Production node control AGV automatic loading and unloading operation method, control system and storage medium

Abstract

The invention relates to the field of automation control of tobacco production operation, and discloses a method for controlling automatic loading and unloading operation of an AGV (Automatic Guided Vehicle) by a production node, a control system and a computer readable storage medium. The method comprises the following steps: acquiring a selected AGV identity identification code; controlling the AGV to move to a production node identification area; the laser module scans the reflective identification strip and decodes the reflective identification strip; judging whether the decoding information is matched with the identity identification code or not; if yes, the AGV control right is temporarily submitted to the production node, the AGV is controlled to be matched with the mechanical arm to complete feeding and discharging operation, and after operation is completed, recognition is conducted again, and the control right is returned. According to the method, a character string is generated by coding the length of the reflective part of the reflective strip and the dark part interval, AGV identity verification is realized, and operation safety is ensured. The system and the storage medium can realize the method. According to the technical scheme, AGV automation and high-precision loading and unloading operation can be achieved, communication between a logistics system and production nodes is simplified, and operation efficiency and safety are improved.

Description

Technical Field

[0001] This invention relates to the field of automated control of tobacco production operations, specifically to a method for controlling AGV automatic loading and unloading operations at production nodes, as well as a collaborative control system and storage medium. Background Technology

[0002] With the improvement of industrial automation and intelligent manufacturing, AGVs (Automated Guided Vehicles) are widely used in factory logistics, warehousing, and material transfer processes on production lines. In modern production lines, AGVs typically undertake the tasks of automatic material transportation, positioning and docking, and material handover with production nodes (such as auxiliary material stations, assembly stations, testing stations, and transfer stations).

[0003] Automated production lines in the tobacco industry are characterized by a wide variety of materials, tight production cycles, and complex equipment layouts. To achieve flexible production and unmanned logistics, AGV systems have gradually evolved from fixed-route navigation to intelligent scheduling systems combining laser and vision navigation. As the number of automated interfaces between production stages continues to increase, AGVs are required to go beyond simple transportation tasks and automatically hand over tasks to production equipment at auxiliary material stations, loading stations, and other production nodes. These operations typically involve multiple actions such as precise positioning, posture adjustment, loading and unloading, and status feedback, demanding high precision and coordination in motion control.

[0004] However, in practical applications, AGVs often need to perform multiple sophisticated loading and unloading operations after arriving at the production node. The AGV's own control system cannot autonomously complete these operations. If the upper-level logistics scheduling system directly controls the AGV to complete these operations, complex communication with the production node's control system and the logistics scheduling system is required. However, the upper-level logistics scheduling system typically does not provide these communication interfaces, leading to program chaos within the system itself. Currently, auxiliary material stations, loading stations, and the upper-level logistics scheduling system can only communicate in a simple manner; the production node cannot control the AGV to complete complex, high-precision operations through the communication intermediary of the logistics control system.

[0005] Therefore, in most existing solutions, to avoid complex cross-system communication and control issues, manual handling is typically used to complete the material transfer between the AGV and the production node. While this method simplifies the system control logic, it is inefficient, and manual intervention increases safety risks.

[0006] In summary, the existing technology lacks a simple, reliable, and automated control solution for collaborative control between AGVs and production nodes, which can enable production nodes to identify and take over AGVs without increasing the complexity of system communication, thus achieving safe and stable automated loading and unloading operation control. Summary of the Invention

[0007] To address the aforementioned shortcomings or defects in existing technologies, this invention provides a method for controlling AGVs for automated loading and unloading operations at production nodes. This method requires only simple communication between the production node and the logistics control system to control AGVs to enter the production node and participate in loading and unloading operations, enabling complex system operations with the production node.

[0008] A method for controlling AGV automatic loading and unloading operations at a production node includes the following steps:

[0009] Obtain the identification code of the selected AGV;

[0010] Control the selected AGV to move to the production node identification area;

[0011] The laser module scans the reflective identification strips on the AGV within the identification area and decodes the information.

[0012] Determine whether the decoded information matches the acquired identity verification code;

[0013] If a match is found, proceed with the following steps:

[0014] The logistics control system assigns control of the selected AGVs to the production nodes.

[0015] The production node controls the trolley to enter the work area, where it works with the robotic arm to perform loading and unloading operations, and then drives out of the work area and re-enters the recognition area.

