An AGV vehicle positioning and navigation system and method

Abstract

The present invention discloses an AGV trolley positioning and navigation system and method. Aiming at the technical problem that if the existing AGV trolley encounters a foreign object in front while advancing, it is unable to detect and react to the foreign object, which will cause the trolley to collide with the foreign object and cause damage to the trolley. If the trolley is still in a loading state, if the cargo is heavy, it will squeeze the AGV trolley at the rear side and cause secondary damage to the trolley, the following scheme is proposed. The AGV trolley positioning and navigation system includes an AGV trolley and a terminal. The AGV trolley is respectively provided with a data processor, a detection mechanism, a control system, a power supply mechanism and a navigation mechanism. The detection mechanism includes a radar, an alarm light, a speaker and a camera. The radar is electrically connected to the data processor, the radar is electrically connected to the camera, and the radar is electrically connected to the alarm light. The present invention installs a radar on the AGV trolley, and the AGV trolley will be urgently stopped when the radar detects a foreign object.

Description

Technical Field

[0001] The present invention relates to the technical field of AGV trolleys, and in particular to an AGV trolley positioning and navigation system and method. Background Art

[0002] Also commonly known as AGV cart; refers to a transport vehicle equipped with electromagnetic or optical automatic navigation devices, capable of traveling along a specified navigation path, with safety protection and various transfer functions; a transport vehicle that does not require a driver in industrial applications, with a rechargeable battery as its power source; generally, its path and behavior can be controlled by a computer, or its path can be established using an electromagnetic track, which is attached to the floor, and the unmanned transport vehicle relies on the information brought by the electromagnetic track to move and act;

[0003] If an existing AGV encounters a foreign object in front of it while moving forward, it cannot detect and respond to the foreign object, which will cause the vehicle to collide with the foreign object and cause damage to the vehicle. If the vehicle is still carrying goods, if the goods are heavy, it will also squeeze the AGV from the back, causing secondary damage to the vehicle. Therefore, we propose an AGV positioning and navigation system and method. Summary of the invention

[0004] Based on the background technology, there is a technical problem that if an AGV cart encounters a foreign object in front of it on the way forward and is unable to detect and respond to the foreign object, the cart will collide with the foreign object and cause damage to the cart. If the cart is still in a loading state and the cargo is heavy, it will also squeeze the AGV cart from the back, causing secondary damage to the cart. The present invention proposes an AGV cart positioning and navigation system and method.

[0005] An AGV trolley positioning and navigation system proposed by the present invention includes an AGV trolley and a terminal. The AGV trolley is respectively provided with a data processor, a detection mechanism, a control system, a power supply mechanism and a navigation mechanism. The detection mechanism includes a radar, an alarm light, a speaker and a camera. The radar is electrically connected to the data processor, the radar is electrically connected to the camera, the radar is electrically connected to the alarm light, the alarm light is electrically connected to the speaker, and the camera is connected to the terminal. The control system includes a steering mechanism, a circuit breaker mechanism, a brake mechanism and a drive mechanism. The number of the circuit breaker mechanisms is two groups. The brake mechanism is connected to two groups of circuit breakers, and the two groups of circuit breakers are respectively connected to the steering mechanism and the drive mechanism. The power supply mechanism includes a battery module and a charging module, the charging module is electrically connected to the battery module, and the battery module is electrically connected to the data processor. The navigation mechanism includes an electronic track, a positioning module and a circulation module. The positioning module is electrically connected to the electronic track, the electronic track is electrically connected to the data processor, the positioning module is electrically connected to the electronic track, and the positioning module is electrically connected to the circulation module.

