CN108750509B

CN108750509B - AGV trolley and goods position detection method based on AGV trolley

Info

Publication number: CN108750509B
Application number: CN201810582777.1A
Authority: CN
Inventors: 刘清泉; 彭华明; 彭清华
Original assignee: Yonegy Logistics Automation Technology Co ltd
Current assignee: Yonegy Logistics Automation Technology Co ltd
Priority date: 2018-06-05
Filing date: 2018-06-05
Publication date: 2020-07-03
Anticipated expiration: 2038-06-05
Also published as: CN108750509A

Abstract

The invention relates to the technical field of electronic equipment, and discloses a goods position detection method based on an AGV and the AGV, which comprise the following steps: when the AGV trolley detects that the material taking/placing operation needs to be executed, the AGV trolley can detect whether the goods position matched with the material taking/placing operation meets the condition of taking/placing the material through a sensor arranged on the trolley body, and if so, the AGV trolley executes the operation of taking/placing the material. By implementing the embodiment of the invention, the operation of taking/placing the materials can be executed under the condition that the current condition of the goods position detected by the sensor on the AGV trolley meets the taking/placing condition, so that the misoperation of the AGV trolley during the material taking and placing process is reduced.

Description

AGV trolley and goods position detection method based on AGV trolley

Technical Field

The invention relates to the technical field of electronic equipment, in particular to a goods position detection method based on an AGV and the AGV.

Background

At present, with the development of electronic technology, the application range of AGVs (Automated Guided vehicles) is expanding continuously, and the AGVs are most widely applied in the aspect of logistics systems. In practical applications, AGVs, also commonly referred to as AGVs, are capable of placing materials on a designated location according to a given route and also taking materials from the designated location. In practice, when the AGV trolley takes materials at a specified goods position, if the specified goods position has no materials, misoperation of the AGV trolley is caused; when the AGV dolly needs to put the material in appointed goods position, if there is the material on this appointed goods position, also can cause the maloperation of AGV dolly, cause the damage of material even. Therefore, how to reduce the misoperation of the AGV when the AGV gets and puts the materials is very important.

Disclosure of Invention

The embodiment of the invention discloses a goods position detection method based on an AGV and the AGV, which can reduce misoperation of the AGV when the AGV picks and places materials.

The embodiment of the invention discloses a goods position detection method based on an AGV trolley, which comprises the following steps:

the AGV trolley detects whether the material taking/placing operation needs to be executed or not;

when the fact that the material taking/placing operation needs to be executed is detected, the AGV trolley judges whether a goods position matched with the material taking/placing operation meets a material taking/placing condition or not through a sensor which is pre-installed on the AGV trolley body;

and when the goods space matched with the material taking/placing operation meets the material taking/placing condition, the AGV trolley executes the material taking/placing operation.

As an optional implementation manner, in the first aspect of the embodiment of the present invention, the detecting whether the AGV cart needs to perform a material fetching/placing operation includes:

the AGV trolley judges whether the traveling state is converted into a static state or not;

and when the traveling state is converted into the static state, the AGV trolley determines that the material taking/placing operation needs to be executed.

As an optional implementation manner, in the first aspect of the embodiment of the present invention, before the AGV cart determines that the material fetching/placing operation needs to be performed after determining that the traveling state is converted into the stationary state, the method further includes:

the AGV trolley positions the position information of the AGV trolley in the current space, judges whether the AGV trolley reaches an appointed position or not according to the position information, and executes the determination to execute material taking/placing operation when judging that the AGV trolley reaches the appointed position; or,

and the AGV trolley judges whether the AGV trolley has a fault or not, and when the AGV trolley judges that the fault does not exist, the AGV trolley executes the determination that the material taking/placing operation needs to be executed.

As an optional implementation manner, in the first aspect of the embodiment of the present invention, the determining, by the AGV, whether the cargo space matched with the material taking/placing operation satisfies the taking/placing condition by using a sensor pre-installed on a body of the AGV includes:

when the material taking/placing operation is a material taking operation, the AGV trolley determines a first target goods position and information of materials to be taken, wherein the first target goods position is matched with the material taking operation, and the first target goods position is one goods position in a goods shelf; detecting whether a target material matched with the information of the material to be taken exists on the first target cargo space through a sensor pre-installed on the AGV trolley body, and if the target material matched with the information of the material to be taken exists, determining that the first target cargo space matched with the material taking operation meets the material taking condition;

when the material taking/placing operation is a material placing operation, the AGV trolley determines a second target goods position, a first idle goods position and information of the materials to be placed, wherein the second target goods position is one of the goods positions on the AGV trolley, and the first idle goods position is one of the goods positions on a goods shelf; detecting whether a material to be placed matched with the information of the material to be placed exists on the second target cargo space or not through a sensor pre-installed on the AGV trolley body; if the materials to be placed are matched with the information of the materials to be placed, detecting whether the materials are placed on the first idle goods space or not through the sensor; and if the first idle goods space is not provided with the materials, determining that the second target goods space matched with the material placing operation and the first idle goods space meet the material placing condition.

As an optional implementation manner, in the first aspect of the embodiment of the present invention, after detecting that the target material matching the information of the material to be taken exists on the first target cargo space, the method further includes:

the AGV trolley detects whether a second idle goods position exists on the AGV trolley through the sensor;

if the second idle goods position exists, the AGV trolley executes the first target goods position which is matched with the material taking operation and is determined to meet the material taking condition;

if the second idle goods space does not exist, the AGV trolley determines that the AGV trolley does not meet the material taking condition, and sends prompt information to service equipment, wherein the prompt information is used for prompting that the AGV trolley cannot execute the material taking operation;

and after the AGV trolley performs the material taking/placing operation, the method further comprises the following steps:

the AGV dolly sends to service equipment get/put the completion information of material operation, so that service equipment updates the goods position information of goods shelves, the goods position information of AGV dolly and with get/put the position information of material operation assorted material.

In a second aspect, an AGV cart according to an embodiment of the present invention includes:

the detection unit is used for detecting whether material taking/placing operation needs to be executed or not;

the judgment unit is used for judging whether the goods position matched with the material taking/placing operation meets the taking/placing condition or not through a sensor pre-installed on the AGV trolley body when the result detected by the detection unit is positive;

and the execution unit is used for executing the material taking/placing operation when the judgment result of the judgment unit is yes.

As an optional implementation manner, in a second aspect of the embodiment of the present invention, the detection unit includes:

the first judgment subunit is used for judging whether the AGV trolley is converted from a walking state to a static state or not;

and the first determining subunit is used for determining that the material taking/placing operation needs to be executed when the result judged by the first judging subunit is yes.

