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CN-122018505-A - AGV intelligent transfer control scheduling method and system for personnel body transfer

CN122018505ACN 122018505 ACN122018505 ACN 122018505ACN-122018505-A

Abstract

The application relates to the technical field of artificial intelligence and AGV control, and discloses an AGV intelligent transfer control scheduling method and system for personnel body transfer, wherein the method comprises the steps of acquiring the spatial pose relation between an AGV and a target bed; the method comprises the steps of driving a Mecanum wheel chassis to move omnidirectionally and finely adjusting the gesture to achieve millimeter-level butt joint, identifying the gravity center and the supporting state of a body in real time through a multi-section flexible transfer mechanism and a pressure distribution sensing array, dynamically distributing the speed of each conveying unit to achieve zero relative sliding, and utilizing a local lifting device driven by a voice coil motor to conduct millisecond-level vertical compensation to ensure full-course bonding without gaps. The system comprises six modules, namely space pose sensing, chassis motion control, flexible transfer execution, pressure-speed cooperative regulation and control, vertical clearance compensation and task management. The application obviously improves the safety, comfort and automation level of transportation, and is suitable for high-sensitivity scenes such as severe, postoperative and senile nursing and the like.

Inventors

  • LIU WENXUN

Assignees

  • 杭州千速精密科技有限公司

Dates

Publication Date
20260512
Application Date
20260209

Claims (10)

