Method, device and system for judging reliability of AGV navigation magnetic tape and electronic equipment

Abstract

The application provides an AGV navigation magnetic tape reliability judgment method, device, system and electronic equipment, comprising: in the process of AGV traveling along the navigation magnetic tape according to a preset route, a magnetic tape detection device arranged on the AGV is used to detect the navigation magnetic tape in real time, and the actual duration data of AGV traveling on the navigation magnetic tape is recorded; the recorded actual duration data is compared with the corresponding preset duration threshold corresponding to the preset route, if the recorded actual duration data is greater than or equal to the preset duration threshold, an alarm signal representing that there is a problem with the navigation magnetic tape is output. The accurate calculation and intelligent judgment of the length of the abnormal part of the magnetic tape are realized, the intelligent supervision under different walking speeds of AGV and different emergency situations is realized, when a serious emergency occurs, the AGV is controlled to stop, efficient and high agility are realized to prevent AGV from colliding with materials, deviating and the like, the safety of the scene is ensured, the intelligent degree and safety of the application are greatly improved, and the application scenarios of the application are further expanded.

Description

Technical Field

[0001] This invention relates to the field of AGV navigation tape reliability assessment technology, specifically to an AGV navigation tape reliability assessment method, device, system, and electronic device. Background Technology

[0002] Currently, AGV navigation methods mainly include QR code navigation, magnetic tape navigation, and laser reflector navigation. These methods are prone to failure in environments with oil, metal shavings, dust, etc., leading to QR code contamination, magnetic tape breakage, and laser reflector obstruction. This can cause the AGV to deviate from its preset route and derail, posing safety hazards to other equipment in the service environment and even threatening the personal safety of on-site personnel. Therefore, there is an urgent need for a monitoring solution for magnetic tape-guided AGVs that can prevent AGV collisions and deviations and ensure on-site safety.

[0003] Therefore, existing technologies need further development. Summary of the Invention

[0004] The purpose of this invention is to overcome the above-mentioned technical deficiencies and provide a method, device, system and electronic device for judging the reliability of AGV navigation magnetic tape, so as to solve the problems existing in the prior art.

[0005] To achieve the above-mentioned technical objectives, according to a first aspect of the present invention, a method for determining the reliability of AGV navigation magnetic tape is provided, the method comprising:

[0006] As the AGV travels along the navigation tape according to the preset route, the tape detection device installed on the AGV detects the navigation tape in real time, and calculates the actual time data of the AGV traveling on the navigation tape based on the detection feedback of the tape detection device.

[0007] The recorded actual duration data is compared with the corresponding preset duration threshold for the preset route. If the recorded actual duration data is greater than or equal to the preset duration threshold, an alarm signal indicating a problem with the navigation tape is output.

[0008] Specifically, the AGV traveling along the navigation tape according to a preset route includes:

[0009] The time threshold for each route is calculated and set in advance based on the preset route length and AGV travel speed.

[0010] Specifically, as the AGV travels along the navigation tape according to the preset route, the navigation tape is detected in real time by a tape detection device installed on the AGV. Based on the detection feedback from the tape detection device, the actual time the AGV travels on the navigation tape is calculated as follows:

[0011] After the AGV starts along the navigation tape according to the preset route, the AGV travels along the preset route at a first preset speed. The tape detection device detects the starting point of the tape, and the first timer starts timing. When the AGV travels to the end of the preset route, the tape detection device detects the end point of the tape, and the first counter stops. The actual time data of the AGV traveling on the navigation tape is obtained using the timing data of the first timer.

[0012] Specifically, the method further includes:

[0013] When the tape detection device detects the tape start point, it starts the second timer. When no tape is detected, the second timer pauses. Based on the current duration data of the first timer and the duration data when the second timer pauses, the first tape missing duration data is calculated. Based on the first tape missing duration data and the first preset speed of the AGV, the first tape missing length data is calculated, and it is determined whether the first tape missing length data is greater than or equal to the first preset threshold. If so, a warning signal is output.

[0014] Specifically, the pause of the second timer when no tape is detected is as follows:

[0015] When a tape is detected, the second timer is started; when no tape is detected, the second timer is paused; when a tape is detected again, the second timer resumes timing.

[0016] Specifically, the method further includes:

[0017] After the warning signal is output, if the first tape missing length data is detected to be greater than or equal to the second preset threshold, a moderate emergency alarm signal is output, and the AGV is controlled to move at a second preset speed, wherein the second preset speed is less than the first preset speed.

[0018] Specifically, outputting a moderate emergency alarm signal and controlling the AGV to travel at a second preset speed also includes:

[0019] When the AGV moves at the second preset speed, the second timer is used to obtain the second tape missing time data during the AGV's movement at the second preset speed. The second tape missing length data is calculated based on the second tape missing time data and the second preset speed. It is then determined whether the sum of the first tape missing length data and the second tape missing length data is greater than or equal to the third preset threshold. If so, the AGV stops and outputs a serious emergency alarm signal.

[0020] According to a second aspect of the present invention, an AGV navigation magnetic tape reliability determination device is provided, comprising:

[0021] A magnetic tape detection device is installed on an AGV. The magnetic tape detection device includes a transmitter for emitting detection light toward the magnetic tape and a receiver for receiving the light reflected from the magnetic tape. The magnetic tape is detected by receiving the detection light emitted by the transmitter after being reflected from the magnetic tape by the receiver.

[0022] According to a third aspect of the present invention, an AGV navigation magnetic tape reliability assessment system is provided, comprising:

[0023] The detection and recording module is used to detect the navigation tape in real time by a tape detection device set on the AGV and record the actual time data of the AGV traveling on the navigation tape as it travels along the preset route.

[0024] The control module compares the recorded actual duration data with the corresponding preset duration threshold for the preset route;

[0025] The alarm module is used to output an alarm signal indicating a problem with the navigation tape when the control module determines that the actual duration data recorded by the detection and recording module is greater than or equal to a preset duration threshold.

[0026] According to a fourth aspect of the present invention, an electronic device is provided, comprising:

[0027] A memory; and a processor, wherein the memory stores computer-readable instructions that, when executed by the processor, implement the AGV navigation magnetic tape reliability assessment method according to any one of claims 1 to 7.