As an optional implementation manner, in the second aspect of the embodiment of the present invention, the detection unit further includes:

the positioning subunit is used for positioning the position information of the AGV in the current space after the first judgment subunit judges that the AGV is positioned in the current space;

the second judgment subunit is used for judging whether the AGV trolley reaches the specified position according to the position information;

the first determining subunit is further configured to determine that a material taking/placing operation needs to be performed when the result determined by the first determining subunit is yes and the result determined by the second determining subunit is yes; or,

the third judging subunit is used for judging whether the AGV trolley has a fault or not after the first judging subunit judges that the result is yes;

the first determining subunit is further configured to determine that a material taking/placing operation needs to be performed when the result determined by the first determining subunit is yes and the result determined by the third determining subunit is no.

As an optional implementation manner, in the second aspect of the embodiment of the present invention, the determining unit includes:

the second determining subunit is used for determining a first target goods space and information of the materials to be taken, which are matched with the material taking operation, when the material taking/placing operation is the material taking operation, wherein the first target goods space is one of goods spaces in a goods shelf;

the first detection subunit is used for detecting whether a target material matched with the information of the material to be fetched exists in the first target cargo space through a sensor pre-installed on the AGV trolley body;

the third determining subunit is used for determining that the first target cargo space matched with the material taking operation meets a material taking condition when the first detecting subunit detects that the target material matched with the material information to be taken exists;

the second determining subunit is further configured to determine, when the material taking/placing operation is a material placing operation, a second target slot, a first idle slot and information of the material to be placed, where the second target slot is one of slots on the AGV, and the first idle slot is one of slots on a rack, and the information of the material to be placed is matched with the material placing operation;

the first detection subunit is also used for detecting whether the second target cargo space has the material to be placed, which is matched with the information of the material to be placed, through a sensor pre-installed on the AGV trolley body;

the first detection subunit is further used for detecting whether materials are placed on the first idle goods space or not through the sensor when the first detection subunit detects that the materials to be placed are matched with the information of the materials to be placed;

the second determining subunit is further configured to determine that the second target cargo space and the first idle cargo space matched with the material placing operation meet a material placing condition when the first detecting subunit detects that no material is placed on the first idle cargo space.

As an optional implementation manner, in the second aspect of the embodiment of the present invention, the determining unit further includes:

the second detection subunit is used for detecting whether a second idle goods position exists on the AGV trolley through the sensor after the first detection subunit detects that the target material matched with the information of the material to be fetched exists;

the third determining subunit is specifically configured to determine that the first target cargo space matched with the material taking operation meets a material taking condition when the first detecting subunit detects that the target material matched with the material information to be taken exists and the second detecting subunit detects that the target material matched with the material information to be taken exists;

the sending subunit is used for determining that the AGV does not meet the material taking condition when the result detected by the second detecting subunit is negative, and sending prompt information to service equipment, wherein the prompt information is used for prompting that the AGV cannot execute the material taking operation;

and, the AGV further comprises:

and the sending unit is used for sending the completion information of the material taking/placing operation to the service equipment after the execution unit executes the material taking/placing operation so that the service equipment updates the goods position information of the goods shelf, the goods position information of the AGV trolley and the position information of the materials matched with the material taking/placing operation.

The third aspect of the present invention discloses another AGV cart, including:

a memory storing executable program code;

a processor coupled with the memory;

the processor calls the executable program code stored in the memory to perform part or all of the steps of any one of the methods of the first aspect.

A fourth aspect of the present embodiments discloses a computer-readable storage medium storing a program code, where the program code includes instructions for performing part or all of the steps of any one of the methods of the first aspect.

A fifth aspect of embodiments of the present invention discloses a computer program product, which, when run on a computer, causes the computer to perform some or all of the steps of any one of the methods of the first aspect.

A sixth aspect of the present embodiment discloses an application publishing platform, where the application publishing platform is configured to publish a computer program product, where the computer program product is configured to, when running on a computer, cause the computer to perform part or all of the steps of any one of the methods in the first aspect.

Compared with the prior art, the embodiment of the invention has the following beneficial effects:

in the embodiment of the invention, when the AGV trolley detects that the material taking/placing operation needs to be executed, the AGV trolley can detect whether the goods position matched with the material taking/placing operation meets the material taking/placing condition or not through the sensor arranged on the trolley body, and if so, the AGV trolley executes the material taking/placing operation. Therefore, by implementing the embodiment of the invention, the operation of taking/placing the materials can be executed under the condition that the current condition of the goods position detected by the sensor on the AGV trolley meets the taking/placing condition, so that the misoperation of the AGV trolley in the process of taking and placing the materials is reduced.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without creative efforts.

FIG. 1 is a schematic flow chart illustrating a AGV trolley-based cargo space detection method according to an embodiment of the present invention;

FIG. 2 is a schematic flow chart illustrating another AGV cart based cargo space detection method according to an embodiment of the present invention;

FIG. 3 is a schematic flow chart illustrating another AGV cart based cargo space detection method according to an embodiment of the present invention;

FIG. 4 is a schematic diagram of an AGV according to an embodiment of the present invention;

FIG. 5 is a schematic diagram of another AGV configuration according to the present disclosure;

FIG. 6 is a schematic diagram of another AGV configuration according to the present disclosure;

FIG. 7 is a schematic diagram of another AGV configuration according to the present disclosure;

FIG. 8 is a schematic diagram of another AGV configuration according to the present disclosure.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It is to be noted that the terms "comprises" and "comprising" and any variations thereof in the embodiments and drawings of the present invention are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or apparatus.

The embodiment of the invention discloses a goods position detection method based on an AGV and the AGV, which can reduce misoperation of the AGV when the AGV picks and places materials. The following are detailed below.

Example one

Referring to fig. 1, fig. 1 is a schematic flow chart illustrating a method for detecting a cargo space based on an AGV according to an embodiment of the present invention. As shown in FIG. 1, the AGV dolly based cargo space detection method may include the following steps:

101. the AGV trolley detects whether the material taking/placing operation needs to be executed or not, and if so, the step 102 is executed; if not, the flow is ended.

In the embodiment of the invention, the AGV trolley can be a transport vehicle which is provided with an electromagnetic or optical automatic guiding device, can travel according to a specified guiding path, and has safety protection and various moving and loading functions. The travel path and the operations to be performed are typically controlled by a computer or an electromagnetic path (electromagnetic path-following system) is used to route the AGV cart.

