CN117055482A - AGV trolley of unmanned intelligent warehouse and material carrying method thereof - Google Patents
AGV trolley of unmanned intelligent warehouse and material carrying method thereof Download PDFInfo
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- 230000007246 mechanism Effects 0.000 claims abstract description 29
- 239000013077 target material Substances 0.000 claims abstract description 27
- 238000012546 transfer Methods 0.000 claims abstract description 10
- 230000001276 controlling effect Effects 0.000 claims abstract description 9
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- 238000012937 correction Methods 0.000 claims description 28
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- 238000004891 communication Methods 0.000 description 2
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- 238000007726 management method Methods 0.000 description 2
- HBBGRARXTFLTSG-UHFFFAOYSA-N Lithium ion Chemical compound [Li+] HBBGRARXTFLTSG-UHFFFAOYSA-N 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
- 239000002253 acid Substances 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- OJIJEKBXJYRIBZ-UHFFFAOYSA-N cadmium nickel Chemical compound [Ni].[Cd] OJIJEKBXJYRIBZ-UHFFFAOYSA-N 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM]
- G05B19/4189—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM] characterised by the transport system
- G05B19/41895—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM] characterised by the transport system using automatic guided vehicles [AGV]
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/31—From computer integrated manufacturing till monitoring
- G05B2219/31002—Computer controlled agv conveys workpieces between buffer and cell
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Abstract
The invention provides an AGV trolley of an unmanned intelligent warehouse and a material handling method thereof. The material handling method specifically comprises the following steps: receiving a material handling instruction of a user, determining a target material position, a current position and a running direction of an AGV, and planning a material loading running path of the AGV; the traveling direction of the AGV trolley is regulated in real time through laser navigation, the position of the AGV trolley reaching a target material is controlled, and the material is loaded through a transfer mechanism; and determining a material unloading point, determining a material unloading traveling path, adjusting the traveling direction of the AGV in real time through laser navigation, controlling the AGV to reach the material unloading point, and unloading the material through a transfer mechanism. The invention ensures that the running of the AGV trolley is not limited by the guide path any more, and can adapt to more material handling scenes and demands.
Description
Technical Field
The invention relates to the technical field of intelligent warehouse material management, in particular to an AGV trolley of an unmanned intelligent warehouse and a material handling method thereof.
Background
AGV (Automatic Guided Vehicle) is an automatic guided vehicle, also called an unmanned carrier, an automatic vehicle and a carrying robot. The transport vehicle is equipped with an electromagnetic or optical automatic guiding device, a radar laser device and the like, can travel along a specified guiding path, and has safety protection and various transfer functions. The automatic traveling and material carrying function of the AGV trolley can well adapt to the material management requirements of the unmanned intelligent warehouse, and the automatic traveling and material carrying function of the AGV trolley gradually becomes one of main equipment for carrying materials in the unmanned intelligent warehouse. However, most of the existing AGV trolleys can only travel according to a specified guide path, and in order to avoid traveling collision of the AGV trolleys, the guide paths of all the AGV trolleys are set to be mutually independent areas, but the programmable areas in the unmanned intelligent warehouse are limited, so that the number of the AGV trolleys which can be arranged in the unmanned intelligent warehouse is greatly limited, and a large amount of material handling work is difficult to meet.
Disclosure of Invention
The invention aims to overcome the defects in the prior art, and provides an AGV trolley of an unmanned intelligent warehouse and a material conveying method thereof, wherein a specific material loading traveling path and a specific material unloading traveling path are determined through a target material position, a material unloading point, a position where the AGV trolley is located and a traveling direction, and the traveling direction of the AGV trolley can be adjusted in real time in the traveling process, so that the target material position and the material unloading point are reached, the material conveying is realized, the problem that the existing AGV trolley can only travel according to a specified guide path and cannot meet the mass material conveying work in the unmanned intelligent warehouse is solved, the traveling process of the AGV trolley is more intelligent, the traveling of the AGV trolley is not limited by the guide path, and more material conveying scenes and requirements can be met.