[0006] Preferably, the brake mechanism includes a rotating wheel, a motor, a rack, a pushing gear, a connecting shaft, a connecting gear, a positioning spring, a brake disc, a pushing rod, a center rod, a driving gear, a reset spring, a first clamping plate and a second clamping plate. The motor is fixedly mounted on the inner wall of the AGV trolley, the driving gear is fixedly mounted on the motor output shaft, the rack is slidably connected to the inner wall of the AGV trolley, the pushing gear and the connecting gear are both rotatably connected to the inner wall of the AGV trolley, the pushing rod is fixedly connected to the pushing gear, the second clamping plate is slidably connected to the rack, and the first clamping plate is fixed Installed on the left end of the rack, the left end of the return spring is fixedly installed on the rack, and the right end of the return spring is fixedly connected to the second clamping plate. The rear side of the AGV cart is provided with four rotating wheels arranged in a matrix, and the same connecting shaft is fixedly installed on the side where two adjacent rotating wheels are close to each other. The connecting shaft at the upper position passes through the driving mechanism, and the connecting shaft at the lower position passes through the steering mechanism. The brake disc is fixedly installed on the right side of the rotating wheel located at the upper left corner, and the brake disc is located between the first clamping plate and the second clamping plate. The brake mechanism can stop the AGV cart when the radar detects foreign objects.

[0007] Preferably, the circuit breaking mechanism includes a first connecting wire, a connecting block, a connecting contact and a second connecting wire, the number of the first connecting wire, the connecting contact and the second connecting wire are two, the number of the connecting blocks is four, the two first connecting wires are electrically connected to the steering mechanism and the driving mechanism respectively, the two second connecting wires are electrically connected to the battery module, the first connecting wire and the second connecting wire are electrically connected to the connecting block, the connecting contacts are in sliding contact with the connecting block, and the two connecting contacts are fixedly installed on the right side of the center rod, and the circuit breaking mechanism can automatically disconnect the driving mechanism and the steering mechanism when the braking mechanism is started.

[0008] Preferably, symmetrically arranged positioning springs are fixedly installed on the inner wall of the AGV trolley. There are two positioning springs, and the ends of the two positioning springs close to each other are fixedly connected to the left and right sides of the center rod respectively, so as to position the center rod so as to reset the center rod after the center rod is pushed by the rack.

[0009] Preferably, a horizontal slide groove is opened on the front side of the rack, and the second clamping plate is slidably connected to the inner wall of the horizontal slide groove, so that the second clamping plate can slide on the rack to approach the right side of the brake disc to slow down the brake disc.

[0010] Preferably, the brake mechanism has a higher priority than the steering mechanism and the driving mechanism, in order to give priority to starting the brake mechanism to prevent damage to the vehicle.

[0011] Preferably, the first connecting wire, the second connecting wire, the connecting block and the connecting contacts can all be energized, and the connecting block and the connecting contacts are all made of metal materials, specifically iron. The connecting block is connected to the first connecting wire, the second connecting wire and the connecting contacts to form a circuit, and the battery module can respectively energize the steering module and the drive module. If the connecting contacts are detached from the connecting block, the circuit is disconnected, thereby disconnecting the steering mechanism and the drive mechanism.

[0012] Preferably, the center rod is made of insulating material, specifically fiberglass, which can prevent the equipment from leaking electricity.

[0013] The present invention also proposes an AGV trolley positioning and navigation method, comprising the following steps:

[0014] S1: The AGV can be driven to move by the driving mechanism, and the AGV can be steered by the steering mechanism. Both the driving mechanism and the steering mechanism are controlled by a data processor;

[0015] S2: The end point of the AGV is set on the electronic track through the terminal and the positioning module. The data processor obtains the end point on the electronic track and makes a path plan, and then drives to the end point through the driving mechanism and the steering mechanism.

