An AGV car capable of realizing precise positioning based on RFID and its working method

Abstract

The present invention discloses an AGV trolley based on RFID that can realize precise positioning, including a body, front wheels, rear wheels, a mechanical arm device, a cargo box, a vehicle control box, a power switch and a pushing device. The front wheels and rear wheels are fixed at the bottom of the body, the cargo box is arranged above the body, the pushing device is installed at the bottom of the cargo box, the vehicle control box is arranged on the right side of the body, and the mechanical arm device is installed on the left side of the body. A main controller, a drive module, an RFID positioning module, a visual obstacle avoidance module, and a path optimization module are arranged in the vehicle control box. Sensor visual cameras are arranged on the left and right sides of the body, and the output end of the sensor visual camera is connected to the input end of the visual obstacle avoidance module. The AGV trolley that can realize precise positioning, optimal path transportation, and automatic material handling is equipped with a machine vision module for obstacle avoidance, adopts RFID technology to realize vehicle positioning and movement, and realizes optimal path transportation through the path optimization module.

Description

Technical Field

[0001] The present invention relates to the technical field of AGV trolleys, and in particular to an AGV trolley capable of realizing precise positioning based on RFID and a working method thereof. Background Art

[0002] AGV refers to an unmanned transport vehicle equipped with an electromagnetic or optical automatic guidance device that can travel along a specified guidance path, has safety protection and various transfer functions, and uses batteries as its power source. Generally, its route and behavior can be controlled by a computer, or its route can be set up using electromagnetic tracks, ribbons, etc. attached to the floor. At present, the application of AGV in the manufacturing industry is mainly to complete the material handling task efficiently, accurately and flexibly.

[0003] However, electromagnetic tracks, ribbons, etc. are stuck to the floor, which are easily contaminated and worn, and there is a possibility of being disturbed by the environment; materials cannot be transported to the cargo box by themselves; in addition, under multi-tasking conditions, it is impossible to automatically select the optimal path. Summary of the invention

[0004] Purpose of the invention: In view of the problems and shortcomings in the above-mentioned prior art, the purpose of the present invention is to provide an AGV vehicle based on RFID that can achieve precise positioning and a working method thereof.

[0005] Technical solution: To achieve the above-mentioned purpose, the AGV car based on RFID that can achieve precise positioning described in the present invention includes a car body, front wheels, rear wheels, a mechanical arm device, a cargo box, a vehicle control box, a power switch and a pushing device. The front wheels and rear wheels are fixed at the bottom of the car body, the cargo box is arranged above the car body, and the pushing device is installed at the bottom of the cargo box. The right side of the car body is provided with a vehicle control box, and the mechanical arm device is installed on the left side of the car body. The vehicle control box is provided with a main controller, a driving module, an RFID positioning module, a visual obstacle avoidance module, and a path optimization module. The output ends of the RFID positioning module, the visual obstacle avoidance module, and the path optimization module are all connected to the input end of the main controller, and the output end of the main controller is connected to the input end of the driving module. Sensor visual cameras are provided on the left and right sides of the car body, and the output end of the sensor visual camera is connected to the input end of the visual obstacle avoidance module.

[0006] Furthermore, the robotic arm device includes a crank-connecting rod mechanism, a robotic arm 1 and a robotic arm 2, and the robotic arm 1 and the robotic arm 2 are respectively arranged on the left and right sides of the crank-connecting rod mechanism.

[0007] Furthermore, the crank-connecting rod mechanism includes a base, a crank, connecting rod one, connecting rod two and connecting rod three; the base is provided with a crank, and connecting rod three is symmetrically arranged on the crank, and connecting rod three is connected to connecting rod one through connecting rod two; the robotic arm one and the robotic arm two both include a movable arm and a mechanical claw, one end of the movable arm is connected to the mechanical claw, and the other end is connected to connecting rod one.

[0008] Furthermore, the connecting rod 2 is formed by crossing two rods, the free ends of the two rods are respectively pivotally connected to the connecting rod 1, and the intersection thereof is pivotally connected to one end of the connecting rod 3.