In the embodiment of the invention, the material taking/placing operation can be material taking operation or material placing operation; the material taking operation can be that the AGV car takes out the material to be taken out from the specified goods position on the goods shelf, or the AGV car takes out the material to be taken out from the specified goods position on the storage goods shelf of the AGV car; the material placing operation can be that the AGV car places the material to be placed taken out of the specified goods position of the storage goods shelf of the AGV car on the specified goods position of the target goods shelf, or the AGV car places the material to be placed taken out of the specified goods position of the target goods shelf on the specified goods position of the storage goods shelf of the AGV car.

102. Judging whether a goods position matched with the material taking/placing operation meets the taking/placing condition or not by the AGV through a sensor pre-installed on the AGV trolley body, and if so, executing a step 103; if not, the flow is ended.

In the embodiment of the present invention, the sensor may be an ultrasonic sensor, an optical sensor, or the like, which is not limited in the embodiment of the present invention. The sensors can be only arranged on the forks of the AGV trolley, can also be arranged on the forks of the AGV trolley and also can be arranged on the cargo space of the storage rack of the AGV trolley, the sensors arranged at different positions correspond to different functions, when the sensors are only arranged on the forks of the AGV trolley, the AGV trolley can detect whether target materials exist on the cargo space of the cargo rack or not by using the sensors arranged on the forks, and can also detect whether the target materials exist on the cargo space of the AGV trolley or not by using the sensors arranged on the forks; when the sensor is not only installed on the fork of the AGV but also on the goods position of the storage goods shelf of the AGV, the AGV can utilize the sensor installed on the fork to detect whether the target material exists on the goods position of the goods shelf or not, and utilizes the sensor installed on the goods position of the storage goods shelf of the AGV to detect whether the target material exists on the goods position of the storage goods shelf of the AGV.

For example, the sensor can be ultrasonic sensor, and the AGV dolly can make ultrasonic sensor to the higher mechanical ripples of appointed goods position direction transmission vibration frequency to whether detect and receive the back wave of this appointed goods position direction, if receive the back wave of this appointed goods position direction, can think that there is the material in this appointed goods position of goods position direction on, through ultrasonic sensor can be accurate detect out and place the material on the appointed goods position.

In the embodiment of the invention, the material taking operation corresponds to the material taking condition, and the material placing operation corresponds to the material placing condition. The material taking condition can be that a material to be taken is placed on a specified goods position of a goods shelf, or a material to be taken is placed on a specified goods position of a storage goods shelf of an AGV trolley; the material placing condition may be that the designated goods location of the rack is empty, or the designated goods location of the storage rack of the AGV is an idle goods location, which is not limited in the embodiment of the present invention.

In the embodiment of the present invention, it should be noted that, when the determination result in step 102 is negative, the AGV may further perform the following operations:

the AGV trolley feeds back an operation cancellation prompting message to service equipment or a control system for controlling the AGV trolley, wherein the operation cancellation prompting message is used for indicating that the AGV trolley cancels the execution of the material taking/placing operation;

and the AGV trolley detects whether an operation cancellation confirmation message returned by the service equipment or the control system aiming at the operation cancellation prompt message is received, and when the operation cancellation confirmation message is detected, the current state of the AGV trolley is adjusted from a busy state to an idle state. Therefore, the AGV trolley can conveniently receive other material taking/placing tasks in time, and the utilization rate of AGV trolley resources is further improved.

103. The AGV performs a material pick/place operation.

In the embodiment of the invention, the AGV trolley can execute the material taking operation, namely the AGV trolley takes out the material to be taken out matched with the material taking operation from the specified goods position of the goods shelf matched with the material taking operation, or takes out the material to be taken out matched with the material taking operation from the specified goods position of the storage goods shelf of the AGV trolley; the material placing operation can be that the AGV trolley places the material to be placed taken out from the specified goods position of the goods shelf or the specified goods position of the storage goods shelf of the AGV trolley on the specified goods position of the target goods shelf matched with the material placing operation.

For example, the AGV dolly can be used in express delivery warehouse, and the electromagnetic rail can be laid in express delivery warehouse to make the AGV dolly travel on the electromagnetic rail, can also realize the management and control to the AGV dolly through the express delivery warehouse management system who runs on service equipment. The service equipment can send an express taking/placing instruction to the AGV through the electromagnetic track, and after the AGV receives the express taking/placing instruction, the AGV reaches an appointed goods shelf matched with the express taking/placing instruction through the guidance of the electromagnetic track; the method comprises the steps that an AGV trolley determines that express taking/placing operation needs to be executed, and a sensor arranged on a fork of the AGV trolley and/or on a specified goods position of a storage shelf of the AGV trolley detects whether the goods position of the shelf matched with the express taking/placing operation meets an express taking/placing condition or not and/or whether the specified goods position of the storage shelf of the AGV trolley matched with the material taking/placing operation meets an express taking/placing condition or not; if the goods location matched with the material taking/placing operation meets the taking/placing condition, the AGV trolley can take out the express delivery of the goods location matched with the express taking operation and place the express delivery on the specified goods location of the storage shelf of the AGV trolley, and the AGV trolley can also take out the express delivery of the specified goods location of the storage shelf of the AGV trolley matched with the express placing operation and place the express delivery on the specified goods location of the storage shelf matched with the express placing operation; the AGV trolley can also send the information of the completion of the express taking/putting operation to the service equipment through the electromagnetic track after the express taking/putting operation is completed. Utilize express delivery warehouse management system, electromagnetism track and AGV dolly to realize the automatic access of express delivery in the express delivery warehouse, improved express delivery warehouse's logistics efficiency, also reduced express delivery warehouse access express delivery's error rate simultaneously.

In the method described in fig. 1, the operation of taking/placing the material can be executed under the condition that the current situation of the cargo space detected by the sensor on the AGV trolley meets the taking/placing condition, so that the misoperation of the AGV trolley in taking and placing the material is reduced. In addition, by implementing the method described in fig. 1, the ultrasonic sensor can accurately detect the material placed on the designated cargo space. In addition, the method described in fig. 1 can facilitate the AGV to receive other tasks of fetching/placing materials in time, thereby facilitating the improvement of the utilization rate of AGV resources. In addition, by implementing the method described in fig. 1, the logistics efficiency of the express delivery warehouse is improved, and meanwhile, the error rate of the express delivery warehouse for storing and taking the express delivery is reduced.