[0016] According to the current position coordinates of the car and the coordinates of the end point, the path planning of the car on the electronic track is obtained on the electronic track map;

[0017]

[0018] Among them, d is the path planning solution, (x 1， y 1 ) is the current position coordinate, (x 2， y 2 ) is the key coordinate, map is the electronic track map, To represent the features extracted using the convolutional network, Indicates the feature extraction of convolutional network trained using cross entropy;

[0019] S3: Through the circulation module, when the AGV car drives to the end position, the end point becomes the starting point, and the starting point becomes the end point, so that the AGV car can travel back and forth between the starting point and the end point;

[0020] S4: When the AGV is driving, if the radar detects that there is a foreign object on the electronic track that blocks the vehicle's progress, the radar will transmit the information to the data processor and the camera, which will then transmit the image to the terminal. The radar will also activate the alarm light and speaker to sound an alarm.

[0021] S5: When the data processor receives the information from the radar, it will first start the brake mechanism, which will disconnect the drive mechanism and the steering mechanism through two sets of disconnecting mechanisms. The brake mechanism will then stop the AGV to protect it.

[0022] S6: When the foreign object is removed and the radar cannot detect the foreign object, it will stop sending information to the camera and data processor and stop the alarm light and speaker. At this time, the data processor will stop the motor, and the brake mechanism will automatically reset. The brake mechanism will release the AGV car so that the AGV car can continue to drive. After the brake mechanism is reset, it will automatically reset the disconnection between the steering mechanism and the drive mechanism, and the AGV car can continue to drive.

[0023] The beneficial effects of the present invention are:

[0024] 1. The AGV can be driven to move by the driving mechanism, and the AGV can be turned by the steering mechanism. The driving mechanism and the steering mechanism are controlled by the data processor, and then the end point of the AGV is set on the electronic track through the terminal and the positioning module. The data processor then obtains the end point on the electronic track and makes a path planning, and then drives to the end point through the driving mechanism and the steering mechanism. When the AGV reaches the end point, the end point can be changed to the starting point, and the starting point can be changed to the end point through the circulation module, so that the AGV can travel back and forth between the starting point and the end point;

[0025] 2. When the AGV is driving, if the radar detects that there is a foreign object on the electronic track that blocks the vehicle from moving forward, the radar will transmit the information to the data processor and the camera at the same time. The camera will then transmit the image to the terminal. The radar will also start the alarm light and the speaker to alarm. When the data processor receives the information from the radar, it will give priority to starting the brake mechanism. The brake mechanism will disconnect the drive mechanism and the steering mechanism through two sets of disconnecting mechanisms respectively. The brake mechanism will then stop the AGV to protect the AGV. When the foreign object is removed and the radar cannot detect the foreign object, it will stop sending information to the camera and the data processor and stop the alarm light and the speaker. At this time, the data processor will stop the motor, and the brake mechanism will automatically reset. The brake mechanism will then release the AGV so that the AGV can continue to drive. After the brake mechanism is reset, it will automatically reset the disconnection between the steering mechanism and the drive mechanism, and the AGV can continue to drive, thus protecting the AGV.

[0026] 3. By starting the motor, the motor drives the driving gear to rotate, which in turn drives the connecting gear to rotate. The connecting gear then drives the rack to move and pulls the first clamping plate to contact the brake disc. The movement of the rack drives the pushing gear to rotate. The pushing gear then drives the pushing rod to rotate. The pushing rod then pushes the second clamping plate to slide on the rack and contact the right side of the brake disc. The first clamping plate and the second clamping plate contact the brake disc at the same time, which increases the friction of the brake disc and slows down the brake disc.

[0027] 4. The rack pushes the center rod, which pushes the two connection contacts to be disconnected from the four connection blocks. Since the electricity of the battery module is respectively connected to the drive mechanism and the steering mechanism through the second connection line, the connection block, the connection contact and the first connection line, the drive mechanism and the steering mechanism are disconnected. If the center rod pushes the connection contact to be disconnected from the connection block, the drive mechanism and the steering mechanism are disconnected.