[0028] The beneficial effects of this invention are:

[0029] 1. This invention can monitor whether the magnetic strip is suddenly damaged, prevent threats to on-site safety, maintain abnormal magnetic tapes in a timely manner, eliminate safety hazards, prevent the magnetic tape problem from deteriorating further and causing AGV collisions, deviations, etc., and ensure on-site safety.

[0030] 2. This invention enables precise calculation of the travel path length when the AGV slows down, thereby achieving precise calculation and intelligent judgment of the length of abnormal parts of the magnetic tape. Through ingenious design, it realizes intelligent monitoring of the AGV under different travel speeds and different emergency situations. When a serious emergency occurs, it controls the AGV to stop, achieving high efficiency and high agility to prevent the AGV from hitting materials, deviating, etc., ensuring on-site safety, greatly improving the intelligence and safety of this invention, and further expanding the application scenarios of this invention.

[0031] 3. Through ingenious design, the present invention uniformly covers the magnetic tape with a reflective coating, simplifying the complex problem of determining magnetic tape damage and further improving the usability and application scenarios of the present invention. Attached Figure Description

[0032] Figure 1 This is a structural diagram of the AGV navigation magnetic tape reliability judgment method provided in a specific embodiment of the present invention;

[0033] Figure 2 This is a flowchart of an AGV navigation magnetic tape reliability judgment method provided in another specific embodiment of the present invention;

[0034] Figure 3 This is a schematic diagram of a monitoring system for a magnetic tape-guided AGV provided in a specific embodiment of the present invention. Detailed Implementation

[0035] To enable those skilled in the art to better understand the technical solutions of the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings. Based on the embodiments in this application, other similar embodiments obtained by those skilled in the art without creative effort should all fall within the scope of protection of this application. Furthermore, directional terms mentioned in the following embodiments, such as "up," "down," "left," and "right," are only for reference to the directions in the accompanying drawings; therefore, the directional terms used are for illustrative purposes and not for limiting the invention.

[0036] The present invention will be further described below with reference to the accompanying drawings and preferred embodiments.

[0037] Please see Figure 1 This embodiment provides a method for determining the reliability of AGV navigation magnetic tape, the method comprising:

[0038] S100 and AGV travel along the navigation tape according to the preset route.

[0039] Specifically, the magnetic tape-guided AGV travels along a preset magnetic tape route, including:

[0040] The time threshold for each route is calculated and set in advance based on the preset route length and AGV travel speed.

[0041] Specifically, the length data of the preset magnetic tape route is measured, and the theoretical duration data is calculated based on the first preset speed of the magnetic tape-guided AGV corresponding to the magnetic tape route and the length of the magnetic tape route. The preset duration threshold is greater than or equal to the theoretical duration data.

[0042] It should be noted that this embodiment employs a magnetic tape-guided AGV monitoring system, which includes:

[0043] The detection and recording module is used to detect the navigation tape in real time by a tape detection device set on the AGV and record the actual time data of the AGV traveling on the navigation tape as it travels along the preset route.

[0044] The control module compares the recorded actual duration data with the corresponding preset duration threshold for the preset route;

[0045] The alarm module is used to output an alarm signal indicating a problem with the navigation tape when the control module determines that the actual duration data recorded by the detection and recording module is greater than or equal to a preset duration threshold.

[0046] It should be noted that this invention employs an automated guided vehicle (AGV) capable of automatically and promptly sensing the length of the effective magnetic strip. Building upon the existing positioning system and autonomous driving drive, an infrared scanner is installed next to the original magnetic navigation sensor on the bottom of the AGV. A timer module is then added to the PLC program in the control module to time the scanned magnetic strip, thus determining the effective magnetic strip length that can be scanned. This design ensures accurate positioning and navigation even in environments with oil, iron filings, or dust, without causing derailment.

[0047] Specifically, this embodiment also employs an AGV navigation magnetic tape reliability judgment device, including:

[0048] A magnetic tape detection device is installed on an AGV. The magnetic tape detection device includes a transmitter for emitting detection light toward the magnetic tape and a receiver for receiving light reflected from the magnetic tape. The magnetic tape is detected by receiving the detection light emitted by the transmitter after being reflected from the magnetic tape. The magnetic tape detection device is an infrared detection device, including an infrared emitting unit and an infrared receiving unit. The magnetic tape has a reflective surface that can reflect infrared light.

[0049] Before step S100, the process includes: setting a first preset speed, a second preset speed, a preset duration threshold, a first preset threshold, a second preset threshold, and a third preset threshold, and setting the second preset speed to be less than the first preset speed, setting the preset duration threshold to be greater than or equal to the theoretical duration data, setting the second preset threshold to be greater than the first preset threshold, and setting the third preset threshold to be greater than the second preset threshold.

[0050] It should be noted that by setting the preset time threshold to be greater than or equal to the theoretical time, this invention prevents the actual time from exceeding or equaling the theoretical time due to external environmental fluctuations such as road bumps, thus avoiding system misjudgments and increased workload for staff. This further improves the intelligence level and reliability of the analysis results. Furthermore, by setting the second preset speed to be less than the first preset speed, this invention enables timely deceleration of the AGV when there is a significant possibility of collision or deviation if it continues to travel at the first preset speed. This greatly improves the intelligence level and safety of this invention.

[0051] It is understood that by setting a first preset threshold, a second preset threshold, and a third preset threshold, and setting the second preset threshold to be greater than the first preset threshold and the third preset threshold to be greater than the second preset threshold, the present invention achieves intelligent monitoring of AGVs under different emergency situations. When a serious emergency occurs, the AGV is controlled to stop, achieving efficient and highly agile prevention of AGV collisions and deviations, ensuring on-site safety, greatly improving the intelligence and safety of the present invention, and further expanding the application scenarios of the present invention.

[0052] S200: The navigation tape is detected in real time by a tape detection device installed on the AGV, and the actual time data of the AGV traveling on the navigation tape is recorded.

[0053] After the AGV starts along the navigation tape according to the preset route, the AGV travels along the preset route at a first preset speed. The tape detection device detects the starting point of the tape, and the first timer starts timing. When the AGV travels to the end of the preset route, the tape detection device detects the end point of the tape, and the first counter stops. The actual time data of the AGV traveling on the navigation tape is obtained using the timing data of the first timer.

