An AGV and conveying line docking control method, device, equipment and storage medium

Abstract

Embodiments of the application disclose an AGV and conveying line docking control method, device, equipment and storage medium, the method comprises the following steps: receiving the line request sent by the AGV;In response to the line request, the running state of the conveying line is obtained, and the running state of the AGV and the running state of the conveying line are checked whether they meet the preset condition;After checking that the running state of the AGV and the running state of the conveying line meet the preset condition, a grating release instruction is sent to the conveying line;Receive the permission release signal returned by the conveying line, and issue the permission entry instruction to the AGV;In the process of AGV passing through the grating according to the permission entry instruction, receive the first position data reported by the AGV, and determine whether the AGV meets the complete entry condition based on the first position data;When it is determined that the AGV meets the complete entry condition, a grating enable instruction is sent to the conveying line. By AGV actively sending request, checking the state of both sides and issuing instruction, the logistics operation efficiency is improved, and invalid waiting is reduced.

Description

Technical Field

[0001] This invention relates to the field of warehousing and logistics control technology, and in particular to an AGV docking control method and a conveyor line docking control device, an electronic device and a computer-readable storage medium. Background Technology

[0002] In intelligent manufacturing warehousing and logistics systems, the docking of AGVs (Automated Guided Vehicles) with conveyor lines is a core link in material flow. Optical gratings, as safety protection devices for conveyor lines, require precise start-stop control when AGVs enter or exit. Currently, docking methods commonly use either "manual triggering of the optical grating switch" or "fixed delay control." Manual triggering is prone to delays, leading to longer AGV waiting times and reduced logistics efficiency. Fixed delay control, which doesn't consider the actual position of the AGV and the status of the conveyor line, often results in erroneous start-stop of the optical grating. For example, if the optical grating closes prematurely before the AGV has fully entered the conveyor line area, it can cause equipment collision risks; or if the optical grating opens delayedly after the AGV has left, it can lead to the risk of foreign object intrusion.

[0003] In traditional AGV and conveyor line docking, the start and stop of the grating rely on manual operation or fixed delays, resulting in long AGV waiting time, reduced logistics efficiency, high risk of equipment collision, asynchronous information during docking, low efficiency in troubleshooting, and impact on the continuous operation of the production line. Summary of the Invention

[0004] In view of the above problems, embodiments of the present invention are proposed to provide an AGV docking control method, an AGV docking control device, an electronic device, and a computer-readable storage medium that overcome or at least partially solve the above problems.

[0005] To address the aforementioned problems, a first aspect of the present invention provides a method for controlling the docking of an AGV with a conveyor line, the method comprising: Receive an entry request sent by an AGV; the entry request includes the operating status of the AGV; In response to the entry request, the operating status of the conveyor line is obtained, and the operating status of the AGV and the operating status of the conveyor line are verified to meet preset conditions. After verifying that the operating status of the AGV and the operating status of the conveyor line meet the preset conditions, a grating release command is sent to the conveyor line; the grating release command is used to instruct the conveyor line to release the grating. Receive the permission cancellation signal returned by the conveyor line and issue an permission to enter command to the AGV; During the process of the AGV passing through the grating according to the permission to enter, the system receives the first position data reported by the AGV and determines whether the AGV meets the full entry condition based on the first position data. When it is determined that the AGV meets the full entry condition, a grating activation command is sent to the conveyor line; the grating activation command is used to instruct the conveyor line to activate the grating.

[0006] Optionally, determining whether the AGV meets the full entry condition based on the first position data includes: Receive first position data reported by the AGV for multiple consecutive cycles, determine the center point coordinates of the rear wheel of the AGV based on the first position data, and determine whether the center point coordinates of the rear wheel exceed the first boundary threshold of the grating; Determine whether the change in the center point coordinates of the rear wheel is less than a preset stability threshold within the consecutive multiple cycles; If the center point coordinates of the rear wheel exceed the first boundary threshold of the grating, and the change value of the center point coordinates of the rear wheel is less than a preset stability threshold in multiple consecutive cycles, then the AGV is determined to meet the full entry condition.

[0007] Optionally, after issuing the entry permission command to the AGV, the method further includes: Monitor whether the AGV initiates a driving action within the response time threshold; If the AGV is not detected to start driving in within the response time threshold, the entry permission command is determined to be invalid. After determining that the permission to enter command has failed, a grating enable command is sent to the conveyor line, and the AGV is subjected to fault diagnosis and scheduled transfer.

[0008] Optionally, the operating status of the AGV includes the battery level of the AGV; the preset conditions are that the battery level of the AGV is higher than the power threshold, the actuator of the AGV is fault-free, the material occupancy status of the conveyor line is free of material accumulation, and the operating status parameters of the power system of the conveyor line are within a preset deviation range.

[0009] Optionally, during the process of the AGV passing through the grating according to the permission instruction, the method further includes: When the AGV detects an obstacle while passing through the grating, it receives obstacle detection information reported by the AGV. The obstacle type is determined based on the obstacle detection information, and graded response control is executed.

[0010] Optionally, the step of determining the obstacle type based on the obstacle detection information and performing graded response control includes: If the obstacle type is determined to be a dynamic obstacle based on the obstacle detection information, a stop command is sent to the AGV and a grating enable command is sent to the conveyor line; the stop command is used to instruct the AGV to stop. If the obstacle type is determined to be a static obstacle based on the obstacle detection information, a stop command is sent to the AGV. A recovery strategy is generated and executed after the AGV stops.

[0011] Optionally, the step of generating a recovery strategy after the AGV stops and executing the recovery strategy includes: If the recovery strategy indicates that the obstacle can be avoided, a path adjustment command is issued to the AGV so that the AGV can avoid the obstacle and continue to execute the entry process; If the recovery strategy indicates that the obstacle is unavoidable, an alarm is triggered and manual intervention is awaited. After the obstacle is cleared, the AGV is controlled to resume execution of the inbound process from the interrupted position.

[0012] Optionally, when multiple AGVs send the line entry request, the method further includes: When the first AGV sends the entry request, a process lock is set for the corresponding conveyor line entry. Receive the entry request sent by the subsequently arriving AGV, add the subsequently arriving AGV to the pre-arrangement queue, and feed back the current entrance occupancy status and estimated waiting time to the subsequently arriving AGV; Once the first AGV has completed its entry and the grating has been reactivated, the process lock is released, and the entry request of the next AGV in the pre-arranged queue is responded to.

[0013] Optionally, the method further includes: After the AGV has fully entered the unloading point of the conveyor line to perform the unloading operation, determine whether the AGV has completed unloading; Once it is determined that the AGV has completed loading and unloading on the conveyor line, the exit request sent by the AGV is received; In response to the outgoing line request, a grating release command is sent to the conveyor line; the grating release command is used to instruct the conveyor line to release the grating; Receive the permission cancellation signal returned from the conveyor line and issue a permission to drive out command to the AGV; During the process of the AGV passing through the grating according to the permission to leave instruction, the system receives the second position data reported by the AGV and determines whether the AGV meets the complete departure condition based on the second position data. When it is determined that the AGV meets the complete departure condition, a grating activation command is sent to the conveyor line; the grating activation command is used to instruct the conveyor line to activate the grating.

[0014] Optionally, determining whether the AGV has completed unloading includes: Receive the load status and actuator status reported by the AGV, as well as the load changes reported by the conveyor line; Obtain the corresponding unloading task list and the AGV unloading information, and determine whether the unloading information matches the unloading task list; When the AGV's load status indicates no load, the actuator status indicates actuator reset, the conveyor line's load changes from no load to loaded, and the unloading information matches the unloading task list, the AGV is determined to have completed unloading.

[0015] Optionally, determining whether the AGV meets the complete departure condition based on the second location data includes: The center point coordinates of the front wheel of the AGV are determined based on the second position data, and it is determined whether the center point coordinates of the front wheel are less than the second boundary threshold of the grating. If the center point coordinates of the front wheel are determined to be less than the second boundary threshold of the grating, the AGV is determined to meet the complete departure condition.

[0016] According to a second aspect of the present invention, an AGV docking control device for a conveyor line is provided, the device comprising: The line entry request receiving module is used to receive the line entry request sent by the AGV; the line entry request includes the operating status of the AGV; The operation status verification module is used to respond to the line entry request, obtain the operation status of the conveyor line, and verify whether the operation status of the AGV and the operation status of the conveyor line meet the preset conditions. The release command sending module is used to send a grating release command to the conveyor line after verifying that the operating status of the AGV and the operating status of the conveyor line meet preset conditions; the grating release command is used to instruct the conveyor line to release the grating; The entry command sending module is used to receive the permission cancellation signal returned by the conveyor line and send an entry permission command to the AGV; The entry condition judgment module is used to receive the first position data reported by the AGV during the process of the AGV passing through the grating according to the allowed entry instruction, and determine whether the AGV meets the complete entry condition based on the first position data. The enable command sending module is used to send a grating enable command to the conveyor line when it is determined that the AGV meets the full entry conditions; the grating enable command is used to instruct the conveyor line to enable the grating.

