AGV-based transfer method

Abstract

The application provides a transfer method based on an AGV, which comprises the following steps: obtaining transfer information, wherein the transfer information at least comprises a current position, a target position and a terminal position of a target transfer box; issuing a task instruction to the AGV according to the transfer information, wherein the task instruction at least comprises connecting the AGV with the target transfer box and supplying power to a gas protection mechanism of the target transfer box; judging whether the current position is consistent with the target position, and if not, controlling the AGV to carry the target transfer box to the target position; determining that the gas environment in the cabin of the transfer box reaches a set value, and controlling the target transfer box to seal the cabin of the transfer box after the target product is picked up; controlling the AGV to carry the target transfer box to the terminal position, and controlling the gas protection mechanism to perform real-time atmosphere protection on the cabin of the transfer box during the transfer process, so that the atmosphere protection on the cabin of the transfer box during the transfer process is ensured, and the transfer materials in the cabin of the transfer box are prevented from being oxidized.

Description

Technical Field

[0001] This application relates to the field of transfer methods, specifically to a transfer method based on AGV. Background Technology

[0002] Due to its susceptibility to oxidation, neodymium iron boron (NdFeB) products require oxygen isolation throughout the entire manufacturing process. The production process of NdFeB products includes smelting, powdering, molding, sintering, machining, surface treatment, magnetization, and packaging. These processes are often completed in different workshops or on different equipment, and their physical locations are not continuous. Therefore, NdFeB products need to be physically transferred between different processes through transfer devices.

[0003] In existing technologies, most methods involve setting up a transit container as a temporary storage space, where a low-oxygen treatment is performed—that is, nitrogen is pre-filled before transit, and then the container is sealed for transport. However, this transit method is mostly manual, requiring a large workforce, resulting in high labor costs, low automation, and low transit efficiency. On the other hand, staff cannot accurately monitor the gas environment parameters inside the transit container in real time during transit. External air may seep into the container due to factors such as aging seals, vibration, or minor valve leaks, causing the internal oxygen content to gradually increase. If the transit time is long, the product may have already been exposed to an excessive oxygen environment en route, and the oxidation problem may not be discovered until it arrives at the destination and is opened, by which time the damage has already occurred.

[0004] Therefore, there is room for further improvement in the existing methods for transferring NdFeB products. Summary of the Invention

[0005] In view of this, and in response to the technical problems of low automation and inability to guarantee the atmosphere protection effect during the transfer process in the existing transfer methods, which leads to a decrease in product yield, this application provides an AGV-based transfer method that can achieve automated transfer, improve transfer efficiency, reduce labor costs, and automatically protect the transfer materials in the atmosphere during the transfer process, thereby ensuring the transfer yield.

[0006] This application provides a transfer method based on AGV, the method comprising: Obtain transit information, which includes at least the current location of the target transit box, the target location, and the destination location; Based on the transfer information, a task command is issued to the AGV vehicle to control the AGV vehicle to connect with the target transfer box and to supply power to the air protection mechanism of the target transfer box; Determine whether the current position is consistent with the target position. If not, control the AGV to move the target transfer box to the target position. Ensure that the internal gas environment of the transit container reaches the set value, and control the target transit container to seal the compartment after receiving the target product; Control the AGV vehicle to move the target transfer box to the end position, and control the gas protection mechanism to provide real-time atmosphere protection for the compartment of the transfer box during the transfer process.

[0007] Compared with existing technologies, the AGV-based transfer method of this application can generate corresponding transfer information according to transfer requirements. The transfer information includes the current position, target position, and destination position of the transfer box. In this application, the AGV vehicle is controlled to carry the transfer box through this transfer information. The AGV vehicle can automatically transport the transfer box to the corresponding position to complete the transfer without human intervention, which has a high degree of automation and high transfer efficiency. In addition, the AGV vehicle can supply power to the gas protection mechanism of the transfer box. The gas protection mechanism can provide real-time atmosphere protection for the compartment of the transfer box during the transfer process, thereby preventing the transfer materials in the compartment of the transfer box from being oxidized, ensuring effective protection of the product during the transfer process, and ensuring the transfer yield.

[0008] Preferably, the step of issuing task instructions to the AGV vehicle based on the transfer information includes: Based on the transfer information, determine the power consumption demand and issue task instructions to standby AGVs whose current power supply can meet the power consumption demand. The task instructions include at least the following: carrying the transfer box along a set path to the target location and the destination location in sequence.