Example two

Referring to fig. 2, fig. 2 is a schematic flowchart illustrating another AGV-based cargo space detection method according to an embodiment of the present invention. As shown in FIG. 2, the AGV dolly based cargo space detection method may include the following steps:

201. judging whether the AGV trolley is converted from a walking state to a static state or not, and if so, executing the step 202 to the step 203; if not, the flow is ended.

In the embodiment of the present invention, it should be noted that, when the determination result in step 201 is yes, step 204 may also be directly triggered to be executed.

In the embodiment of the present invention, if the AGV is switched from the traveling state to the stationary state, it is considered that the AGV may perform some operation in the stationary state, such as a material fetching operation or a material placing operation, and the steps 202 to 203 are performed.

As an alternative embodiment, the way that the AGV determines whether the AGV car is converted from the walking state to the static state may include the following steps:

the method comprises the steps that an AGV trolley detects whether a driving signal aiming at a driving wheel (or a steering wheel) of the AGV trolley is generated;

if it is detected that a drive signal for the drive wheels (or steering wheels) of the AGV car is not generated, the AGV car confirms that the AGV car is converted from a traveling state to a stationary state.

The implementation of the method can determine whether the AGV trolley is converted into the static state from the walking state or not by means of whether the driving signals for the driving wheels are generated or not, and if the driving signals are not generated, the AGV trolley is determined to be converted into the static state, so that the accuracy of AGV trolley detection is improved.

In the embodiment of the invention, by implementing the step 201, the fact that the AGV needs to perform the material taking/placing operation can be confirmed through the transition from the walking state to the static state of the AGV, so that the accuracy of determining that the AGV needs to perform the material taking/placing operation is improved.

202. The AGV trolley positions the position information of the AGV trolley in the current space.

In the embodiment of the invention, the movement of the AGV can be controlled by a computer, and the AGV can also be guided to move by an electromagnetic track stuck to the ground; when the movement of the AGV trolley is controlled by a computer, sensors can be arranged around the current space where the AGV trolley is located, and the position of the AGV trolley in the current space can be determined by the sensors arranged around the current space; when the AGV trolley moves under the guidance of the electromagnetic track, the AGV trolley can acquire the current position of the electromagnetic track where the AGV trolley is located, and the information of the current position is determined as the position information of the AGV trolley.

203. Judging whether the AGV reaches the designated position according to the position information, and if so, executing the step 204 to the step 205; if not, the flow is ended.

In the embodiment of the invention, the material taking operation or the material placing operation can correspond to a certain goods space, the material taking operation can correspond to a target goods space in which a material to be taken is placed, the material placing operation can correspond to a target goods space in which a material to be placed is required to be placed, and the specified position can be determined according to the position of the obtained target goods space corresponding to the material taking/placing operation.

204. The AGV determines that a material pick/place operation needs to be performed.

In the embodiment of the invention, by implementing the steps 202 to 204, the operation of fetching/placing the material can be determined to be executed under the condition that the AGV trolley judges that the current position of the AGV trolley is at the designated position, so that the accuracy of the AGV trolley executing the operation of fetching/placing the material is ensured.

205. Judging whether a goods position matched with the material taking/placing operation meets the taking/placing condition or not by the AGV through a sensor pre-installed on the AGV trolley body, and if so, executing a step 206; if not, the flow is ended.

206. The AGV performs a material pick/place operation.

In an alternative embodiment, when the determination in step 201 is yes, the AGV carts may also perform the following operations before performing step 202 or step 204:

the AGV determines whether there is a fault, and when it is determined that there is no fault, it triggers execution of step 202 or step 204. Therefore, the mode of detecting whether the AGV has faults when the AGV stops can be used for eliminating the condition that the AGV stops due to faults, and the reliability and accuracy of the AGV for executing subsequent operation can be further improved.

In another alternative embodiment, after completing step 206, the AGV may also perform the following operations:

the method comprises the steps that the AGV determines the current battery power of the AGV, and judges whether the current battery power can support the return stroke of the AGV or execute the residual material taking/placing operation;

when the fact that the current battery power cannot support the return process of the AGV or cannot support and execute the residual material taking/placing operation is judged, the AGV feeds a delay prompt message back to service equipment or a control system for controlling the AGV, and the delay prompt message is used for indicating that the AGV cannot complete a task on time and needs to be charged;

the method comprises the steps that an AGV trolley detects whether a delay confirmation message returned by service equipment or a control system aiming at a delay prompt message is received or not, when the delay confirmation message is detected, the AGV trolley acquires a charging area closest to the current position of the AGV trolley, and moves to the charging area according to a planned moving path to execute self-charging operation;

when the real-time battery power of the AGV trolley can support the AGV trolley to perform subsequent operations (such as return or residual material taking/placing operations), the AGV trolley performs the subsequent operations.

Therefore, the optional embodiment can be implemented to automatically charge when the fact that the electric quantity of the AGV during getting off is insufficient is detected, and therefore the subsequent working efficiency of the AGV trolley is guaranteed.

In this alternative embodiment, and as a further alternative, the AGV may also perform the following operations:

when the fact that the current battery power can support the AGV car to return or can support and execute the rest material taking/placing operation is judged, the AGV car detects whether an obstacle exists in the moving direction of the AGV car through an obstacle sensor;

when the obstacle is detected to exist, the AGV trolley acquires the motion state of the obstacle and automatically plans the traveling route of the AGV trolley according to the motion state, so that the aim of automatically avoiding the obstacle can be fulfilled; or,

when the obstacle is detected to exist, the AGV trolley acquires the motion state of the obstacle, sends a route planning request comprising the motion state of the obstacle to the service equipment or the control system to trigger the service equipment or the control system to plan new path information for the AGV trolley again according to the motion state of the obstacle, and when the new path information fed back by the service equipment or the control system is received, the AGV trolley continues to move according to the new path information, so that the AGV trolley can timely avoid the obstacle by requesting the new path when encountering the obstacle, and further accidents are reduced.

In the method described in fig. 2, the operation of taking/placing the material can be executed under the condition that the current situation of the cargo space detected by the sensor on the AGV car meets the taking/placing condition, so that the misoperation of the AGV car in taking and placing the material is reduced. In addition, the method described in FIG. 2 can improve the AGV detection accuracy. In addition, the accuracy of the AGV determination of the need to perform the material pick/place operation may be improved by implementing the method described in FIG. 2. In addition, the method described in fig. 2 can ensure the accuracy of the AGV to perform the material taking/placing operation. In addition, by implementing the method described in fig. 2, whether the AGV has a fault or not can be detected when the AGV stops, the situation that the AGV stops due to the fault can be eliminated, and the reliability and accuracy of the AGV performing subsequent operations can be improved. In addition, the implementation of the method described in FIG. 2 can ensure the subsequent operating efficiency of the AGV. In addition, the method described in fig. 2 can be implemented to reduce the occurrence of accidents.