[0009] Furthermore, the vehicle-mounted control box is provided with an antenna, a card swiping panel, operation buttons and a display screen.

[0010] Furthermore, a pressure sensor is provided on the cargo box, and an output end of the pressure sensor is connected to an input end of the main controller.

[0011] Furthermore, the pushing device includes a spring, a driving wheel, a driven wheel and a push plate, the spring is fixedly connected between the baffle and the push plate of the cargo box, the driving wheel is meshed with the driven wheel, and the driven wheel is connected to the lower end of the push plate.

[0012] Furthermore, the front wheels are transformation drive wheels.

[0013] Furthermore, bumpers are provided at both left and right ends of the vehicle body.

[0014] An AGV car based on RFID that can achieve precise positioning, the specific working method is as follows:

[0015] (1) Turn on the power switch, and the vehicle moves forward driven by the front and rear wheels;

[0016] (2) When the vehicle reaches the material storage area, it stops moving forward and the staff identifies themselves by swiping a card;

[0017] (3) The operation buttons are used to set vehicle functions and perform command operations, and the display screen is used to display information such as vehicles, goods, locations, and personnel;

[0018] (4) The mechanical claw of the robot arm 1 opens to grab the material, the crank itself rotates continuously to generate force, and the connecting rod 3 is used to convert the full rotation of the crank into left and right reciprocating movement, thereby driving the connecting rod 2, the connecting rod 1 and the robot arm 1 to move. When the crank drives the connecting rod 3 to move to the right, the connecting rod 2 and the connecting rod 1 are transmitted to the right, and the mechanical claw of the robot arm 1 is closed to complete the material grabbing task; at the same time, the mechanical claw of the robot arm 2 is in an open state;

[0019] (5) After the crank is controlled to rotate by the travel switch, the driving base rotates until the positions of the mechanical arm 1 and the mechanical arm 2 are swapped, and then the base is controlled to stop rotating by the travel switch;

[0020] (6) After the mechanical claw of the robot arm 2, which originally did not grab the material, grabs the material, the crank drives the connecting rod 1 to move to the right through the connecting rod 3 and the connecting rod 2, and the mechanical claw of the robot arm 2 closes. At this time, the mechanical claw of the robot arm 1 opens and puts the material into the cargo box, completing an automatic material grabbing and transportation action;

[0021] (7) When the mechanical claw places the material into the cargo box, the pushing device starts, the driving wheel starts to rotate, driving the driven wheel and the push plate to rotate inward, the spring stretches to generate tension, and the push plate pushes the material into the cargo box, completing the loading and automatic discharge of the cargo;

[0022] (8) When the driving wheel rotates to the empty gear state, the driven wheel and the driving wheel no longer generate force. Under the tension of the spring, the driven wheel returns to the initial automatic state, completing a material pushing action.

[0023] (9) Then, the crank is controlled to rotate by the range switch, and the driving base rotates until the positions of the second and first mechanical arms are exchanged;

[0024] (9) Repeat (3) to (9) until the cargo box reaches the upper limit or the gripping task is completed; the robot arm 1 and the robot arm 2 stop working;

[0025] (10) The pressure sensor on the cargo box monitors the load in real time and determines whether the vehicle is overloaded or whether the cargo has increased or decreased based on the pressure change. During the process of gripping materials, if the vehicle reaches the upper limit of the cargo load or the gripping task is completed, the pressure sensor transmits a command through the controller to stop the arm from working;

[0026] (11) The RFID positioning module is used to locate the position of the vehicle and send the positioning information to the main controller, which controls the vehicle's route according to the path optimization module;

[0027] (12) When the sensing machine vision camera encounters an obstacle, it transmits the information to the main controller, which controls the drive module to adjust the vehicle's travel state.

