or their software components may additionally / alternatively be located in system control logic 508, network interface 510 and / or processor 502.

[0097] Network interface 510 may include a transceiver for providing a radio interface to electronic device 500, thereby enabling communication with any other suitable device (such as a front-end module, antenna, etc.) via one or more networks. In some embodiments, network interface 510 may be integrated into other components of electronic device 500. For example, network interface 510 may be integrated into at least one of the following: a communication module of processor 502, system memory 504, NVM / memory 506, and firmware device (not shown) with instructions, which, when at least one of processor 502 executes the instructions, enable electronic device 500 to implement... Figure 1 One or more embodiments of the various embodiments shown.

[0098] The network interface 510 may further include any suitable hardware and / or firmware to provide a multiple-input multiple-output radio interface. For example, the network interface 510 may be a network adapter, a wireless network adapter, a telephone modem, and / or a wireless modem.

[0099] In one embodiment, at least one of the processors 502 may be packaged together with the logic of one or more controllers for system control logic 508 to form a system-in-package (SiP). In another embodiment, at least one of the processors 502 may be integrated on the same die with the logic of one or more controllers for system control logic 508 to form a system-on-a-chip (SoC).

[0100] The electronic device 500 may further include an input / output (I / O) device 512. The I / O device 512 may include a user interface enabling a user to interact with the electronic device 500; the peripheral component interface is designed to allow peripheral components to also interact with the electronic device 500. In some embodiments, the electronic device 500 may also include sensors for determining at least one type of environmental condition and location information related to the electronic device 500.

[0101] In some embodiments, the user interface may include, but is not limited to, a display (e.g., a liquid crystal display, a touch screen display, etc.), a speaker, a microphone, one or more cameras (e.g., a still image camera and / or a video camera), a flashlight (e.g., a light-emitting diode flash), and a keyboard.

[0102] In some embodiments, the peripheral component interface may include, but is not limited to, a non-volatile memory port, an audio jack, and a power interface.

[0103] In some embodiments, the sensor may include, but is not limited to, a gyroscope sensor, an accelerometer, a proximity sensor, an ambient light sensor, and a positioning unit. The positioning unit may also be part of or interact with the network interface 510 to communicate with components of the positioning network (e.g., Global Positioning System (GPS) satellites).

[0104] It is understood that the structures illustrated in the embodiments of the present invention do not constitute a specific limitation on the electronic device 500. In other embodiments of the present invention, the electronic device 500 may include more or fewer components than illustrated, or combine some components, or split some components, or have different component arrangements. The illustrated components may be implemented in hardware, software, or a combination of software and hardware.

[0105] One embodiment of the present invention also provides a computer-readable storage medium that can be disposed in an electronic device to store at least one instruction or at least one program related to implementing an interaction method between an automated guided vehicle and a transport device, wherein the at least one instruction or the at least one program is loaded and executed by the processor to implement the interaction method between the automated guided vehicle and the transport device provided in the above-described method embodiment.

[0106] Optionally, in embodiments of the present invention, the storage medium may include, but is not limited to, various media capable of storing program code, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0107] One embodiment of the present invention also provides a computer program product or computer program including computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the computer device to perform the interaction method between the automated guided vehicle and the transport equipment provided in the various optional implementations described above.

[0108] It should be noted that the order of the above embodiments of the present invention is merely for descriptive purposes and does not represent the superiority or inferiority of the embodiments. Furthermore, specific embodiments have been described above. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps described in the claims can be performed in a different order than that shown in the embodiments and still achieve the desired result. Additionally, the processes depicted in the drawings do not necessarily require a specific or sequential order to achieve the desired result. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0109] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, the apparatus embodiments are basically similar to the method embodiments, so the description is relatively simple; relevant parts can be referred to the descriptions of the method embodiments.

[0110] Those skilled in the art will understand that all or part of the steps of the above embodiments can be implemented by hardware, or by a program instructing related hardware. The program can be stored in a computer-readable storage medium, such as a read-only memory, a disk, or an optical disk.