[0009] Preferably, the task instruction issued to the standby AGV vehicle whose current power level is sufficient to meet the power consumption requirements includes: Obtain standby AGV vehicle information and identify the target AGV vehicle, and determine whether the current battery level of the target AGV vehicle meets the power consumption requirements; If the conditions are met, a task instruction is issued to the target AGV vehicle; If not, control the target AGV to charge itself until its current power meets the power consumption requirements, or select a standby AGV that meets the power consumption requirements as the target AGV. The AGV vehicle information includes at least: the number of standby AGV vehicles, the location of standby AGV vehicles, and the current battery level of standby AGV vehicles.

[0010] Preferably, the AGV includes a charging device, the transfer box is provided with a charging interface, and the AGV connects to the target transfer box and supplies power to the gas protection mechanism of the target transfer box, comprising: Confirm that the AGV vehicle is physically connected to the target transfer box, and control the charging device to extend and connect to the charging interface; Determine whether the gas-sealing mechanism is energized; If so, control the operation of the gas protection mechanism; If not, the AGV will issue an alarm to alert staff for maintenance.

[0011] Preferably, the gas supply mechanism includes a gas storage tank, and after the AGV vehicle is controlled to move the target transfer box to the target position, it further includes: After the locking mechanism locks the target equipment to the target transfer box, the inflation mechanism supplies protective gas to the gas storage tank. Once the gas volume in the gas storage tank reaches the set value, control the gas storage tank to deliver protective gas into the compartment of the target transfer container.

[0012] Preferably, the transfer container includes a hatch and pneumatic components; after determining that the internal gas environment of the transfer container's compartment reaches a set value, the process includes: The gas storage tank supplies power to the pneumatic components, which in turn control the opening of the hatches of the target equipment and the transfer container to achieve communication between the compartments of the target equipment and the transfer container.

[0013] Preferably, after the control target transfer box receives the target product and seals the compartment of the transfer box, it includes: The gas storage tank supplies power to the pneumatic components, which in turn control the closing of the doors of the target equipment and the transfer container. After confirming that the hatch is closed, control the inflation mechanism to reset, and control the locking mechanism to unlock the target equipment from the target transfer box.

[0014] Preferably, the gas protection mechanism includes a detection component and a gas protection solenoid valve, the solenoid valve being used to control the communication between the gas storage tank and the compartment of the transfer container; the gas protection mechanism provides real-time atmosphere protection for the compartment of the transfer container during the transfer process, including: The control and detection component detects the gas parameter information inside the transfer container and determines whether the gas parameters meet the set requirements. If the requirements are not met, the control gas protection solenoid valve will open to allow the gas storage tank to deliver protective gas into the compartment of the transfer container; If the conditions are met, the control air-operated solenoid valve will be closed; The detection component includes an oxygen content sensor.

[0015] Preferably, the detection component further includes one or more of a temperature and humidity sensor and a micro-pressure sensor; the micro-pressure sensor is used to detect the pressure value inside the transfer container; the step of determining whether the gas parameters meet the set requirements specifically includes: Determine whether at least one of the pressure value and oxygen content is lower than a set value; If so, control the gas protection solenoid valve to open so that the gas storage tank delivers protective gas into the compartment of the transfer container; If not, close the control gas-operated solenoid valve; Determine whether at least one of the pressure value and oxygen content is below a safety threshold; If so, control the gas protection solenoid valve to open so that the gas storage tank delivers protective gas to the compartment of the transfer box, and control the AGV vehicle to stop running and sound an alarm to alert the staff; If not, the control gas-operated solenoid valve will be closed.

[0016] Preferably, the task instruction includes at least the following: transporting the transfer box along a set path to the target location and the destination location in sequence, including: The AGV vehicle is guided by a navigation module based on the transit information to set a route. The navigation module includes any one or more combinations of a track navigation module, a QR code navigation module, a magnetic navigation module, a laser navigation module, an ultrasonic navigation module, a GPS navigation module, a visual navigation module, or an inertial navigation module. Attached Figure Description

[0017] Figure 1 This is a flowchart of an AGV-based transfer method provided in one embodiment of this application.

[0018] Figure 2 This is a schematic diagram of the connection between the transfer box and the AGV vehicle provided in one embodiment of this application.

[0019] Figure 3 This is a schematic diagram of the structure for locking the transfer box and the target device according to an embodiment of this application.

[0020] Figure 4 yes Figure 3 A magnified view of part A.