[0028] It can be seen from the above technical solution that the beneficial effects of the present invention are:

[0029] The AGV trolley based on RFID that can achieve precise positioning, optimal path transportation, and automatic material handling can achieve self-traction, and is small in size and heavy in load-bearing capacity. The trolley is provided with a bumper to reduce impact, and is embedded with a machine vision module for obstacle avoidance. The RFID technology is used to achieve vehicle positioning and movement, and the optimal path transportation is achieved through the path optimization module. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0031] Figure 2 It is a structural schematic diagram of the mechanical arm of the present invention;

[0032] Figure 3 It is a structural schematic diagram of the pushing device of the present invention;

[0033] Figure 4 It is a schematic diagram of the flow of the optimal path algorithm of the present invention;

[0034] Figure 5 This is a diagram showing the optimal transport path analysis results for the trolley of the present invention.

[0035] In the figure: 1-vehicle body, 2-front wheel, 3-rear wheel, 4-mechanical arm device, 41-crank-connecting rod mechanism, 411-base, 412 crank, 413-connecting rod one, 414-connecting rod two, 415-connecting rod three, 42-mechanical arm one, 43-mechanical arm two, a-moving arm, b-mechanical claw, 5-cargo box, 51-baffle, 6-vehicle control box, 61-power switch, 62-antenna, 63-card swiping panel, 64-operation button, 65-display screen, 7-pushing device, 71-spring, 72-driving wheel, 73-driven wheel, 74-push plate. DETAILED DESCRIPTION

[0036] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0037] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "clockwise", "counterclockwise" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0038] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "plurality" means two or more, unless otherwise clearly specified.

[0039] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0040] like Figure 1-3 The AGV trolley based on RFID and capable of realizing precise positioning shown in the figure comprises a body 1, front wheels 2, rear wheels 3, a mechanical arm device 4, a cargo box 5, a vehicle control box 6 and a pushing device 7. The front wheels 2 and rear wheels 3 are fixed at the bottom of the body 1, the cargo box 5 is arranged above the body 1, and the pushing device 7 is installed at the bottom of the cargo box 5. The vehicle control box 6 is arranged on the right side of the body 1, and the mechanical arm device 4 is installed on the left side of the body 1. The vehicle control box 6 is provided with a main controller, a driving module, an RFID positioning module, a visual obstacle avoidance module, and a path optimization module. The output ends of the RFID positioning module, the visual obstacle avoidance module, and the path optimization module are all connected to the input end of the main controller, and the output end of the main controller is connected to the input end of the driving module. Sensor visual cameras are arranged on the left and right sides of the body, and the output ends of the sensor visual cameras are connected to the input end of the visual obstacle avoidance module.

[0041] In this embodiment, the robot arm device 4 includes a crank-connecting rod mechanism 41, a robot arm 1 42 and a robot arm 2 43. The robot arm 1 42 and the robot arm 2 43 are respectively arranged on the left and right sides of the crank-connecting rod mechanism 41.

[0042] The crank-connecting rod mechanism 41 described in this embodiment includes a base 411, a crank 412, a connecting rod one 413, a connecting rod two 414 and a connecting rod three 415; a crank 412 is provided on the base 411, and a connecting rod three 415 is symmetrically arranged on the crank 412, and the connecting rod three 415 is connected to the connecting rod one 413 through the connecting rod two 414; the robotic arm one 42 and the robotic arm two 43 both include a movable arm a and a mechanical claw b, one end of the movable arm a is connected to the mechanical claw b, and the other end is connected to the connecting rod one 413.

[0043] In this embodiment, the second connecting rod 414 is formed by crossing two rods, and the free ends of the two rods are respectively pivotally connected to the first connecting rod 412, and the intersection thereof is pivotally connected to one end of the third connecting rod 415.

[0044] The vehicle-mounted control box 6 in this embodiment is provided with a power switch 61 , an antenna 62 , a card swiping panel 63 , an operation button 64 , and a display screen 65 .

[0045] The pushing device 7 in this embodiment includes a spring 71, a driving wheel 72, a driven wheel 73 and a push plate 74. The spring 71 is fixedly connected between the baffle 51 of the cargo box 5 and the push plate 74. The driving wheel 72 is meshed with the driven wheel 73, and the driven wheel 73 is connected to the lower end of the push plate 74.