The invention aims at realizing the following technical scheme:
a material handling method of an AGV trolley of an unmanned intelligent warehouse comprises the following steps,
the AGV trolley receives a material handling instruction of a user, and determines a target material position based on the material handling instruction;
determining the position and the running direction of the current AGV trolley, and planning a material loading running path of the AGV trolley according to the target material position and the running direction of the current AGV trolley;
according to the material loading traveling path, the traveling direction of the AGV trolley is regulated in real time through laser navigation, the AGV trolley is controlled to reach the target material position, and the material is loaded through a transfer mechanism;
after the AGV trolley loads materials, a material unloading point is determined, a material unloading running path is determined according to the target material position and the material unloading point, the running direction of the AGV trolley is adjusted in real time through laser navigation according to the material unloading running path, the AGV trolley is controlled to reach the material unloading point, and the materials are unloaded through the transfer mechanism.
Further, the traveling direction of the AGV trolley is adjusted in real time through laser navigation according to the material loading traveling path, the AGV trolley is controlled to reach the target material position, the automatic guided vehicle traveling device comprises a laser scanner periodically acquiring the position reference point of the current AGV trolley according to all traveling virtual points of the AGV trolley in the traveling process of the material loading traveling path, each time the position reference point of the AGV trolley is acquired, the position reference point of the current AGV trolley is matched with all traveling virtual points, one traveling virtual point closest to the AGV trolley is determined according to the matching result, the traveling direction of the AGV trolley is adjusted according to the relative positions of the position reference point and the matched traveling virtual points, the AGV trolley is controlled to travel according to the material loading traveling path, each time the traveling direction of the AGV trolley is adjusted, laser correction signals are sent to other AGV trolley, and each laser correction signals comprise the corresponding position reference point position, the traveling virtual point position and AGV trolley information.
Further, according to the material unloading travel path reach the material unloading point through laser navigation control AGV dolly, include, set up all travel virtual points of AGV dolly in the course of traveling according to the material unloading travel path, and obtain the position reference point of current AGV dolly through the laser scanner periodicity on the AGV dolly, the position reference point of every AGV dolly is obtained, all match the position reference point of current AGV dolly and all travel virtual points, and confirm the current virtual point of traveling that is closest to the AGV dolly according to the matching result, adjust the direction of travel of AGV dolly according to the relative position of position reference point and the virtual point of traveling of matching, control AGV dolly is according to the material unloading travel path and travel direction adjustment of AGV dolly in the time of accomplishing, laser correction signal includes AGV dolly information and the position reference point position and the virtual point position of traveling that correspond when adjusting current dolly direction of travel.
Further, in the process that the AGV trolley reaches the material storage address through laser navigation control according to the material loading running path and reaches the material unloading point through laser navigation control according to the material unloading running path, the AGV trolley also receives laser correction signals of other running AGV trolleys in real time, and updates the material loading running path or the material unloading running path according to the laser correction signals of other running AGV trolleys.
Further, the AGV trolley also receives laser correction signals of other running AGVs in real time, and updates a material loading running path or a material unloading running path according to the laser correction signals of the other running AGVs, and the AGV trolley receives the laser correction signals of the other running AGVs in the current period, determines the running reference point positions and the running virtual point positions of all the other running AGVs in the current period, determines the running route of each running AGV trolley in the current period according to the corresponding running reference point positions and the running virtual point positions, predicts the collision probability of the current AGV trolley in the current period and the running virtual point position of the current AGV trolley in the current period according to the running route of each running AGV trolley in the current period and the adjusted running direction, predicts the collision probability of the current AGV trolley in each running period according to the running virtual point position of the current AGV trolley in the next period, and the running virtual point position of the current AGV trolley in the current period, and the running virtual point after adjustment, and the virtual point position after adjustment of the current AGV trolley in the current period are determined, and the running virtual point is reset according to the collision probability being greater than a preset threshold.