[0017] According to a third aspect of the present invention, an electronic device is provided, comprising: a processor, a memory, and a computer program stored in the memory and capable of running on the processor, wherein the computer program, when executed by the processor, implements the steps of the AGV docking control method for any of the preceding claims.

[0018] According to a fourth aspect of the present invention, a computer-readable storage medium is provided, on which a computer program is stored, wherein when executed by a processor, the computer program implements the steps of the AGV docking control method for any of the preceding claims.

[0019] The technical solutions provided by the embodiments of the present invention may include the following beneficial effects: This invention discloses an AGV docking control method, apparatus, device, and storage medium for a conveyor line. The method includes: receiving an entry request from the AGV; responding to the entry request, acquiring the operating status of the conveyor line and verifying whether the operating status of the AGV and the conveyor line meets preset conditions; after verifying that the operating status of the AGV and the conveyor line meets the preset conditions, sending a grating release command to the conveyor line; receiving a release permission signal returned by the conveyor line and issuing an entry permission command to the AGV; during the process of the AGV passing through the grating according to the entry permission command, receiving first position data reported by the AGV and determining whether the AGV meets the full entry conditions based on the first position data; when it is determined that the AGV meets the full entry conditions, sending a grating enable command to the conveyor line. By having the AGV actively send requests, verifying the status of the AGV and the conveyor line in real time, and automatically issuing commands, the process is automated. After the AGV arrives, no manual intervention is required; it is allowed to enter after the system confirms safety, greatly shortening the waiting time of the docking process and effectively improving overall logistics efficiency. Based on real-time reported location data, dynamic judgment is made. The light grid is only activated after the critical state of "complete entry" of the AGV is accurately identified. This avoids equipment collisions that may be caused by prematurely closing the light grid due to the AGV not being fully entered, and also prevents the risk of safety area exposure due to the light grid not being activated in time after the AGV leaves. Attached Figure Description

[0020] Figure 1 This is a flowchart illustrating the steps of an AGV-to-conveyor line docking control method provided in an embodiment of the present invention. Figure 2 This is a flowchart illustrating a method for controlling the docking of an AGV with a conveyor line, as provided in an embodiment of the present invention. Figure 3 This is a flowchart of another AGV docking control method with a conveyor line provided in an embodiment of the present invention; Figure 4 This is a flowchart illustrating another AGV-to-conveyor line docking control method provided in an embodiment of the present invention; Figure 5 This is a structural block diagram of an AGV and conveyor line docking control device provided in an embodiment of the present invention. Detailed Implementation

[0021] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0022] In existing technologies, the start and stop of gratings in the docking of AGVs with conveyor lines rely on manual operation or fixed delays, resulting in long waiting times for AGVs, reduced logistics efficiency, high risk of equipment collisions, asynchronous information during docking, low efficiency in troubleshooting, and impact on the continuous operation of the production line.

[0023] One of the core concepts of this invention is that by having the AGV actively send requests, the status of the AGV and the conveyor line is verified in real time, and instructions are automatically issued, thus automating the process, greatly shortening the waiting time during docking, and effectively improving overall logistics efficiency. Based on the real-time reported first position data, dynamic judgment is made, and the light curtain is only activated after accurately identifying the critical state of the AGV "fully entering," avoiding potential equipment collisions caused by prematurely closing the light curtain due to the AGV not being fully entered.

[0024] Reference Figure 1 The diagram illustrates a flowchart of a method for controlling the docking of an AGV with a conveyor line, according to an embodiment of the present invention. The method specifically includes the following steps: Step 101: Receive an entry request sent by the AGV; the entry request includes the operating status of the AGV; AGV, or Automated Guided Vehicle, is a driverless transport vehicle equipped with electromagnetic or optical automatic guidance devices. It can travel along a preset guidance path, has safety protection features, and various transfer functions, making it a key component of modern intelligent logistics systems and flexible manufacturing systems.

[0025] A conveyor line is a mechanical equipment system that continuously transports materials. It uses a power-driven conveyor belt, rollers, or chain to automatically transfer materials between fixed points according to a preset path and speed.

[0026] A light curtain, also known as a safety light screen, is a non-contact safety protection device based on photoelectric principles. It detects personnel or objects entering a hazardous area through an invisible light curtain formed between a transmitter and a receiver, and immediately triggers a safety control signal to prevent injury from moving machinery.

[0027] WCS (Warehouse Control System) is a real-time control and execution system that sits between the upper-level WMS (Warehouse Management System) and the lower-level automated equipment. It does not handle business logic such as orders and inventory; instead, it focuses on receiving operational instructions from the WMS, decomposing and optimizing them, and precisely controlling the execution of automated equipment to achieve accurate, efficient, and collaborative warehouse operations.

[0028] This invention is applied to an intelligent manufacturing warehousing and logistics system. AGVs transport goods to a conveyor line, which is surrounded by a light grating. The light grating needs to be deactivated when the AGV needs to transport goods to the conveyor line, and reactivated after the AGV has completely passed through it to prevent foreign objects from entering. This embodiment utilizes a collaborative interaction mechanism between the WCS (Warehouse Control System), the AGV, and the conveyor line to synchronize equipment status in real time. This shortens the waiting time for the AGV to dock with the conveyor line, improving efficiency compared to traditional manual triggering methods. It reduces the AGV's ineffective waiting time, and based on the linkage control between the AGV's actual position and the conveyor line status, the rate of false start / stop of the light grating is reduced, the incidence of equipment collisions decreases, and the risk of foreign object intrusion is eliminated.

[0029] When the AGV reaches 1 meter from the conveyor line entrance, it sends an entry request and its current position to the WCS via a laser positioning sensor. In addition to uploading location data, it simultaneously pushes its own operating status (battery level, actuator malfunction status). At this time, because the AGV is carrying goods and performing a task, it needs to be locked after sending the entry request and cannot be assigned any new tasks. While sending the entry request, the AGV should enter a locked state awaiting instructions because it is carrying goods. During this period, if other scheduling instructions are received, the AGV scheduling system will plan and schedule other AGVs to perform tasks. The arrival time of the AGV at 1 meter from the conveyor line entrance is determined by the AGV's laser radar.

[0030] In this embodiment of the invention, when the AGV accurately navigates to a preset safe waiting area (typically 1 meter) at the entrance of the target conveyor line's grating using its laser positioning system, it proactively initiates a structured digital communication request to the Warehouse Control System (WCS). The entry request message includes the AGV's coordinates, health status such as the real-time battery percentage, and the fault code self-check results of the actuators to ensure the AGV has the physical capability to perform the task. After sending the request, the AGV automatically enters a software-locked state awaiting instructions, and its scheduling permissions are temporarily frozen. Essentially, this is a software-defined safety interlock, avoiding the risk of multiple scheduling due to communication delays or task conflicts. Simultaneously, the precise location reported by the AGV is matched and verified in real-time with the virtual coordinates in the WCS digital twin model, ensuring the legitimacy of the request's originating location and preventing the AGV from initiating docking in unsafe areas.

[0031] In some embodiments, when multiple AGVs send the line entry request, the method further includes the following steps: Step S11: When the first AGV sends the entry request, a process lock is set for the corresponding conveyor line entry. Step S12: Receive the entry request sent by the subsequently arriving AGV, add the subsequently arriving AGV to the pre-arrangement queue, and feed back the current entrance occupancy status and estimated waiting time to the subsequently arriving AGV. Step S13: After detecting that the first AGV has completed its entry and the grating has been reactivated, the process lock is released, and the entry request of the next AGV in the pre-arranged queue is responded to.

[0032] When the first AGV arrives at the waiting area of ​​the light grid of the adjacent conveyor line and is executing the entry process (e.g., the light grid has been deactivated but not fully entered), the second AGV also arrives at the 1-meter mark and sends a request. At this time, a "process lock and queue pre-occupancy" mechanism is adopted to ensure the security of the current docking process and improve resource utilization. When the first AGV arrives at the waiting area of ​​the light grid of the adjacent conveyor line and needs to enter the line, WCS automatically adds an "entry process lock" to the conveyor line entrance. During the lock period, entry requests from other AGVs are rejected, but request submissions are not rejected. The entry request sent by the second AGV is included in the pre-queue by WCS, and WCS pushes the "current entrance occupancy status and estimated waiting time" to it. After receiving the information, the AGV automatically parks in the 1-meter waiting area and enters a low-power standby mode. When the first AGV completes entry (WCS detects that the rear wheels have fully entered and the light grid has been activated), the process lock is automatically released, and WCS immediately wakes up the highest priority AGV from the pre-queue and issues an entry process start command. This mechanism avoids process conflicts caused by concurrent requests from multiple AGVs, and at the same time reduces invalid AGV travel by pre-queuing, thereby improving overall scheduling efficiency.