[0016] The laser module scans and identifies the reflective identification strips on the AGV and decodes the information, then determines whether the decoded information matches the acquired identification code.

[0017] If a match is found, the production node releases control of the selected AGV, and control returns to the logistics control system.

[0018] Preferably, the reflective identification strip has multiple reflective parts, and the reflective parts are separated by non-reflective dark parts; the reflective identification strip extends along the AGV's traveling direction.

[0019] Preferably, the operating speed V of the selected AGV is obtained, and the string S0 of the identification code is calculated by the logistics control system according to the preset reflective identification strip structure of the AGV, using the following formula:

[0020]

[0021] Where L i is the preset length of the i-th reflective part, n is the number of reflective parts on the reflective identification strip, and [0.5+a] indicates that a is rounded to the nearest integer.

[0022] Preferably, the production node control system calculates the decoded string S1 based on the recognition signal from the laser module, using the following formula:

[0023]

[0024] Where T i Let T be the reflection time of the i-th reflective part. k The system time unit is [0.5+a], which means rounding a to the nearest integer.

[0025] Preferably, the following method is used to determine whether the decoded information matches the obtained identification code:

[0026] Compare string S0 and string S1. If their values ​​and order are exactly the same, the match is successful. If any one of their values ​​is different, a security alarm mechanism is triggered.

[0027] Preferably, the safety alarm mechanism includes: stopping all mechanical movements of the loading and unloading robotic arms at the production node, locking the position of the protective door and issuing an alarm signal, and waiting for manual reset.

[0028] Preferably, a protective door is provided at the loading and unloading entrance of the production node, the identification area is a virtual area at the loading and unloading entrance of the production node, the laser module is used to scan and identify the reflective identification strip in the identification area, and the monitoring camera is used to detect moving targets in the identification area.

[0029] Preferably, during the period when control of the selected AGV is taken over at a production node, the logistics control system only remains in a listening state;

[0030] During the handover of control, if either party detects a signal interruption or an abnormal identity matching, the movement of the selected AGV shall be stopped immediately.

[0031] The present invention also provides a production node and AGV collaborative control system for implementing the method described above, comprising:

[0032] The production node control module is used to send task requests to the logistics control system and temporarily take over the AGV after matching and verification.

[0033] The laser module is used to scan and identify reflective identification strips on the AGV to parse identity information;

[0034] The protective door control module is used to control the opening and closing of protective doors at production nodes and to lock them in case of abnormalities.

[0035] The robotic arm execution module is used to perform loading and unloading operations after the AGV enters the production node;

[0036] The safety monitoring module is used to trigger an alarm and stop all mechanical actions when the identification information does not match.

[0037] The communication module is used to transmit task requests, identification codes, and control takeover instructions between production nodes and the logistics control system.

[0038] The present invention also provides a computer-readable storage medium having a computer program stored thereon, the computer program being executed by a processor of the method described above for controlling AGV automatic loading and unloading operations at production nodes.

[0039] The method for controlling AGV automatic loading and unloading operations at production nodes using the above-mentioned technical solution of the present invention has the following effects:

[0040] This invention achieves identity matching and verification between the logistics control system and the production node by setting reflective identification strips with coded functions on the surface of the AGV, which are then scanned and decoded by a laser module at the production node. When a match is successful, the logistics control system temporarily transfers control to the production node, enabling the production node to safely schedule the AGV to complete loading and unloading operations. This design effectively avoids control conflicts caused by communication anomalies or mishandling in traditional systems, improving the safety and reliability of system operation.

[0041] This invention employs an encoding algorithm that correlates the structural parameters of the reflective identification strip with the AGV's operating speed. The logistics control system calculates the identification code S0 based on the preset reflective section length and operating speed. The production node calculates the decoding string S1 based on the multiple relationship between the reflective time and the system time unit, and constructs an integer-form lookup code through rounding. This algorithm, based on physical measurement, ensures recognition accuracy while effectively resisting the effects of minor speed fluctuations, ambient light interference, and measurement noise, significantly improving the stability and robustness of identification.

[0042] The control scheme of this invention adopts a modular design, which can be applied to various production nodes such as auxiliary material stations, assembly stations, and testing stations, and is also compatible with different models of AGVs. Its encoding and decoding methods rely only on the reflective strip structure and system clock parameters, without the need for additional communication protocol support, making it easy to integrate directly into existing intelligent manufacturing systems.