An AGV trolley of an unmanned intelligent warehouse comprises a mechanical module, a power module and a control module,
the mechanical module comprises an operating mechanism and a transplanting mechanism, wherein the operating mechanism is used for driving the AGV trolley and controlling the speed, the direction and the braking of the AGV trolley in the running process; the transplanting mechanism is used for carrying out loading and unloading treatment on the materials after the AGV trolley reaches the target material position and the material unloading point;
the power module is used for providing operation energy for the AGV trolley;
the control module is used for receiving the material handling instruction, planning a traveling path of the AGV according to the material handling instruction, and making a control instruction of the transplanting mechanism.
Further, the control module further comprises a guide unit, the guide unit comprises a laser scanner, the laser scanner emits laser in the running process of the AGV trolley, the laser signals reflected by the laser scanner are collected, and the position reference point of the current AGV trolley is determined according to the laser signals reflected by the laser signals.
Further, the automatic collision detection device also comprises a safety module, wherein the safety module comprises a collision sensing unit and an alarm unit, and the collision sensing unit is used for detecting the collision condition of the AGV trolley in real time; and the alarm unit is used for alarming when detecting that the AGV trolley collides.
The beneficial effects of the invention are as follows:
the automatic loading and unloading device has the advantages that a specific material loading running path and a specific material unloading running path can be determined according to the target material position, the material unloading point and the running direction of the AGV, the running path of the AGV is not fixed any more, a specific running path can be formulated according to material conveying requirements, more material conveying scenes and requirements can be adapted, idle areas in an unmanned intelligent warehouse can be applied to a greater extent, and accordingly more AGV can be guaranteed to be put into use, and the large-batch material conveying requirements of the unmanned intelligent warehouse can be met.
And in the process of controlling the AGV trolley to travel according to the formulated travel path, the travel path can be adjusted based on the travel conditions of other traveling AGV trolleys, so that collision conditions possibly existing when a plurality of AGV trolleys travel simultaneously can be avoided, and the safety of the AGV trolleys in carrying materials in an unmanned intelligent warehouse is further ensured.
Drawings
FIG. 1 is a schematic flow chart of the present invention.
Detailed Description
The invention is further described below with reference to the drawings and examples.
Examples:
an AGV trolley of an unmanned intelligent warehouse comprises a mechanical module, a power module and a control module,
the mechanical module comprises an operating mechanism and a transplanting mechanism, wherein the operating mechanism is used for driving the AGV trolley and controlling the speed, the direction and the braking of the AGV trolley in the running process; the transplanting mechanism is used for carrying out loading and unloading treatment on the materials after the AGV trolley reaches the target material position and the material unloading point;
the power module is used for providing operation energy for the AGV trolley;
the control module is used for receiving the material handling instruction, planning a traveling path of the AGV according to the material handling instruction, and making a control instruction of the transplanting mechanism.
The running mechanism comprises a vehicle body, wheels and a steering device, wherein the vehicle body of the AGV trolley mainly comprises a vehicle frame, a driving device, a steering mechanism and the like, belongs to the basic part of the AGV trolley and is the installation foundation of other modules. In addition, the frame of the AGV is typically a steel structure and requires some strength and rigidity. The driving device consists of a driving wheel, a speed reducer, a brake, a driving motor, a speed controller (speed regulator) and the like, is a servo-driven speed control system, can be controlled by a computer or manually, can drive the normal running of the AGV trolley, and has the capabilities of speed control, direction control and braking control. The steering device can be selected according to different running modes of the AGV, and common AGV steering mechanisms have the forms of a shaft steering type, a differential steering type, an all-wheel steering type and the like. Through the steering mechanism, the AGV can realize forward, backward or longitudinal, transverse, oblique and rotary omnibearing motion.
The transfer mechanism comprises a roller, a traction rod and other mechanism devices, and can realize loading, unloading and carrying of materials.
The power module is generally a storage battery and a charge-discharge control device thereof, the battery is an industrial battery with 24V or 48V, and the lead-acid storage battery, the cadmium-nickel storage battery, the nickel-zinc storage battery, the nickel-hydrogen storage battery, the lithium ion storage battery and the like can be selected, and the most critical factors except for power, capacity (Ah number), power-weight ratio, volume and the like are the length of charging time and the easiness of maintenance. Quick charging is heavy current charging, generally adopts professional charging equipment, and in order to ensure charging safety, a charging limiting device and a safety protection device are additionally arranged on an AGV trolley. The charging limiting device is arranged on the AGV trolley in various modes, generally comprises a ground electric shoe type, a wall hanging type and the like, and needs to be combined with the running condition of the AGV trolley, and the safety protection device of the AGV trolley is configured by comprehensively considering factors such as short circuits and the like possibly generated under the running condition.