[0046] In this embodiment, a pressure sensor is provided on the cargo box 5, and an output end of the pressure sensor is connected to an input end of the main controller.

[0047] In this embodiment, the front wheels 2 are transformation drive wheels.

[0048] In this embodiment, bumpers are provided at both left and right ends of the vehicle body.

[0049] The specific working methods are as follows:

[0050] (1) Turn on the power switch 61, and the vehicle body 1 moves forward driven by the front wheels 2 and the rear wheels 3;

[0051] (2) When the vehicle 1 reaches the material storage area, the vehicle 1 stops moving forward, and the staff member swipes the card in the card swiping area 63 to identify the staff member;

[0052] (3) The operation button 64 is used to set the vehicle function and perform command operations, and the display screen 65 is used to display information such as vehicles, goods, locations, and personnel;

[0053] (4) The mechanical claw a of the mechanical arm 1 42 opens to clamp the material, the crank 412 rotates continuously to generate force, and the connecting rod 3 415 is used to convert the full rotation of the crank 412 into left and right reciprocating movement, thereby driving the connecting rod 2 414, the connecting rod 1 413 and the mechanical arm 1 41 to move. When the crank 412 drives the connecting rod 3 415 to move to the right, the connecting rod 2 414 and the connecting rod 1 413 are transmitted to the right, and the mechanical claw b of the mechanical arm 1 42 is closed to complete the material clamping task; at the same time, the mechanical claw b of the mechanical arm 2 43 is in an open state;

[0054] (5) After the crank 412 is controlled to rotate by the travel switch, the driving base 411 rotates until the positions of the mechanical arm 1 42 and the mechanical arm 2 43 are swapped, and then the base 411 stops rotating by the travel switch;

[0055] (6) After the mechanical claw b of the mechanical arm 2 43, which originally did not grip the material, grips the material, the crank 412 drives the connecting rod 1 413 to move to the right through the connecting rod 3 415 and the connecting rod 2 414, and the mechanical claw b of the mechanical arm 2 43 closes. At this time, the mechanical claw b of the mechanical arm 1 42 opens and puts the material into the cargo box 5, completing an automatic material gripping and transportation action;

[0056] (7) When the mechanical claw b of the mechanical arm 42 places the material into the cargo box 5, the pushing device 7 is started, the driving wheel 72 starts to rotate, driving the driven wheel 73 and the push plate 74 to rotate inward, the spring 71 stretches to generate tension, and the push plate 74 pushes the material into the cargo box 5, completing the loading and automatic discharge of the goods;

[0057] (8) When the driving wheel 72 rotates to the empty gear state, the driven wheel 73 and the driving wheel 72 no longer generate force. Under the pulling force of the spring 71, the driven wheel 73 returns to the initial automatic state, completing a material pushing action.

[0058] (9) Then, the crank 412 is controlled to rotate by the range switch, and the driving base 411 rotates until the positions of the second robot arm 43 and the first robot arm 42 are exchanged;

[0059] (10) Repeat (3) to (9) until the cargo box 5 reaches the upper limit of the cargo load or the gripping task is completed; the robot arm 1 42 and the robot arm 2 43 stop working;

[0060] (11) The pressure sensor on the cargo box 5 monitors the load in real time and determines whether the trolley is overloaded or whether the cargo has increased or decreased according to the pressure change. During the process of gripping materials, if the trolley reaches the upper limit of the load or completes the gripping task, the pressure sensor transmits a command through the controller to stop the operation of the robot arm device 4;

[0061] (12) The RFID positioning module is used to locate the position of the vehicle body 1 and send the positioning information to the main controller, which controls the route of the vehicle body 1 according to the path optimization module;

[0062] (13) When the sensing machine vision camera encounters an obstacle, it transmits the information to the visual obstacle avoidance module. The visual obstacle avoidance module plans an obstacle avoidance route according to the position described by the vehicle body 1, and transmits the obstacle avoidance route instruction to the controller. The controller controls the driving module to drive the wheels of the vehicle body 1 to operate and adjust the moving state of the vehicle body 1 by itself.