[0054] Specifically, a magnetic induction device and an infrared scanner are sequentially installed on the bottom centerline of the magnetic navigation AGV in the opposite direction to the direction of movement of the magnetic navigation AGV, and a reflective coating is uniformly covered on the magnetic tape. When the infrared scanner receives the light signal emitted by the infrared scanner reflected by the reflective coating, the infrared scanner converts the light signal into an electrical signal and sends it to the control module. When the control module receives the electrical signal sent by the infrared scanner, it determines that the magnetic tape has been detected.

[0055] Specifically, a start barcode and a stop barcode are provided at the starting point of the magnetic tape. When the infrared scanner in the magnetic tape detection device scans the start light signal reflected from the start barcode, it converts the light signal corresponding to the start barcode into a start electrical signal and sends it to the control module. When the control module receives the start electrical signal sent by the infrared scanner, it controls the first timer to start timing. When the infrared scanner in the magnetic tape detection device scans the stop light signal reflected from the stop barcode, it converts the light signal corresponding to the stop barcode into a stop electrical signal and sends it to the control module. When the control module receives the stop electrical signal sent by the infrared scanner, it controls the first timer to stop timing.

[0056] It's important to note that multiple preset tape routes can be used. Since these routes are pre-planned, the theoretical travel time can be calculated based on the AGV's current speed. In this example, there are multiple AGVs and multiple routes on-site. Each AGV corresponds to its own pre-set route, which is already labeled in the scheduling system. Only the corresponding tape routes need to be mapped. When an AGV completes a route, it uploads the actual travel time data to the control module and compares it with a preset time threshold. If the actual travel time exceeds the preset time threshold, a minor emergency alarm signal is output.

[0057] Understandably, during normal operation, the AGV's location and route are displayed in real time within the scheduling system. This is because the warehousing system first assigns the AGV the warehousing task, thus determining the warehousing location and the tape route; in other words, the route is automatically identified based on the system's assigned task. Without external interference, the AGV operates fully automatically. The preset time threshold setting needs to be determined based on the specific model of the tape-guided AGC and the infrared scanner.

[0058] It should be noted that the AGV scheduling system displays the AGV's position in real time based on its location, and the preset duration data is greater than or equal to the theoretical duration data. This invention, by setting the preset duration threshold to be greater than or equal to the theoretical duration data, can prevent the actual duration data from exceeding or equaling the theoretical duration data due to external environmental fluctuations such as road bumps, thus avoiding system misjudgments and increased workload for staff. This further improves the intelligence level and reliability of the analysis results of this invention.

[0059] Specifically, the actual duration of the detected magnetic tape is obtained using the timer unit in the control module. The specific steps of obtaining the actual duration of the detected magnetic tape using the timer in the control module are as follows:

[0060] After the AGV starts along the navigation tape according to the preset route, the AGV travels along the preset route at a first preset speed. The tape detection device detects the starting point of the tape, and the first timer starts timing. When the AGV travels to the end of the preset route, the tape detection device detects the end point of the tape, and the first counter stops. The actual time data of the AGV traveling on the navigation tape is obtained using the timing data of the first timer.

[0061] Specifically, the method further includes:

[0062] The control module also includes a second timer. When the tape detection device detects the start point of the tape, the second timer is activated. When no tape is detected, the second timer is paused. Based on the current duration data of the first timer and the duration data when the second timer is paused, the first tape missing duration data is calculated. Based on the first tape missing duration data and the first preset speed of the AGV, the first tape missing length data is calculated, and it is determined whether the first tape missing length data is greater than or equal to the first preset threshold. If so, a warning signal is output.

[0063] It should be noted that the control module of this invention also includes a second timer. The first and second timers are used to calculate the duration of the first missing tape during the movement of the tape-guided AGV. Based on the tape missing duration and the first preset speed of the tape-guided AGV, the length of the first missing tape is calculated. This invention determines whether the length of the undetected tape during the movement of the tape-guided AGV, i.e., the potentially damaged tape length, is greater than or equal to a warning value. If it is greater than the warning value, it indicates a significant abnormality in the tape. However, since the tape missing length has just reached the first preset threshold but not the second preset threshold (i.e., the second preset threshold is greater than the first preset threshold), the situation is not urgent. In this case, a warning signal is directly output during the movement of the tape-guided AGV to notify the back-end staff. The back-end staff then determine whether to go to the site for inspection based on the location and specific circumstances, further improving the intelligence and usability of this invention.

[0064] Specifically, the pause of the second timer when no tape is detected is as follows:

[0065] When a tape is detected, the second timer is started; when no tape is detected, the second timer is paused; when a tape is detected again, the second timer resumes timing.

[0066] When the tape-guided AGV starts moving, the second timer is activated to calculate the actual walking time of the tape-guided AGV. When a tape is detected, the second timer is activated; when no tape is detected, the second timer is paused. Based on the current duration data of the second timer and the duration data when the first timer paused, the duration data of the missing first tape is calculated.

[0067] Specifically, the method further includes:

[0068] After the warning signal is output, if the first tape missing length data is detected to be greater than or equal to the second preset threshold, a moderate emergency alarm signal is output, and the AGV is controlled to move at a second preset speed, wherein the second preset speed is less than the first preset speed.

[0069] It should be noted that in the technical solution of this embodiment, by setting a first preset speed and a second preset speed, and setting the second preset speed to be less than the first preset speed, if the length of the first missing tape is greater than or equal to the second preset threshold, it is proven that there is a major abnormality in the tape. At this time, if the AGV continues to walk at the first preset speed, there may be a greater possibility of collision or deviation. At this time, the tape-guided AGV is controlled to decelerate and a moderate emergency alarm signal is issued to notify the relevant personnel, which further improves the intelligence and safety of the present invention.

[0070] Specifically, outputting a moderate emergency alarm signal and controlling the AGV to travel at a second preset speed also includes:

[0071] When the AGV moves at the second preset speed, the second timer is used to obtain the second tape missing time data during the AGV's movement at the second preset speed. The second tape missing length data is calculated based on the second tape missing time data and the second preset speed. It is then determined whether the sum of the first tape missing length data and the second tape missing length data is greater than or equal to the third preset threshold. If so, the AGV stops and outputs a serious emergency alarm signal.