[0043] Other features and advantages of the present invention will be described in detail in the following detailed description section. Attached Figure Description

[0044] Figure 1 This is a flowchart of the method part of the present invention;

[0045] Figure 2 This is a schematic diagram of the safety guard and lifting door in the material loading and unloading area of ​​the production node in this invention;

[0046] Figure 3 This is a schematic diagram of the laser module;

[0047] Figure 4 This is a schematic diagram of a reflective sign; 1, 2, and 3 in the diagram are the reflective parts, and 4 is the non-reflective dark part. Detailed Implementation

[0048] The following provides a detailed description of specific embodiments of the present invention. It should be understood that the specific embodiments described herein are for illustrative and explanatory purposes only and are not intended to limit the scope of the invention.

[0049] In this invention, unless otherwise stated, directional terms such as "upper" and "lower" generally refer to the orientation in the assembled and used state. "Inner" and "outer" refer to the inner and outer sides relative to the outline of each component itself.

[0050] This invention proposes a method for controlling AGV automatic loading and unloading operations at production nodes, aiming to solve the problems of single control authority, complex communication interfaces, and difficulty in safety verification in traditional AGV systems at node operation stages, and to realize distributed collaboration and safety control switching between production nodes and logistics control systems.

[0051] Main process (see attached document) Figure 1 ):

[0052] When a production node detects an pending task (such as loading hoppers or unloading finished products) at its loading / unloading station, the production node control system first sends a task request instruction to the logistics control system. Upon receiving the task request, the logistics control system searches for available AGV resources within its current control authority and selects one AGV to participate in the current task according to the scheduling strategy.

[0053] The logistics control system stores parameter information for the reflective identification strips of each AGV, including the number and length of the reflective parts and their corresponding coding relationships. Therefore, when a target AGV is selected, the system can calculate the AGV's identification code S0 based on a preset algorithm. This identification code uniquely identifies the corresponding AGV and its associated control unit.

[0054] The calculation method for the identification code S0 can be implemented in two modes depending on the production system design: One is a real-time calculation mode: when a production node issues a task request, the logistics control system immediately calculates the S0 of the selected AGV and sends it to the production node for subsequent identification and matching. The other is a delayed calculation mode: when the AGV is about to enter the identification area, the logistics control system calculates and sends S0 in real time to reduce data redundancy and network load.

[0055] Subsequently, the logistics control system controls the selected AGV to go to the storage area to pick up materials and drive along the planned path to the target production node.

[0056] When the AGV enters the identification area of ​​the target production node, the laser identification module at the node automatically starts to scan the reflective identification strip on the AGV.

[0057] The reflective identification strip is arranged along the AGV's traveling direction and has multiple reflective sections, each separated by a non-reflective dark section. During the scanning process, the laser identification module acquires the reflection time signal of each reflective section and calculates a set of string information based on the time signal, forming the node-end decoded string S1.

[0058] The production node control module compares S1 with S0 sent by the logistics control system bit by bit. When the values ​​and sequence of the two are completely consistent, the identity is determined to be successfully matched. This indicates that the currently identified AGV is the target vehicle specified by the task scheduler.

[0059] After successful matching, the logistics control system releases control of the selected AGV and transfers it to the production node control system. At this point, the production node takes over the AGV's motion control, allowing it to enter the work area and coordinate with the node's robotic arm or other actuators to perform complex operations such as loading and unloading. During this stage, all AGV movements are directly controlled by the production node, eliminating the need for the logistics control system to act as an intermediary and requiring it to open communication or security interfaces. This greatly simplifies the communication links between systems and improves real-time performance.

[0060] After the loading and unloading operations are completed, the production node control module controls the AGV to leave the work area and re-enter the identification area. The laser identification module scans the reflective identification strip on the AGV again and regenerates the decoded string S1′. The production node control module matches S1′ with S0 again. If they match, the AGV's identity is confirmed to be correct and the operation process is complete and error-free. At this point, the production node sends a "control release" signal to the logistics control system, and control of the AGV returns to the logistics control system.

[0061] Through the above process, a complete closed-loop process is achieved, from task request, identity verification, control takeover, job execution to control return. Throughout the process, the system uses reflective identification strips as the physical carrier and achieves highly robust identity verification through optical recognition and time calculation. This ensures that even in scenarios where AGVs frequently enter and exit production nodes, a collaborative mechanism can still be achieved to ensure safe transfer of control, autonomous node operation, and unified scheduling at the system level.