[0063] Working principle of optimal path transportation: In order to minimize the total distance consumed by the AGV when completing all transportation tasks, an algorithm is established based on the phenomenon that charged particles preferentially select circuits with smaller resistance to flow, so as to achieve the purpose of optimal path selection. The solution process is as follows:

[0064] (1) Let the number of electrons be m, and they are located at the machine tool node at time t The number of electrons is The m electrons all start from the starting node.

[0065] (2) Machine tool node at time t With machine tool node The resistance value on the transport path is When t=0, the resistance values ​​on each path are the same and are set to c0.

[0066] (3) Let the set of machine tool nodes that electron k passes through be the taboo table tabk, which is dynamically adjusted according to the transportation status of the trolley.

[0067] (4) The probability of selecting a machine tool node with a higher degree of transportation urgency is greater. According to the algorithm's electronic transfer path probability calculation formula, the number of nodes that satisfy k (k = 1, 2, ..., m) at time t is determined by the machine tool node. Transfer to machine tool node The probability of

[0068]

[0069] In the formula, α is and The importance of resistance along the transport path; for and Visibility, is the machine tool node set M k The shortest path set between each manufacturing node in; β is the measure The parameter indicates the importance of electrons in choosing this transport path; For machine tool nodes Factors affecting current time positivity;

[0070]

[0071] In the formula, and The smaller the value, the higher the urgency of the transportation task time of the node. influencing factors.

[0072] (5) After electron k has traveled through the set of machine tool nodes, the number of electrons flowing on each path is updated, and the nodes and The pheromone between

[0073]

[0074] Where ρ∈[0,1] is the control Reduced parameters; express and The total increase in the number of electrons flowing in the intermediate path can be obtained by the following formula.

[0075]

[0076] In the formula, Indicates that the electron and The increase in the number of electrons flowing in the intermediate path can be obtained by the following formula.

[0077]

[0078] Where Q is a constant; L k is the total cost required for the kth electron in its transportation path.

[0079] (6) Calculate the distances of m electrons, clear the taboo table, and repeat the cycle until the termination condition is met.

[0080] Figure 4 The solution process of the algorithm. Figure 5 Taking the machine tool nodes (1, 5, 6, 8, 10, 12, 15) as the transportation target, after simulation analysis, it is found that after optimization, the trolley path can automatically select the optimal route according to the location of the machine tool node, which can greatly save costs compared with the path before optimization.

[0081] The embodiments are only used to illustrate the present invention and are not used to limit the scope of the present invention. After reading the present invention, various equivalents of the present invention will fall within the scope defined by the claims attached to this application for those skilled in the art.