[0072] It is understood that in this embodiment, when the tape-guided AGV is traveling at a second preset speed, the second tape missing length data is calculated based on the second tape missing duration data and the second preset speed. It then determines whether the sum of the first and second tape missing length data is greater than or equal to a third preset threshold. If the third preset threshold is greater than the second preset threshold, it indicates a serious emergency situation has occurred. Continuing to travel would likely result in a collision or deviation. At this point, the tape-guided AGV is stopped, and a serious emergency alarm signal is output. This achieves accurate calculation of the travel path length when the AGV slows down, and consequently, accurate calculation and intelligent judgment of the abnormal tape length. Through ingenious design, intelligent monitoring of the AGV under different travel speeds and emergency situations is achieved. When a serious emergency occurs, the AGV is stopped, achieving efficient and agile prevention of collisions and deviations, ensuring on-site safety, greatly improving the intelligence and safety of the invention, and further expanding its application scenarios.

[0073] S300. Compare the recorded actual duration data with the corresponding preset duration threshold for the preset route.

[0074] Understandably, this invention is an automated guided vehicle (AGV) capable of automatically and promptly sensing the effective length of magnetic tape. Based on the existing positioning system and autonomous driving drive, an infrared scanner is installed next to the existing magnetic navigation sensor on the bottom of the AGV. A timer module is added to the PLC program to time the actual duration of tape detection, determining the effective tape length that can be scanned. The actual duration is compared to the theoretical maximum value, i.e., a preset duration threshold. If the actual duration exceeds the preset threshold, it indicates an abnormality in the tape, but this does not affect the AGV's normal operation. In this case, personnel need to check the magnetic stripe for damage or the magnetic sensing device for integrity. The PLC outputs a mild emergency alarm signal, which can promptly repair the magnetic tape or clean the surface stains, eliminate safety hazards, and prevent the magnetic tape problem from worsening and causing the AGV to collide or deviate, thus ensuring on-site safety and enabling the AGV to position accurately. This invention, through ingenious design, installs an infrared scanner next to the original magnetic navigation sensor at the bottom of the AGV, and adds a timer module to the PLC program to time the actual duration of the detected magnetic tape. This visualizes the effective monitoring of the magnetic tape and greatly simplifies the system architecture, eliminating the need for complex algorithm modeling. This significantly reduces the application and maintenance costs of this invention, greatly improves its intelligence and usability, and greatly expands its application scenarios.

[0075] S400: If the recorded actual duration data is greater than or equal to the preset duration threshold, an alarm signal indicating a problem with the navigation tape will be output.

[0076] Understandably, when the actual duration data exceeds the preset duration threshold, it indicates an anomaly in the magnetic tape, but this does not affect the AGV's normal operation. At this point, staff need to determine whether to inspect the magnetic stripe for damage or the magnetic sensing device. The PLC outputs a mild emergency alarm signal, allowing for timely repair of the tape or cleaning of surface contaminants, eliminating potential safety hazards, and preventing further deterioration of the tape problem that could lead to AGV collisions or deviations, ensuring on-site safety and accurate AGV positioning. This invention cleverly installs an infrared scanner next to the existing magnetic navigation sensor at the bottom of the AGV and adds a timer module to the PLC program to time the actual duration of the detected tape. This visualizes the effective monitoring of the tape and greatly simplifies the system architecture, eliminating the need for complex algorithm modeling. This significantly reduces the application and maintenance costs of this invention, greatly improves its intelligence and usability, and significantly expands its application scenarios.

[0077] Please see Figures 1-2 The present invention provides another specific embodiment, which provides a method for determining the reliability of AGV navigation magnetic tape, including:

[0078] P0, Start.

[0079] P1. The magnetic tape-guided AGV travels along a preset magnetic tape route.

[0080] It should be noted here that the magnetic tape-guided AGV traveling along a preset magnetic tape route includes:

[0081] The length of the preset magnetic tape route is measured, and the theoretical duration is calculated based on the first preset speed of the magnetic tape-guided AGV corresponding to the magnetic tape route and the length of the magnetic tape route. The preset duration threshold is greater than or equal to the theoretical duration data.

[0082] It should be noted that this embodiment employs a magnetic tape-guided AGV monitoring system, which includes:

[0083] The detection and recording module is used to detect the navigation tape in real time by a tape detection device set on the AGV and record the actual time data of the AGV traveling on the navigation tape as it travels along the preset route.

[0084] The control module compares the recorded actual duration data with the corresponding preset duration threshold for the preset route;

[0085] The alarm module is used to output an alarm signal indicating a problem with the navigation tape when the control module determines that the actual duration data recorded by the detection and recording module is greater than or equal to a preset duration threshold.

[0086] It should be noted that this embodiment, by setting the preset duration threshold to be greater than or equal to the theoretical duration, prevents the actual duration from exceeding or equaling the theoretical duration due to external environmental fluctuations such as road bumps, thus avoiding system misjudgments and increased workload for staff. This further improves the intelligence level and reliability of the analysis results of this invention. By setting the second preset speed to be less than the first preset speed, this invention enables timely deceleration of the AGV when there is a significant possibility of collision or deviation if the AGV continues to travel at the first preset speed, greatly improving the intelligence level and safety of this invention.

[0087] It is understood that this invention obtains the length data of a preset magnetic tape route by measuring it, and calculates the theoretical duration data based on the first preset speed of the magnetic tape-guided AGV corresponding to the magnetic tape route and the length of the magnetic tape route. The preset duration threshold is greater than or equal to the theoretical duration data. By setting the preset duration threshold to be greater than or equal to the theoretical duration data, this invention can prevent the actual duration data from being greater than or equal to the theoretical duration data due to external environmental fluctuations such as road bumps, thus avoiding system misjudgments and increased workload for staff, further improving the intelligence level and reliability of the analysis results of this invention.