[0111] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A method for interaction between an automated guided vehicle (AGV) and a transport equipment, characterized in that, The method is applied to an interactive control device to guide the automated guided vehicle to interact with the transport equipment, including: Upon receiving arrival information of the automated guided vehicle (AGV) at the target work position, the system instructs the handling equipment to initiate loading and unloading operations on the AGV. During the loading and unloading operation of the handling equipment, the weighing sensor data on the handling equipment is continuously received; After receiving the work completion signal, the system receives a position sensing signal to determine whether the handling equipment is in a preset safe interaction position; Based on the weighing sensor data and the position sensing signal, the handling equipment or the automated guided vehicle is guided to perform the operation.

2. The interaction method between the automated guided vehicle and the handling equipment according to claim 1, characterized in that, Based on the weighing sensor data and the position sensor signal, guide the handling equipment or the automated guided vehicle to perform operations, including: Verify whether the weighing sensor data and the position sensing signal have both passed the safety check. If they have not both passed the safety check, instruct the handling equipment to adjust its operation until both the weighing sensor data and the position sensing signal have passed the safety check. If both the weighing sensor data and the position sensing signal pass the security verification, a request signal is sent to guide the automated guided vehicle to leave the target work position.

3. The interaction method between the automated guided vehicle and the handling equipment according to claim 2, characterized in that, Verification of whether the weighing sensor data and the position sensor signal both pass security checks includes: If the weighing sensor data reaches the preset weighing value, and the position sensing signal indicates that the handling equipment is in the preset safe interaction position, then the safety verification is passed. If the weighing sensor data does not reach the preset weighing value, or if the position sensing signal emits a position abnormality signal, the safety verification will fail.

4. The interaction method between the automated guided vehicle and the handling equipment according to claim 2, characterized in that, Sending a request signal to instruct the automated guided vehicle to leave the target work position includes: The request signal includes the authentication information of the handling equipment that interacts with the automated guided vehicle; based on the authentication information, it is verified whether the handling equipment is consistent with the handling equipment that performs loading and unloading operations on the automated guided vehicle; if the verification is successful, the automated guided vehicle is instructed to leave the target work position.

5. The interaction method between the automated guided vehicle and the transport equipment according to claim 1, characterized in that, Obtain arrival information of the automated guided vehicle (AGV) at the target work position, wherein the arrival information includes: Whether the automated guided vehicle has reached the target work position, and the estimated arrival time of the automated guided vehicle.

6. An interactive control device for an automated guided vehicle and a conveying equipment, characterized in that, The interactive control device is used to guide the automated guided vehicle to interact with the handling equipment, including: The start-up module is used to receive arrival information of the automated guided vehicle to the target work position and instruct the handling equipment to start loading and unloading operations for the automated guided vehicle; The weighing data receiving module is used to continuously receive weighing sensor data on the handling equipment during the loading and unloading operation of the handling equipment; The position signal receiving module is used to receive a position sensing signal after receiving a work completion signal to determine whether the handling equipment is in a preset safe interaction position. The scheduling and control module is used to guide the handling equipment or the automated guided vehicle to perform operations based on the weighing sensor data and the position sensing signal.

7. The interactive control device for automated guided vehicles and conveying equipment according to claim 6, characterized in that, The interactive control device further includes: The human-machine interaction module is used to receive instructions from the operator on the handling equipment.

8. An interactive system for automated guided vehicles and handling equipment, characterized in that, The interactive system includes: The interactive control device as described in claim 6 or 7; A weighing sensor is installed on the conveying equipment to continuously acquire weighing sensing data on the conveying equipment and send it to the interactive control device. A position sensing device is installed in the work area where the automated guided vehicle and the transport equipment interact, and is used to generate a position sensing signal based on the positional relationship between the transport equipment and a preset safe interaction position and send it to the interaction control device.

9. The interaction system between the automated guided vehicle and the handling equipment according to claim 8, characterized in that, The weighing sensor is connected to the vehicle-mounted CAN analyzer via the vehicle controller on the conveying equipment. After analyzing and processing the weighing sensor data, the weighing sensor data is sent to the interactive control device.

10. The interaction system between the automated guided vehicle and the handling equipment according to claim 8, characterized in that, The position sensing device includes: a through-beam grating and a grating controller; A pair of through-beam gratings form through-beam grating regions. The grating controller is used to detect the positional relationship between the through-beam grating regions and the conveying equipment, and generate the position sensing signal to determine whether the conveying equipment is in the preset safe interaction position.

Images