Claims

1. An AGV vehicle based on RFID that can achieve precise positioning, characterized by: The vehicle comprises a vehicle body (1), a front wheel (2), a rear wheel (3), a mechanical arm device (4), a cargo box (5), a vehicle control box (6) and a pushing device (7), wherein the front wheel (2) and the rear wheel (3) are fixed to the bottom of the vehicle body (1), the cargo box (5) is arranged above the vehicle body (1), and the pushing device (7) is installed at the bottom of the cargo box (5). The vehicle control box (6) is arranged on the right side of the vehicle body (1), and the mechanical arm device (4) is installed on the left side of the vehicle body (1); a main controller, a drive module, an RFID positioning module, a visual obstacle avoidance module, and a path optimization module are arranged in the vehicle control box (6), the output ends of the RFID positioning module, the visual obstacle avoidance module, and the path optimization module are all connected to the input end of the main controller, the output end of the main controller is connected to the input end of the drive module, and a sensor visual camera is arranged on the left and right sides of the vehicle body, and the output end of the sensor visual camera is connected to the input end of the visual obstacle avoidance module; The mechanical arm device (4) comprises a crank connecting rod mechanism (41), a mechanical arm 1 (42) and a mechanical arm 2 (43), wherein the mechanical arm 1 (42) and the mechanical arm 2 (43) are respectively arranged on the left and right sides of the crank connecting rod mechanism (41); The crank-connecting rod mechanism (41) comprises a base (411), a crank (412), a connecting rod 1 (413), a connecting rod 2 (414) and a connecting rod 3 (415); the base (411) is provided with a crank (412), the crank (412) is symmetrically provided with a connecting rod 3 (415), and the connecting rod 3 (415) is connected to the connecting rod 1 (413) via the connecting rod 2 (414); the mechanical arm 1 (42) and the mechanical arm 2 (43) both comprise a movable arm (a) and a mechanical claw (b), one end of the movable arm (a) is connected to the mechanical claw (b), and the other end is connected to the connecting rod 1 (413); The second connecting rod (414) is formed by crossing two rods, the free ends of the two rods are respectively pivotally connected to the first connecting rod (413), and the intersection thereof is pivotally connected to one end of the third connecting rod (415); The crank-connecting rod mechanism (41) can drive the mechanical arm 1 (42) and the mechanical arm 2 (43) to switch between opening and closing states synchronously, and the opening and closing states of the mechanical arm 1 (42) and the mechanical arm 2 (43) are opposite; The solution of the path optimization module includes the following process: (1) Let the number of electrons be m, and they are located at the machine tool node at time t The number of electrons is m electrons all start from the starting node, k = 1, 2, ..., m; (2) Machine tool node at time t With machine tool node The resistance value on the transport path is When t = 0, the resistance value on each path is the same and is set to c0; (3) Let the set of machine tool nodes that electron k passes through be the taboo table tab k , the taboo table is dynamically adjusted according to the transportation status of the trolley; (4) The probability of selecting a machine tool node with a higher degree of transportation urgency is greater. According to the algorithm's electronic transfer path probability calculation formula, at time t, the number of nodes selected by the machine tool node is Transfer to machine tool node The probability of In the formula, α is and The importance of resistance along the transport path; for and Visibility, is the machine tool node set M k The shortest path set between each manufacturing node in; β is the measure The parameter indicates the importance of electrons in choosing this transport path; For machine tool nodes Factors affecting current time positivity; In the formula, and The smaller the value, the higher the urgency of the transportation task time of the node. Factors influencing (5) After electron k has traveled through the set of machine tool nodes, the number of electrons flowing on each path is updated, and the nodes and The pheromone between Where ρ∈[0,1] is the control Reduced parameters; express and The total increase in the number of electrons flowing in the intermediate path can be obtained by the following formula: In the formula, Indicates that the electron and The increase in the number of electrons flowing in the intermediate path can be obtained by the following formula: Where Q is a constant; L k is the total cost required for the kth electron in its transportation path; (6) Calculate the distances of m electrons, clear the taboo table, and repeat the cycle until the termination condition is met.

2. According to claim 1, the AGV vehicle capable of achieving precise positioning based on RFID is characterized in that: The vehicle-mounted control box (6) is provided with a power switch (61), an antenna (62), a card swiping panel (63), operating buttons (64), and a display screen (65).

3. The AGV vehicle capable of achieving precise positioning based on RFID according to claim 1, characterized in that: The pushing device (7) comprises a spring (71), a driving wheel (72), a driven wheel (73) and a push plate (74); the spring (71) is fixedly connected between a baffle (51) of a cargo box (5) and the push plate (74); the driving wheel (72) is meshed with the driven wheel (73); and the driven wheel (73) is connected to the lower end of the push plate (74).

4. The AGV vehicle capable of achieving precise positioning based on RFID according to claim 2, characterized in that: The cargo box (5) is provided with a pressure sensor, and the output end of the pressure sensor is connected to the input end of the main controller.

5. The AGV vehicle capable of achieving precise positioning based on RFID according to claim 4, characterized in that: The front wheel (2) is a transformation drive wheel.