The control module of the AGV usually comprises an on-board controller and a ground (outside) controller, which are all connected by a communication system by adopting a microcomputer at present. Typically, a ground (off-board) controller issues control commands that are input to an on-board controller via a communication system to control the operation of the AGV. The automatic control system has the advantages that the control functions of manual control, safety device starting, storage battery state, steering limit, brake release, walking light, driving and steering motor control, monitoring of a charging contactor, driving safety monitoring and the like of the AGV trolley can be realized through the on-vehicle controller. The ground controller can realize the functions of dispatching AGV trolley, sending control instruction, receiving the running state information of the AGV trolley and the like. The control module is the core of AGV dolly, and the realization of operation, monitoring and various intelligent control of AGV dolly all need be realized through control module.
The control module further comprises a guide unit, the guide unit comprises a laser scanner, the laser scanner emits laser in the running process of the AGV trolley, the laser signals reflected by the laser scanner are collected, and the position reference point of the current AGV trolley is determined according to the laser signals reflected by the laser signals.
The intelligent unmanned warehouse is provided with a plurality of fixed reflecting plates, after the laser scanner emits laser, laser signals reflected by the reflecting plates can be collected, and the current position and direction can be determined through triangle geometric operation.
The automatic collision detection device comprises a AGV trolley, a collision detection unit, a safety module and a control unit, wherein the safety module comprises a collision induction unit and an alarm unit, and the collision induction unit is used for detecting the collision condition of the AGV trolley in real time; and the alarm unit is used for alarming when detecting that the AGV trolley collides.
The safety measure of the AGV trolley is important, and the self safety of the AGV trolley in the running process and the safety of field personnel and various devices must be ensured. Generally, the AGV uses multiple levels of hardware and software security monitoring. If be equipped with non-contact anti-collision sensor and contact anti-collision sensor at AGV dolly front end, the AGV dolly top is installed and is awakened purpose signal lamp and sound alarm device to remind operating personnel around. For the AGV trolley which needs to run back and forth or need to move laterally, the anti-collision sensor needs to be installed on four sides of the AGV trolley. Once collision occurs, the AGV automatically gives an audible and visual alarm.
A method of material handling for an AGV cart in an unmanned intelligent warehouse, as shown in fig. 1, includes,
the AGV trolley receives a material handling instruction of a user, and determines a target material position based on the material handling instruction;
determining the position and the running direction of the current AGV trolley, and planning a material loading running path of the AGV trolley according to the target material position and the running direction of the current AGV trolley;
according to the material loading traveling path, the traveling direction of the AGV trolley is regulated in real time through laser navigation, the AGV trolley is controlled to reach the target material position, and the material is loaded through a transfer mechanism;
after the AGV trolley loads materials, a material unloading point is determined, a material unloading running path is determined according to the target material position and the material unloading point, the running direction of the AGV trolley is adjusted in real time through laser navigation according to the material unloading running path, the AGV trolley is controlled to reach the material unloading point, and the materials are unloaded through the transfer mechanism.
And when the material loading travel path of the AGV is planned according to the target material position, the current position and the travel direction of the AGV, the shortest path is used as a target for planning the material loading travel path of the AGV. The traveling direction of the AGV trolley is adjusted in real time through laser navigation, the AGV trolley is controlled to reach the target material position, the material loading traveling path can be updated in real time according to the operation conditions of all the AGV trolleys in the unmanned intelligent warehouse, and the target material position can be reached with the shortest path under the condition of avoiding the collision of the AGV trolley, so that the material conveying efficiency is improved.