  1. 1. An AGV intelligent transfer control scheduling method for personnel body transfer is characterized by comprising the following steps: Acquiring space pose relation data between a target bed and a current stop position of an AGV, wherein the space pose relation data comprises three-dimensional coordinate offset, pitch angle deviation, roll angle deviation and course angle deviation; Based on the space pose relation data, driving an AGV chassis to execute omnidirectional movement and pose adjustment, so that a transfer platform of the AGV and a target bed are aligned in a horizontal plane, and high matching is realized in a vertical direction; after the transfer platform and the target bed are subjected to preliminary butt joint, starting a multi-section flexible transfer mechanism, wherein the multi-section flexible transfer mechanism is composed of a plurality of flexible conveying units which are arranged in parallel, and each flexible conveying unit comprises a conveying belt module, a pressure distribution sensing array and a local fine adjustment lifting device which are driven by independent servo; collecting a contact pressure distribution map of the human body on the transfer platform in real time through the pressure distribution sensing array, and identifying the gravity center position of the body, the boundary of the supporting area and the local pressure peak point based on the map; According to the contact pressure distribution map, the running speed and the running direction of each flexible conveying unit are dynamically distributed, so that the relative speed between all the conveying belt modules and the surface of the human body is kept zero in the transfer process, and the shearing force is eliminated; In the transfer process, the local fine adjustment lifting device is synchronously activated, and millisecond dynamic compensation is carried out on the vertical height of each flexible conveying unit so as to offset the gap change between the conveying belt and the supporting surface caused by the local deformation of a human body or the unevenness of the bed surface, thereby ensuring the whole-process lamination; And after the transfer action is completed and the human body is completely transferred to the target bed, the AGV automatically executes the evacuation path planning and returns to the standby area.
  2. 2. The method for intelligently transferring, controlling and scheduling the AGV for somatic transportation according to claim 1, wherein the step of acquiring the spatial pose relation data between the target bed and the current stop position of the AGV comprises the steps of: three-dimensional reconstruction is carried out on structural feature points of a target bed through a binocular vision sensor array arranged at the top of the AGV, and space coordinates of bed edge, bed leg connecting points and bed surface identification patterns are extracted; measuring the distance between the AGV and surrounding wall bodies, equipment and ground marks through laser ranging sensor groups arranged at four corners of an AGV chassis, and solving the six-degree-of-freedom pose of the AGV in a global coordinate system by combining a pre-stored indoor digital twin map; And carrying out coordinate transformation on the characteristic point coordinates of the target bed and the global pose of the AGV, and calculating the relative pose deviation between the characteristic point coordinates and the global pose of the AGV.
  3. 3. The method for intelligent transfer control scheduling of an AGV for somatic transfer according to claim 2, wherein driving the AGV chassis to perform omnidirectional movement and posture adjustment comprises: The AGV chassis adopts an omnidirectional driving configuration of Mecanum wheels, four Mecanum wheels are respectively driven by independent servo motors, and each servo motor is provided with a high-resolution encoder and a closed-loop current feedback controller; generating translation speed instructions in the X-axis and Y-axis directions according to the calculated three-dimensional coordinate offset; According to the pitch angle deviation and the roll angle deviation, the rotation speed difference of the front wheel set, the rear wheel set and the left wheel set and the right wheel set is controlled, so that micro-angle inclination adjustment of the bottom coil X axis and the Y axis is realized; according to the course angle deviation, the rotation direction and the speed of the four Mecanum wheels are controlled through differential steering, so that accurate alignment around the Z axis is realized; in the whole adjustment process, the actual gesture of the chassis is monitored in real time through the inertial measurement unit, closed loop feedback correction is carried out on the actual gesture and the target gesture until the gesture error is smaller than a preset threshold, wherein the preset threshold is that the horizontal position error is not larger than three millimeters, the height error is not larger than two millimeters, and the angle error is not larger than 0.5 degree.
  4. 4. The intelligent transfer control and dispatching method for AGVs for personnel trunk transfer according to claim 3 wherein the number of flexible transfer units in the multi-stage flexible transfer mechanism is seven, the flexible transfer units are sequentially arranged from the head to the foot along the longitudinal direction of the human body, each of the sections has a length of 250 mm and a width of 600 mm, and adjacent sections are connected through elastic hinges, so that the maximum fifteen degrees of relative deflection is allowed to occur in the vertical direction; The conveyor belt module of each flexible conveying unit is made of polyurethane composite materials, the surface of the conveyor belt module is provided with micron-sized anti-skid textures, the static friction coefficient of the conveyor belt module is not lower than 0.8, and the fluctuation range of the dynamic friction coefficient is controlled within +/-5%; Each conveyor belt module is driven by a pair of synchronous pulleys, the synchronous pulleys are connected with a brushless direct current servo motor through a planetary reducer, the control period of the servo motor is one millisecond, and the speed regulation resolution is 0.1 revolution per minute.
  5. 5. The AGV intelligent transfer control scheduling method for personnel body transfer according to claim 4 wherein the pressure distribution sensing array is composed of 320 piezoresistive sensing units which are arranged in a matrix of 16 rows and 20 columns, the sensing area of each sensing unit is 25 square millimeters, the measuring range is 0-500 newtons, and the sampling frequency is two hundred hertz; The contact pressure distribution map performs noise suppression through a sliding window filtering algorithm, and fills local cavities through morphological closed operation to form continuous pressure field images; Based on the pressure field image, calculating the two-dimensional projection coordinates of the gravity center of the body by a gravity center weighting algorithm, wherein the formula is as follows: , ; Wherein, the For the pressure value of the i-th row and j-th column sensing unit, And (3) with The horizontal coordinates and the vertical coordinates of the corresponding sensing units in the transfer platform coordinate system are respectively.
  6. 6. The method for intelligent transfer control scheduling of an AGV for somatic transfer according to claim 5, wherein dynamically assigning the running speed and direction of each flexible transport unit comprises: Dividing a transfer platform into a plurality of speed control areas, wherein each control area corresponds to one flexible conveying unit; Calculating the longitudinal offset distance of each control area relative to the center of gravity by taking the body center of gravity projection point as a reference; Setting a main conveying speed The value range of the standard speed for the transfer task is 10 to 50 millimeters per second; For the kth flexible conveying unit, its running speed The method is calculated according to the following formula: ; Wherein, the For the k-th segment center of gravity offset distance, For the maximum effective offset length, the value is eight hundred millimeters, The value of the speed compensation coefficient is 0.2; When (when) In order to be positive, the segment is positioned behind the center of gravity, the speed is slightly higher than the reference speed, when When the speed is negative, the speed is slightly lower than the reference speed, and the synchronous movement of the whole conveying surface and the human body is realized.
  7. 7. The intelligent AGV transfer control scheduling method for personnel and body transfer according to claim 6 wherein the local fine adjustment lifting device adopts a linear actuator driven by a voice coil motor, the travel range is +/-20 mm, the response time is five milliseconds, and the positioning accuracy is 0.05 mm; three linear actuators distributed in a triangle shape are arranged at the bottom of each flexible conveying unit, and the posture fine adjustment of a local plane is realized through three-point support; The fine tuning instruction is determined by local pressure gradient in the pressure distribution map, when the pressure gradient of a certain area exceeds a threshold value of 100 newtons per square meter, local suspension or extrusion is judged to exist, and lifting compensation of a corresponding area is immediately started, so that the pressure gradient is restored to be within a safe range.
  8. 8. The intelligent transfer control scheduling method of an AGV for somatic transfer of personnel according to claim 7, wherein the evacuation path planning is based on an improved A star algorithm, and a collision-free and shortest-time rollback track is generated by combining real-time obstacle detection data and bed occupancy status; The AGV keeps the transfer platform at the lowest storage height in the evacuation process, closes all the conveying functions, and only enables the chassis motion control and environment sensing module.
  9. 9. A AGV intelligence moves and carries control system for personnel's body is transported, its characterized in that includes: the space pose sensing module is used for acquiring space pose relation data between the target bed and the current stop position of the AGV; the chassis omnidirectional movement control module is used for driving the AGV chassis to execute omnidirectional movement and gesture adjustment so as to realize preliminary docking with a target bed; the multi-section type flexible transfer execution module comprises a plurality of flexible conveying units, a pressure distribution sensing array and a local fine adjustment lifting device, and is used for executing human body transfer without shearing force; The pressure-speed cooperative regulation and control module is used for dynamically distributing the running speed and direction of each flexible conveying unit based on the pressure distribution map; the vertical clearance compensation module is used for activating the local fine adjustment lifting device according to the local pressure gradient so as to realize the whole-course lamination of the conveying surface and the supporting surface; and the task state management module is used for triggering the evacuation path planning and controlling the AGV to return to the standby area after the transfer is completed.
  10. 10. The AGV intelligent transfer control system for personnel trunk transfer according to claim 9, wherein the spatial pose sensing module further comprises a binocular vision three-dimensional reconstruction unit, a laser ranging fusion positioning unit, and a relative pose resolving unit; The chassis omnidirectional motion control module further comprises a Mecanum wheel servo driving unit, an inertial gesture feedback unit and a gesture closed-loop correction unit; in the multi-section type flexible transfer execution module, flexible conveying units are connected in series through elastic hinges, and each section is independently provided with a servo motor, a conveying belt, a pressure sensing array and three linear actuators driven by voice coil motors; the pressure-speed cooperative regulation module is internally provided with a gravity center calculation engine and a speed distribution algorithm engine, and the real-time processing period of the pressure-speed cooperative regulation module is not more than ten milliseconds; the vertical clearance compensation module is provided with a pressure gradient monitoring threshold value judging device and an actuator driving controller, and the response delay of the vertical clearance compensation module is not more than eight milliseconds.