EXAMPLE III

Referring to fig. 3, fig. 3 is a schematic flowchart illustrating another AGV-based cargo space detection method according to an embodiment of the present invention. As shown in FIG. 3, the AGV dolly based cargo space detection method may include the following steps:

301. the AGV trolley detects whether the material taking/placing operation needs to be executed or not, and if so, the step 302 is executed; if not, the flow is ended.

302. The AGV trolley judges whether the material taking/placing operation is the material taking operation or not, and if so, the steps 303 to 304 are executed; if not, step 308-step 309 are executed.

In the embodiment of the invention, after the AGV trolley confirms that the material taking/putting operation needs to be executed, the AGV trolley only needs to execute the steps related to the material taking/putting operation, so when the AGV trolley judges that the material taking/putting operation is the material taking operation, the steps 303 to 304 are executed; if the AGV determines that the material taking/placing operation is not the material taking operation, it is determined that the AGV needs to perform the steps related to the material placing operation, and therefore steps 308 to 309 are performed.

303. The AGV trolley determines a first target goods position matched with the material taking operation and information of materials to be taken, wherein the first target goods position is one of goods positions in a goods shelf.

In the embodiment of the invention, the material taking operation needs the AGV to take out the specified material from one goods space on the goods shelf, the information of the material to be taken can be the information of the specified material in the material taking operation, and the first target goods space can be the goods space on the goods shelf where the material to be taken is placed.

304. The AGV trolley detects whether a first target goods position has a target material matched with the information of the material to be taken or not through a sensor pre-installed on the AGV trolley body, and if so, the step 305 is executed; if not, go to step 307.

In the embodiment of the invention, the sensor pre-installed on the AGV trolley body is used for detecting whether the target material exists on the first target cargo space, so that the sensor can be installed on the fork of the AGV trolley, and the AGV trolley can flexibly utilize the sensor to detect whether the target material exists on the cargo space.

As an optional implementation manner, the method for the AGV to detect whether the target material matched with the information of the material to be taken exists on the first target cargo space by using the sensor pre-installed on the AGV body may include the following steps:

the AGV detects whether materials exist on a first target cargo space through a sensor pre-installed on an AGV trolley body;

if the materials exist, the AGV scans the two-dimensional codes on the materials through a camera pre-installed on the AGV trolley body, and reads the information of the materials through the two-dimensional codes obtained through scanning;

the AGV trolley judges whether the information of the material is the same as the information of the material to be taken;

and if the information of the target material is the same as that of the material to be taken, the AGV trolley confirms that the material on the first target goods position is the target material.

By the implementation of the implementation mode, the information of the materials can be accurately acquired through the two-dimension codes on the materials, and the accuracy of acquiring the materials by the AGV trolley is guaranteed.

305. The AGV trolley detects whether a second idle goods position exists on the AGV trolley through a sensor, and if so, the step 306 is executed; if not, go to step 307.

In the embodiment of the invention, after the AGV trolley takes out the material to be taken out, the material to be taken out needs to be placed on the specified goods position of the storage shelf of the AGV trolley, and then the material to be taken out is conveyed, so that the AGV trolley needs to detect whether a second free goods position exists on the AGV trolley, so that the AGV trolley can place the material to be taken out.

306. And the AGV trolley determines that the first target cargo space matched with the material taking operation meets the material taking condition, and executes the steps 312 to 313.

307. The AGV dolly confirms that the AGV dolly does not satisfy and gets the material condition to send tip information to service equipment, tip information is used for the unable thing material operation of getting of execution of suggestion AGV dolly.

In the embodiment of the present invention, the prompt information may include that no material to be taken is placed on the target position of the shelf, that the information of the material to be taken is placed on the target position of the shelf and is different from the information of the material to be taken corresponding to the material taking operation, or that no empty position exists in the AGV.

In the embodiment of the present invention, by implementing the steps 305 to 307, whether there is an empty cargo space on the AGV to place the material to be fetched can be detected, and if there is no empty cargo space, the empty cargo space can be reported to the service device in time, so as to avoid the incorrect operation of the AGV caused by no empty cargo space.

308. The AGV trolley determines a second target goods position, a first idle goods position and information of the materials to be placed, wherein the second target goods position is one of the goods positions on the AGV trolley, and the first idle goods position is one of the goods positions on a goods shelf.

In the embodiment of the invention, the material placing operation needs the AGV to take out the materials to be placed from the specified goods positions of the storage shelves on the AGV, and the materials to be placed are placed on the goods positions of the specified shelves, the information of the materials to be placed can be the information of the materials specified in the material placing operation, the second target goods position can be the goods position on the AGV, where the materials to be placed are placed, and the first free goods position can be the goods position on the shelves, where the materials to be placed are needed.

309. The AGV detects whether the second target cargo space has the material to be placed, which is matched with the information of the material to be placed, through a sensor pre-installed on the AGV trolley body, and if so, the step 310 is executed; if not, the flow is ended.

310. The AGV trolley detects whether materials are placed on the first idle goods position through a sensor, and if so, the process is ended; if not, step 311 to step 313 are performed.

311. And the AGV trolley determines that a second target goods position and a first idle goods position which are matched with the material placing operation meet the material placing condition.

In the embodiment of the present invention, by implementing the steps 302 to 304 and the steps 308 to 311, the positions involved in the material taking/placing operation can be detected according to the differences of the material taking/placing operation, so as to more accurately confirm whether the position matched with the material taking/placing operation meets the material taking/placing conditions, and improve the accuracy of the AGV cart in performing the material taking/placing operation.

312. The AGV performs a material pick/place operation.

313. The AGV trolley sends the completion information of the material taking/putting operation to the service equipment, so that the service equipment updates the goods position information of the goods shelf, the goods position information of the AGV trolley and the position information of the materials matched with the material taking/putting operation.

In the embodiment of the invention, when the service equipment receives the completion information, the service equipment can determine that the goods shelf and goods information related to the material taking/placing operation needs to be updated according to the material taking/placing operation.