[0088] It is understood that by setting a first preset threshold, a second preset threshold, and a third preset threshold, and setting the second preset threshold to be greater than the first preset threshold and the third preset threshold to be greater than the second preset threshold, the present invention achieves intelligent monitoring of AGVs under different emergency situations. When a serious emergency occurs, the AGV is controlled to stop, achieving efficient and highly agile prevention of AGV collisions and deviations, ensuring on-site safety, greatly improving the intelligence and safety of the present invention, and further expanding the application scenarios of the present invention.

[0089] P2. Determine in real time whether a magnetic tape is detected by a magnetic tape sensing module located at a preset position at the bottom of the magnetic navigation AGV. If yes, proceed to step P3; otherwise, return to step P1.

[0090] It should be noted that in this embodiment, the magnetic tape sensing module, located at a preset position at the bottom of the magnetic navigation AGV, determines in real time whether a magnetic tape is detected. Specifically, this is achieved by:

[0091] A magnetic induction device and an infrared scanner are sequentially installed on the bottom centerline of the magnetic navigation AGV in the opposite direction of the AGV's movement direction. A reflective coating is evenly covered on the magnetic tape. When the infrared scanner receives the light signal emitted by the infrared scanner reflected by the reflective coating, the infrared scanner converts the light signal into an electrical signal and sends it to the control module. When the control module receives the electrical signal sent by the infrared scanner, it determines that the magnetic tape has been detected.

[0092] Specifically, there can be multiple preset tape routes. Since the routes are pre-arranged, the theoretical travel time can be calculated based on the AGV's current travel speed. In this example, there are multiple AGVs and multiple routes on site. Each AGV corresponds to its own pre-set route, which is already marked in the scheduling system. Only the corresponding tape routes need to be matched. When an AGV completes a route, it uploads the actual travel time data on the tape route to the control module and compares it with a preset time threshold. When the actual travel time exceeds the first preset threshold, a minor emergency alarm signal is output.

[0093] Understandably, during normal operation, the AGV's location and route are displayed in real-time on the scheduling system. This is because the warehousing system first assigns the AGV the warehousing task, thus determining the warehousing location and the tape route; in other words, the route is automatically identified based on the system's assigned task. Without external interference, the AGV operates fully automatically. The preset time threshold setting depends on the specific model of the tape-guided AGC and the infrared scanner. The AGV's scheduling system displays its real-time location based on its positioning.

[0094] It should be noted that in this embodiment, by uniformly covering the magnetic tape with a reflective coating, the light signal emitted by the infrared scanner can be reflected. When the infrared scanner receives the light signal emitted by the infrared scanner reflected by the reflective coating, it proves that the magnetic tape has been detected, and the trolley enters the magnetic tape route. When the magnetic tape is damaged or broken, the reflective coating will also be damaged or broken at the same time. At this time, the infrared scanner cannot receive the light signal emitted by the infrared scanner reflected by the reflective coating. Through ingenious design, the complex problem of magnetic tape damage judgment is simplified, further improving the usability and application scenarios of the present invention.

[0095] P3. Calculate the actual travel time of the AGV on the navigation tape based on the detection feedback of the magnetic tape detection device.

[0096] Specifically, the actual time the AGV travels on the navigation tape is calculated based on the detection feedback from the magnetic tape detection device as follows:

[0097] After the AGV starts along the navigation tape according to the preset route, the AGV travels along the preset route at a first preset speed. The tape detection device detects the starting point of the tape, and the first timer starts timing. When the AGV travels to the end of the preset route, the tape detection device detects the end point of the tape, and the first counter stops. The actual time data of the AGV traveling on the navigation tape is obtained using the timing data of the first timer.

[0098] Specifically, the method further includes:

[0099] The control module also includes a second timer. When the tape detection device detects the start point of the tape, the second timer is activated. When no tape is detected, the second timer is paused. Based on the current duration data of the first timer and the duration data when the second timer is paused, the first tape missing duration data is calculated. Based on the first tape missing duration data and the first preset speed of the AGV, the first tape missing length data is calculated, and it is determined whether the first tape missing length data is greater than or equal to the first preset threshold. If so, a warning signal is output.

[0100] P4. Calculate the first tape missing duration data when the tape is not detected during the movement of the tape-guided AGV using the first timer and the second timer. Calculate the first tape missing length data based on the tape missing duration data and the first preset speed of the tape-guided AGV.

[0101] It should be noted that the control module of this invention also includes a second timer. The first and second timers are used to calculate the duration of the first missing tape during the movement of the tape-guided AGV. Based on the tape missing duration and the first preset speed of the tape-guided AGV, the length of the first missing tape is calculated. This invention determines whether the length of the undetected tape during the movement of the tape-guided AGV, i.e., the potentially damaged tape length, is greater than or equal to a warning value. If it is greater than the warning value, it indicates a significant abnormality in the tape. However, since the tape missing length has just reached the first preset threshold but not the second preset threshold (i.e., the second preset threshold is greater than the first preset threshold), the situation is not urgent. In this case, a warning signal is directly output during the movement of the tape-guided AGV to notify the back-end staff, who then determine whether to proceed to the site based on the location information. This further improves the intelligence and usability of this invention.

[0102] Specifically, the calculation of the first tape missing duration data during the movement of the tape-guided AGV using the first timer and the second timer is as follows:

[0103] When the tape detection device detects the tape start point, it starts the second timer. When no tape is detected, the second timer pauses. Based on the current duration data of the first timer and the duration data when the second timer pauses, the first tape missing duration data is calculated. Based on the first tape missing duration data and the first preset speed of the AGV, the first tape missing length data is calculated, and it is determined whether the first tape missing length data is greater than or equal to the first preset threshold. If so, a warning signal is output.

[0104] P5. Determine whether the missing length data of the first magnetic tape is greater than or equal to the first preset threshold. If yes, proceed to step P6; otherwise, return to step P3.

[0105] P6. Output early warning signal.

[0106] P7. Control the tape-guided AGV to continue moving at the first preset speed.

[0107] P8. Determine whether the missing length data of the first tape is greater than or equal to the second preset threshold. If yes, proceed to step P9; otherwise, return to step P7.

[0108] P9. Control the tape-guided AGV to decelerate, i.e., travel at the second preset speed and output a moderate emergency alarm signal.