[0062] Identity information encoding and decoding:

[0063] In the method of this invention, the realization of AGV identity recognition and control transfer is based on an encoding and decoding logic based on reflective recognition strips.

[0064] During the system configuration phase, the logistics control system assigns a unique identification code to each AGV. This code can be a unique string, such as consisting of vehicle number, model, functional group, task priority, or other parameters. For easy physical identification, this code is encoded and converted into a corresponding reflective identification strip pattern, which is then affixed or fixed to a designated location on the AGV body.

[0065] The reflective identification strip uses a width coding method (see attached document). Figure 4 Different weights are expressed by adjusting the width of each reflective unit. This encoded information is stored electronically in the logistics control system and corresponds one-to-one with the AGV device ID. The system can calculate or select the identification code of a specific AGV in real time and send it to the production node according to different application scenarios (such as task type, scheduling mode, area permissions, etc.).

[0066] S0 Encoding and Decoding: When a production node requires loading and unloading operations, the logistics control system first selects a target AGV. The system database stores the structural parameters of the reflective identification strips on all AGVs, including the number of reflective parts n and the design length L of each reflective part. i And the basic spacing between reflective parts.

[0067] Based on these structural parameters and the target AGV's operating speed V, the logistics control system calculates the AGV's identification code string S0 using the following formula:

[0068]

[0069] in:

[0070] L i The preset length of the i-th reflective part;

[0071] V represents the current operating speed of the AGV;

[0072] n is the number of reflective parts on the reflective identification strip;

[0073] [0.5+a] means rounding a to the nearest integer.

[0074] The formula means that, based on the ratio between the designed length of the AGV reflective identification strip and its operating speed, the logistics control system maps the time-equivalent length of each reflective part to an integer code, and arranges them sequentially to form the string S0. S0 essentially represents the digital feature code of the length pattern of the reflective identification strip on the AGV after time-domain transformation, and is the AGV's identification code.

[0075] S1 Encoding and Decoding: When the AGV enters the production node's identification area, the laser identification module of the production node begins scanning the reflective identification strip. As the AGV moves forward, the laser module sequentially receives reflective signals from multiple reflective parts and gap signals from dark areas, and automatically measures the reflection duration T of each reflective part. i .

[0076] The production node system is based on the measured reflection time T i and the system's preset time unit T k The decoded string S1 is calculated using the following formula:

[0077]

[0078] in:

[0079] T i Let i be the reflection time of the i-th reflective part;

[0080] T k The system time unit;

[0081] [0.5+a] means rounding a to the nearest integer.

[0082] This formula reflects how, during the actual scanning process, the laser module quantizes and rounds each reflective element based on the multiple relationship between the reflection duration and the system time unit, and then concatenates them sequentially to generate the string S1. S1 is the actual on-site measured identity information based on the time characteristics of the actual reflective signal, which is matched and verified with the theoretical string S0 generated by the logistics system.

[0083] Matching verification between S0 and S1: After obtaining the string S1, the production node control system will compare it bit by bit with the string S0 sent by the logistics control system.

[0084] The matching algorithm is as follows:

[0085] The recognition is successful when all the values ​​and order of the characters in string S0 and S1 are exactly the same.

[0086] If any of the two values ​​are inconsistent, the system triggers a safety alarm mechanism, refuses to allow the production node to take over the AGV, and displays the message "identity mismatch".

[0087] This method enables production nodes to perform accurate identification solely based on the time difference of reflected light signals, without relying on complex visual algorithms such as QR codes or image recognition. It offers significant advantages, including resistance to contamination and light interference, high recognition speed, and no need for shared communication interfaces, ensuring the safe and stable handover of AGV control.

[0088] Matching verification of S1′ and S0: Similarly, when the AGV completes its work and the control is returned to the logistics control system, the AGV will first enter the identification area. At this time, S1′ is calculated in the same way as S1 was calculated above, and the same matching verification of S0 and S1 is used to match and verify S1′ and S0.

[0089] The matching algorithm is as follows:

[0090] The recognition is successful when all the values ​​and order of the characters in string S0 and S1′ are exactly the same.

[0091] If any of the two values ​​are inconsistent, the system triggers a safety alarm mechanism, refuses to allow the logistics control system to take over the AGV, and displays the message "identity mismatch".