[0021] Attached reference numerals: 1. Transfer container; 2. AGV vehicle; 3. Target equipment; 11. Gas storage tank; 12. Air inlet pipe fitting; 13. First locking block; 14. Inflation solenoid valve; 21. Charging device; 31. Inflation tube; 32. Second locking block; 33. Locking drive. Detailed Implementation

[0022] To enable those skilled in the art to better understand the technical solutions of this disclosure, the following detailed, clear, and complete description of this disclosure is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of this disclosure and are not intended to limit it.

[0023] In the description of this application, the use of "first" and "second" is for the purpose of distinguishing technical features only, and should not be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated or the order of the technical features indicated.

[0024] Those skilled in the art should understand that in the disclosure of this application, the terms "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, the above terms should not be construed as limitations on this application.

[0025] The present application will now be described in further detail with reference to the accompanying drawings, see below. Figures 1 to 4 illustrate.

[0026] This application provides a transfer method based on AGV vehicle 2, which is applied to a transfer system. It can transfer products such as neodymium iron boron products that require atmosphere protection, and can realize automated transfer and protect the transfer materials in atmosphere during the transfer process, thereby ensuring the transfer yield.

[0027] like Figure 2 As shown, the transfer system includes a transfer box 1 and an AGV vehicle 2. The transfer box 1 has a drive chamber at its bottom, and the AGV vehicle 2 has a traction pin at its top. The transfer box 1 has a corresponding traction interface at its bottom. When the AGV vehicle 2 runs to the drive chamber, the traction pin connects to the traction interface, thus completing the fixed connection between the AGV vehicle 2 and the transfer box 1. In this application, the AGV vehicle 2 and the transfer box 1 can be detachably connected, meaning the AGV vehicle 2 can operate independently of the transfer box 1 for charging or other services, or it can be fixedly connected to the transfer box 1. In this application, the transfer box 1 includes a compartment and a gas protection mechanism. The compartment is used to receive the transferred materials and has a door. The gas protection mechanism is used to detect and control the gas environment of the compartment to achieve real-time atmosphere protection for the transferred materials.

[0028] like Figure 1 As shown, the transfer method based on AGV vehicle 2 in this application includes at least steps S1 to S5, which are described in detail below.

[0029] S1: Obtain transit information, which includes at least the current location, target location, and destination location of the target transit box 1.

[0030] S2: Issue a task instruction to AGV 2 based on the transfer information. The task instruction includes at least connecting AGV 2 to the target transfer box 1 and supplying power to the gas protection mechanism of the target transfer box 1.

[0031] S3: Determine whether the current position is consistent with the target position. If not, control the AGV vehicle 2 to move the target transfer box 1 to the target position.

[0032] S4: Determine that the internal gas environment of the transfer container 1 reaches the set value, and control the target transfer container 1 to seal the compartment of the transfer container 1 after receiving the target product.

[0033] S5: Control the AGV vehicle 2 to move the target transfer box 1 to the end position, and control the gas protection mechanism to provide real-time atmosphere protection for the compartment of the transfer box 1 during the transfer process.

[0034] In this embodiment, the transfer system includes a control center, which can generate transfer information according to transfer requirements. The transfer information includes at least the target transfer box 1, as well as the current location, target location, and destination location of the target transfer box 1. Then, based on the information of the dispatching AGV vehicle 2, the control center selects a suitable AGV vehicle 2 and issues a task instruction to it. The AGV vehicle 2 proceeds to the target transfer box 1 according to the received task instruction. The AGV vehicle 2 can connect to the transfer box 1 and supply power to the transfer box 1. The transfer box 1 is equipped with a gas protection mechanism, which includes a detection component and a gas supply component. The detection component is used to monitor the gas environment parameters of the compartment in real time and feed them back to the gas supply component. The gas supply component can control the amount of protective gas supplied to the compartment according to the gas environment parameters to ensure that the compartment is always kept in a low-oxygen or oxygen-free environment during the transfer process, so as to achieve continuous and real-time atmosphere protection for the transferred materials. The AGV vehicle 2 can carry the transfer box 1 according to the transfer information, and can move the transfer box 1 from the current position to the target position to pick up the transfer materials, and then carry the transfer box 1 to the destination position for transfer.

[0035] In this embodiment, the AGV vehicle 2 can automatically load and transport the transfer box 1, thereby achieving automated transfer without human intervention. It has a high degree of automation and high transfer efficiency. Furthermore, the AGV vehicle 2 can supply power to the gas protection mechanism of the transfer box 1. The gas protection mechanism can provide real-time atmosphere protection for the compartment of the transfer box 1 during the transfer process, thereby preventing the transfer materials in the compartment of the transfer box 1 from being oxidized, ensuring effective protection of the products during the transfer process, and ensuring the transfer yield rate.