6. The AGV vehicle capable of achieving precise positioning based on RFID according to claim 4, characterized in that: Bumpers are provided at both left and right ends of the vehicle body (1).

7. An AGV vehicle capable of achieving precise positioning based on RFID as claimed in any one of claims 1 to 5, characterized in that: The specific working methods are as follows: (1) Turn on the power switch (61), and the vehicle body (1) moves forward driven by the front wheels (2) and the rear wheels (3); (2) When the vehicle (1) reaches the material storage area, the vehicle (1) stops moving forward, and the staff member swipes a card on the card swiping panel (63) to identify himself; (3) The operation buttons (64) are used to set vehicle functions and perform command operations, and the display screen (65) is used to display vehicle, cargo, location, and personnel information; (4) The mechanical claw (a) of the mechanical arm 1 (42) opens to clamp the material, the crank (412) itself continuously rotates to generate force, and the connecting rod 3 (415) is used to convert the full rotation of the crank (412) into left and right reciprocating movement, thereby driving the connecting rod 2 (414), the connecting rod 1 (413) and the mechanical arm 1 (42) to move. When the crank (412) drives the connecting rod 3 (415) to move to the right, the connecting rod 2 (414) and the connecting rod 1 (413) are transmitted to the right, and the mechanical claw (b) of the mechanical arm 1 (42) is closed to complete the material clamping task; at the same time, the mechanical claw (b) of the mechanical arm 2 (43) is in an open state; (5) After the crank (412) is controlled to rotate by the travel switch, the driving base (411) is rotated until the positions of the mechanical arm 1 (42) and the mechanical arm 2 (43) are exchanged, and then the base (411) is controlled to stop rotating by the travel switch; (6) After the mechanical claw (b) of the mechanical arm 2 (43) that originally did not grip the material grips the material, the crank (412) drives the connecting rod 1 (413) to move to the right through the connecting rod 3 (415) and the connecting rod 2 (414), and the mechanical claw (b) of the mechanical arm 2 (43) closes. At this time, the mechanical claw (b) of the mechanical arm 1 (42) opens and puts the material into the cargo box (5), completing an automatic material gripping and transportation action; (7) When the mechanical claw (b) of the mechanical arm 1 (42) places the material into the cargo box (5), the pushing device (7) is started, the driving wheel (72) starts to rotate, driving the driven wheel (73) and the push plate (74) to rotate inward, the spring (71) stretches to generate tension, and the push plate (74) pushes the material into the cargo box (5), completing the loading and automatic discharge of the goods; (8) When the driving wheel (72) rotates to the state of an empty gear, the driven wheel (73) and the driving wheel (72) no longer generate force, and under the pulling force of the spring (71), the driven wheel (73) returns to the initial automatic state, completing a material pushing action; (9) Then, the crank (412) is controlled to rotate by the travel switch, and the driving base (411) is rotated until the mechanical arm 2 (43) and the mechanical arm 1 (42) are driven to exchange positions; (10) Repeat (3)-(9) until the cargo box (5) reaches the upper limit of the cargo load or the gripping task is completed; the robot arm 1 (42) and the robot arm 2 (43) stop working; (11) The pressure sensor on the cargo box (5) monitors the load in real time and determines whether the vehicle is overloaded or whether the cargo has increased or decreased based on the pressure change. During the process of gripping materials, if the vehicle reaches the upper limit of the load or the gripping task is completed, the pressure sensor transmits a command through the controller to stop the operation of the mechanical arm device (4); (12), the RFID positioning module is used to locate the position of the vehicle body (1) and send the positioning information to the main controller, and the main controller controls the travel route of the vehicle body (1) according to the path optimization module; (13) When the sensor visual camera encounters an obstacle, it transmits the information to the visual obstacle avoidance module. The visual obstacle avoidance module plans an obstacle avoidance route according to the position of the vehicle body, and transmits the obstacle avoidance route instruction to the controller. The controller controls the driving module to drive the wheels of the vehicle body (1) to operate and automatically adjust the travel state of the vehicle body (1).

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