[0028] 5. By stopping the motor, the two positioning springs reset and drive the center rod to reset. The reset of the center rod will also drive the two connection contacts to contact the connection block, and the battery module can re-energize the steering mechanism and the drive mechanism;

[0029] The present invention installs a radar on the AGV trolley. When the radar detects a foreign object, the AGV trolley will be stopped urgently. At the same time, the camera will transmit the image of the foreign object in front to the terminal. After the AGV trolley stops urgently, the driving mechanism and the steering mechanism will be automatically powered off, thereby protecting the AGV trolley. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 This is a system block diagram of an AGV positioning and navigation method proposed by the present invention;

[0031] Figure 2 A three-dimensional structural diagram of an AGV positioning and navigation system proposed by the present invention;

[0032] Figure 3 This is a structural front view of an AGV trolley positioning and navigation system proposed by the present invention;

[0033] Figure 4 A top view of the structure of an AGV positioning and navigation system proposed by the present invention;

[0034] Figure 5 This is a top view of the brake mechanism of the AGV trolley positioning and navigation system proposed by the present invention.

[0035] In the figure: 1 AGV trolley, 2 rotating wheel, 3 motor, 4 rack, 5 pushing gear, 6 connecting shaft, 7 connecting gear, 8 positioning spring, 9 first connecting line, 10 connecting block, 11 connecting contact, 12 second connecting line, 13 brake disc, 14 pushing rod, 15 center rod, 16 driving gear, 17 return spring, 18 first clamping plate, 19 second clamping plate, 20 horizontal slide groove. DETAILED DESCRIPTION

[0036] The present invention will be further explained below in conjunction with specific embodiments. Example