And similarly, when determining the material unloading travel path according to the target material position and the material unloading point, planning the material unloading travel path of the AGV trolley by taking the shortest path as a target. The traveling direction of the AGV trolley is adjusted in real time through laser navigation, and the material loading traveling path can be updated in real time according to the operation conditions of all the AGV trolleys in the unmanned intelligent warehouse in the process of controlling the AGV trolley to reach the material unloading point.
The automatic control system comprises a laser-loaded traveling path, a laser-guided traveling control system and a laser correction system, wherein the traveling direction of an AGV trolley is adjusted in real time through laser navigation according to the material-loaded traveling path, the AGV trolley is controlled to reach a target material position, the laser-guided traveling control system comprises all traveling virtual points of the AGV trolley in the traveling process according to the material-loaded traveling path, a laser scanner on the AGV trolley periodically acquires the position reference points of the current AGV trolley, each time the position reference points of the AGV trolley are acquired, the position reference points of the current AGV trolley are matched with all traveling virtual points, one traveling virtual point closest to the AGV trolley is determined according to a matching result, the traveling direction of the AGV trolley is adjusted according to the relative positions of the position reference points and the matched traveling virtual points, the AGV trolley is controlled to travel according to the material-loaded traveling path, each time the traveling direction of the AGV trolley is adjusted, and laser correction signals are sent to other AGV trolley.
The AGV trolley is controlled to reach a material unloading point through laser navigation according to a material unloading running path, the automatic guided vehicle comprises the steps of setting all running virtual points of the AGV trolley in the running process according to the material unloading running path, periodically acquiring the position reference point of the current AGV trolley through a laser scanner on the AGV trolley, matching the position reference point of the current AGV trolley with all running virtual points every time the position reference point of the current AGV trolley is acquired, determining one running virtual point closest to the AGV trolley according to a matching result, adjusting the running direction of the AGV trolley according to the relative positions of the position reference point and the matched running virtual points, controlling the AGV trolley to run according to the material unloading running path, and transmitting laser correction signals to other running AGV trolley every time the running direction of the AGV trolley is adjusted, wherein the laser correction signals comprise AGV trolley information, and corresponding position reference point positions and running virtual point positions when the current AGV trolley is adjusted to run.
The map of the unmanned intelligent warehouse is stored in the control module of the AGV trolley, after the position information of the current AGV trolley is obtained through the laser scanner, the position information of the AGV trolley is converted into specific coordinates on the map of the unmanned intelligent warehouse, and the coordinates are used as position reference points. Meanwhile, the material loading running path or the material unloading running path is displayed on a map of the unmanned intelligent warehouse, the path interval required by the steering operation of the AGV trolley is determined, the material loading running path or the material unloading running path is divided according to the determined path interval, and the coordinates corresponding to each running virtual point are determined.
In the process that the AGV trolley reaches the material storage address through laser navigation control according to the material loading running path and reaches the material unloading point through laser navigation control according to the material unloading running path, the AGV trolley also receives laser correction signals of other running AGV trolleys in real time, and updates the material loading running path or the material unloading running path according to the laser correction signals of other running AGV trolleys.
The laser correction signal can reflect the running direction and the current position of each AGV trolley, and the steering of the AGV trolley can be performed after the next laser correction, so that the running path of the AGV trolley before the next steering can be predicted after the current position and the running direction are acquired, and the material loading running path or the material unloading running path is updated with the aim of avoiding the collision of the AGV trolley.
The AGV trolley also receives laser correction signals of other running AGV trolleys in real time, and updates a material loading running path or a material unloading running path according to the laser correction signals of the other running AGV trolleys, and the AGV trolley comprises the steps of receiving the laser correction signals of the other running AGV trolleys in the current period, determining the running reference point positions and the running virtual point positions of all the other running AGV trolleys in the current period, determining the running route of each running AGV trolley in the current period according to the corresponding running reference point positions and the corresponding running virtual point positions, predicting the collision probability of the current AGV trolley in the current period and the running virtual point positions of the current AGV trolley in the next period according to the running route of each running AGV trolley in the current period and the adjusted running direction, and determining the running virtual point position of each running AGV trolley in the current period according to the collision probability being greater than a preset threshold, and the adjusted running virtual point position of the current AGV trolley in the current period, and the running virtual point position being adjusted, and the running virtual point being re-selected based on the running virtual point position.