Description

AGV intelligent transfer control scheduling method and system for personnel body transfer Technical Field The invention belongs to the technical field of artificial intelligence and Automatic Guided Vehicle (AGV) control, and particularly relates to an AGV intelligent transfer control scheduling method and system for personnel body transfer. Background Assisted care technology for disabled or mobility impaired people has become an important branch in the field of modern medical devices and automated logistics. Inside various medical institutions and rehabilitation centers, the safety and the high-efficiency transportation of personnel bodies are not only basic links for guaranteeing the smooth diagnosis and treatment process of patients, but also key indexes for evaluating the nursing quality, reducing the labor intensity of medical staff and improving the operation efficiency of the institutions. An Automatic Guided Vehicle (AGV) is used as a core carrier of an intelligent mobile platform, and the application of the AGV in a medical scene is extending from material distribution to high-precision human transfer, so that the AGV is required to be fused with multidimensional motion control, human-computer interaction safety and dynamic environment adaptation capability to meet the severe requirements of non-invasive, stable and precise transfer in clinic. The AGV system for transferring the personnel bodies focuses on realizing seamless butt joint and nondestructive transfer among the sickbed, the inspection table and the transfer platform. The technical direction depends on the depth cooperation of the omnidirectional mobile chassis, the telescopic bearing mechanism and the synchronous conveying mechanism, and aims to complete complex gesture adjustment and heavy load stable conveying in a limited space through an electromechanical integrated design. The method has the core aims of avoiding the risk of manual transportation, ensuring that patients are not influenced by shearing force, vibration or displacement mutation in the transferring process, and being particularly suitable for special people with fragile skin, postoperative recovery or long-term bedridden patients. The personnel transfer AGV in the prior art still faces multiple technical bottlenecks in practical application, firstly, a unidirectional conveyor belt or a rigid push plate structure is generally adopted in the transfer process, when a sliding plate retracts or extends, obvious relative sliding is generated between a conveying medium and a human body due to speed mismatch, secondary damages such as pressure sores, notch tearing and the like are extremely easy to occur due to shearing force caused by the fact, secondly, sliding friction resistance between the conveyor belt and a supporting surface is rapidly increased under heavy load conditions, so that load fluctuation of a driving system is severe, running process is jerky and jerky, riding comfort and structural stability are seriously affected, and thirdly, the traditional AGV is limited by a two-wheel differential or steering mechanism, flexible movement is difficult to realize in a narrow ward or multi-degree-of-freedom-equipment environment, beds with different heights, angles or positions cannot be aligned accurately, and repeated adjustment and even manual intervention are often needed. The problems limit the large-scale deployment of the medical AGV in a high-safety standard scene, and an intelligent transfer control scheduling method and system integrating zero shear force control, rolling drag reduction support and omnidirectional high-precision butt joint are needed. Disclosure of Invention The invention provides an AGV intelligent transfer control scheduling method and system for personnel body transfer, and aims to solve the problems of discomfort, secondary damage risk and low operation efficiency of patients caused by overlarge shearing force, insufficient running stability and low docking precision in the transfer process in the prior art. According to the invention, by constructing the multi-degree-of-freedom cooperative motion platform and combining a high-precision pose sensing and dynamic friction compensation mechanism with a self-adaptive speed synchronization strategy, stable transfer without relative sliding and shear stress transfer in the transfer process of the human body is realized, and millimeter-level accurate butt joint of beds with different heights and angles is completed in a complex medical environment. According to one aspect of the invention, there is provided an AGV intelligent transfer control scheduling method for personnel body transfer, comprising: Acquiring space pose relation data between a target bed and a current stop position of an AGV, wherein the space pose relation data comprises three-dimensional coordinate offset, pitch angle deviation, roll angle deviation and course angle deviation; Based on the space pose relation data, driving an A