[0033] Process locks are logical synchronization mechanisms used to coordinate the sequential access of multiple resources and tasks to critical processes or shared resources. By setting temporary, exclusive access permissions for specific business processes or physical resources, they ensure the consistency and security of critical operations in complex concurrent environments.

[0034] In this embodiment of the invention, when the first AGV arrives at the waiting area and successfully initiates an entry request, the WCS does not immediately process subsequent requests. Instead, it first creates a process lock for that specific conveyor line entry at the logical level. This lock is essentially a status flag: "This entry point is processing an entry transaction, and its critical resources (entry space, grating control) are already occupied." This prevents the second AGV from receiving an "entry permitted" instruction due to WCS erroneous concurrent processing during the time window from the first AGV's "grating release" to "full entry," thus avoiding the risk of a collision when two AGVs enter simultaneously.

[0035] Subsequent AGV inbound requests are not simply rejected or discarded. The WCS manages these requests by systematically placing them into a pre-ordered queue. Simultaneously, the WCS dynamically calculates an estimated waiting time based on the queue length, the docking stage of the first AGV currently in operation (e.g., entering or encountering an obstacle and pausing), and historical average processing time, and provides real-time feedback to each subsequent AGV in the queue. Upon receiving this feedback, the AGV automatically enters a "low-power standby mode" in the waiting area, significantly saving energy. Furthermore, the WCS optimizes the queue order in real-time based on dynamic priority rules (e.g., prioritizing AGVs with low battery levels or those carrying urgently needed production materials).

[0036] WCS continuously monitors the real-time position of the first AGV, and only releases the process lock after accurately determining that its rear wheels have fully entered and successfully controlled the conveyor line to reactivate the light grid. The release of the lock signifies that the resources at that entry point have been released and are in a safe and usable ready state. Immediately, based on the optimized queue order, it proactively "wakes up" the next AGV with the highest priority, directly issuing a process start command to it, triggering a new round of entry processes. This process eliminates idle time at the entry point, achieving assembly line operation. This mechanism not only eliminates the risk of collisions but also improves the utilization rate of the conveyor line entry point and shortens the average queuing time by reducing AGV idle waiting and idling. It is the core intelligent scheduling strategy to ensure efficient and safe collaborative operation of large-scale AGV clusters.

[0037] Step 102: In response to the line entry request, obtain the operating status of the conveyor line, and verify whether the operating status of the AGV and the operating status of the conveyor line meet the preset conditions. In some embodiments, the operating status of the AGV includes the battery level of the AGV; the preset conditions are that the battery level of the AGV is higher than the power threshold, the actuator of the AGV is fault-free, the material occupancy status of the conveyor line is free of material accumulation, and the operating status parameters of the power system of the conveyor line are within a preset deviation range.

[0038] After receiving the request, WCS verifies the AGV's own operating status (battery power, actuators without faults) and the material occupancy status of the conveyor line to ensure there is no material accumulation and the power system is operating stably. Only when both the AGV and the conveyor line meet the preset status thresholds will WCS send a "grating status query" command to the conveyor line. The conveyor line will then report that the grating is currently enabled, and WCS will send a "grating release request" to the conveyor line.

[0039] In this embodiment of the invention, when the WCS receives the AGV's entry request, it does not respond immediately. Instead, it initiates a parallel cross-verification of the status of two independent systems: the AGV itself and the target end of the conveyor line. On one hand, the WCS parses the data packets reported by the AGV containing its operating status; on the other hand, it actively polls or subscribes to the status variables of the conveyor line control system through a preset industrial protocol. For the AGV, the preset verification conditions require that its battery level be above a critical threshold (e.g., 20%). This is the fundamental guarantee to prevent the AGV from stalling in a dangerous area due to battery depletion when performing critical docking tasks. Simultaneously, the fault code registers of all its actuators must be empty to ensure that it possesses the physical capability to complete material handover. For conveyor lines, it is necessary to verify whether the material occupancy status is free of material accumulation. This is determined by a combination of photoelectric sensor arrays along the conveyor line and regional blockage detection algorithms to prevent AGVs from being unable to unload due to congestion ahead. At the same time, the core operating parameters of its power system (such as motor current, speed feedback, and driver temperature) must be within the preset statistical deviation range. This is usually achieved by comparing real-time values ​​with a health baseline model established based on historical data to ensure that the conveyor line is in a stable operating condition, rather than a state of failure or performance degradation.

[0040] These preset conditions are dynamically adjusted. For example, the "battery threshold" may be dynamically fine-tuned based on the distance of the AGV from its current position to the nearest charging station, the current task queue length, and the power grid load. The "operating status parameter deviation range" may also be adaptively adjusted based on the load history of the conveyor line, maintenance cycle, and ambient temperature. If all checks pass, WCS will proceed to the next process step and send a grating release command to the conveyor line. If any item fails, WCS will not only reject the request but also generate differentiated instructions and diagnostic information based on the specific failure. For example, if it is only the battery power critical limit, it may instruct the AGV to prioritize scheduling to the charging station after completing the current task; if it is material accumulation on the conveyor line, it may coordinate with the upstream production system to adjust the cycle time.

[0041] Step 103: After verifying that the operating status of the AGV and the operating status of the conveyor line meet the preset conditions, a grating release command is sent to the conveyor line; the grating release command is used to instruct the conveyor line to release the grating. The AGV and the conveyor line will only send a "grating status query" command to the conveyor line when both meet the preset status thresholds. The conveyor line will then report that the grating is currently in the "enabled" state. The WCS will then send a "grating release request" to the conveyor line. After verifying that there is no material being conveyed, the conveyor line will return a "release allowed" command to the WCS.

[0042] If no response is received within one second after sending a command, the WCS will retry. However, during the retry period, the original command might have been executed and responded to by the conveyor line, but the response message would be lost. To avoid this, a unique command identifier mechanism is used to circumvent state inconsistencies caused by message loss. Each command sent by the WCS to the conveyor line (such as a raster release request) carries a globally unique command identifier and records the command sending time and expected execution result. After receiving a command, the conveyor line first verifies whether the command identifier has been executed (to avoid duplicate execution). After execution, it caches the command identifier and execution status (success or failure) and returns a response message carrying the identifier to the WCS. When the WCS does not receive a response and triggers a retry, it will carry the original command identifier in the new command. After the conveyor line detects the duplicate identifier, it directly returns the cached execution result instead of re-executing the command. If the WCS detects a state deviation caused by message loss, it automatically corrects its local state based on the execution result cached by the conveyor line to avoid false alarms.

[0043] In this embodiment of the invention, after the WCS completes dual status verification of the AGV and the conveyor line and confirms that all preset conditions are met, it sends a "grating release command" carrying a unique identifier to the conveyor line. Its core includes at least: a command type code (specifically "release" rather than "enable") and a unique identifier for the target grating. Simultaneously with issuing the command, the WCS records a "command issued, awaiting confirmation" status in its distributed transaction log and starts a monitoring timer for the response to the command.

[0044] Upon receiving a command, the conveyor control system does not execute it immediately. Instead, it first performs a series of local final safety checks: for example, it uses its own sensors to confirm that there are no personnel or foreign objects intruding within the protected area of ​​the light barrier; it checks the health status of the light barrier device itself; and it verifies that the command's sequence number has been processed (to prevent duplicate execution). Only after passing these checks will the conveyor send a signal to the light barrier to drive it to switch its physical state from the "beam blocking - no passage" protective state to the "beam penetrable - passage permitted" deactivated state. Subsequently, the conveyor returns a "permit deactivated" confirmation message with the same command identifier to the WCS. Only after receiving this confirmation does the WCS officially update the process status to "light barrier deactivated, waiting for AGV entry," and initiate another independent timeout monitoring for the AGV entry action. This ensures that the state changes of the safety barrier light barrier are completely under controlled, monitorable, and traceable precise management.

[0045] Step 104: Receive the permission release signal returned by the conveyor line and issue an permission entry command to the AGV; WCS receives the permission cancellation signal returned by the conveyor line, writes the "permit to enter" control command into the system database, and pushes it to the AGV. The AGV must start the entry action within 15 seconds and be sensed by the conveyor line. Otherwise, the signal will automatically fail after the timeout, and the conveyor line will re-enable the grating to avoid the AGV not executing for a long time due to malfunction.