[0036] In step S1, the target transfer box 1 is a transfer box 1 with a transfer task, which needs to meet the conditions of being empty or already carrying the transfer target; when the control transfer box 1 is selected, the transfer task of the transfer box 1 is to go to the target location to pick up the transfer target, or to pick up the target and then transfer it to the destination location for transfer; when the transfer box 1 that is already carrying the transfer target is selected, the transfer task of the transfer box 1 is to transfer the target to the destination location; the transfer system automatically extracts the transfer information and generates the corresponding task instructions according to the above transfer tasks.

[0037] In step S3, it is necessary to determine whether the current position of the target transfer box 1 is consistent with the target position because, under normal circumstances, the current position of the target transfer box 1 may not be consistent with the target position or the destination position. That is, by default, the transfer box 1 is in a state of not receiving materials, and the current position of the target transfer box 1 is not at the target position. The current position of the transfer box 1 may be the storage location of the transfer box 1 or other locations, while the target position is the workstation of the target equipment 3. The transfer box 1 needs to receive transfer materials at the target position, which can be selected according to actual needs. Therefore, in reality, the transfer box 1 may already be at the target position. The transfer of materials is completed at the target location. Due to other uncertainties, the target transfer box 1 is not equipped with an AGV vehicle 2. Therefore, the AGV vehicle 2 needs to go directly to pick up the target transfer box 1 and transport it to the destination. Therefore, after receiving the task, the AGV vehicle 2 will first determine whether the current position of the target transfer box 1 is consistent with the target position. If they are inconsistent, the task is for the AGV vehicle 2 to go to the current position of the target transfer box 1, connect with it and supply power, and move it to the target position. If they are consistent, the task of going to the current position is ignored, and the task is changed to go directly to the target position to connect with it and supply power.

[0038] Based on any of the above embodiments, step S2 will be described in detail; in step S2, issuing task instructions to AGV vehicle 2 based on transfer information specifically includes step S21: Based on the transfer information, determine the power consumption demand and issue task instructions to standby AGV vehicle 2 whose current power supply can meet the power consumption demand. The task instructions include at least the following: transporting the transfer box 1 along the set path to the target location and the destination location in sequence.

[0039] In this embodiment, the control center can automatically estimate the power consumption requirement based on the transfer information. The power consumption requirement includes the power consumption of the total route travel, the maximum power consumption of the air supply mechanism during the transfer process, and the power consumption during the waiting process during the transfer process. The total power consumption requirement is generated by combining the above power consumption requirements. Then, based on the status of the standby AGV vehicle 2, the standby AGV vehicle 2 with the current power supply meeting the power consumption requirement is selected as the target AGV vehicle 2, and a task instruction is issued to the AGV vehicle 2. The AGV vehicle 2 receives the task instruction and immediately begins to execute the task.

[0040] Specifically, the task instruction issued to the standby AGV vehicle 2, whose current power supply can meet the power consumption requirements, also includes step S211: Obtain information about standby AGV vehicle 2 and identify target AGV vehicle 2, and determine whether the current power of target AGV vehicle 2 meets the power consumption requirements; If the conditions are met, then issue a task instruction to the target AGV vehicle 2; If not, control the target AGV vehicle 2 to charge itself until its current power meets the power consumption requirements, or select the standby AGV vehicle 2 that meets the power consumption requirements as the target AGV vehicle 2. The information for AGV vehicle 2 includes at least the following: the number of standby AGV vehicles 2, the location of standby AGV vehicles 2, and the current battery level of standby AGV vehicles 2.

[0041] In this embodiment, the control center retrieves information on all AGV vehicles from the total AGV vehicle database and filters out information on standby AGV vehicles. The control center selects one as the target AGV vehicle and checks if its current battery level meets the power consumption requirements. If it does, a task is directly issued. If not, three options are considered: first, issue a self-charging task to the current AGV vehicle until its current battery level meets the power consumption requirements, then continue the transfer task; second, issue a self-charging task to the current AGV vehicle, then select a new standby AGV vehicle that meets the power consumption requirements as the target AGV vehicle and issue a transfer task to it; third, directly select a new standby AGV vehicle that meets the power consumption requirements as the target AGV vehicle and issue a transfer task to it. At least one of these three implementation methods can be selected based on actual needs, and no limitation is imposed here.