[0109] Specifically, the method further includes:

[0110] When the missing length of the first magnetic tape is greater than or equal to the first preset threshold, determine whether the missing length of the first magnetic tape is greater than or equal to the second preset threshold. If so, control the magnetic tape-guided AGV to decelerate and output a moderate emergency alarm signal.

[0111] It should be noted that in the technical solution of this embodiment, by setting a first preset speed and a second preset speed, and setting the second preset speed to be less than the first preset speed, if the length of the first missing tape is greater than or equal to the second preset threshold, it is proven that there is a major abnormality in the tape. At this time, if the AGV continues to walk at the first preset speed, there may be a greater possibility of collision or deviation. At this time, the tape-guided AGV is controlled to decelerate and a moderate emergency alarm signal is issued to notify the relevant personnel, which further improves the intelligence and safety of the present invention.

[0112] P10. Use the second timer to obtain the second tape missing time data during the process of the tape-guided AGV traveling at the second preset speed without detecting the tape, and calculate the second tape missing length data based on the second tape missing time data and the second preset speed.

[0113] It should be noted that the second timer is used to obtain the second tape missing time data during the process of the tape-guided AGV traveling at the second preset speed without detecting the tape. When the tape-guided AGV is controlled to decelerate and travel at the second preset speed and output a moderate emergency alarm signal, the second timer is controlled to record the current time node or clear the current time node, so as to calculate the second tape missing time data during the process of the AGV traveling at the second preset speed without detecting the tape when the tape is still not detected.

[0114] P11. Determine whether the sum of the missing length data of the first tape and the missing length data of the second tape is greater than or equal to the third preset threshold. If yes, proceed to step P12; if no, proceed to step P13.

[0115] P12, Control the tape-guided AGV to stop and output a serious emergency alarm signal.

[0116] It is understood that in this embodiment, when the tape-guided AGV is traveling at a second preset speed, the second tape missing length data is calculated based on the second tape missing duration data and the second preset speed. It then determines whether the sum of the first and second tape missing length data is greater than or equal to a third preset threshold. If the third preset threshold is greater than the second preset threshold, it indicates a serious emergency situation has occurred. Continuing to travel would likely result in a collision or deviation. At this point, the tape-guided AGV is stopped, and a serious emergency alarm signal is output. This achieves accurate calculation of the travel path length when the AGV slows down, and consequently, accurate calculation and intelligent judgment of the abnormal tape length. Through ingenious design, intelligent monitoring of the AGV under different travel speeds and emergency situations is achieved. When a serious emergency occurs, the AGV is stopped, achieving efficient and agile prevention of collisions and deviations, ensuring on-site safety, greatly improving the intelligence and safety of the invention, and further expanding its application scenarios.

[0117] P13. Control the tape-guided AGV to continue traveling at the second preset speed until the journey is completed.

[0118] It is understood that by setting a first preset speed and a second preset speed, and setting the second preset speed to be less than the first preset speed, if the length of the first missing tape is greater than or equal to the second preset threshold, it is proven that there is a major abnormality in the tape. At this time, if the AGV continues to walk at the first preset speed, there may be a greater possibility of collision or deviation. At this time, the tape-guided AGV is controlled to decelerate and a moderate emergency alarm signal is issued to notify the relevant personnel, which further improves the intelligence and safety of the present invention.

[0119] P14. Calculate the actual travel time of the AGV on the navigation tape based on the detection feedback of the magnetic tape detection device.

[0120] P15. Determine whether the first actual duration data is less than or equal to the preset duration threshold. If yes, proceed to step P17; if no, proceed to step P16.

[0121] Understandably, this invention is an automated guided vehicle (AGV) capable of automatically and promptly sensing the effective length of magnetic tape. Based on the existing positioning system and autonomous driving drive, an infrared scanner is installed next to the existing magnetic navigation sensor on the bottom of the AGV. A timer module is added to the PLC program to time the actual duration of tape detection, determining the effective tape length that can be scanned. The actual duration is compared to the theoretical maximum value, i.e., a preset duration threshold. If the actual duration exceeds the preset threshold, it indicates an abnormality in the tape, but this does not affect the AGV's normal operation. In this case, personnel need to check the magnetic stripe for damage or the magnetic sensing device for integrity. The PLC outputs a mild emergency alarm signal, which can promptly repair the magnetic tape or clean the surface stains, eliminate safety hazards, and prevent the magnetic tape problem from worsening and causing the AGV to collide or deviate, thus ensuring on-site safety and enabling the AGV to position accurately. This invention, through ingenious design, installs an infrared scanner next to the original magnetic navigation sensor at the bottom of the AGV, and adds a timer module to the PLC program to time the actual duration of the detected magnetic tape. This visualizes the effective monitoring of the magnetic tape and greatly simplifies the system architecture, eliminating the need for complex algorithm modeling. This significantly reduces the application and maintenance costs of this invention, greatly improves its intelligence and usability, and greatly expands its application scenarios.

[0122] P16, Outputs a mild emergency alarm signal.

[0123] P17, End.

[0124] Please see Figures 1-3 In a preferred embodiment, the present invention also provides another specific embodiment, which provides an AGV navigation magnetic tape reliability judgment device, the device comprising:

[0125] A magnetic tape detection device is installed on an AGV. The device includes a transmitter that emits detection light toward the magnetic tape and a receiver that receives the light reflected from the tape. The magnetic tape is detected by receiving the detection light emitted by the transmitter and reflected from the tape. The magnetic tape detection device is an infrared detection device, including an infrared emitting unit and an infrared receiving unit. The magnetic tape has a reflective surface that reflects infrared light.

[0126] Please see Figures 1-3 The present invention provides another specific embodiment, which provides an AGV navigation magnetic tape reliability judgment system, the system comprising:

[0127] The detection and recording module 1 is used to detect the navigation tape in real time by a tape detection device set on the AGV during the AGV's journey along the navigation tape according to the preset route, and to record the actual time data of the AGV's journey on the navigation tape.

[0128] Control module 2 compares the recorded actual duration data with the corresponding preset duration threshold for the preset route;

[0129] Alarm module 3 is used to output an alarm signal indicating that there is a problem with the navigation tape when the control module 2 determines that the actual duration data recorded by the detection and recording module is greater than or equal to a preset duration threshold.