[0046] In this embodiment of the invention, when the WCS receives a "cancellation permission signal" from the conveyor line, this signal indicates that the grating device has been safely and reliably released, its protected area is open, the conveyor line itself is stable, and it is ready to receive the AGV. Upon receiving this signal, the WCS updates the grating status field at the corresponding conveyor line entrance to "released, waiting for AGV". Immediately afterwards, the WCS issues an entry permission command to the AGV. This command includes a series of execution constraint parameters: for example, a specified entry speed (e.g., 0.3 m / s), a preset travel path (straight line or fine-tuned trajectory), and an execution time window (e.g., 15 seconds). This time window means that the AGV must initiate the entry action and be detected by the conveyor line sensors within 15 seconds of receiving the command; otherwise, the command automatically becomes invalid.

[0047] When issuing an "entry permission command," the WCS performs a heartbeat and response confirmation with the AGV to ensure the AGV receives the command. It then uses the AGV's real-time reported position data to determine if the AGV has experienced a displacement exceeding a threshold in the direction of the conveyor line within 15 seconds. If the AGV fails to respond for any reason (communication interruption, malfunction, path obstruction), the safety timeout mechanism will be triggered, and the WCS will immediately instruct the conveyor line to reactivate the light curtain.

[0048] In some embodiments, after issuing the entry permission command to the AGV, the following steps are further included: Step S21: Monitor whether the AGV initiates a driving action within the response time threshold; Step S22: If the AGV is not detected to start driving in within the response time threshold, then the entry permission command is determined to be invalid. Step S23: After determining that the allowed entry command has failed, a grating enable command is sent to the conveyor line, and the AGV is diagnosed and scheduled for transfer.

[0049] After issuing an entry permission command, WCS sets a 15-second threshold as the baseline for AGV command response. This threshold can be dynamically configured based on AGV load level and conveyor line priority. WCS has a built-in distributed state consistency verification mechanism that monitors the AGV command reception status and execution feedback in real time through heartbeat messages. If no change in AGV position displacement is detected within 15 seconds, or no AGV action start confirmation frame is received, the command failure process is automatically triggered. First, a "grating emergency activation notification" is sent to the conveyor line. Simultaneously, the command is marked as "invalid" in the distributed database, and a state inconsistency alarm log is generated. At the same time, the AGV fault diagnosis link is activated. By reading the AGV fault code, if it is determined to be a communication interruption, the command is automatically retried twice. If it is a mechanical fault, the scheduling authority of the AGV is locked, the conveyor line resources are released, and a backup AGV is scheduled to fill the gap, ensuring a closed loop of the entire link status.

[0050] In this embodiment of the invention, the WCS, while issuing the "entry permission command," monitors the AGV with a countdown timer of 15 seconds (this threshold can be dynamically configured based on the AGV load level and conveyor line priority). The monitoring AGV receives a behavior confirmation stream from the AGV end, including a "command reception confirmation frame" and a subsequent "entry action start frame." The WCS receives data from the AGV's laser positioning sensor at a frequency of at least 50Hz, processes it using a Kalman filter algorithm, and calculates the coordinate change of the AGV wheel system center relative to the grating entrance in real time. Any continuous, positive displacement is considered a "start entry" signal.

[0051] If no AGV start confirmation frame is received within the response time threshold, and no displacement of the AGV towards the conveyor line is detected through position data, the WCS immediately triggers a "command invalidation" state transition. Once the command is determined to be invalid, the WCS immediately sends a "grating emergency activation command" to the conveyor line, which forces the conveyor line to immediately restore the physical safety barrier. Simultaneously, the WCS marks the "allow entry command" as "invalid" in its distributed state database and records all relevant timestamps and data snapshots. Next, automatic AGV fault diagnosis is triggered by reading the AGV's underlying fault code. If a communication interruption is diagnosed, the command is automatically retried up to two times. If a mechanical failure, controller crash, or other non-recoverable fault is diagnosed, the AGV's scheduling permissions are immediately locked, and it is marked as "offline or faulty." At the same time, the WCS releases all resources, including the process lock occupied at the conveyor line entrance, making it available to other AGVs. If the original task is urgent, a backup AGV will be dispatched to take over the material transfer task from the faulty AGV, ensuring the continuity of the production chain. This ensures that occasional failures of a single AGV will not paralyze the entire local logistics system, nor will it leave any security vulnerabilities, fully demonstrating the high availability, security, and resilience required by industrial systems.

[0052] Step 105: During the process of the AGV passing through the grating according to the permission to enter, the first position data reported by the AGV is received, and the AGV is determined based on the first position data to determine whether the AGV meets the full entry condition. In this embodiment of the invention, as the AGV enters at a speed of 0.3 m / s according to the "entry permission command," its onboard laser positioning sensor continuously reports the first position data, namely the real-time coordinate sequence of the vehicle's wheel center point, to the WCS. After receiving these discrete data points, the WCS processes the original coordinate data to effectively eliminate outliers and fit the AGV's motion trajectory. Simultaneously, the WCS retrieves the precise geometric parameters corresponding to the entrance of the conveyor line, especially the coordinates of the inner and outer physical boundaries of the grating area.

[0053] The core of the complete entry condition determination is a "dual threshold verification" mechanism. The first layer is the physical boundary threshold, which is based on the physical dimensions of the AGV and a preset safety redundancy. The coordinates of the AGV's rear wheel center point are continuously calculated. When this coordinate value is consistently greater than "the coordinates of the inner boundary of the grating plus the safety redundancy (e.g., 0.1 meters)," the first layer condition is met. The second layer is the stability threshold, which aims to prevent misjudgments caused by short pauses in the AGV or instantaneous fluctuations in positioning data. It checks whether the change in the rear wheel center point coordinates is less than a very small preset value within N consecutive sampling periods (e.g., 3 periods, corresponding to 60 milliseconds), ensuring that the AGV has entered stably, rather than jittering at the boundary. Only when both the physical boundary condition and the stability condition are met simultaneously will the WCS determination module finally output a "AGV has fully entered" signal.

[0054] In some embodiments, during the process of the AGV passing through the grating according to the permission instruction, step 105 may include the following sub-steps: Sub-step S31: When the AGV detects an obstacle while passing through the grating, receive the obstacle detection information reported by the AGV; Sub-step S32: Determine the obstacle type based on the obstacle detection information and execute graded response control.

[0055] After receiving the instruction, the AGV enters the conveyor line at a speed of 0.3 m / s, and the laser positioning sensor uploads position data in real time. During the AGV's entry, if an obstacle is suddenly detected ahead, a hierarchical response strategy is adopted: the AGV detects the obstacle through the fusion of laser radar and ultrasonic sensors. If it is a dynamic obstacle (such as a person), a level one response is triggered, immediately activating the electromagnetic braking system to achieve an emergency stop in 0.1 seconds, and simultaneously uploading an "obstacle intrusion and emergency stop status" message to the WCS, along with multi-dimensional data such as obstacle coordinates, speed, and size; if it is a static obstacle (such as fallen goods), a level two response is triggered, decelerating uniformly at 0.1 m / s² to a stop, and simultaneously reporting the status.

[0056] After an emergency stop, the AGV automatically enters a safe recovery mode: it maintains its current position and activates its own protective light curtain. The WCS immediately locks the conveyor line entrance, preventing other equipment from accessing. The obstacle removal path is simulated using a digital twin model. If the scenario is determined to be automatically avoidable (e.g., cargo deviation does not affect passage), a fine-tuning command is issued. If the scenario is unavoidable (e.g., personnel lingering, large obstacles), an audible and visual alarm is triggered, and a fault work order is pushed to the maintenance terminal. After the obstacle is manually removed, the AGV does not need to reapply; the WCS resumes the interrupted process based on historical status data, allowing it to continue its entry from the emergency stop position.

[0057] In this embodiment of the invention, when the AGV approaches the light grid at a speed of 0.3 m / s, its onboard lidar and ultrasonic sensor fusion system continuously scans the area ahead. Once an unexpected intrusion is detected, the AGV initializes local braking or deceleration control according to a tiered strategy. Immediately afterwards, it sends an obstacle detection information message to the WCS. This message includes not only the event type (obstacle intrusion) but also the obstacle's real-time coordinates and even attribute labels (such as dynamic / static) preliminarily determined by the algorithm. Upon receiving the information, the WCS performs precise classification based on the obstacle's characteristic parameters and triggers preset control loops of different safety levels. If the obstacle is determined to be dynamic (such as personnel movement or accidental entry of other equipment), a Level 1 response is immediately triggered. The WCS almost simultaneously issues an "immediate emergency braking" command to the AGV, and the AGV's electromagnetic braking system achieves an emergency stop within 0.1 seconds. The WCS then sends an "entrance emergency lock" command to the conveyor line. If a static obstacle (such as fallen goods or tools) is detected, triggering a level-two response, the WCS issues a command to the AGV to decelerate gradually to a stop, preventing sudden stops from impacting goods or equipment. Simultaneously, the conveyor line entry status is marked as "obstructed and paused." This ensures that even under sudden interference, the system can still attempt to resume its intended task in the most efficient manner within the framework of the highest safety standards.