[0042] When selecting the target AGV vehicle 2, the standby AGV vehicle 2 that is closer to the target transfer box 1 can be selected as the target AGV vehicle 2. This can shorten the distance from the standby AGV vehicle 2 to the current position of the target transfer box 1, thereby reducing energy consumption and saving costs.

[0043] Furthermore, the task instruction in step S21 includes at least the following: carrying the transfer box 1 along the set path to the target location and the destination location in sequence, specifically including: The AGV vehicle 2 navigates using the navigation module after setting the route based on the transfer information. The navigation module includes any one or more combinations of track navigation module, QR code navigation module, magnetic navigation module, laser navigation module, ultrasonic navigation module, GPS navigation module, visual navigation module, or inertial navigation module.

[0044] In this embodiment, the control center establishes a transfer path based on transfer information and a site map, enabling AGV 2 to operate along this path. During operation, AGV 2 navigates using a navigation module to ensure it travels along the set path and maintains accuracy. If the transferred material is neodymium iron boron (NdFeB), it can be calculated whether the magnetic navigation module affects the effectiveness of the NdFeB product; if so, the magnetic navigation module can be omitted. Correspondingly, a suitable navigation module can be selected based on the actual transferred material; no restrictions are imposed here.

[0045] Furthermore, in step S2, the connection between the AGV vehicle 2 and the target transfer box 1, and the supply of power to the air supply mechanism of the target transfer box 1, specifically includes step S22: Confirm that the AGV vehicle 2 is physically connected to the target transfer box 1, and control the charging device 21 to extend and connect to the charging interface; Determine if the gas protection mechanism is energized; If so, control the operation of the gas protection mechanism; If not, AGV 2 will issue an alarm to alert staff for maintenance.

[0046] In this embodiment, as Figure 2 As shown, the AGV vehicle 2 is equipped with a charging device 21, and the transfer box 1 is equipped with a charging interface. The charging interface is electrically connected to the gas protection mechanism. The charging device 21 can be connected to the charging interface, and then the electricity in the AGV vehicle 2 is supplied to the gas protection mechanism of the transfer box 1 through the charging device 21, so that the various electronic control components of the gas protection mechanism can operate continuously during transfer, thereby enabling the gas protection mechanism to continuously detect and control the transfer box, thereby achieving effective protection of the transferred materials and ensuring the yield rate of the transferred materials.

[0047] The charging device 21 includes a power supply interface and a drive mechanism. The drive mechanism is connected to the power supply interface and can drive the power supply interface to extend out of the AGV 2 to connect with the charging interface, or drive the power supply interface to retract into the AGV 2. The gas protection mechanism is equipped with a sensor to detect whether power is supplied. If power is successfully supplied, both the AGV 2 and the gas protection mechanism continue to perform their tasks. If power supply fails, an alarm will be sent to the control center to prompt staff to perform timely maintenance, ensuring the continued execution of the transfer task.

[0048] Based on any of the above embodiments, step S3 is described in detail; after controlling the AGV vehicle 2 to move the target transfer box 1 to the target position, step S3 specifically includes step S31: After the locking mechanism locks the target device 3 to the target transfer box 1, the inflation mechanism supplies protective gas to the gas storage tank 11. Once the gas volume in the gas storage tank 11 reaches the set value, control the gas storage tank 11 to deliver protective gas into the compartment of the target transfer container 1.

[0049] In this embodiment, as Figure 3 , Figure 4 As shown, the locking mechanism includes a locking drive 33, a first locking block 13, and a second locking block 32. The first locking block 13 is located on both sides of the compartment opening of the transfer box 1. The target device 3 is equipped with a second locking block 32. The second locking block 32 and the first locking block 13 cooperate to lock the target device 3 to the transfer box 1, ensuring a sealed connection between the compartment opening of the target device 3 and the compartment opening of the transfer box 1, facilitating the transfer of materials from the target device 3 to the compartment of the transfer box 1. The locking drive 33 is connected to either the first locking block 13 or the second locking block 32. The locking drive 33 can drive the connected locking block to move along the locking direction to lock the first locking block 13 and the second locking block 32, or it can move along the unlocking direction to unlock the first locking block 13 and the second locking block 32. In this embodiment, the locking drive 33's operating state can be controlled by a corresponding control component.