For example, if the AGV finishes the operation of fetching the object, the status of the goods shelf, the status of the AGV, and the status of the object to be fetched are all changed, the number of the goods shelf may be 005, the number of the goods shelf may be 01, and the number of the object to be fetched may be 022. After the service equipment receives the completion information of the article taking operation sent by the AGV, the service equipment can change the state of the 005 number goods position of the goods shelf related to the article taking operation from the state of placing 022 number articles to be taken to the idle state, also can change the state of the 01 number goods position of the AGV from the idle state to the state of placing 022 number articles to be taken, and also can change the state of the 022 number articles to be taken from the state of placing 005 number goods position to the state of placing 01 number goods position. If the AGV dolly finishes the material placing operation, the goods position state of the goods shelf related to the material placing operation, the goods position state of the AGV dolly and the state of the material to be placed are changed, the goods position number of the goods shelf can be 007, the goods position number of the AGV dolly can be 03, and the number of the material to be placed can be 048. After the service equipment receives the completion information of the material placing operation sent by the AGV trolley, the service equipment can change the status of the No. 007 goods space of the shelf related to the material placing operation from the idle state to the status of placing the No. 048 to-be-placed materials, also can change the status of the No. 03 goods space of the AGV trolley from the status of placing the No. 048 to the idle state, and also can change the status of the No. 048 to-be-placed materials from the status of placing the No. 03 goods space to the status of placing the No. 007. Through the timely update of the goods position of the goods shelf in the service equipment, the goods position of the AGV trolley and the state of the materials, the service equipment can distribute the tasks of the AGV trolley according to the updated goods position information and the material state in time, further, the route of executing the tasks of the AGV trolley can be optimized, and therefore the working efficiency of the AGV trolley is improved.

In the embodiment of the invention, the step 313 can be implemented to update the data in the service equipment in time, so that the service equipment can more accurately distribute tasks to each AGV, and misoperation of the AGV is reduced.

In the method described in fig. 3, the operation of taking/placing the material can be executed under the condition that the current situation of the cargo space detected by the sensor on the AGV car meets the taking/placing condition, so that the misoperation of the AGV car in taking and placing the material is reduced. In addition, the method described in fig. 3 can ensure the accuracy of the AGV to obtain the material. In addition, the method described in FIG. 3 may be implemented to avoid false operation of an AGV due to an empty cargo space. In addition, the method described in FIG. 3 may be implemented to improve the accuracy of the AGV's operation of retrieving/placing material. In addition, the implementation of the method described in fig. 3 facilitates the service device to distribute the tasks of the AGV according to the updated cargo space information and the material state in time, and further, the route of the AGV for executing the tasks can be optimized, thereby improving the working efficiency of the AGV. In addition, by implementing the method described in fig. 3, the data in the service device can be updated in time, so that the service device can more accurately allocate tasks to each AGV, and misoperation of the AGV is reduced.

Example four

Referring to fig. 4, fig. 4 is a schematic structural diagram of an AGV cart according to an embodiment of the present invention. As shown in FIG. 4, the AGV may include:

a detecting unit 401, configured to detect whether a material fetching/placing operation needs to be performed.

And the judging unit 402 is used for judging whether the cargo space matched with the material taking/placing operation meets the taking/placing condition or not through a sensor pre-installed on the AGV body when the result detected by the detecting unit 401 is yes.

An executing unit 403, configured to execute a material taking/placing operation when the result determined by the determining unit 402 is yes.

In the embodiment of the present invention, it should be noted that the executing unit 403 may be further configured to, when the determination result of the determining unit 402 is negative, control the service device or the control system of the AGV to feed back an operation cancellation prompting message, where the operation cancellation prompting message is used to indicate that the AGV is to cancel execution of the material taking/placing operation;

and detecting whether an operation cancellation confirmation message returned by the service equipment or the control system aiming at the operation cancellation prompt message is received or not, and adjusting the current state of the AGV from a busy state to an idle state when the operation cancellation confirmation message is detected. Therefore, the AGV trolley can conveniently receive other material taking/placing tasks in time, and the utilization rate of AGV trolley resources is further improved.

In another alternative embodiment, the execution unit 403 may be further configured to:

determining the current battery power of the AGV, and judging whether the current battery power can support the return stroke of the AGV or execute the residual material taking/placing operation;

when the current battery power is judged to be incapable of supporting the return stroke of the AGV or supporting and executing the residual material taking/placing operation, feeding a delay prompt message back to a service device or a control system for controlling the AGV, wherein the delay prompt message is used for indicating that the AGV cannot complete a task on time and needs to be charged;

detecting whether a delay confirmation message returned by the service equipment or the control system aiming at the delay prompt message is received or not, when the delay confirmation message is detected, acquiring a charging area closest to the current position of the AGV trolley, and moving to the charging area according to a planned moving path to execute self-charging operation;

when the real-time battery power of the AGV trolley can support the AGV trolley to execute subsequent operation (such as return or residual material taking/placing operation), the execution of the subsequent operation is triggered.

In this alternative embodiment, further optionally, the execution unit 403 may be further configured to:

when the current battery power is judged to be capable of supporting the AGV trolley to return or supporting and executing the rest material taking/placing operation, whether an obstacle exists in the moving direction of the AGV trolley is detected through an obstacle sensor;

when the obstacle is detected to exist, the motion state of the obstacle is obtained, and the moving route of the AGV trolley is automatically planned according to the motion state, so that the aim of automatically avoiding the obstacle can be fulfilled; or,

when the obstacle is detected to exist, the motion state of the obstacle is obtained, a route planning request comprising the motion state of the obstacle is sent to a service device or a control system, so that the service device or the control system is triggered to plan new path information for the AGV again according to the motion state of the obstacle, and when the new path information fed back by the service device or the control system is received, the AGV continues to move according to the new path information, so that the AGV can avoid the obstacle in time by requesting a new path when encountering the obstacle, and further accidents are reduced.

Therefore, the AGV trolley described in the figure 4 can execute the operation of taking/placing the materials under the condition that the current condition of the goods position detected by the sensor on the AGV trolley meets the taking/placing condition, so that the misoperation of the AGV trolley during taking and placing the materials is reduced. In addition, the AGV trolley described by the embodiment of FIG. 4 can accurately detect that the materials are placed on the designated goods space through the ultrasonic sensor. In addition, the AGV dolly described in the embodiment of FIG. 4 can be used for receiving other material taking/placing tasks in time, thereby being beneficial to improving the utilization rate of AGV dolly resources. In addition, the AGV described in FIG. 4 can ensure the subsequent work efficiency of the AGV. In addition, the AGV implementation described in FIG. 4 can reduce the occurrence of accidents.