[0037] refer to Figure 1-5In this embodiment, an AGV trolley positioning and navigation system is proposed, including an AGV trolley 1 and a terminal. The AGV trolley 1 is respectively provided with a data processor, a detection mechanism, a control system, a power supply mechanism and a navigation mechanism. The detection mechanism includes a radar, an alarm light, a speaker and a camera. The radar is electrically connected to the data processor, the radar is electrically connected to the camera, the radar is electrically connected to the alarm light, the alarm light is electrically connected to the speaker, and the camera is connected to the terminal. The control system includes a steering mechanism, a circuit breaker mechanism, a brake mechanism and a drive mechanism. The number of circuit breakers is two groups. The brake mechanism is connected to two groups of circuit breakers, and the two groups of circuit breakers are respectively connected to the steering mechanism and the drive mechanism. The power supply mechanism includes a battery module and a charging module. The charging module is electrically connected to the battery module. The battery module is electrically connected to the data processor, the navigation mechanism includes an electronic track, a positioning module and a circulation module, the positioning module is electrically connected to the electronic track, the electronic track is electrically connected to the data processor, the positioning module is electrically connected to the electronic track, and the positioning module is electrically connected to the circulation module. The brake mechanism includes a rotating wheel 2, a motor 3, a rack 4, a pushing gear 5, a connecting shaft 6, a connecting gear 7, a positioning spring 8, a brake disc 13, a pushing rod 14, a center rod 15, a driving gear 16, a reset spring 17, a first clamping plate 18 and a second clamping plate 19. The motor 3 is fixedly mounted on the inner wall of the AGV trolley 1, the driving gear 16 is fixedly mounted on the output shaft of the motor 3, the rack 4 is slidably connected to the inner wall of the AGV trolley 1, and the pushing gear 5 and the connecting gear 7 are both rotatably connected. On the inner wall of the AGV trolley 1, the pushing rod 14 is fixedly connected to the pushing gear 5, the second clamping plate 19 is slidably connected to the rack 4, the first clamping plate 18 is fixedly installed on the left end of the rack 4, the left end of the reset spring 17 is fixedly installed on the rack 4, and the right end of the reset spring 17 is fixedly connected to the second clamping plate 19. The rear side of the AGV trolley 1 is provided with four rotating wheels 2 arranged in a matrix, and the same connecting shaft 6 is fixedly installed on the side where two adjacent rotating wheels 2 are close to each other. The connecting shaft 6 at the upper position passes through the driving mechanism, and the connecting shaft 6 at the lower position passes through the steering mechanism. The brake disc 13 is fixedly installed on the right side of the rotating wheel 2 located at the upper left corner, and the brake disc 13 is located between the first clamping plate 18 and the second clamping plate 19. The brake mechanism can be turned on when the radar detects foreign objects. The AGV trolley brakes and stops. The circuit breaker mechanism includes a first connecting line 9, a connecting block 10, a connecting contact 11 and a second connecting line 12. The number of the first connecting line 9, the connecting contact 11 and the second connecting line 12 are two, and the number of the connecting blocks 10 is four. The two first connecting lines 9 are electrically connected to the steering mechanism and the driving mechanism respectively, and the two second connecting lines 12 are electrically connected to the battery module. The first connecting line 9 and the second connecting line 12 are electrically connected to the connecting block 10. The connecting contact 11 is in sliding contact with the connecting block 10. The two connecting contacts 11 are fixedly installed on the right side of the center rod 15. The circuit breaker mechanism can automatically disconnect the driving mechanism and the steering mechanism when the brake mechanism is started. The inner wall of the AGV trolley 1 is fixedly installed with symmetrically arranged positioning springs 8.There are two positioning springs 8, and the ends of the two positioning springs 8 that are close to each other are fixedly connected to the left and right sides of the center rod 15 respectively, so as to position the center rod 15 so as to reset the center rod 15 after the center rod 15 is pushed by the rack 4. A horizontal slide groove 20 is provided on the front side of the rack 4, and the second clamping plate 19 is slidably connected to the inner wall of the horizontal slide groove 20, so that the second clamping plate 19 can slide on the rack 4 to approach the right side of the brake disc 13 to slow down the brake disc 13. The priority of the brake mechanism is higher than that of the steering mechanism and the driving mechanism. In order to start the brake machine first Structure, to prevent damage to the car, the first connecting line 9, the second connecting line 12, the connecting block 10 and the connecting contact 11 can all be energized, the connecting block 10 and the connecting contact 11 are all made of metal materials, specifically iron, the connecting block 10 is connected with the first connecting line 9, the second connecting line 13 and the connecting contact 11, and a circuit is formed, the battery module can respectively energize the steering module and the drive module, if the connecting contact 11 is separated from the connecting block 10, the circuit is disconnected, and the disconnection of the steering mechanism and the drive mechanism is realized, the center rod 15 is an insulating material, specifically glass fiber reinforced plastic, which can prevent the equipment from leaking electricity. ,