The travel route of each traveling AGV in the current period can be determined according to the travel reference point position and the travel virtual point position of each traveling AGV in the current period, and the travel direction of each traveling AGV is not changed before the next travel direction adjustment, so that the travel route before the next travel direction adjustment can be determined according to the travel route in the current period and the adjusted travel direction. The running path of the current AGV in the next period can be determined through the running virtual point position of the current AGV in the current period and the running virtual point position of the current AGV in the next period, and the specific collision probability can be judged through the overlapping prediction of the running path of the current AGV in the next period and the running path of each running AGV.
In the presence of a collision probability between a running trolley and a current AGV trolley is larger than a preset threshold value, in order to avoid collision of the AGV trolley, a running virtual point of the current AGV trolley needs to be adjusted, so that the running direction of the AGV trolley is adjusted, and the collision position is avoided.
And the traveling direction of the traveling AGV in the traveling process of the collision position can be acquired, one traveling virtual point is selected again from other directions, the collision probability of the traveling path of the current AGV in the traveling process of the newly selected traveling virtual point and other traveling small vehicles is judged, if the traveling virtual point cannot collide with the other traveling AGV, the current selected traveling virtual point is determined to be used as the next traveling virtual point, the traveling virtual point is inserted into the preset traveling virtual point, the collision position is also used as the traveling virtual point to be inserted into the newly selected traveling virtual point, and the other originally set traveling virtual points are unchanged. If collision occurs with other AGV in operation, one running virtual point is reselected from other directions until the running virtual point capable of avoiding collision is found.
If a proper running virtual point cannot be found, the current AGV trolley is controlled to stop running before the collision position is reached, and the AGV trolley continues running after the collision position is passed in running which is possibly in collision.
The above-described embodiment is only a preferred embodiment of the present invention, and is not limited in any way, and other variations and modifications may be made without departing from the technical aspects set forth in the claims.
Claims (8)
1. The material handling method of the AGV trolley of the unmanned intelligent warehouse is characterized by comprising the steps that the AGV trolley receives a material handling instruction of a user, and a target material position is determined based on the material handling instruction; determining the position and the running direction of the current AGV trolley, and planning a material loading running path of the AGV trolley according to the target material position and the running direction of the current AGV trolley;
according to the material loading traveling path, the traveling direction of the AGV trolley is regulated in real time through laser navigation, the AGV trolley is controlled to reach the target material position, and the material is loaded through a transfer mechanism;
after the AGV trolley loads materials, a material unloading point is determined, a material unloading running path is determined according to the target material position and the material unloading point, the running direction of the AGV trolley is adjusted in real time through laser navigation according to the material unloading running path, the AGV trolley is controlled to reach the material unloading point, and the materials are unloaded through the transfer mechanism.
2. The method for carrying the AGV trolley of the unmanned intelligent warehouse according to claim 1, wherein the traveling direction of the AGV trolley is adjusted in real time through laser navigation according to the material loading traveling path, the AGV trolley is controlled to reach the target material position, all traveling virtual points of the AGV trolley in the traveling process are set according to the material loading traveling path, the position reference point of the current AGV trolley is periodically acquired through a laser scanner on the AGV trolley, each time the position reference point of the current AGV trolley is acquired, the position reference point of the current AGV trolley is matched with all traveling virtual points, one traveling virtual point closest to the AGV trolley is determined according to the matching result, the traveling direction of the AGV trolley is adjusted according to the relative positions of the position reference point and the matched traveling virtual points, the AGV trolley is controlled to travel according to the material loading traveling path, each time the traveling direction of the AGV trolley is adjusted, and laser correction signals are sent to other AGV trolley, and each time the laser correction signals comprise the position reference point position of the corresponding AGV, the traveling virtual point position and the AGV trolley information.