[0130] In a preferred embodiment, this application also provides a method for determining the reliability of AGV navigation magnetic tape, the method comprising:

[0131] First, the magnetic strip routes are completely laid out on-site, and the lengths of the magnetic strips for each route, L1, L2, L3...Lx, are measured. Then, based on the average speeds V1, V2, V3...Vx required for the AGV to travel, the theoretical time T1, T2, T3...Tx required to sense each magnetic strip is calculated. The calculated theoretical time Tx is recorded and used as standard data for subsequent comparisons.

[0132] A magnetic induction device is installed at the bottom of all magnetically guided AGVs, and a small infrared scanner is installed next to the magnetic induction device to sense the magnetic strips that can be detected. Preferably, the scanner is installed immediately behind the original magnetic induction device to accurately sense the effective length of the magnetic strip; after drilling, it is fixed with screws and nuts according to the specific model of the infrared scanner.

[0133] Connect the small infrared scanner's connection wires to the PLC remote device along the same direction as the magnetic induction device's connection wires. The remote device then connects to the PLC remote signal in the electrical cabinet to transmit the sensed magnetic strip signal to the PLC.

[0134] Add a timer module to the infrared sensor module of the PLC control program for each magnetic navigation AGV. When the infrared scanner detects the magnetic strip, it receives the light signal, converts it into an electrical signal, and transmits it to the PLC for display in the program. The timer module outputs the time sensed by the electrical signal to the computer system for display.

[0135] The actual time Tx1, Tx2, Tx3...Txx sensed by each route is compared with the theoretical time calculated in the first step. If the difference between the actual time Txx and the theoretical time Tx is too large, the computer system will issue a simple alarm. At this time, the on-site personnel can go to the site to check whether the magnetic strip is intact or whether the magnetic induction device is damaged, depending on which route is actually in use.

[0136] In a preferred embodiment, this application also provides an electronic device, the electronic device comprising:

[0137] The computer device includes a memory and a processor, wherein the memory stores computer-readable instructions that, when executed by the processor, implement the AGV navigation tape reliability assessment method. The computer device can be broadly categorized as a server, terminal, or any other electronic device with the necessary computing and / or processing capabilities. In one embodiment, the computer device may include a processor, memory, network interface, communication interface, etc., connected via a system bus. The processor of the computer device can be used to provide the necessary computing, processing, and / or control capabilities. The memory of the computer device may include a non-volatile storage medium and internal memory. The non-volatile storage medium may store an operating system, computer programs, etc. The internal memory can provide an environment for the operation of the operating system and computer programs in the non-volatile storage medium. The network interface and communication interface of the computer device can be used to connect and communicate with external devices via a network. When the computer program is executed by the processor, it performs the steps of the method of the present invention.

[0138] This invention can be implemented as a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, causes the steps of the methods of embodiments of the invention to be performed. In one embodiment, the computer program is distributed across multiple network-coupled computer devices or processors, such that the computer program is stored, accessed, and executed in a distributed manner by one or more computer devices or processors. A single method step / operation, or two or more method steps / operations, may be executed by a single computer device or processor or by two or more computer devices or processors. One or more method steps / operations may be executed by one or more computer devices or processors, and one or more other method steps / operations may be executed by one or more other computer devices or processors. One or more computer devices or processors may execute a single method step / operation, or execute two or more method steps / operations.

[0139] Those skilled in the art will understand that the method steps of this invention can be performed by a computer program instructing related hardware, such as a computer device or processor, to perform the steps of this invention when executed. Depending on the context, any references herein to memory, storage, databases, or other media may include non-volatile and / or volatile memory. Examples of non-volatile memory include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), flash memory, magnetic tape, floppy disk, magneto-optical data storage device, optical data storage device, hard disk, solid-state drive, etc. Examples of volatile memory include random access memory (RAM), external cache memory, etc.

[0140] It should be noted that this invention is an automated guided vehicle (AGV) capable of automatically and promptly sensing the effective length of magnetic tape. Based on the existing positioning system and autonomous driving drive, an infrared scanner is installed next to the original magnetic navigation sensor on the bottom of the AGV. A timer module is added to the PLC program to time the actual duration of tape detection, determining the effective tape length that can be scanned. This actual duration is compared to the theoretical maximum value, i.e., a preset duration threshold. If the actual duration exceeds the preset threshold, it indicates an abnormality in the tape, but this does not affect the AGV's normal operation. In this case, personnel need to check on-site whether the magnetic stripe is intact or whether the magnetic sensing device is damaged. In case of an emergency, the PLC outputs a mild emergency alarm signal, which can promptly repair the magnetic tape or clean the surface stains, eliminate potential safety hazards, and prevent the magnetic tape problem from worsening and causing the AGV to collide with or deviate from its intended path, thus ensuring on-site safety and enabling the AGV to be positioned accurately. This invention, through ingenious design, installs an infrared scanner next to the original magnetic navigation sensor at the bottom of the AGV, and adds a timer module to the PLC program to time the actual duration of the detected magnetic tape. This visualizes the effective monitoring of the magnetic tape and greatly simplifies the system architecture, eliminating the need for complex algorithm modeling. This significantly reduces the application and maintenance costs of this invention, greatly improves its intelligence and usability, and greatly expands its application scenarios.

[0141] It is understood that the control module of this invention also includes a second timer. The first and second timers are used to calculate the first tape missing duration data during the movement of the tape-guided AGV when no tape is detected. Based on the tape missing duration data and the first preset speed of the tape-guided AGV, the first tape missing length data is calculated. This invention determines whether the length of the tape that is not detected during the movement of the tape-guided AGV, i.e. the length of the tape that may be damaged, is greater than or equal to a warning value by judging whether the first tape missing length data is greater than or equal to a first preset threshold. If it is greater than the warning value, it proves that there is a major abnormality in the tape. However, since the tape missing length has just reached the first preset threshold but has not reached the second preset threshold, i.e., the second preset threshold is greater than the first preset threshold, the situation is not very urgent. At this time, a warning signal is directly output during the movement of the tape-guided AGV to inform the back-end staff, who then determine whether to go to the site to check based on the location. This further improves the intelligence and usability of this invention.