[0038] Working principle: The AGV trolley 1 can be driven to move by the driving mechanism, and the AGV trolley 1 can be steered by the steering mechanism. The driving mechanism and the steering mechanism are controlled by the data processor, and then the end point of the AGV trolley 1 is set on the electronic track through the terminal and the positioning module. The data processor then obtains the end point on the electronic track and makes a path planning, and then drives to the end point through the driving mechanism and the steering mechanism. When the AGV trolley 1 drives to the end point, the end point can be changed to the starting point, and the starting point can be changed to the end point through the circulation module, so that the AGV trolley 1 can travel back and forth between the starting point and the end point. When the AGV trolley 1 is driving, if the radar detects that there is a foreign object on the electronic track blocking the trolley's progress, the radar will transmit the information to the data processor, and will also send the information to the data processor. The information is transmitted to the camera, and the camera then transmits the image to the terminal. The radar will also activate the alarm light and the speaker to alarm. When the data processor receives the information from the radar, it will give priority to activating the brake mechanism. The brake mechanism will disconnect the drive mechanism and the steering mechanism through two sets of circuit breaker mechanisms respectively. The brake mechanism will then stop the AGV 1 to protect the AGV 1. When the foreign object is removed and the radar cannot detect the foreign object, it will stop sending information to the camera and the data processor and stop the alarm light and the speaker. At this time, the data processor will stop the motor, and the brake mechanism will automatically reset. The brake mechanism will then release the AGV 1 so that the AGV 1 can continue to drive. After the brake mechanism is reset, the disconnection of the steering mechanism and the drive mechanism will be automatically reset. , the AGV trolley 1 can continue to travel. The working principle of the brake mechanism is that when the data processor starts the motor 3, the motor 3 drives the driving gear 16 to rotate clockwise, which will drive the connecting gear 7 meshing with it to rotate clockwise, and the connecting gear 7 drives the rack 4 to move to the right and pulls the first clamping plate 18 to contact the brake disc 13. At the same time, the rack 4 moves to the right and drives the pushing gear 5 to rotate counterclockwise, and the pushing gear 5 drives the pushing rod 14 to rotate counterclockwise, and the pushing rod 14 pushes the second clamping plate 19 to slide on the rack 4 and contact the right side of the brake disc 13. The first clamping plate 18 and the second clamping plate 19 contact the brake disc 13 at the same time, which will increase the friction of the brake disc 13 and slow down the brake disc 13. The right side of the brake disc 13 is fixed with the rotating wheel 2. When the rack 4 moves to the right, it will also push the center rod 15 to move to the right. When moving, the center rod 15 will also push the two connection contacts 11 to disconnect from the four connection blocks 10. Since the electricity of the battery module is respectively connected to the drive mechanism and the steering mechanism through the second connection line 12, the connection block 10, the connection contact 11 and the first connection line 9, the drive mechanism and the steering mechanism are disconnected. If the center rod 15 pushes the connection contact 11 to disconnect from the connection block 10, the drive mechanism and the steering mechanism are disconnected. After the motor 3 stops, the position of the center rod 15 is positioned by two positioning springs 8. When the positioning rod moves to the right, it will stretch the positioning spring 8 on the left and compress the positioning spring 8 on the right.When the rack 4 stops pushing the center rod 15, the two positioning springs 8 will reset and drive the center rod 15 to reset. The reset of the center rod 15 will also drive the two connecting contacts 11 to contact the connecting block 10, and the battery module can re-energize the steering mechanism and the drive mechanism. The center rod 15 pushes the rack 4 to the left again, and the rack 4 drives the connecting gear 7 and the pushing gear 5 to reverse. The pushing gear 5 drives the pushing rod 14 to reset and release the second clamping plate 19. The second clamping plate 19 is reset by the reset spring 17. The rack 4 pushes the first clamping plate 18 to disengage from the brake disc 13. While moving to the left, the rack 4 will also drive the connecting gear 7 to reverse. The connecting gear 7 then drives the driving gear 16 to reverse. Since the motor 3 has stopped, the driving gear 16 will drive the output shaft of the motor 3 to reverse, realizing the automatic reset of the brake mechanism and automatically releasing the brake disc 13. The operation is simple and easy to use.

[0039] The present invention also proposes a positioning and navigation method for an AGV vehicle 1, comprising the following steps:

[0040] S1: The AGV trolley 1 can be driven to move by the driving mechanism, and the AGV trolley 1 can be steered by the steering mechanism. Both the driving mechanism and the steering mechanism are controlled by a data processor;

[0041] S2: The end point of the AGV 1 is set on the electronic track through the terminal and the positioning module. The data processor obtains the end point on the electronic track and makes a path plan, and then drives to the end point through the driving mechanism and the steering mechanism;

[0042] According to the current position coordinates of the car and the coordinates of the end point, the path planning of the car on the electronic track is obtained on the electronic track map;

[0043]

[0044] Among them, d is the path planning solution, (x 1， y 1 ) is the current position coordinate, (x 2， y 2 ) is the key coordinate, map is the electronic track map, To represent the features extracted using the convolutional network, Indicates the feature extraction of convolutional network trained using cross entropy;

[0045] Specifically, the above formula can be used to automatically obtain the end point on the electronic track to make path planning, saving manpower.