[0092] Security alarm mechanism:

[0093] During the automated loading and unloading operations of AGVs at production nodes, the identification result directly determines whether control can be safely transferred. To prevent misoperation due to identification errors, communication anomalies, or signal interference, this invention designs a multi-level safety alarm and interlocking protection mechanism to immediately cut off the action execution link in the event of identification anomalies or control interruptions, ensuring on-site operational safety.

[0094] After the production node control system completes the comparison of strings S1 and S0, and then compares strings S0 and S1', if any bit value does not match, or if the system detects a loss of identification signal, decoding error, or abnormal signal timing, it determines that there is an "identity mismatch" or "communication anomaly." The system then executes the following security steps:

[0095] 1) When the robotic arm is locked, the control system immediately stops all movements of the robotic arm at the production node and enters a safe pause state; the control signal is cut off, and the robotic arm execution module remains stationary after receiving the lock command to prevent accidental collisions or grabs.

[0096] 2) Automatic braking of the protective door: After receiving an alarm signal, the protective door control module at the entrance of the production node immediately stops all actions of the protective door.

[0097] 3) Alarm signal triggering and information recording: The system simultaneously issues audible and visual alarm signals and displays alarm information and fault type (such as identity mismatch, signal interruption, abnormal control) on the control interface; the log module records the identification data, comparison results and alarm trigger time for subsequent traceability analysis.

[0098] 4) Manual reset and safety confirmation: In alarm state, the system enters locked mode and can only be restored to normal after the operator confirms the cause of the abnormality and performs a manual reset.

[0099] In addition, during the control handover phase, both the logistics control system and the production node control system maintain a listening and interlocking state: when either party detects a signal interruption or incomplete authentication, the system will forcibly stop the movement of the AGV to prevent motion conflicts caused by control contention.

[0100] Production node and AGV collaborative control system:

[0101] To achieve the above method, this invention also provides a collaborative control system for production nodes and AGVs. This system consists of a production node control terminal, an AGV terminal, and a logistics control system. Through multi-module collaboration, it realizes the handover of control and operation management for automated loading and unloading of AGVs. The collaborative control system includes:

[0102] The production node control module is used to send task request information to the logistics control system, and after identity matching and verification, temporarily take over the motion control of the selected AGV to realize independent operation scheduling at the production node level.

[0103] Laser module (see attached) Figure 3 The device is set in the identification area of ​​the production node to scan and identify the reflective identification strips on the AGVs entering the identification area, and to analyze the obtained reflective information to calculate the AGV identity code to achieve identity verification.

[0104] Protective door control module (see attached) Figure 2 It is used to control the opening and closing of the protective door at the material loading and unloading entrance of the production node, and to lock the protective door when an identity recognition abnormality, safety alarm or manual intervention signal occurs.

[0105] The robotic arm execution module communicates with the robotic arm equipment at the production node. It is used to perform loading and unloading operations after the AGV enters the work area, and to instruct the AGV to leave the work area after the task is completed.

[0106] The safety monitoring module is used to monitor and identify signals, AGV status and mechanical movements in real time. When an identity mismatch, communication abnormality or safety interlock trigger is detected, all mechanical movements are stopped immediately and an alarm signal is issued.

[0107] The communication module is used to transmit task requests, identification codes, and control handover instructions between production nodes and the logistics control system, ensuring signal synchronization and data security during the control transfer process.

[0108] Through the coordinated operation of the above modules, this system enables distributed intelligent collaboration between production nodes, AGVs, and the logistics control system. Throughout the entire process of control takeover and release, tasks are transferred between modules via standardized communication protocols, ensuring operational safety while enhancing the system's flexibility and scalability.

[0109] Computer-readable storage media:

[0110] Furthermore, the present invention also provides a computer-readable storage medium having a computer program stored thereon. When executed by a processor, the program implements all the steps of the method for controlling AGV automatic loading and unloading operations at production nodes as described in any of the preceding claims.

[0111] This computer program can run in the production node control system, logistics control system, or the communication terminal of both. By calling the functional interfaces of the laser module, robotic arm module, protection module, and communication module, it can achieve automated control of the entire process, including task request, AGV identification, control takeover, loading and unloading operations, safety interlocks, and control release.