[0058] In some embodiments, step S32 may include the following sub-steps: Sub-step S321: If the obstacle type is determined to be a dynamic obstacle based on the obstacle detection information, a stop command is sent to the AGV and a grating enable command is sent to the conveyor line; the stop command is used to instruct the AGV to stop; if the obstacle type is determined to be a static obstacle based on the obstacle detection information, a stop command is sent to the AGV. Sub-step S322: After the AGV stops, a recovery strategy is generated and the recovery strategy is executed.

[0059] In this embodiment of the invention, when the WCS determines that the intruder is a dynamic obstacle (typically characterized by continuous speed and irregular movement trajectory, such as a walking person) by analyzing the obstacle detection information reported by the AGV, it will simultaneously send an emergency stop command to the AGV to ensure that the AGV stops abruptly within the shortest distance. Furthermore, it will immediately and synchronously send an emergency activation command to the conveyor line to forcibly restore the physical safety barrier at the entrance. The purpose is not only to protect the AGV but also to prevent the dynamic obstacle (especially personnel) from accidentally entering the internal operating area of ​​the conveyor line. For static obstacles (such as falling boxes, characterized by zero speed and stable outline), a deceleration and stop command will be sent to the AGV to avoid unnecessary impact on the goods or the AGV's own structure from an emergency stop.

[0060] After the AGV safely stops, the WCS immediately generates a multi-dimensional data snapshot of the current scenario and uses it to simulate and extrapolate the "recovery strategy." It comprehensively assesses the precise location and size of obstacles, the remaining path space of the AGV, and the real-time status of the conveyor line. If the simulation results indicate that there is safe detour space, the WCS automatically generates a local path adjustment command and issues it to the AGV, guiding it to avoid the obstacle at low speed and continue entering the line from the current point. If the simulation determines that safe detour is impossible (e.g., the obstacle completely blocks the passage), the system automatically triggers the maintenance intervention process. After the obstacle is manually cleared and safety is confirmed, the WCS does not require the AGV to reapply; instead, based on the previously saved process status snapshot, it directly instructs the AGV to resume execution from the precise interruption point. This transforms a sudden interruption into a controllable process that can be assessed, automatically recovered, or orderly transferred to manual intervention, greatly improving the overall availability and resilience of the system.

[0061] In some embodiments, step S322 may include the following sub-steps: In sub-step S3221, if the recovery strategy indicates that the obstacle can be avoided, a path adjustment command is issued to the AGV so that the AGV can avoid the obstacle and continue to execute the entry process; if the recovery strategy indicates that the obstacle cannot be avoided, an alarm is triggered and manual intervention is waited for, and after the obstacle is cleared, the AGV is controlled to resume execution of the entry process from the interrupted position.

[0062] In this embodiment of the invention, when the recovery strategy generated by WCS is simulated and verified, and it is determined that "obstacles can be avoided" (for example, the fallen cargo box only partially occupies the passage, and the AGV can still safely pass through through precise lateral or longitudinal fine-tuning), it will enter the automated recovery mode. WCS combines the AGV's precise obstacle-stopping position, vehicle outline, and geometric constraints of the conveyor line entrance to calculate a safe local adjustment path in real time. This path typically includes a small arc or lateral translation around the obstacle, ensuring that the AGV eventually rejoins the original entry trajectory. Subsequently, WCS issues this path adjustment command to the AGV. After receiving the command, the AGV executes this fine-tuning action, successfully avoids the obstacle, and automatically and seamlessly continues the interrupted entry process from the end of the path without any retries or state resets.

[0063] If the assessment result indicates that the obstacle is unavoidable (e.g., large equipment lying horizontally, personnel stuck, or the passageway completely blocked), a manual collaborative recovery protocol is initiated. The WCS immediately triggers multi-level audible and visual alarms, sending notifications to personnel responsible for the area. After on-site personnel clear the obstacle and confirm safety, the WCS directly retrieves the "process state snapshot" saved at the time of the fault, accurately restoring the context of the interruption (including the AGV's precise pose, the current instruction execution stage, etc.), and controls the AGV to directly resume execution of subsequent entry actions from the interruption position. This recovery mechanism minimizes process delays and resource waste caused by external interference, achieving a perfect balance between safety and operational efficiency.

[0064] In some embodiments, step 105 may include the following sub-steps: Sub-step S41: Receive first position data reported by the AGV for multiple consecutive cycles, determine the center point coordinates of the rear wheel of the AGV based on the first position data, and determine whether the center point coordinates of the rear wheel exceed the first boundary threshold of the grating. Sub-step S42: Determine whether the change value of the center point coordinate of the rear wheel is less than a preset stability threshold within the consecutive multiple cycles. Sub-step S43: If the coordinates of the center point of the rear wheel exceed the first boundary threshold of the grating, and the change value of the center point coordinates of the rear wheel is less than the preset stability threshold in multiple consecutive cycles, then the AGV is determined to meet the full entry condition.

[0065] In this embodiment of the invention, the WCS receives the first position data reported by the AGV and extracts and calculates the precise coordinates of the center point of the AGV's rear wheel (representing the rearmost part of the vehicle) from this data. These coordinates are then compared with a "grating first boundary threshold" that has been augmented with a safety redundancy (e.g., 0.1 meters). This boundary threshold is the "physical inner boundary coordinates plus the safety redundancy," and its purpose is to ensure that not only have the AGV's rear wheels crossed the boundary line, but that its entire rear wheel section has completely and fully entered the safe zone, providing physical margin for subsequent grating activation and preventing any form of collision risk. The complete entry condition is considered satisfied only when the continuously calculated rear wheel center point coordinates are consistently greater than this first boundary threshold.

[0066] Simultaneously, the changes in the coordinates of the rear wheel center point are monitored over N consecutive sampling periods (e.g., 3 periods, corresponding to 60 milliseconds). By calculating the variance or maximum displacement difference of the coordinate sequence and comparing it with a very small preset stability threshold (e.g., 2 millimeters), it is determined whether the AGV has transitioned from the dynamic process of "driving in" to the quasi-static stable state of "in position". This step effectively filters out sensor noise and vehicle micro-movements.

[0067] The "fully entered condition met" judgment signal is only triggered when it is confirmed that the rear wheels have fully crossed the reinforced boundary and the vehicle has stopped moving or only slightly moved. This dual-threshold collaborative mechanism fundamentally avoids the risks that may arise from single-dimensional judgment: for example, relying solely on position judgment may lead to a misjudgment of entry when the AGV brakes suddenly at the boundary; relying solely on stability judgment will not reveal where the vehicle is stopped. The combination of the two ensures that the next critical action of activating the grating will only be taken after the AGV has stably and fully entered the conveyor line area, thus providing double insurance.

[0068] Step 106: When it is determined that the AGV meets the full entry condition, a grating activation command is sent to the conveyor line; the grating activation command is used to instruct the conveyor line to activate the grating.

[0069] The WCS (Wheel Control System) only activates the light grid after detecting that the AGV's rear wheels have fully entered the grid. During the AGV's entry process, the WCS synchronizes the AGV wheel system coordinates with the light grid area boundary data in real time, defining three key nodes: "front wheels entering the light grid area," "the vehicle body is completely within the light grid area," and "rear wheels fully entering the light grid area." Before the AGV fully enters, the light grid is kept in a dynamically protected zone with the grid in an unlocked state, but the WCS monitors the AGV's movement status through position sampling. A 20-second entry timeout threshold is set (which can be dynamically adjusted based on the AGV's length and speed). If the "rear wheels fully entering" signal is not detected within the timeout, it is automatically determined to be an entry anomaly: the WCS immediately sends a "light grid emergency activation command" to the conveyor line and simultaneously initiates AGV fault diagnosis; if the AGV cannot continue moving due to a fault, the WCS plans a safe retreat path and issues a "low-speed reverse back to the 1-meter waiting area at the entrance" command. After the AGV exits, the light grid is reactivated and the entrance is locked until the fault is resolved. This mechanism ensures the continuity of the entry process and eliminates safety vulnerabilities when the light grid is not activated through timeout rollback.

[0070] In this embodiment of the invention, once the WCS determines that the AGV "meets the full entry condition" using a dual-threshold algorithm, it immediately generates and sends a grating activation command to the conveyor line control. Upon receiving the command, the conveyor line control system sends a drive signal to the grating's safety relay module, restoring the physical safety barrier. This ensures that the grating is only activated after the AGV body is completely out of its protected area, eliminating any risk of interference or collision. This prevents both premature activation leading to AGV collisions and delayed activation exposing dangerous areas. After successfully activating the grating, the conveyor line returns a confirmation signal to the WCS. Upon receiving this confirmation, the WCS releases the "occupancy" flag of the entrance, allowing it to be allocated to the next AGV in the queue by the scheduling system.