EXAMPLE five

Referring to FIG. 5, FIG. 5 is a schematic diagram of another AGV according to the present invention. The AGV of FIG. 5 is optimized from the AGV of FIG. 4. Compared to the AGV shown in FIG. 4, the AGV determination unit 402 shown in FIG. 5 may include:

the second determining subunit 4021 is configured to determine a first target cargo space and information about a material to be taken, where the first target cargo space is one of the cargo spaces in the rack, and the information is matched with the material taking operation when the material taking/placing operation is the material taking operation.

The first detecting subunit 4022 is configured to detect, through a sensor pre-installed on the AGV trolley body, whether a target material matching the information of the material to be taken determined by the second determining subunit 4021 exists in the first target cargo space determined by the second determining subunit 4021.

As an optional implementation manner, the way that the first detecting subunit 4022 detects whether the target material matched with the information of the material to be fetched exists in the first target cargo space through the sensor pre-installed on the AGV trolley body is specifically as follows:

detecting whether materials exist in a first target cargo space or not through a sensor pre-installed on an AGV body;

if the materials exist, scanning the two-dimensional codes on the materials through a camera pre-installed on the AGV trolley body, and reading the information of the materials through the two-dimensional codes obtained through scanning;

judging whether the information of the material is the same as the information of the material to be taken;

and if the information of the material to be taken is the same as that of the material to be taken, determining that the material on the first target goods space is the target material.

The third determining subunit 4023 is configured to determine that the first target cargo space matched with the material fetching operation meets the material fetching condition when the first detecting subunit 4022 detects that the target material matched with the material to be fetched exists.

The second determining subunit 4021 is further configured to determine, when the material taking/placing operation is a material placing operation, a second target slot, a first idle slot and information of the material to be placed, where the second target slot is one of slots on the AGV, and the first idle slot is one of slots in the rack, and the first idle slot is matched with the material placing operation.

The first detecting subunit 4022 is further configured to detect, through a sensor pre-installed on the AGV cart body, whether the to-be-released material matching the information of the to-be-released material determined by the second determining subunit 4021 exists on the second target cargo space determined by the second determining subunit 4021.

The first detecting subunit 4022 is further configured to detect, through the sensor, whether the material is placed in the first idle cargo space determined by the second determining subunit 4021, when the first detecting subunit 4022 detects that the material to be placed matching the information of the material to be placed exists.

The second determining subunit 4021 is further configured to determine that the second target cargo space and the first idle cargo space matched with the material placing operation meet the material placing condition when the first detecting subunit 4022 detects that no material is placed on the first idle cargo space.

In the embodiment of the invention, the goods positions related to the material taking/placing operation can be respectively detected according to the difference of the material taking/placing operation, whether the goods positions matched with the material taking/placing operation meet the material taking/placing conditions or not can be more accurately confirmed, and the accuracy of the AGV trolley for executing the material taking/placing operation is improved.

As an optional implementation manner, the determining unit 402 may further include:

the second detection subunit 4024 is configured to detect whether a second idle goods space exists on the AGV through the sensor after the first detection subunit 4022 detects that the target material matching the information of the material to be fetched exists;

the third determining subunit 4023 is specifically configured to determine that the first target cargo space matched with the material taking operation meets the material taking condition when the first detecting subunit 4022 detects that a target material matched with the material information to be taken exists and the second detecting subunit 4024 detects that a result is yes;

the sending subunit 4025 is configured to determine that the AGV does not meet the material fetching condition when the result detected by the second detecting subunit 4024 is negative, and send a prompt message to the service device, where the prompt message is used to prompt the AGV that the material fetching operation cannot be executed.

The implementation mode can detect whether the empty goods position exists on the AGV car so as to place the materials to be taken, if the empty goods position does not exist, the empty goods position can be reported to the service equipment in time, and misoperation of the AGV car caused by the fact that the empty goods position does not exist is avoided.

As an alternative embodiment, the AGV may further include:

a sending unit 404, configured to send completion information of the material taking/placing operation to the service device after the execution unit 403 performs the material taking/placing operation, so that the service device updates the slot information of the rack, the slot information of the AGV cart, and the position information of the material matching with the material taking/placing operation.

By the implementation of the implementation mode, the data in the service equipment can be updated timely, so that the service equipment can more accurately distribute tasks to each AGV, and misoperation of the AGV is reduced.

Therefore, the AGV car described in the figure 5 can execute the operation of taking/placing the materials under the condition that the current condition of the goods position detected by the sensor on the AGV car meets the taking/placing condition, so that the misoperation of the AGV car in the process of taking and placing the materials is reduced. In addition, the AGV car described in FIG. 5 can ensure the accuracy of the AGV car obtaining the material. In addition, the AGV car described in FIG. 5 can improve the accuracy of the AGV car in performing the loading/unloading operation. In addition, the AGV described in FIG. 5 may be implemented to avoid incorrect operation of the AGV due to an empty cargo space. In addition, the AGV implementation described in FIG. 5 may reduce the potential for false operation of the AGV.

EXAMPLE six

Referring to FIG. 6, FIG. 6 is a schematic diagram of another AGV according to the present invention. The AGV of FIG. 6 is optimized from the AGV of FIG. 5. In contrast to the AGV car shown in FIG. 5, the detection unit 401 of the AGV car shown in FIG. 6 may include:

the first judgment sub-unit 4011 is configured to judge whether the AGV cart is converted from the traveling state to the stationary state.

As an optional implementation manner, the manner of determining whether the AGV cart is converted from the traveling state to the stationary state by the first determining sub-unit 4011 is specifically as follows:

detecting whether a drive signal for a drive wheel (or steering wheel) of the AGV cart is also generated;

and confirming that the AGV trolley is converted into the static state from the walking state if the fact that the driving signal aiming at the driving wheel (or steering wheel) of the AGV trolley is not generated is detected.

A first determining sub-unit 4012, configured to determine that the material taking/placing operation needs to be performed when the result of the judgment by the first judging sub-unit 4011 is yes.

In the embodiment of the invention, the fact that the AGV needs to execute the material taking/placing operation can be confirmed through the transition from the walking state to the static state of the AGV, so that the accuracy of determining that the AGV needs to execute the material taking/placing operation is improved.

As an optional implementation, the detection unit 401 may further include:

the positioning sub-unit 4013 is configured to, after the first judging sub-unit 4011 judges that the result is yes, position information of the AGV in the current space;

the second judgment sub-unit 4014 is configured to judge whether the AGV cart reaches the designated position according to the position information positioned by the positioning sub-unit 4013;

the first determining sub-unit 4012 is further configured to determine that the material taking/placing operation needs to be performed when the result determined by the first determining sub-unit 4011 is yes and the result determined by the second determining sub-unit 4014 is yes.