[0046] S3: When the AGV 1 reaches the end point, the end point can be changed to the starting point, and the starting point can be changed to the end point through the circulation module, so that the AGV 1 can travel back and forth between the starting point and the end point;

[0047] S4: When the AGV 1 is driving, if the radar detects that there is a foreign object on the electronic track that blocks the vehicle from moving forward, the radar will transmit the information to the data processor and the camera, which will then transmit the image to the terminal. The radar will also activate the alarm light and speaker to sound an alarm.

[0048] S5: When the data processor receives the information from the radar, it will first start the brake mechanism, which will disconnect the drive mechanism and the steering mechanism through two sets of disconnecting mechanisms, and then stop the AGV 1 to protect it.

[0049] S6: When the foreign object is removed and the radar cannot detect the foreign object, it will stop sending information to the camera and data processor and stop the alarm light and speaker. At this time, the data processor will stop the motor, and the brake mechanism will automatically reset. The brake mechanism will release the AGV car 1 so that the AGV car 1 can continue to travel. After the brake mechanism is reset, the disconnection between the steering mechanism and the drive mechanism will be automatically reset, and the AGV car 1 can continue to travel.

[0050] The above are only preferred specific implementation modes of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical solutions and inventive concepts of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. An AGV positioning and navigation system, comprising an AGV (1) and a terminal, characterized in that: The AGV trolley (1) is provided with a data processor, a detection mechanism, a control system, a power supply mechanism and a navigation mechanism, wherein the detection mechanism comprises a radar, an alarm light, a speaker and a camera, wherein the radar is electrically connected to the data processor, wherein the radar is electrically connected to the camera, wherein the radar is electrically connected to the alarm light, wherein the alarm light is electrically connected to the speaker, and wherein the camera is connected to the terminal, wherein the control system comprises a steering mechanism, a circuit breaker mechanism, a brake mechanism and a drive mechanism, wherein the number of the circuit breaker mechanisms is two groups, wherein the brake mechanism is connected to two groups of circuit breaker mechanisms, wherein the two groups of circuit breaker mechanisms are respectively connected to the steering mechanism and the drive mechanism, wherein the power supply mechanism comprises a battery module and a charging module, wherein the charging module is electrically connected to the battery module, wherein the battery module is electrically connected to the data processor, wherein the navigation mechanism comprises an electronic track, a positioning module and a circulation module, wherein the electronic track is electrically connected to the data processor, wherein the positioning module is electrically connected to the electronic track, and wherein the positioning module is electrically connected to the circulation module; The brake mechanism comprises a rotating wheel (2), a motor (3), a rack (4), a pushing gear (5), a connecting shaft (6), a connecting gear (7), a positioning spring (8), a brake disc (13), a pushing rod (14), a center rod (15), a driving gear (16), a reset spring (17), a first clamping plate (18) and a second clamping plate (19); the motor (3) is fixedly mounted on the inner wall of the AGV trolley (1); the driving gear (16) is fixedly mounted on the output shaft of the motor (3); the rack (4) is slidably connected to the inner wall of the AGV trolley (1); the pushing gear (5) and the connecting gear (7) are both rotatably connected to the inner wall of the AGV trolley (1); the pushing rod (14) is fixedly connected to the pushing gear (5); the first clamping plate (18) and the second clamping plate (19) are The second clamping plate (19) is slidably connected to the rack (4), the first clamping plate (18) is fixedly mounted on the left end of the rack (4), the left end of the reset spring (17) is fixedly mounted on the rack (4), the right end of the reset spring (17) is fixedly connected to the second clamping plate (19), the rear side of the AGV trolley (1) is provided with four rotating wheels (2) arranged in a matrix, the same connecting shaft (6) is fixedly mounted on the side close to each other of two adjacent rotating wheels (2), the connecting shaft (6) at the upper position passes through the driving mechanism, and the connecting shaft (6) at the lower position passes through the steering mechanism, the brake disc (13) is fixedly mounted on the right side of the rotating wheel (2) located at the upper left corner, and the brake disc (13) is located between the first clamping plate (18) and the second clamping plate (19).