[0071] Reference Figure 2The diagram shows a flowchart of an AGV-to-conveyor line docking control method provided by an embodiment of the present invention. Figure 2 The core control process of AGV and conveyor line access is described: First, the AGV arrives at the waiting area and initiates an access request; then, the WCS (Warehouse Control System) queries and confirms that the light grid is in the enabled state, and issues a light grid deactivation command to the conveyor line; after receiving the deactivation confirmation signal, the WCS authorizes the AGV to enter; during the AGV's entry action, the WCS continuously monitors its position, and once it determines that the AGV has completely entered the conveyor line area, it immediately instructs the conveyor line to reactivate the light grid, thereby completing a safe, closed-loop automatic access docking.

[0072] Reference Figure 3 The diagram illustrates a flowchart of another AGV-to-conveyor line docking control method provided by an embodiment of the present invention. The method specifically includes the following steps: Step 201: After the AGV has fully entered the unloading point of the conveyor line to perform the unloading operation, determine whether the AGV has completed unloading. In this embodiment of the invention, once the AGV has fully entered the conveyor line and traveled to the predetermined unloading point, the load sensor of the AGV must detect that the loading status has changed from "loaded" to "empty," and the actuator (such as forks, suction cups, or lifting platforms) must provide a confirmation signal of "reset in place" or "released." Secondly, from the conveyor line end, the photoelectric sensor array must detect that the material has completely detached from the AGV's carrying surface and entered the designated area of ​​the conveyor line. Simultaneously, the weight sensor must monitor a predicted positive incremental change in the load of its carrying section. Finally, from the WCS's own task context, the current loading and unloading task list is retrieved, and the preset material type and quantity are compared with the actual sensed transfer event to determine if they match. This fundamentally eliminates misjudgments caused by single-point sensor failures, communication packet loss, or material jams.

[0073] In some embodiments, step 201 may include the following sub-steps: Sub-step S51: Receive the load status and actuator status reported by the AGV, and the load change reported by the conveyor line; Sub-step S52: Obtain the corresponding unloading task list and the AGV unloading information, and determine whether the unloading information matches the unloading task list; In sub-step S53, when the load status of the AGV indicates that it is empty, the status of the actuator indicates that the actuator is reset, the load change of the conveyor line changes from empty to loaded, and the unloading information matches the unloading task list, it is determined that the AGV unloading is complete.

[0074] In this embodiment of the invention, the system receives load status reports (such as pressure sensor values ​​below the no-load threshold) and explicit actuator status reports from the AGV end, as well as load changes reported from the conveyor line end. The system aligns and verifies the physical state of the equipment with the intended business process. The WCS retrieves the unloading task list for this AGV operation, which clearly lists key attributes such as the expected material code and quantity (or weight range). Simultaneously, it parses the sensor data stream or obtains actual unloading information (such as detected material barcodes and actual weight) from the material identification system (such as visual barcode scanning). The core of the determination lies in matching and comparing the actual "unloading information" with the planned "unloading task list," which includes material identification verification and quantity / weight consistency verification.

[0075] The following conditions must be met simultaneously: the AGV load status is empty, the AGV actuator status is reset, the conveyor line load changes with a valid increment, and the unloading information matches the task list. This composite condition requires a complete transfer event involving AGV emptying and resetting, increased conveyor line load, and the transferred items matching the business order to prevent incorrect materials, leaks, or materials not completely removed from the AGV. Only when all four conditions are true will WCS generate the final "Unloading Complete" status flag, eliminating the possibility of misjudgment due to single-point sensor failure, signal interference, or communication errors, ensuring the accuracy of the "Unloading Complete" status.

[0076] Step 202: After confirming that the AGV has completed loading and unloading on the conveyor line, receive the exit request sent by the AGV; In this embodiment of the invention, when the WCS determines that the AGV's loading and unloading operations on the conveyor line have been successfully completed, it sends an authorization to the AGV to "send a departure request." This ensures that the AGV is only allowed to request to leave after confirming that unloading has been completed safely and correctly, preventing errors caused by asynchronous states (such as leaving before all goods have been unloaded). After receiving this authorization or sensing an update to its task list, the AGV then formally sends a "departure request" to the WCS. This request message also includes its current precise location on the conveyor line and its own status. Instead of automatically leaving the line upon task completion, a clear request action prompts the AGV to proactively report its readiness to leave the line, allowing for a final safety check before departure (such as whether there are obstacles in the exit area or whether the downstream path is clear).

[0077] Step 203: In response to the outgoing line request, a grating release command is sent to the conveyor line; the grating release command is used to instruct the conveyor line to release the grating; In this embodiment of the invention, when the WCS receives the AGV's exit request, it verifies that the light grid at the conveyor exit area is currently in an "enabled" protection state to ensure that no other personnel or equipment have intruded. Simultaneously, it confirms that the AGV's own status (such as battery and drive) still meets the task execution requirements. After successful verification, the WCS sends a light grid release command carrying a unique instruction ID to the conveyor exit light grid control system, ensuring reliable instruction transmission and preventing duplicate execution. Upon receiving the command, the conveyor will drive the exit light grid to disable and release the safety barrier. Simultaneously with issuing the command, the WCS will initiate the same timeout monitoring mechanism (e.g., 15 seconds) for the AGV's exit action. If the AGV fails to initiate the departure action within the specified time, the command will be deemed invalid, and the light grid will be reactivated to prevent the exit from being in an unsafe state for an extended period due to AGV malfunction.

[0078] Step 204: Receive the permission release signal returned by the conveyor line and issue a permission to drive out command to the AGV; In this embodiment of the invention, when the WCS receives a "permission release signal" from the conveyor line, it indicates that the exit grating has successfully and safely completed the physical state switch, changing from a protected state to a passable state. The WCS will issue a "permission to leave" command to the AGV in the standby state. The AGV must initiate the departure action within a specified time after receiving the command; otherwise, the command will become invalid, triggering a safety rollback. Simultaneously, the WCS will initiate real-time position monitoring of the departure process in parallel, preparing to receive the departure trajectory data reported by the AGV.

[0079] Step 205: During the process of the AGV passing through the grating according to the permission to leave instruction, the second position data reported by the AGV is received, and the AGV is determined based on the second position data to determine whether the AGV meets the condition for complete departure. In this embodiment of the invention, as the AGV moves towards the exit grating at a set speed according to the "permission to exit command," it continuously reports second position data to the WCS. The WCS processes this data in real time, continuously calculating the coordinates of the center point of the front wheel representing the foremost point of the AGV. This coordinate is then compared in real time with the coordinates of the outer boundary of the grating. Determining complete departure requires confirming that the entire front part of the AGV (based on the front wheel) has completely moved out of the grating protection area. Therefore, the determination condition is typically set as follows: the coordinates of the center point of the front wheel are consistently less than "the coordinates of the outer boundary of the grating minus a safety redundancy (e.g., 0.05 meters)," and the position remains stable or continues to move outward over multiple consecutive sampling periods.

[0080] In some embodiments, step 205 may include the following sub-steps: Sub-step S61: Determine the center point coordinates of the front wheel of the AGV based on the second position data, and determine whether the center point coordinates of the front wheel are less than the second boundary threshold of the grating; Sub-step S62: If the coordinates of the center point of the front wheel are less than the second boundary threshold of the grating, the AGV is determined to meet the complete departure condition.

[0081] In this embodiment of the invention, the system receives and processes the second position data reported by the AGV, extracts and calculates the precise coordinates of the center point of the AGV's front wheel in real time, and these coordinates represent the position of the vehicle's foremost point. Subsequently, the system continuously compares these coordinates with a key parameter of a second boundary threshold. This second boundary threshold is the coordinates of the outer boundary of the grating minus a preset safety redundancy (e.g., 0.05 meters). This requires the AGV's front wheel not only to cross the physical boundary line but also to continue moving outward a short additional distance, thereby ensuring that the entire front profile of the AGV (including any protruding parts) has been completely and thoroughly removed from the protection range of the grating, creating a physical buffer space without any interference risk for the safe reactivation of the grating.

[0082] When the coordinates of the front wheel center point are consistently and stably less than (i.e., located further out) the second boundary threshold, the final signal confirming complete departure is immediately triggered. This determination process is typically dynamic and continuous, and may also incorporate a very short stability check (to prevent the AGV from stopping or reversing at the boundary), but its core criterion remains the complete spatial departure. This is transformed into a reliable state judgment based on precise coordinate calculations, ensuring the accuracy of the AGV's complete departure state determination.

[0083] Step 206: When it is determined that the AGV meets the complete departure condition, a grating activation command is sent to the conveyor line; the grating activation command is used to instruct the conveyor line to activate the grating.