3. The method for carrying the material of the AGV trolley of the unmanned intelligent warehouse according to claim 2, wherein the AGV trolley is controlled to reach the material unloading point through laser navigation according to the material unloading running path, all running virtual points of the AGV trolley in the running process are set according to the material unloading running path, the position reference point of the current AGV trolley is periodically acquired through a laser scanner on the AGV trolley, the position reference point of the current AGV trolley is matched with all running virtual points every time the position reference point of the current AGV trolley is acquired, one running virtual point closest to the AGV trolley is determined according to the matching result, the running direction of the AGV trolley is adjusted according to the relative positions of the position reference point and the matched running virtual points, the AGV trolley is controlled to run according to the material unloading running path, each time the running direction of the AGV trolley is adjusted, and laser correction signals are sent to other running vehicles, and each laser correction signal comprises AGV trolley information, the position reference point position and the running virtual point position corresponding to the current AGV trolley running direction and the adjusted running direction.
4. A method for carrying materials by an AGV trolley in an unmanned intelligent warehouse according to claim 2 or 3, wherein the AGV trolley further receives laser correction signals of other running AGV trolleys in real time and updates the material loading travel path or the material unloading travel path according to the laser correction signals of the other running AGV trolleys in the process of controlling the AGV trolley to reach the material storage address by laser navigation according to the material loading travel path and controlling the AGV trolley to reach the material unloading point by laser navigation according to the material unloading travel path.
5. The method for carrying the materials of the AGVs of the unmanned intelligent warehouse according to claim 4 is characterized in that the AGVs further receive laser correction signals of other AGVs in operation in real time and update a material loading traveling path or a material unloading traveling path according to the laser correction signals of the other AGVs in operation, wherein the AGVs receive the laser correction signals of the other AGVs in operation in the current period, determine traveling reference point positions and traveling virtual point positions of all the other AGVs in operation in the current period, determine traveling routes of the AGVs in operation in each current period according to the corresponding traveling reference point positions and traveling virtual point positions, predict the collision probability of the AGVs in operation in each current period with the current AGVs according to the traveling routes and the adjusted traveling directions of the AGVs in the current period and the traveling virtual point positions of the current AGVs in the current period, and the collision probability of the AGVs in operation in the next period is larger than a preset threshold, and then the traveling direction of the AGVs in operation in the current period is adjusted according to the preset collision probability and the virtual point positions in the current period.
6. An AGV trolley of an unmanned intelligent warehouse is characterized by comprising a mechanical module, a power module and a control module,
the mechanical module comprises an operating mechanism and a transplanting mechanism, wherein the operating mechanism is used for driving the AGV trolley and controlling the speed, the direction and the braking of the AGV trolley in the running process; the transplanting mechanism is used for carrying out loading and unloading treatment on the materials after the AGV trolley reaches the target material position and the material unloading point;
the power module is used for providing operation energy for the AGV trolley;
the control module is used for receiving the material handling instruction, planning a traveling path of the AGV according to the material handling instruction, and making a control instruction of the transplanting mechanism.
7. The unmanned intelligent warehouse AGV of claim 6, wherein the control module further comprises a guide unit, the guide unit comprises a laser scanner, the laser scanner is used for emitting laser light in the operation process of the AGV and collecting reflected laser signals, and the position reference point of the current AGV is determined according to the reflected laser signals.
8. The AGV trolley of the unmanned intelligent warehouse according to claim 6, further comprising a safety module, wherein the safety module comprises a collision sensing unit and an alarm unit, and the collision sensing unit is used for detecting the collision condition of the AGV trolley in real time; and the alarm unit is used for alarming when detecting that the AGV trolley collides.
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| CN117430026A (en) * | 2023-12-20 | 2024-01-23 | 国网浙江省电力有限公司金华供电公司 | Intelligent crane control method based on 5G technology bin intelligent management |
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| CN117430026A (en) * | 2023-12-20 | 2024-01-23 | 国网浙江省电力有限公司金华供电公司 | Intelligent crane control method based on 5G technology bin intelligent management |
| CN117430026B (en) * | 2023-12-20 | 2024-02-20 | 国网浙江省电力有限公司金华供电公司 | Intelligent crane control method based on 5G technology bin intelligent management |
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