[0050] In this embodiment, the gas supply assembly includes a gas storage tank 11 and a control assembly, such as... Figure 2 As shown, the gas storage tank 11 is fixedly installed outside the container of the transfer box 1. The gas storage tank 11 is connected to the compartment and is used to store protective gas. The detection component is used to detect the gas environment parameters in the compartment in real time. The control component is connected to the detection component and the gas storage tank 11. The control component is used to control the gas storage tank 11 to fill the compartment with gas according to the real-time values ​​detected by the detection component and to control the gas supply. The control component includes a control chip and a gas-protection solenoid valve. The control chip is used to receive the signal from the detection component and control the opening and closing of the gas-protection solenoid valve. The gas-protection solenoid valve can control the connection and disconnection between the gas storage tank 11 and the compartment.

[0051] Among them, such as Figure 3 , Figure 4As shown, the inflation mechanism is located at the target device 3. The inflation mechanism contains protective gas and is used to automatically inflate the gas storage tank 11 when the transfer box 1 is connected to the target device 3, ensuring that the gas storage tank 11 can store sufficient protective gas. The inflation mechanism includes an inflation pipe 31, which is connected to a gas source device containing protective gas. The gas storage tank 11 has an inlet pipe 12 at its inlet end, which is connected to the outlet of the inflation pipe 31. The inlet pipe 12 is connected to an inflation solenoid valve 14, which operates between the inlet and outlet ends of the inlet pipe 12, controlling the air intake of the inlet pipe 12. The connection between the air inlet and outlet ends is controlled by adjusting the connection status of the air inlet pipe 12 and the air tank 11. Specifically, when the air tank 31 is connected to the air inlet pipe 12, a gas sensor is installed inside the air inlet pipe 12. This sensor feeds back the detection information to the air filling solenoid valve 14, which controls the air inlet pipe 12 to open, so that the air filling pipe 31 is connected to the air tank 11 to replenish the air tank 11. If the air inlet pipe 12 is not connected to the air filling pipe 31, the air filling solenoid valve 14 controls the air inlet pipe 12 to cut off the connection, so as to prevent the gas in the air tank 11 from leaking from the air filling pipe 31.

[0052] The gas storage tank 11 is equipped with a detection sensor for detecting the amount of gas. This detection sensor is connected to the control chip. After analyzing the received signal, the control chip determines that the amount of gas in the gas storage tank 11 meets the standard and then opens the gas-protection solenoid valve to fill the gas storage tank 11 with protective gas. When the signal fed back by the detection component in the cabin indicates that the gas environment in the cabin meets the set requirements, and the signal fed back by the detection sensor in the gas storage tank 11 indicates that the gas content in the gas storage tank 11 meets the set requirements, it will send a signal to the gas-protection solenoid valve and the filling solenoid valve 14 to close them.

[0053] Based on any of the above embodiments, step S4 is described in detail; after determining in step S4 that the internal gas environment of the transfer container 1 reaches the set value, step S41 is included: The control gas storage tank 11 supplies energy to the pneumatic components, which in turn control the opening of the hatches of the target equipment 3 and the transfer container 1, thereby enabling communication between the compartments of the target equipment 3 and the transfer container 1.

[0054] Furthermore, following step S41, step S42 is also included: after sealing the compartment of the transit container 1 after receiving the target product, the following steps are also included: The control gas storage tank 11 supplies power to the pneumatic components, and the pneumatic components control the closing of the hatches of the target equipment 3 and the transfer box 1; After confirming that the hatch is closed, control the inflation mechanism to reset and control the locking mechanism to unlock the target equipment 3 from the target transfer box 1.

[0055] In this embodiment, as Figure 2 , Figure 3 As shown, the transfer container 1 also includes pneumatic components. The door of the transfer container 1 is controlled by the pneumatic components, and the air tank 11 can provide gas energy to the pneumatic components to control the opening or closing of the door. Correspondingly, the target device 3 is equipped with a signal that can receive the door opening signal, so that the door of the target device 3 and the door of the transfer container 1 can open or close synchronously, reducing the interference of external oxygen. When the doors open synchronously, the forks in the transfer container 1 will extend into the compartment of the target device 3 to retrieve the transfer material and place it in the compartment of the transfer container 1. When it is detected that the transfer material has been placed in the compartment of the transfer container 1, the pneumatic components receive a closing signal and then close the door.

[0056] Furthermore, the gas detection sensor inside the gas storage tank 11 will re-detect whether the gas quantity inside the gas storage tank 11 meets the requirements. If it does, it will control the inflation mechanism to reset; if it does not, it will control the inflation solenoid valve 14 to open and continue inflation until the gas quantity inside the gas storage tank 11 meets the requirements.