[0084] In this embodiment of the invention, once the WCS confirms that the AGV has fully departed—that is, its front wheels have sufficiently and stably moved out of the outer boundary of the safety redundancy grating—it immediately generates and sends a grating activation command to the conveyor line. This command, similar to the activation command for the inbound process, carries a unique transaction ID to ensure accurate execution only once. After receiving the command and completing final local verification (e.g., confirming there are no other foreign objects in the area), the conveyor line drives the grating to regenerate a valid safety barrier. This ensures that the grating is only activated after the AGV body has completely left its protected area and there is no risk of collision or pinching, which is the fundamental guarantee for the safe coexistence of humans and machines. After successfully activating the grating, the conveyor line returns an acknowledgment signal to the WCS. The WCS then updates its distributed state database, marking the conveyor line exit status as idle and protected, and releases all logical resources occupied by this outbound process.

[0085] Reference Figure 4 This diagram illustrates a flow chart of another AGV-to-conveyor line docking control method provided by an embodiment of the present invention. Figure 4 The control process for an AGV to automatically leave the conveyor line after completing material loading and unloading is described: After completing the operation, the AGV sends a request to the WCS to leave the line; the WCS then sends an instruction to the conveyor line to release the exit light grid, and authorizes the AGV to leave after receiving the permission signal; during the AGV's departure action, the WCS continuously monitors its position, and once it determines that the AGV has completely left the light grid protection area, it immediately instructs the conveyor line to reactivate the light grid, thereby safely and in a closed loop completing the exit docking.

[0086] This invention discloses a method, apparatus, device, and storage medium for controlling the docking of an AGV with a conveyor line. The method automates the process by having the AGV actively send requests, verifying the status of the AGV and the conveyor line in real time, and automatically issuing commands. Once the AGV arrives, no manual intervention is required; it is allowed to enter after the system confirms safety, significantly reducing the waiting time during the docking process and effectively improving overall logistics efficiency. Based on real-time reported first-position data, dynamic judgment is performed. The light curtain is only activated after accurately identifying the critical state of the AGV "fully entering," avoiding potential equipment collisions caused by prematurely closing the light curtain due to the AGV not fully entering, and preventing the risk of safety area exposure due to the light curtain not being activated in time after the AGV leaves.

[0087] It should be noted that, for the sake of simplicity, the method embodiments are described as a series of actions. However, those skilled in the art should understand that the embodiments of the present invention are not limited to the described order of actions, because according to the embodiments of the present invention, some steps can be performed in other orders or simultaneously. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions involved are not necessarily essential to the embodiments of the present invention.

[0088] Reference Figure 5 The diagram shows a structural block diagram of an AGV-to-conveyor line docking control device provided by an embodiment of the present invention. The device specifically includes the following modules: The line entry request receiving module 301 is used to receive the line entry request sent by the AGV; the line entry request includes the operating status of the AGV; The operation status verification module 302 is used to respond to the entry request, obtain the operation status of the conveyor line, and verify whether the operation status of the AGV and the operation status of the conveyor line meet the preset conditions. The release instruction sending module 303 is used to send a grating release instruction to the conveyor line after verifying that the operating status of the AGV and the operating status of the conveyor line meet preset conditions; the grating release instruction is used to instruct the conveyor line to release the grating; The entry instruction sending module 304 is used to receive the permission cancellation signal returned by the conveyor line and send an entry permission instruction to the AGV; The entry condition judgment module 305 is used to receive the first position data reported by the AGV during the process of the AGV passing through the grating according to the allowed entry instruction, and determine whether the AGV meets the complete entry condition based on the first position data. The enable command sending module 306 is used to send a grating enable command to the conveyor line when it is determined that the AGV meets the full entry conditions; the grating enable command is used to instruct the conveyor line to enable the grating.

[0089] In some embodiments, the entry condition determination module 305 includes: The first position data receiving submodule is used to receive the first position data reported by the AGV for multiple consecutive cycles, determine the center point coordinates of the rear wheel of the AGV based on the first position data, and determine whether the center point coordinates of the rear wheel exceed the first boundary threshold of the grating. The coordinate change value judgment submodule is used to determine whether the change value of the center point coordinate of the rear wheel is less than a preset stability threshold within the continuous multiple cycles. The full entry condition determination submodule is used to determine that the AGV meets the full entry condition when the center point coordinate of the rear wheel exceeds the first boundary threshold of the grating and the change value of the center point coordinate of the rear wheel is less than a preset stability threshold in multiple consecutive cycles.

[0090] In some embodiments, the apparatus further includes: The entry action monitoring module is used to monitor whether the AGV initiates the entry action within the response time threshold after issuing an entry permission command to the AGV. The instruction failure determination module is used to determine that the allow entry instruction has failed if the AGV is not detected to start driving in within the response time threshold. The fault diagnosis module is used to send a grating enable command to the conveyor line after determining that the allowed entry command has failed, and to perform fault diagnosis and scheduling transfer of the AGV.

[0091] In some embodiments, the operating status of the AGV includes the battery level of the AGV; the preset conditions are that the battery level of the AGV is higher than the power threshold, the actuator of the AGV is fault-free, the material occupancy status of the conveyor line is free of material accumulation, and the operating status parameters of the power system of the conveyor line are within a preset deviation range.

[0092] In some embodiments, the apparatus further includes: An obstacle information receiving module is used to receive obstacle detection information reported by the AGV when the AGV detects an obstacle while passing through the grating according to the permission to enter instruction. The obstacle type determination module is used to determine the obstacle type based on the obstacle detection information and to perform hierarchical response control.

[0093] In some embodiments, the obstacle type module determines the obstacle type by: The hierarchical response execution submodule is used to send a stop command to the AGV and a grating enable command to the conveyor line if the obstacle type is determined to be a dynamic obstacle based on the obstacle detection information; the stop command is used to instruct the AGV to stop; if the obstacle type is determined to be a static obstacle based on the obstacle detection information, a stop command is sent to the AGV. The recovery strategy generation submodule is used to generate a recovery strategy after the AGV stops and to execute the recovery strategy.

[0094] In some embodiments, the recovery strategy generation submodule includes: The recovery strategy execution unit is used to issue a path adjustment instruction to the AGV if the recovery strategy indicates that the obstacle can be avoided, so that the AGV can avoid the obstacle and continue to execute the entry process; if the recovery strategy indicates that the obstacle cannot be avoided, an alarm is triggered and manual intervention is waited for, and after the obstacle is cleared, the AGV is controlled to resume the execution of the entry process from the interrupted position.

[0095] In some embodiments, the apparatus further includes: The process lock setting module is used to set a process lock for the corresponding conveyor line entrance when the first AGV sends the entry request, in the case where multiple AGVs send the entry request. The occupancy status feedback module is used to receive the entry request sent by the subsequently arriving AGV, add the subsequently arriving AGV to the pre-arrangement queue, and feed back the current entrance occupancy status and the estimated waiting time to the subsequently arriving AGV. The process lock release module is used to release the process lock when the first AGV completes its entry and the grating is reactivated, and to respond to the entry request of the next AGV in the pre-arranged queue.

[0096] In some embodiments, the apparatus further includes: The unloading operation judgment module is used to determine whether the AGV has completed unloading after it has fully entered the unloading point of the conveyor line and performed the unloading operation. The outgoing line request receiving module is used to receive the outgoing line request sent by the AGV after determining that the AGV has completed loading and unloading on the conveyor line; The outgoing line request response module is used to respond to the outgoing line request and send a grating release command to the conveyor line; the grating release command is used to instruct the conveyor line to release the grating; The release signal receiving module is used to receive the release signal returned by the conveyor line and issue a drive-out command to the AGV; The position data receiving module is used to receive second position data reported by the AGV during the process of the AGV passing through the grating according to the permission to leave instruction, and to determine whether the AGV meets the complete departure condition based on the second position data; A grating activation command sending module is used to send a grating activation command to the conveyor line when it is determined that the AGV meets the complete departure condition; the grating activation command is used to instruct the conveyor line to activate the grating.

[0097] In some embodiments, the unloading operation determination module includes: The load status receiving submodule is used to receive the load status and actuator status reported by the AGV, as well as the load changes reported by the conveyor line. The task list matching submodule is used to obtain the corresponding unloading task list and the AGV unloading information, and to determine whether the unloading information matches the unloading task list. The unloading completion determination submodule is used to determine that the AGV has completed unloading when the load status of the AGV indicates that it is empty, the status of the actuator indicates that the actuator is reset, the load change of the conveyor line changes from empty to loaded, and the unloading information matches the unloading task list.

[0098] Optionally, the location data receiving module includes: The center point coordinate determination submodule is used to determine the center point coordinates of the front wheel of the AGV based on the second position data, and to determine whether the center point coordinates of the front wheel are less than the second boundary threshold of the grating; The complete departure condition determination submodule is used to determine that the AGV meets the complete departure condition when the coordinates of the center point of the front wheel are less than the second boundary threshold of the grating.