2. The AGV positioning and navigation system according to claim 1, characterized in that: The circuit breaker mechanism comprises a first connecting wire (9), a connecting block (10), a connecting contact (11) and a second connecting wire (12); the number of the first connecting wire (9), the connecting contact (11) and the second connecting wire (12) are all two, the number of the connecting blocks (10) is four, the two first connecting wires (9) are electrically connected to the steering mechanism and the driving mechanism respectively, the two second connecting wires (12) are electrically connected to the battery module, the first connecting wire (9) and the second connecting wire (12) are electrically connected to the connecting block (10), the connecting contact (11) is in sliding contact with the connecting block (10), and the two connecting contacts (11) are fixedly mounted on the right side of the center rod (15).

3. The AGV positioning and navigation system according to claim 1, characterized in that: The inner wall of the AGV trolley (1) is fixedly mounted with symmetrically arranged positioning springs (8), the number of the positioning springs (8) being two, and the ends of the two positioning springs (8) close to each other are fixedly connected to the left and right sides of the center rod (15) respectively.

4. The AGV positioning and navigation system according to claim 1, characterized in that: A horizontal sliding groove (20) is provided on the front side of the rack (4), and the second clamping plate (19) is slidably connected to the inner wall of the horizontal sliding groove (20).

5. The AGV positioning and navigation system according to claim 1, characterized in that: The brake mechanism has a higher priority than the steering mechanism and the driving mechanism.

6. The AGV positioning and navigation system according to claim 2, characterized in that: The first connecting wire (9), the second connecting wire (12), the connecting block (10) and the connecting contact (11) can all be energized.

7. The AGV positioning and navigation system according to claim 1, characterized in that: The central rod (15) is made of insulating material.

8. An AGV positioning and navigation method, characterized in that: The following steps are involved: S1: The AGV trolley (1) can be driven to move by a driving mechanism, and the AGV trolley (1) can be steered by a steering mechanism, and both the driving mechanism and the steering mechanism are controlled by a data processor; S2: The terminal and the positioning module are used to set the end point of the AGV vehicle (1) on the electronic track. The data processor obtains the end point on the electronic track and makes a path plan, and then drives to the end point through the driving mechanism and the steering mechanism. According to the current position coordinates of the car and the coordinates of the end point, the path planning of the car on the electronic track is obtained on the electronic track map; Among them, d is the path planning solution, (x 1， y1) is the current position coordinate, (x 2， y2) is the key coordinate, map is the electron track map, f(*) represents the features extracted using the convolutional network, and m(*) represents the features extracted using the convolutional network trained using cross entropy; S3: When the AGV (1) reaches the end point, the end point can be changed to the starting point, and the starting point can be changed to the end point, so that the AGV (1) can travel back and forth between the starting point and the end point; S4: When the AGV (1) is traveling, if the radar detects that there is a foreign object on the electronic track that blocks the vehicle's progress, the radar will transmit the information to the data processor and the camera, which will then transmit the image to the terminal. The radar will also activate the alarm light and speaker to sound an alarm. S5: When the data processor receives the information from the radar, it will first activate the brake mechanism, which will disconnect the drive mechanism and the steering mechanism through two sets of disconnection mechanisms, and then the brake mechanism will stop the AGV (1) to protect the AGV (1); S6: When the foreign object is removed and the radar cannot detect the foreign object, it will stop sending information to the camera and the data processor and stop the alarm light and the speaker. At this time, the data processor will stop the motor, and the brake mechanism will automatically reset. The brake mechanism will then release the AGV car (1), allowing the AGV car (1) to continue to travel. After the brake mechanism is reset, the disconnection between the steering mechanism and the drive mechanism will be automatically reset, and the AGV car (1) can continue to travel.

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