[0057] In this embodiment, when the inflation mechanism is reset, the controller of the locking drive 33 can receive the corresponding signal, thereby unlocking the locking mechanism.

[0058] Based on any of the above embodiments, step S5 is described in detail; in step S5, the gas protection mechanism provides real-time atmosphere protection for the compartment of transfer container 1 during the transfer process, specifically including step S51: The control and detection component detects the gas parameter information inside the compartment of transfer box 1 and determines whether the gas parameters meet the set requirements. If the requirements are not met, the control gas protection solenoid valve is opened to allow the gas storage tank 11 to deliver protective gas into the compartment of the transfer container 1; If the conditions are met, the control air-operated solenoid valve will be closed; The detection components include an oxygen content sensor.

[0059] In this embodiment, an oxygen content sensor is used to detect the oxygen content inside the compartment of the transfer container 1. When the oxygen content is higher than a set value, the gas-preserving solenoid valve is opened to promptly inject protective gas into the compartment, reducing the oxygen content and achieving real-time atmosphere protection. The detection component also includes a display meter, which is mounted on the body of the transfer container 1. The detection sensor is located inside the compartment and connected to the display meter. The display meter shows the values ​​detected by the sensor, allowing personnel to intuitively and quickly obtain information about the internal gas parameters of the compartment.

[0060] Furthermore, in determining whether the gas parameters meet the set requirements, the specific steps include: Determine whether at least one of the pressure value or oxygen content is lower than the set value; If so, control the gas protection solenoid valve to open so that the gas storage tank 11 delivers protective gas to the compartment of the transfer container 1; If not, close the control gas-operated solenoid valve; Determine whether at least one of the pressure value or oxygen content is below the safety threshold; If so, the control gas protection solenoid valve opens to allow the gas storage tank 11 to deliver protective gas to the compartment of the transfer box 1, and the control AGV vehicle 2 stops running and alarms to alert the staff; If not, the control gas-operated solenoid valve will be closed.

[0061] In this embodiment, the detection component also includes a micro-pressure sensor, which detects the pressure value inside the chamber. The pressure detection response is faster than the oxygen content detection, allowing for a quicker assessment of whether the hatch has depressurized. This enables the gas protection mechanism to quickly and promptly fill the chamber with protective gas. This dual detection, combined with the oxygen content detection sensor, provides dual protection, further ensuring the effectiveness of the atmosphere protection.

[0062] Simultaneously, if at least one of the pressure or oxygen content falls below a safe threshold, it indicates a problem with the compartment's sealing, triggering an alarm to alert personnel to quickly respond to the situation and minimize potential damage. Once the personnel have resolved the emergency, pressing the continue button will allow AGV 2 and the gas supply mechanism to continue executing mission instructions until the mission is completed.

[0063] Furthermore, the detection sensors may also include temperature and humidity sensors to detect the temperature and humidity inside the cabin, facilitating collaborative judgment of gas environment parameters inside the cabin and further ensuring the effectiveness of atmosphere protection.

[0064] Once the AGV 2 has transported the transfer box 1 to the destination and the transfer box 1 has completed the transfer, the AGV 2 can exit from the transfer box 1 to go to the charging station for charging, or receive the next transfer task and execute it.

[0065] It should be noted that the various embodiments of this application can be arbitrarily combined into new embodiments, provided that the solutions do not conflict and the technical solutions can coexist.

[0066] The present application has been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of the present application. The descriptions of the embodiments above are only for the purpose of helping to understand the present application and its core ideas. It should be noted that those skilled in the art can make several improvements and modifications to the present application without departing from the principles of the present application, and these improvements and modifications also fall within the protection scope of the claims of the present application.

Claims

1. A transfer method based on AGV, characterized in that, The method includes: Obtain transit information, which includes at least the current location of the target transit box, the target location, and the destination location; Based on the transfer information, a task instruction is issued to the AGV vehicle. The task instruction includes at least connecting the AGV vehicle to the target transfer box and supplying power to the air supply mechanism of the target transfer box. Determine whether the current position is consistent with the target position. If not, control the AGV to move the target transfer box to the target position. Ensure that the internal gas environment of the transit container reaches the set value, and control the target transit container to seal the compartment after receiving the target product; Control the AGV vehicle to move the target transfer box to the end position, and control the gas protection mechanism to provide real-time atmosphere protection for the compartment of the transfer box during the transfer process.