[0099] As the device embodiment is basically similar to the system embodiment, it is described in a relatively simple way. For relevant details, please refer to the description of the method embodiment.

[0100] This invention also provides an electronic device, including: a processor, a memory, and a computer program stored in the memory and capable of running on the processor. When the computer program is executed by the processor, it implements the various processes of the above-described AGV and conveyor line docking control method embodiments and achieves the same technical effect. To avoid repetition, it will not be described again here.

[0101] This invention also provides a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, it implements the various processes of the above-described AGV and conveyor line docking control method embodiments and achieves the same technical effect. To avoid repetition, it will not be described again here.

[0102] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0103] Furthermore, it should be noted that the scope of the methods and apparatus in the embodiments of the present invention is not limited to performing functions in the order shown or discussed. It may also include performing functions substantially simultaneously or in the reverse order, depending on the functions involved. For example, the described methods may be performed in a different order than described, and various steps may be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.

[0104] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal (which may be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in the various embodiments of this application.

[0105] The embodiments of the present invention have been described above with reference to the accompanying drawings. However, the present invention is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of this application without departing from the spirit and scope of the claims, and all of these forms are within the protection scope of the present invention.

Claims

1. A method for controlling the docking of an AGV with a conveyor line, characterized in that, The method includes: Receive an entry request sent by an AGV; the entry request includes the operating status of the AGV; In response to the entry request, the operating status of the conveyor line is obtained, and the operating status of the AGV and the operating status of the conveyor line are verified to meet preset conditions. After verifying that the operating status of the AGV and the operating status of the conveyor line meet the preset conditions, a grating release command is sent to the conveyor line; the grating release command is used to instruct the conveyor line to release the grating. Receive the permission cancellation signal returned by the conveyor line and issue an permission to enter command to the AGV; During the process of the AGV passing through the grating according to the permission to enter, the system receives the first position data reported by the AGV and determines whether the AGV meets the full entry condition based on the first position data. When it is determined that the AGV meets the full entry condition, a grating activation command is sent to the conveyor line; the grating activation command is used to instruct the conveyor line to activate the grating.

2. The AGV and conveyor line docking control method according to claim 1, characterized in that, The step of determining whether the AGV meets the full entry condition based on the first position data includes: Receive first position data reported by the AGV for multiple consecutive cycles, determine the center point coordinates of the rear wheel of the AGV based on the first position data, and determine whether the center point coordinates of the rear wheel exceed the first boundary threshold of the grating; Determine whether the change in the center point coordinates of the rear wheel is less than a preset stability threshold within the consecutive multiple cycles; If the center point coordinates of the rear wheel exceed the first boundary threshold of the grating, and the change value of the center point coordinates of the rear wheel is less than a preset stability threshold in multiple consecutive cycles, then the AGV is determined to meet the full entry condition.

3. The AGV and conveyor line docking control method according to claim 1, characterized in that, After issuing the entry permission command to the AGV, the process also includes: Monitor whether the AGV initiates a driving action within the response time threshold; If the AGV is not detected to start driving in within the response time threshold, the entry permission command is determined to be invalid. After determining that the permission to enter command has failed, a grating enable command is sent to the conveyor line, and the AGV is subjected to fault diagnosis and scheduled transfer.

4. The AGV and conveyor line docking control method according to claim 1, characterized in that, The operating status of the AGV includes the battery level of the AGV; the preset conditions are that the battery level of the AGV is higher than the power threshold, the actuator of the AGV is fault-free, the material occupancy status of the conveyor line is free of material accumulation, and the operating status parameters of the power system of the conveyor line are within the preset deviation range.

5. The AGV and conveyor line docking control method according to claim 1, characterized in that, The process of the AGV passing through the grating according to the permission instruction also includes: When the AGV detects an obstacle while passing through the grating, it receives obstacle detection information reported by the AGV. The obstacle type is determined based on the obstacle detection information, and graded response control is executed.

6. The AGV and conveyor line docking control method according to claim 5, characterized in that, The step of determining the obstacle type based on the obstacle detection information and executing graded response control includes: If the obstacle type is determined to be a dynamic obstacle based on the obstacle detection information, a stop command is sent to the AGV and a grating enable command is sent to the conveyor line; the stop command is used to instruct the AGV to stop. If the obstacle type is determined to be a static obstacle based on the obstacle detection information, a stop command is sent to the AGV. A recovery strategy is generated and executed after the AGV stops.

7. The AGV and conveyor line docking control method according to claim 6, characterized in that, The step of generating a recovery strategy after the AGV stops and executing the recovery strategy includes: If the recovery strategy indicates that the obstacle can be avoided, a path adjustment command is issued to the AGV so that the AGV can avoid the obstacle and continue to execute the entry process; If the recovery strategy indicates that the obstacle is unavoidable, an alarm is triggered and manual intervention is awaited. After the obstacle is cleared, the AGV is controlled to resume execution of the inbound process from the interrupted position.

8. The AGV and conveyor line docking control method according to claim 1, characterized in that, When multiple AGVs send the line entry request, the method further includes: When the first AGV sends the entry request, a process lock is set for the corresponding conveyor line entry. Receive the entry request sent by the subsequently arriving AGV, add the subsequently arriving AGV to the pre-arrangement queue, and feed back the current entrance occupancy status and estimated waiting time to the subsequently arriving AGV; Once the first AGV has completed its entry and the grating has been reactivated, the process lock is released, and the entry request of the next AGV in the pre-arranged queue is responded to.

9. The AGV and conveyor line docking control method according to claim 1, characterized in that, The method further includes: After the AGV has fully entered the unloading point of the conveyor line to perform the unloading operation, determine whether the AGV has completed unloading; Once it is determined that the AGV has completed loading and unloading on the conveyor line, the exit request sent by the AGV is received; In response to the outgoing line request, a grating release command is sent to the conveyor line; the grating release command is used to instruct the conveyor line to release the grating; Receive the permission cancellation signal returned from the conveyor line and issue a permission to drive out command to the AGV; During the process of the AGV passing through the grating according to the permission to leave instruction, the system receives the second position data reported by the AGV and determines whether the AGV meets the complete departure condition based on the second position data. When it is determined that the AGV meets the complete departure condition, a grating activation command is sent to the conveyor line; the grating activation command is used to instruct the conveyor line to activate the grating.

10. The AGV and conveyor line docking control method according to claim 9, characterized in that, Determining whether the AGV has completed unloading includes: Receive the load status and actuator status reported by the AGV, as well as the load changes reported by the conveyor line; Obtain the corresponding unloading task list and the AGV unloading information, and determine whether the unloading information matches the unloading task list; When the AGV's load status indicates no load, the actuator status indicates actuator reset, the conveyor line's load changes from no load to loaded, and the unloading information matches the unloading task list, the AGV is determined to have completed unloading.

11. The AGV and conveyor line docking control method according to claim 9, characterized in that, Determining whether the AGV meets the complete departure condition based on the second position data includes: The center point coordinates of the front wheel of the AGV are determined based on the second position data, and it is determined whether the center point coordinates of the front wheel are less than the second boundary threshold of the grating. If the center point coordinates of the front wheel are determined to be less than the second boundary threshold of the grating, the AGV is determined to meet the complete departure condition.

12. A control device for docking an AGV with a conveyor line, characterized in that, The device includes: The line entry request receiving module is used to receive the line entry request sent by the AGV; the line entry request includes the operating status of the AGV; The operation status verification module is used to respond to the line entry request, obtain the operation status of the conveyor line, and verify whether the operation status of the AGV and the operation status of the conveyor line meet the preset conditions. The release command sending module is used to send a grating release command to the conveyor line after verifying that the operating status of the AGV and the operating status of the conveyor line meet preset conditions; the grating release command is used to instruct the conveyor line to release the grating; The entry command sending module is used to receive the permission cancellation signal returned by the conveyor line and send an entry permission command to the AGV; The entry condition judgment module is used to receive the first position data reported by the AGV during the process of the AGV passing through the grating according to the allowed entry instruction, and determine whether the AGV meets the complete entry condition based on the first position data. The enable command sending module is used to send a grating enable command to the conveyor line when it is determined that the AGV meets the full entry conditions; the grating enable command is used to instruct the conveyor line to enable the grating.

13. An electronic device, characterized in that, include: A processor, a memory, and a computer program stored in the memory and executable on the processor, wherein the computer program, when executed by the processor, implements the steps of the AGV docking control method for any one of claims 1-11.

14. A computer-readable storage medium, characterized in that, A computer program is stored on the computer-readable storage medium, which, when executed by a processor, implements the steps of the AGV docking control method as described in any one of claims 1-11.

Images