[0112] The software-implemented logic control structure allows the method of this invention to be implemented in centralized control systems as well as deployed in edge computing architectures or cloud control platforms, thereby adapting to the automation transformation needs of production lines of different sizes.

[0113] The preferred embodiments of the present invention have been described in detail above. However, the present invention is not limited to the specific details in the above embodiments. Within the scope of the technical concept of the present invention, various simple modifications can be made to the technical solution of the present invention, and these simple modifications all fall within the protection scope of the present invention.

[0114] It should also be noted that the various specific technical features described in the above embodiments can be combined in any suitable manner without contradiction. To avoid unnecessary repetition, the present invention will not describe the various possible combinations separately.

[0115] Furthermore, various different embodiments of the present invention can be combined in any way, as long as they do not violate the spirit of the present invention, they should also be regarded as the content disclosed by the present invention.

Claims

1. A method for controlling AGV automatic loading and unloading operations at production nodes, characterized in that, Includes the following steps: Obtain the identification code of the selected AGV; Control the selected AGV to move to the production node identification area; The laser module scans the reflective identification strips on the AGV within the identification area and decodes the information. Determine whether the decoded information matches the acquired identity verification code; If a match is found, proceed with the following steps: The logistics control system assigns control of the selected AGVs to the production nodes; The production node controls the trolley to enter the work area, where it works with the robotic arm to perform loading and unloading operations, and then drives out of the work area and re-enters the recognition area. The laser module scans and identifies the reflective identification strips on the AGV and decodes the information, then determines whether the decoded information matches the acquired identification code. If a match is found, the production node releases control of the selected AGV, and control returns to the logistics control system.

2. The method according to claim 1, characterized in that, The reflective identification strip has multiple reflective parts, and the reflective parts are separated by non-reflective dark parts; the reflective identification strip extends along the AGV's traveling direction.

3. The method according to claim 2, characterized in that, The operating speed V of the selected AGV is obtained. The string S0 of the identification code is calculated by the logistics control system based on the preset reflective identification strip structure of the AGV, using the following formula: Where L i is the preset length of the i-th reflective part, n is the number of reflective parts on the reflective identification strip, and [0.5+a] indicates that a is rounded to the nearest integer.

4. The method according to claim 3, characterized in that, The control system of the production node calculates the decoded string S1 based on the recognition signal from the laser module, using the following formula: Where T i Let T be the reflection time of the i-th reflective part. k The system time unit is [0.5+a], which means rounding a to the nearest integer.

5. The method according to claim 1, characterized in that, The following method is used to determine whether the decoded information matches the obtained identity verification code: Compare string S0 and string S1. If their values ​​and order are exactly the same, the match is successful. If any one of their values ​​is different, a security alarm mechanism is triggered.

6. The method according to claim 5, characterized in that, The safety alarm mechanism includes: stopping all mechanical movements of the loading and unloading robotic arms at the production node, locking the position of the protective door and issuing an alarm signal, and waiting for manual reset.

7. The method according to claim 1, characterized in that, Protective doors are installed at the loading and unloading entrances of the production node. The identification area is a virtual area at the loading and unloading entrances of the production node. The laser module is used to scan and identify the reflective identification strips within the identification area. Surveillance cameras are used to detect and identify moving targets within the designated area.

8. The method according to claim 1, characterized in that, During the period when the control of the selected AGV is taken over at the production node, the logistics control system only remains in a listening state; During the handover of control, if either party detects a signal interruption or an abnormal identity matching, the movement of the selected AGV shall be stopped immediately.

9. A production node and AGV collaborative control system for implementing the method of controlling AGV automatic loading and unloading operations at a production node according to any one of claims 1-8, characterized in that, include: The production node control module is used to send task requests to the logistics control system and temporarily take over the AGV after matching and verification. The laser module is used to scan and identify reflective identification strips on the AGV to parse identity information; The protective door control module is used to control the opening and closing of protective doors at production nodes and to lock them in case of abnormalities. The robotic arm execution module is used to perform loading and unloading operations after the AGV enters the production node; The safety monitoring module is used to trigger an alarm and stop all mechanical actions when the identification information does not match. The communication module is used to transmit task requests, identification codes, and control takeover instructions between production nodes and the logistics control system.

10. A computer-readable storage medium, characterized in that, It stores a computer program, which, when executed by a processor, implements the method for controlling the automatic loading and unloading operation of AGVs at production nodes as described in any one of claims 1-8.

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