2. The AGV-based transfer method according to claim 1, characterized in that, The step of issuing task instructions to the AGV vehicle based on the transfer information includes: Based on the transfer information, determine the power consumption demand and issue task instructions to standby AGVs whose current power supply can meet the power consumption demand. The task instructions include at least the following: carrying the transfer box along a set path to the target location and the destination location in sequence.

3. The AGV-based transfer method according to claim 2, characterized in that, The task instruction issued to the standby AGV vehicle whose current power level is sufficient to meet power consumption requirements includes: Obtain standby AGV vehicle information and identify the target AGV vehicle, and determine whether the current battery level of the target AGV vehicle meets the power consumption requirements; If the conditions are met, a task instruction is issued to the target AGV vehicle; If not, control the target AGV to charge itself until its current power meets the power consumption requirements, or select a standby AGV that meets the power consumption requirements as the target AGV. The AGV vehicle information includes at least: the number of standby AGV vehicles, the location of standby AGV vehicles, and the current battery level of standby AGV vehicles.

4. The AGV-based transfer method according to claim 1, characterized in that, The AGV includes a charging device, and the transfer box is equipped with a charging interface. The AGV connects to the target transfer box and supplies power to the gas protection mechanism of the target transfer box, including: Confirm that the AGV vehicle is physically connected to the target transfer box, and control the charging device to extend and connect to the charging interface; Determine whether the gas-sealing mechanism is energized; If so, control the operation of the gas protection mechanism; If not, the AGV will issue an alarm to alert staff for maintenance.

5. The AGV-based transfer method according to claim 1, characterized in that, The gas supply mechanism includes a gas storage tank, and after the AGV vehicle is controlled to move the target transfer box to the target position, it also includes: After the locking mechanism locks the target equipment to the target transfer box, the inflation mechanism supplies protective gas to the gas storage tank. Once the gas volume in the gas storage tank reaches the set value, control the gas storage tank to deliver protective gas into the compartment of the target transfer container.

6. The AGV-based transfer method according to claim 5, characterized in that, The transfer container includes a hatch and pneumatic components; after determining that the internal gas environment of the transfer container's compartment reaches a set value, the process includes: The gas storage tank supplies power to the pneumatic components, which in turn control the opening of the hatches of the target equipment and the transfer container to achieve communication between the compartments of the target equipment and the transfer container.

7. The AGV-based transfer method according to claim 6, characterized in that, After the control target transfer box receives the target product and seals the compartment of the transfer box, it includes: The gas storage tank supplies power to the pneumatic components, which in turn control the closing of the doors of the target equipment and the transfer container. After confirming that the hatch is closed, control the inflation mechanism to reset, and control the locking mechanism to unlock the target equipment from the target transfer box.

8. The AGV-based transfer method according to claim 5, characterized in that, The gas-preservation mechanism includes a detection component and a gas-preservation solenoid valve, which is used to control the communication between the gas storage tank and the compartment of the transfer container. The atmosphere protection mechanism, which provides real-time atmosphere protection for the compartments of the transfer container during the transfer process, includes: The control and detection component detects the gas parameter information inside the transfer container and determines whether the gas parameters meet the set requirements. If the requirements are not met, the control gas protection solenoid valve will open to allow the gas storage tank to deliver protective gas into the compartment of the transfer container; If the conditions are met, the control air-operated solenoid valve will be closed; The detection component includes an oxygen content sensor.

9. The AGV-based transfer method according to claim 8, characterized in that, The detection component further includes one or more of a temperature and humidity sensor and a micro-pressure sensor; the micro-pressure sensor is used to detect the pressure value inside the transfer container; the determination of whether the gas parameters meet the set requirements specifically includes: Determine whether at least one of the pressure value and oxygen content is lower than a set value; If so, control the gas protection solenoid valve to open so that the gas storage tank delivers protective gas into the compartment of the transfer container; If not, close the control gas-operated solenoid valve; Determine whether at least one of the pressure value and oxygen content is below a safety threshold; If so, control the gas protection solenoid valve to open so that the gas storage tank delivers protective gas to the compartment of the transfer box, and control the AGV vehicle to stop running and sound an alarm to alert the staff; If not, the control gas-operated solenoid valve will be closed.

10. The AGV-based transfer method according to claim 2, characterized in that, The task instructions at least include transporting the transfer box along a set path to the target location and the destination location in sequence, including: The AGV vehicle is guided by a navigation module based on the transit information to set a route. The navigation module includes any one or more combinations of a track navigation module, a QR code navigation module, a magnetic navigation module, a laser navigation module, an ultrasonic navigation module, a GPS navigation module, a visual navigation module, or an inertial navigation module.

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