[0142] It is understood that by setting a first preset speed and a second preset speed, and setting the second preset speed to be less than the first preset speed, if the length of the first missing tape is greater than or equal to the second preset threshold, it is proven that there is a major abnormality in the tape. At this time, if the AGV continues to walk at the first preset speed, there may be a greater possibility of collision or deviation. At this time, the tape-guided AGV is controlled to decelerate and a moderate emergency alarm signal is issued to notify the relevant personnel, which further improves the intelligence and safety of the present invention.

[0143] It is understood that, when the magnetic tape-guided AGV travels at a second preset speed, the present invention calculates the second missing length data of the magnetic tape based on the second missing tape duration data and the second preset speed. It then determines whether the sum of the first and second missing tape length data is greater than or equal to a third preset threshold. If the third preset threshold is greater than the second preset threshold, it indicates that a serious emergency has occurred. If the AGV continues to travel, it is likely to collide with or deviate from the target material. At this time, the magnetic tape-guided AGV is stopped and a serious emergency alarm signal is output. This achieves accurate calculation of the travel path length when the AGV slows down, and thus achieves accurate calculation and intelligent judgment of the length of the abnormal part of the magnetic tape. Through ingenious design, intelligent monitoring of the AGV under different travel speeds and different emergency situations is achieved. When a serious emergency occurs, the AGV is stopped, achieving efficient and agile prevention of AGV collisions and deviations, ensuring on-site safety, greatly improving the intelligence and safety of the present invention, and further expanding the application scenarios of the present invention.

[0144] The technical features described above can be combined arbitrarily. Although not all possible combinations of these technical features are described, any combination of these technical features should be considered to be covered by this specification, provided that such combination does not contain contradictions.

[0145] The specific embodiments of the present invention described above do not constitute a limitation on the scope of protection of the present invention. Any other corresponding changes and modifications made in accordance with the technical concept of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. A method for judging the reliability of AGV navigation magnetic tape, characterized in that, As the AGV travels along the navigation tape according to the preset route, the tape detection device installed on the AGV detects the navigation tape in real time, and calculates the actual time data of the AGV traveling on the navigation tape based on the detection feedback of the tape detection device. The recorded actual duration data is compared with the corresponding preset duration threshold for the preset route. If the recorded actual duration data is greater than or equal to the preset duration threshold, an alarm signal indicating a problem with the navigation tape is output. After the AGV starts following the navigation tape along the preset route, the AGV travels along the preset route at a first preset speed. The tape detection device detects the starting point of the tape, and the first timer starts counting. When the tape detection device detects the tape start point, it starts the second timer. When no tape is detected, the second timer pauses. Based on the current duration data of the first timer and the duration data when the second timer pauses, the first tape missing duration data is calculated. Based on the first tape missing duration data and the first preset speed of the AGV, the first tape missing length data is calculated, and it is determined whether the first tape missing length data is greater than or equal to the first preset threshold. If so, a warning signal is output.

2. The method for judging the reliability of AGV navigation magnetic tape according to claim 1, characterized in that, The AGV travels along a preset route on the navigation tape, including: The time threshold for each route is calculated and set in advance based on the preset route length and AGV travel speed.

3. The method for judging the reliability of AGV navigation magnetic tape according to claim 2, characterized in that, As the AGV travels along the navigation tape according to the preset route, the tape detection device installed on the AGV monitors the navigation tape in real time. Based on the detection feedback from the tape detection device, the actual time the AGV travels on the navigation tape is calculated as follows: When the AGV reaches the end of the preset route, the tape detection device detects the tape end point, the first counter stops, and the actual time the AGV travels on the navigation tape is obtained using the timing data of the first timer.

4. The method for judging the reliability of AGV navigation magnetic tape according to claim 1, characterized in that, The second timer pauses when no tape is detected, specifically as follows: When a tape is detected, the second timer is started; when no tape is detected, the second timer is paused; when a tape is detected again, the second timer resumes timing.

5. The method for judging the reliability of AGV navigation magnetic tape according to claim 4, characterized in that, The method further includes: After the warning signal is output, if the first tape missing length data is detected to be greater than or equal to the second preset threshold, a moderate emergency alarm signal is output, and the AGV is controlled to move at a second preset speed, wherein the second preset speed is less than the first preset speed.

6. The method for judging the reliability of AGV navigation magnetic tape according to claim 5, characterized in that, The function of outputting a moderate emergency alarm signal and controlling the AGV to travel at a second preset speed also includes: When the AGV moves at the second preset speed, the second timer is used to obtain the second tape missing time data during the AGV's movement at the second preset speed. The second tape missing length data is calculated based on the second tape missing time data and the second preset speed. It is then determined whether the sum of the first tape missing length data and the second tape missing length data is greater than or equal to the third preset threshold. If so, the AGV stops and outputs a serious emergency alarm signal.

7. A device for determining the reliability of AGV navigation magnetic tape, characterized in that, The AGV navigation magnetic tape reliability judgment method according to any one of claims 1-6 includes: A magnetic tape detection device is installed on an AGV. The magnetic tape detection device includes a transmitter for emitting detection light toward the magnetic tape and a receiver for receiving the light reflected from the magnetic tape. The magnetic tape is detected by receiving the detection light emitted by the transmitter after being reflected from the magnetic tape by the receiver.

8. A reliability assessment system for AGV navigation magnetic tape, characterized in that, The AGV navigation magnetic tape reliability judgment method according to any one of claims 1-6 includes: The detection and recording module is used to detect the navigation tape in real time by a tape detection device set on the AGV and record the actual time data of the AGV traveling on the navigation tape as it travels along the preset route. The control module compares the recorded actual duration data with the corresponding preset duration threshold for the preset route; The alarm module is used to output an alarm signal indicating a problem with the navigation tape when the control module determines that the actual duration data recorded by the detection and recording module is greater than or equal to a preset duration threshold.

9. An electronic device, characterized in that, include: Memory; The memory stores computer-readable instructions that, when executed by the processor, implement the AGV navigation magnetic tape reliability judgment method according to any one of claims 1 to 6.

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