By the implementation of the implementation mode, the operation of fetching/placing the materials is determined to be executed under the condition that the AGV trolley judges that the current position of the AGV trolley is at the designated position, and the accuracy of the operation of fetching/placing the materials by the AGV trolley is ensured.

Therefore, the AGV car described in the embodiment of FIG. 6 can execute the operation of taking/placing the materials under the condition that the current situation of the goods position detected by the sensor on the AGV car meets the taking/placing condition, so that the misoperation of the AGV car in the process of taking and placing the materials is reduced. In addition, with the AGV described in fig. 6, it can be determined whether the AGV is in a stationary state from a traveling state by determining whether a driving signal for the driving wheel is generated, and if not, it is determined that the AGV is in a stationary state, so that the accuracy of AGV detection is improved. In addition, with the AGV described in fig. 6, it can be confirmed that the AGV needs to perform the material taking/placing operation by the transition from the traveling state to the stationary state of the AGV, so that the accuracy of determining that the AGV needs to perform the material taking/placing operation is improved. In addition, with the AGV described in fig. 6, it can be determined that the material fetching/placing operation needs to be executed under the condition that the AGV determines that the current position of the AGV is at the designated position, thereby ensuring the accuracy of the AGV executing the material fetching/placing operation.

EXAMPLE seven

Referring to FIG. 7, FIG. 7 is a schematic diagram of another AGV according to the present invention. The AGV of FIG. 7 is optimized from the AGV of FIG. 5. In contrast to the AGV car shown in FIG. 5, the detection unit 401 of the AGV car shown in FIG. 7 may include:

As an optional implementation, the detection unit 401 may further include:

a third judging sub-unit 4015, configured to, after the result determined by the first judging sub-unit 4011 is yes, judge whether the AGV has a fault;

the first determining sub-unit 4012 is further configured to determine that the material fetching/placing operation needs to be performed when the result determined by the first determining sub-unit 4011 is yes and the result determined by the third determining sub-unit 4015 is no.

By the implementation of the implementation mode, whether the AGV has a fault or not can be detected when the AGV stops, the condition that the AGV stops due to the fault can be eliminated, and the reliability and the accuracy of the AGV executing subsequent operation can be further improved.

Therefore, the AGV trolley described in the figure 7 can execute the operation of taking/placing the materials under the condition that the current condition of the goods position detected by the sensor on the AGV trolley meets the taking/placing condition, so that the misoperation of the AGV trolley during taking and placing the materials is reduced. In addition, with the AGV described in fig. 7, it can be confirmed that the AGV needs to perform the material taking/placing operation by the transition from the traveling state to the stationary state of the AGV, so that the accuracy of determining that the AGV needs to perform the material taking/placing operation is improved. In addition, the AGV described in fig. 7 can detect whether there is a fault in the AGV when the AGV stops, so that the situation that the AGV stops due to the fault can be eliminated, and the reliability and accuracy of the AGV performing subsequent operations can be improved.

Example eight

Referring to FIG. 8, FIG. 8 is a schematic view of another AGV according to the present invention. As shown in FIG. 8, the AGV may include:

a memory 801 in which executable program code is stored;

a processor 802 coupled with the memory 801;

wherein the processor 802 calls the executable program code stored in the memory 801 to perform some or all of the steps of the methods in the above method embodiments.

The embodiment of the invention also discloses a computer readable storage medium, wherein the computer readable storage medium stores program codes, wherein the program codes comprise instructions for executing part or all of the steps of the method in the above method embodiments.

Embodiments of the present invention also disclose a computer program product, wherein, when the computer program product is run on a computer, the computer is caused to execute part or all of the steps of the method as in the above method embodiments.

The embodiment of the present invention also discloses an application publishing platform, wherein the application publishing platform is used for publishing a computer program product, and when the computer program product runs on a computer, the computer is caused to execute part or all of the steps of the method in the above method embodiments.

It should be understood that the embodiments described in this specification are exemplary of alternative embodiments and that the acts and modules illustrated are not required to practice the invention. It should also be understood by those skilled in the art that the sequence numbers of the above-mentioned processes do not imply any necessary sequence of execution, and the execution sequence of each process should be determined by its function and its inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship.

In the embodiments provided herein, it should be understood that "B corresponding to A" means that B is associated with A from which B can be determined. It should also be understood, however, that determining B from a does not mean determining B from a alone, but may also be determined from a and/or other information.

It will be understood by those skilled in the art that all or part of the steps in the methods of the embodiments described above may be implemented by instructions associated with a program, which may be stored in a computer-readable storage medium, where the storage medium includes Read-Only Memory (ROM), Random Access Memory (RAM), Programmable Read-Only Memory (PROM), Erasable Programmable Read-Only Memory (EPROM), One-time Programmable Read-Only Memory (OTPROM), Electrically Erasable Programmable Read-Only Memory (EEPROM), compact disc-Read-Only Memory (CD-ROM), or other Memory, magnetic disk, magnetic tape, or magnetic tape, Or any other medium which can be used to carry or store data and which can be read by a computer.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

The AGV trolley and the cargo space detection method based on the AGV trolley disclosed by the embodiment of the invention are described in detail, a specific example is applied in the text to explain the principle and the implementation mode of the invention, and the description of the embodiment is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.

Claims

1. A cargo space detection method based on AGV comprises the following steps:

when the goods position matched with the material taking/placing operation meets the material taking/placing condition, the AGV trolley executes the material taking/placing operation;

the AGV dolly passes through the sensor judgement of installing in advance on the AGV dolly automobile body with whether get/put material operation assorted goods position and satisfy and get/put the condition, include:

2. The method of claim 1, wherein said AGV cart detects whether a pick/place operation is required, comprising:

3. The method of claim 2, wherein, prior to determining that a pick/place operation is required by the AGV after determining the transition from the travel state to the stationary state, the method further comprises:

4. The method of claim 1, wherein after detecting that the target material matching the material to be taken information is present on the first target cargo space, the method further comprises:

5. An AGV cart, comprising:

the execution unit is used for executing the material taking/placing operation when the judgment result of the judgment unit is yes;

the judging unit includes:

6. The AGV of claim 5, wherein said detection unit comprises:

7. The AGV of claim 6, wherein said detection unit further comprises:

8. The AGV of claim 5, wherein said determining unit further comprises:

and, the AGV further comprises: