CN115167480A

CN115167480A - Control method and device for jacking type AGV

Info

Publication number: CN115167480A
Application number: CN202211029250.9A
Authority: CN
Inventors: 丁声雷; 周磊; 李文威; 黄伟溪; 邓世凯
Original assignee: Foshan Zhiyouren Technology Co ltd; South China Robotics Innovation Research Institute
Current assignee: Foshan Zhiyouren Technology Co ltd; South China Robotics Innovation Research Institute
Priority date: 2022-08-25
Filing date: 2022-08-25
Publication date: 2022-10-11

Abstract

The invention discloses a control method and a device of a jacking AGV, wherein the method comprises the following steps: acquiring working environment information, and determining the working mode of the lifting AGV according to the working environment information; the working modes comprise a guide working mode, an automatic navigation working mode and an integrated working mode; planning a working path according to the working mode, determining the working path, carrying along the working path, and finishing carrying work; through setting for operating mode, can realize changing the nimble activation of transport route, promote handling efficiency.

Description

Control method and device for jacking type AGV

Technical Field

The invention mainly relates to the technical field of transport tools, in particular to a control method and a control device for a jacking AGV.

Background

The AGV is equipped with automatic guiding devices such as electromagnetism or laser, does not need manual driving, can travel along prescribed guide path and reach appointed place, accomplishes a series of job tasks, is one of the main equipment that realizes material transport automation in the mill, is particularly useful for in the logistics transportation process of trades such as storage industry, manufacturing industry, medicine.

The conventional lift-type AGV is designed based on two guidance methods, i.e., electromagnetic guidance and laser guidance, in which the lift-type AGV travels on a predetermined track. However, since the electromagnetic guidance route of the lift-type AGV is laid once, secondary operation must be performed when the route needs to be modified subsequently, and the track route needs to be changed by changing the position of the reflector during laser guidance, the two route changing modes are inflexible, so that the conventional lift-type AGV is limited by a preset track and cannot flexibly change the carrying route according to carrying requirements, thereby affecting the carrying efficiency of the lift-type AGV; there is a need for a lift-off AGV that improves transport efficiency.

Disclosure of Invention

The invention aims to overcome the defects of the prior art, and provides a control method and a control device of a lift-type AGV.

The invention provides a control method of a jacking type AGV, which comprises the following steps:

acquiring working environment information, and determining the working mode of the lifting AGV according to the working environment information;

the working modes comprise a guide working mode, an automatic navigation working mode and an integrated working mode;

planning a working path according to the working mode and determining the working path;

in the guiding work mode, the lifting AGV carries out transport work according to a preset track set work path;

in the automatic navigation working mode, the lifting AGV carries out carrying work through an autonomous planning working path;

under the integrated working mode, the lifting AGV combines the guiding working mode and the automatic navigation working mode to determine a working path for carrying work;

and carrying along the working path to finish carrying work.

Further, acquiring the working environment information, and determining the working mode of the lift-type AGV according to the working environment information includes:

acquiring working environment information, preprocessing the working environment information, and determining position information of a carrying working route and an obstacle;

and comparing the position information of the carrying working route and the position information of the obstacle with preset path information, and determining the working mode of the jacking AGV.

Further, the determining the position information of the obstacle includes: and identifying the obstacles through the laser radar module and the ultrasonic sensor module.

Further, the comparing the position information of the carrying working path and the obstacle with the preset path information includes:

the paths are matched, no obstacles exist on the paths, and a guide working mode is adopted;

or the paths are not matched, and an automatic navigation working mode is adopted;

or the paths are matched but obstacles exist on the paths, and an integrated working mode is adopted.

Further, the pilot operation mode includes: an electromagnetic guidance working mode and a laser guidance working mode;

in the electromagnetic guidance working mode, the lifting AGV carries out carrying work according to a pre-electromagnetic track;

and under the laser guidance working mode, the lifting AGV carries out carrying work according to a preset track in a guidance area.

Further, the lift-type AGV carries out the handling work through the autonomous planning work path, including:

performing punctuation processing on the working environment layout to obtain the working environment layout subjected to punctuation processing;

and planning a path of the working environment layout after punctuation processing.

Further, the point marking processing on the working environment layout includes marking a working starting point and a working end point on the working environment layout, or marking a plurality of path points in the working environment layout.

Further, the punctuation processing comprises punctuation processing in the work environment layout based on a punctuation function, or receiving punctuation information set by an operator based on a communication module.

Further, the path planning for the working environment layout after punctuation processing includes:

in the guide working mode, the preset track is a working path;

and under the automatic navigation mode, acquiring the shortest path between any two adjacent path points based on a Dijkstra algorithm, and forming the working path through a plurality of the shortest paths.

And under the integrated working mode, combining a preset track and a Dijkstra algorithm to obtain the shortest path between any two adjacent path points, and forming the working path through a plurality of shortest paths and the preset track.

The present invention also provides a control device for a lift-type AGV, the control device comprising:

the working mode setting module: acquiring working environment information, and determining a working mode of the lifting AGV according to the working environment information, wherein the working mode comprises a guiding working mode, an automatic navigation working mode and an integrated working mode;

a path planning module: planning a working path according to the working mode and determining the working path;

in the guiding working mode, the lifting AGV carries out carrying work according to a preset track;

in the automatic navigation working mode, the jacking AGV carries out carrying work through an autonomous planning working path;

the working module comprises: and carrying along the working path to finish carrying work.

The invention provides a control method and a control device for a lifting AGV, which can realize flexibility in changing a conveying route and improve conveying efficiency by setting a working mode.

Drawings

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

FIG. 1 is a schematic diagram of a raised AGV configuration in accordance with an embodiment of the present invention;

FIG. 2 is a rear view of a lift AGV in an embodiment of the present invention;

FIG. 3 is a schematic view of a base plate in an embodiment of the invention;

FIG. 4 is a bottom view of a base plate in an embodiment of the present invention;

FIG. 5 is a cross-sectional view of a jacking mechanism in an embodiment of the present invention;

FIG. 6 is a bottom view of a jacking mechanism in an embodiment of the present invention;

FIG. 7 is a schematic view of a drive arrangement in an embodiment of the invention;

FIG. 8 is a flow chart of a method of controlling a lift AGV according to an embodiment of the present invention;

FIG. 9 is a flow chart of a method for work path planning in an embodiment of the present invention;

FIG. 10 is a workflow of a lift AGV in an embodiment of the present invention;

FIG. 11 is a schematic diagram of a control for a lift AGV according to an embodiment of the present invention.

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.

Referring to fig. 1-4, fig. 1 is a schematic diagram showing a raised AGV according to an embodiment of the present invention, fig. 2 is a rear view of a raised AGV according to an embodiment of the present invention, fig. 3 is a schematic diagram showing a floor according to an embodiment of the present invention, and fig. 4 is a bottom view showing the floor according to an embodiment of the present invention.

Specifically, jacking formula AGV characterized in that includes: automobile body 1, climbing mechanism 143, lidar 144, magnetic navigation sensor 142, two-dimensional code reader 141 and industrial computer 145, wherein: the vehicle body 1 comprises a bottom plate 14, an upper shell 11, a middle shell 12 and a lower shell 13, wherein the middle shell 12 is positioned between the upper shell 11 and the lower shell 13, an accommodating groove is formed among the upper shell 11, the middle shell 12 and the lower shell 13, and the bottom plate 14 is a main bearing structure and is used for loading the weight and the working load of the whole vehicle; the laser radar 144 is arranged on the bottom plate 14 and is positioned in the accommodating groove; the bottom plate 14 is provided with a first cavity and a second cavity, the magnetic navigation sensor 142 is arranged in the first cavity, the two-dimensional code reader 141 is arranged in the second cavity, and the magnetic navigation sensor 142 and the two-dimensional code reader 141 are used for reading a two-dimensional code near a magnetic track through the code reader after the lifting type AGV deviates the magnetic track, and correcting the travelling path of the lifting type AGV; the industrial personal computer 145 is arranged in the upper shell 11, is the core of the control system, and is internally provided with an android operating system and related software; the jacking mechanism 143 is fixedly connected to the bottom plate 14.

It should be noted that the laser radar 144 includes a laser radar support plate 1441 and a laser radar 1442, the laser radar 1442 is arranged on the laser radar support plate 1441, the laser radar 1442 is connected with and communicates with the industrial personal computer 145, and sends running environment information acquired in real time to the industrial personal computer 145, the industrial personal computer 145 adjusts a running route of the lift-type AGV based on an SLAM algorithm according to the running environment information, so that the purpose of actively avoiding obstacles is achieved, and the laser radar support plate 1441 is arranged on the bottom plate 14 and used for achieving the purposes of supporting and fixing the laser radar 1442.

It should be noted that the SLAM algorithm is an algorithm for realizing positioning, mapping, and path planning, and is used for solving the problem of determining a motion trajectory of the SLAM algorithm itself by observing an environment when an unknown environment moves, and simultaneously constructing an environment map.

Specifically, the upper shell 11 has a fifth cavity for accommodating the jacking support plate 1431, so as to achieve the purpose of lifting the jacking support plate 1431, four corners of the upper shell are provided with light bars 112 for achieving the purpose of displaying the operation state, and the upper shell 11 is further provided with a display screen 111 for achieving the purpose of human-computer interaction.

Specifically, the middle shell 12 is provided with a WiFi antenna 121 and a 5G antenna 122 for communicating with a remote terminal and receiving remote control from the remote terminal. 5G antenna 122 and wiFi antenna 121 can strengthen industrial computer 145 receives the ability of 5G signal and wiFi signal, the lift-type AGV can pass through wireless communication subassembly carries out wireless communication with operating personnel's mobile terminal, receives mobile terminal's instruction and based on the instruction moves.

It should be noted that WiFi is wireless network communication, wireless network communication can be established through the WiFi module, and information interaction can be performed between devices accessing the wireless network.

It should be noted that the fifth Generation Mobile Communication Technology (5 th Generation Mobile Communication Technology, abbreviated as 5G) is a new Generation broadband Mobile Communication Technology with the features of high speed, low latency and high reliability, and is a network infrastructure for implementing man-machine interconnection.

Specifically, be provided with a plurality of anticollision adhesive tape 131 on the circumference outer wall of inferior valve 13, anticollision adhesive tape 131 sets up on the four corners of inferior valve for when realizing that the adhesive tape bumps the object, stop the purpose that the lift-type AGV moved immediately.

More, the lower case 13 is provided with a charging electrode 133, and the charging electrode 133 is located on one end side wall of the lower case 13.

Further, the lower case 13 is provided with a first ultrasonic sensor array 132 and a second ultrasonic sensor array 134, the first ultrasonic sensor array 132 is provided on one end side wall of the lower case 13, the second ultrasonic sensor array 134 is provided on the other end side wall of the lower case 13, the first ultrasonic sensor array 132 and the charging electrode 133 are located on the same side,

the first ultrasonic sensor array 132 includes a plurality of first ultrasonic sensors 1321, and the second ultrasonic sensor array 134 includes a plurality of second ultrasonic sensors 1341. The ultrasonic sensor is connected with the industrial personal computer 145 for communication, the real-time acquired running environment information is sent to the industrial personal computer 145, and the industrial personal computer 145 adjusts the advancing route of the jacking type AGV according to the running environment information based on the SLAM algorithm, so that the purpose of actively avoiding obstacles is achieved.

Further, referring to fig. 5-6, fig. 5 shows a cross-sectional view of a jacking mechanism in an embodiment of the present invention, and fig. 6 shows a bottom view of the jacking mechanism in an embodiment of the present invention.

Specifically, the jacking mechanism 143 includes a nut 1436, a lead screw 1434, a jacking supporting plate 1431, a jacking motor 1432, a connecting rod 1433 and a jacking mechanism supporting plate 1435, the jacking motor 1432 is fixedly connected to the bottom plate 14, the nut 1436 and the lead screw 1434 are disposed on the jacking motor 1432, the connecting rod 1433 is disposed on an outer wall of the nut 1433, the jacking supporting plate 1431 is disposed on the connecting rod 1433, an inner wall of the nut 1436 is provided with an internal thread structure, a surface of the lead screw 1434 is provided with an external thread structure, and the nut 1436 and the lead screw 1434 are in threaded fit with the external thread structure based on the internal thread structure.

It should be further noted that the jacking motor includes a jacking motor driver 14323, a first gear 14321, a second gear 1437 and a connecting plate 14322, the first gear 14321 is disposed on an output end of the jacking motor driver 14323, the second gear 1437 is engaged with the first gear 14321, the second gear 1437 is fixedly disposed on an outer wall of the lead screw 1434, when the jacking motor driver 14323 drives the first gear 14321, the second gear 1437 is driven to rotate, so that the lead screw 1434 is driven to rotate, the lead screw 1434 drives the nut 1436 to move up and down, so that the connecting rod 1433 drives the jacking plate 1431 to move up and down, so that the jacking mechanism 143 achieves the purpose of lifting the jacking plate 1431.

The jacking motor driver 14323 and the first gear 14321 are arranged on the connecting plate 14322, and the connecting plate 14322 is connected to the jacking mechanism supporting plate 1435, so that the jacking mechanism 143 is fixed on the bottom plate 14 in order to support the jacking mechanism 143.

Specifically, be provided with power supply unit 148 on bottom plate 14, power supply unit includes lithium cell 1481 and battery compartment 1482, lithium cell 1481 sets up in battery compartment 1482, battery compartment 1482 sets up on bottom plate 14 for provide the power for lift-type AGV.

Specifically, all be provided with universal wheel subassembly 146 on the four corners of bottom plate 14, the universal wheel subassembly includes universal wheel fixing base 1461 and universal wheel 1462, universal wheel fixing base 1461 is semi-enclosed cylinder, and the opening sets up downwards on the base 14, universal wheel 1462 sets up in the universal wheel fixing base 1461, universal wheel 1461 here is eccentric universal wheel, realizes that the formula of jacking AGV turns to nimble purpose.

Specifically, the base plate 14 is further provided with a driving device 147, the driving device 147 is divided into a first driving device 1471 and a second driving device 1472, the first driving device 1471 is arranged on one side of the base plate 14, and the second driving device 1471 is arranged on the other side of the base plate 14.

It should be noted that fig. 7 shows a schematic diagram of a driving device in an embodiment of the present invention, and the driving device 147 includes a driving wheel assembly 14711, a speed reducer 14712, and a driving wheel motor 14713, wherein the speed reducer is connected to the driving wheel assembly 14711 at one end and the driving wheel motor 14713 at the other end. The driving device can realize the steering and turning around of the jacking AGV through differential driving, and can also realize the purposes of advancing, retreating and zero-radius steering, so that the jacking AGV acts more flexibly.

Specifically, the drive wheel assembly 14711 includes a suspension assembly 147111 and a drive wheel 147112, the drive wheel 147112 being disposed within the suspension assembly 147111.

It should be noted that suspension assembly 147111 includes suspension mounting plate 1471111, first suspension support plate 1471112, second suspension support plate 1471113, and slide 1471114, wherein: said hanger mounting plate 1471111 having one end attached to said first hanger support plate 1471112 and another end attached to said second hanger support plate 1471113, said first hanger support plate 1471112 and second hanger support plate 1471113 being disposed on said floor 14 where the support plates secure hanger assembly 147111 to said floor 14; the slide 1471114 is divided into a first slide 14711141 and a second slide 14711142; a driving wheel 147112 is arranged in the suspension mounting plate 1471111, a first slide seat 14711141 is arranged on one side of the driving wheel 147112, a second slide seat 14711142 is arranged on the other side of the driving wheel 147112, the first slide seat 14711141 and the second slide seat 14711142 are located under the suspension mounting plate 1471111, and the first slide seat 14711141 and the second slide seat 14711142 are connected based on a slide seat connecting plate 14711143. The suspension assembly herein is spring slide style, which increases the ground self-adaptive capability of a lift AGV.

It should be noted that the sliding seat 1471114 includes guide rod 14711144 and spring rod 14711145, the sliding seat 1471114 is inserted with guide rod 14711144 and spring rod 14711145, and the suspension mounting plate 1471111 is provided with a third cavity for accommodating the guide rod 14711144 and a fourth cavity for accommodating the spring rod 14711145, so as to achieve the shock absorbing effect of the lift AGV; the top of the guide rod 14711144 is fixed in the third cavity and used for fixing the position of the sliding seat 1471114 and achieving the purpose of limiting.

Further, fig. 8 is a flowchart illustrating a method for controlling a lift-type AGV according to an embodiment of the present invention, where the method includes:

s11: acquiring working environment information, and determining the working mode of the lifting AGV according to the working environment information, wherein the working mode comprises a guiding working mode, an automatic navigation working mode and an integrated working mode.

Specifically, the guidance operation mode includes: electromagnetic guidance mode and laser guidance mode under the electromagnetic guidance mode, the lift-type AGV carries out transport work according to electromagnetism track in advance under the laser guidance mode, the lift-type AGV carries out transport work according to predetermined track in the guide region.

Specifically, acquire operational environment information, it is right operational environment information preprocesses, confirms the positional information who carries work route and barrier, will carry the positional information of work route and barrier and the contrast of predetermined path information, confirms jacking formula AGV's mode of operation.

Further, the lift-type AGV may receive preset path information sent by an operator based on the communication module. The operating personnel can set for corresponding preset path information on the mobile terminal, the jacking AGV can be connected with the mobile terminal of the operating personnel through the WiFi communication module and the 5G communication module, receives the preset path information sent out on the mobile terminal, and therefore the preset path information is obtained.

Further, the preset path information includes an electromagnetic track and an optical guide track laid on the work site.

Furthermore, the ultrasonic sensor sends out ultrasonic waves to the periphery, and the ultrasonic waves feed back to the ultrasonic sensor when contacting with the obstacle, so that the position of the obstacle can be identified.

Furthermore, the laser radar emits laser rays to the periphery, and barrier information is acquired by receiving the laser rays emitted from the surface of the object.

Furthermore, through ultrasonic sensor with the laser radar cooperation can improve the barrier ability is kept away of jacking formula AGV.

Further, ultrasonic sensor can pass through the POE interface with the industrial computer is connected, ultrasonic sensor also can pass through the USB interface with the industrial computer is connected, the industrial computer can receive ultrasonic sensor's sensing information, do simultaneously the ultrasonic sensor power supply.

Further, POE (Power Over Ethernet) refers to a technology that can provide dc Power for devices while transmitting data signals without changing the existing Ethernet wiring infrastructure.

Further, a Universal Serial Bus (USB) is a standard data communication method.

Specifically, the industrial personal computer determines a conveying starting point and an end point of the lift-type AGV and obstacle information between the conveying starting point and the end point according to the sensing information.

Further, the industrial personal computer compares the carrying starting point and the carrying end point and the obstacle information with preset path information, compares the preset path information with the sensing information, and adopts a guiding working mode if the paths are matched and no obstacle exists on the paths; if the paths are not matched, an automatic navigation working mode is adopted; if the paths are matched but obstacles exist on the paths, an integrated working mode is adopted.

Further, the path matching means that the electromagnetic track or the optical guide track in the preset path information correspondingly passes through the carrying start point and the carrying end point.

S12: and planning a working path according to the working mode and determining the working path.

Specifically, under the guidance working mode, the lift-type AGV carries out the transport work according to a preset track set working path.

Further, the industrial personal computer determines that the lifting AGV completes the conveying work along the electromagnetic track or the optical guide track in the preset path information and through the electromagnetic track or the optical guide track of the conveying starting point and the conveying end point in the guide work mode.

Specifically, under the automatic navigation working mode, the jacking type AGV carries out carrying work through an autonomous planning working path.

Further, the industrial personal computer receives the punctuation data information set by the operator, autonomously plans the shortest working path based on the Dijkstra algorithm, and carries out carrying work.

And under the integrated working mode, the lifting AGV combines the guiding working mode and the automatic navigation working mode to determine a working path for carrying.

Furthermore, the jacking AGV firstly travels for a certain distance according to the preset path information determined by the industrial personal computer until encountering an obstacle, autonomously plans a shortest path bypassing the obstacle after encountering the obstacle, and then travels to the preset track again to continue to complete the transportation work.

Specifically, fig. 9 shows a flowchart of a working path planning method in an embodiment of the present invention, where the transporting operation of the lift-type AGV by automatically planning the working path includes:

s121: performing punctuation processing on the working environment layout to obtain the working environment layout after punctuation processing;

specifically, the industrial personal computer can carry out punctuation work in the working environment layout through a punctuation function,

furthermore, the industrial personal computer can receive punctuation data information set by an operator based on the communication module. An operator can perform manual punctuation operation on the working environment layout on the mobile terminal, including setting a working starting point and a working end point and setting a plurality of path points, which are used for the jacking-type AGV to autonomously plan the shortest working path.

S122: and planning a path of the working environment layout after punctuation processing.

Specifically, in the guidance working mode, the preset track is a working path; and under the automatic navigation mode, acquiring the shortest path between any two adjacent path points based on a Dijkstra algorithm, and forming the working path through a plurality of the shortest paths. And under the integrated working mode, combining a preset track and a Dijkstra algorithm to obtain the shortest path between any two adjacent path points, and forming the working path through a plurality of shortest paths and the preset track.

It should be noted that the Dijkstra algorithm, also known as a dikstra algorithm, is a shortest path algorithm from one vertex to the rest of vertices, and solves the shortest path problem in a directed graph.

Specifically, fig. 10 shows a work flow diagram of the lift-type AGV in the embodiment of the present invention, where the laser radar module and the ultrasonic sensor module are used to identify an obstacle, perform automatic obstacle avoidance navigation, and complete the spraying operation.

Specifically, the work flow of the lift-type AGV is as follows: starting up and starting up the system, generating a working environment layout by setting parameters including the posture, the moving speed, the driving mileage and the like of the lifting AGV through mapping, carrying out carrying operation through positioning navigation after a carrying task is determined, determining whether the carrying task is completed, entering a standby state if the carrying task is completed, waiting for the next carrying task, or closing the system and entering a shutdown state. And if the carrying task is not finished, determining a working path through positioning navigation to finish the carrying work.

An embodiment of the present invention further provides a control device for a lift-type AGV, and fig. 11 shows a schematic diagram of a control device for a lift-type AGV according to an embodiment of the present invention, where the control device includes:

the working mode setting module 10: acquiring working environment information, and determining a working mode of the lifting AGV according to the working environment information, wherein the working mode comprises a guiding working mode, an automatic navigation working mode and an integrated working mode;

the path planning module 20: planning a working path according to the working mode and determining the working path;

the working module 30: and carrying along the working path to finish carrying work.

The embodiment of the invention provides a control method and a control device for a jacking AGV, which can realize flexibility of changing a carrying route and improve carrying efficiency by setting a working mode.

Those skilled in the art will appreciate that all or part of the steps in the methods of the above embodiments may be implemented by associated hardware instructed by a program, which may be stored in a computer-readable storage medium, and the storage medium may include: a Read Only Memory (ROM), a Random Access Memory (RAM), a magnetic or optical disk, or the like.

In addition, the above detailed description is provided for the control method and apparatus of a lift-type AGV according to the embodiment of the present invention, and the principle and the embodiment of the present invention are described herein by using specific examples, and the description of the above embodiments is only used to help understanding the method and the core idea of the present 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 method for controlling a lift-type AGV, comprising:

and carrying along the working path to finish carrying work.

2. The method of claim 1, wherein said obtaining the operating environment information and determining the operating mode of the lift-type AGV based on the operating environment information comprises:

acquiring working environment information, preprocessing the working environment information, and determining position information of a carrying working route and a barrier;

3. The method of controlling a lift AGV according to claim 2, wherein said determining obstacle position information includes: and identifying the obstacles through the laser radar module and the ultrasonic sensor module.

4. The method of controlling a lift AGV according to claim 2, wherein said comparing the position information of the transport work path and the obstacle with the preset path information includes:

5. A method for controlling a lift AGV according to claim 1, wherein said guidance mode of operation includes: an electromagnetic guidance mode of operation and a laser guidance mode of operation;

6. The method of controlling a lift AGV according to claim 1, wherein said lift AGV performs a transport job by an autonomous planned job path, comprising:

7. A method for controlling a lift AGV according to claim 6 wherein said punctuating a work environment layout includes marking a work start point and a work end point on said work environment layout or marking a number of waypoints on said work environment layout.

8. The method of controlling a lift AGV according to claim 7, wherein said punctuation processing includes punctuation processing in said work environment layout based on a punctuation function or receiving operator-set punctuation information based on a communication module.

9. The method of controlling a lift AGV of claim 8 wherein said path planning of the punctuated work environment layout comprises:

in the guiding working mode, the preset track is a working path;

and under the automatic navigation mode, acquiring the shortest path between any two adjacent path points based on a Dijkstra algorithm, and forming the working path through a plurality of shortest paths.

And under the integrated working mode, combining a preset track and obtaining the shortest path between any two adjacent path points based on a Dijkstra algorithm, and forming the working path through a plurality of the shortest paths and the preset track.

10. A control for a lift AGV, the control comprising:

in the guiding work mode, the lifting AGV carries out carrying work according to a preset track;

a working module: and carrying along the working path to finish carrying work.