A piggyback jacking AGV system for cab assembly line

Abstract

The present application relates to a kind of for cab subassembly line's piggyback jacking AGV system, it is related to automatic guided vehicle technology field.The vehicle body, dispatch system, jacking device, navigation positioning system, drive system, power charging system and obstacle avoidance safety device are included;Dispatch system includes automatic operation mode and manual operation mode;Jacking device uses 4 fulcrum lead screw jacking;Navigation positioning system includes laser radar sensor, 3D SLAM navigation;Drive system includes two-wheel differential drive and servo control system;Power charging system includes automatic on-line charging and manual charging;Obstacle avoidance mode includes laser obstacle avoidance, four peripheral touch edge, audible and visual alarm and emergency stop button.The beneficial effects of the present application are: the subassembly line required in cab assembly workshop can realize automation, carrying automation, reduce human bias, while reducing labor intensity;Intelligent, task reasonable planning, path reasonable planning, improve efficiency.Visualization: task state visualization, running state visualization.

Description

Technical Field

[0001] This invention relates to a back-lifting AGV system for a cab assembly line, and relates to the field of automated guided vehicles technology. Background Technology

[0002] The cab assembly line for construction machinery includes cabs for excavators, loader cabs, skid steer loaders, and mini loaders. The assembly process is as follows: cab preparation, seat assembly, valve assembly, steering column and steering gear assembly, and finally, the cab is used for the final assembly of the entire machine.

[0003] Because the cab is enclosed on top but not on the bottom, jacks and other equipment are needed to lift the cab and place it on the work station for assembly. While jacks are used, their installation space is limited by the left and right columns, so materials can only be placed next to the work station. Assembling the cab is not only time-consuming and labor-intensive, but also adds to the installation process and is not conducive to the disassembly and assembly of the structure, causing great inconvenience during the cab assembly process. Summary of the Invention

[0004] To overcome the shortcomings of the prior art, the present invention provides a back-lifting AGV system for a cab assembly line. The cab assembly line uses three Automated Guided Vehicles (AGVs). The back-lifting AGVs can operate according to the predefined process route requirements of the cab assembly line, and lift the cab tooling at a fixed workstation to complete the cab assembly. At the same time, the three back-lifting AGVs can also undertake the task of material transportation to complete the final assembly line of the whole machine on the cab.

[0005] The present invention is achieved through the following technical solution: a back-mounted lifting AGV system for a cab assembly line, comprising a vehicle body, a scheduling system, a lifting device, a navigation and positioning system, a drive system, a power charging system, and an obstacle avoidance safety device; Dispatch system: includes automatic operation mode and manual operation mode; Lifting device: adopts 4-point lead screw lifting; Navigation and positioning system: including LiDAR sensor and 3D SLAM navigation; Drive system: Two-wheel differential drive and servo control system; Power charging system: including automatic online charging and manual charging; Obstacle avoidance safety devices include laser obstacle avoidance, four-sided edge contact, audible and visual alarms, and an emergency stop button.

[0006] The manual operation mode of the scheduling system only responds to handheld device action commands; the automatic operation mode only responds to scheduling system action commands. The dispatching system operates according to the predefined process route requirements of the cab assembly line. The scheduling system allows users to customize vehicle types and operating speeds within the scheduling software, enabling differentiated management of AGVs.

[0007] The system displays historical information about AGVs through a backend database, including operational efficiency, fault statistics, and real-time dynamic display of each AGV's location, status, and information within the system. When the system encounters the following faults, the AGV will issue an alarm and display the fault information on the dispatching system platform: abnormal power supply of the AGV, failure of self-test, abnormal current feedback, off-line alarm, obstacle detected, abnormal power, emergency stop of equipment, and other fault alarms. The human-machine interface of the dispatching system includes: interface menu, monitoring of the operating status of each AGV, equipment anomaly record, anomaly alarm interface, troubleshooting prompts for various anomaly alarms, battery power status, and security settings. Obstacle detection should have at least two levels of zones. When an obstacle is detected entering the safety warning zone, the AGV should slow down. When an obstacle is detected entering the danger zone, the AGV should automatically stop and issue an audible and visual alarm. The AGV should automatically resume operation after the obstacle is removed. In the event of a malfunction, the AGV will automatically trigger an audible and visual alarm; a malfunctioning AGV can be switched to manual mode to leave the work area and move to a safe location. The AGV is equipped with an emergency stop switch. Pressing this switch at any time will immediately stop the AGV and a red light will flash. The location and routes of all vehicles can be viewed on the map in real time, and the data changes accordingly. Completed orders and pending orders can be viewed, and execution records can be statistically analyzed and summarized.

[0008] The lifting device includes a servo motor and a vehicle-mounted lifting mechanism. The lifting device adopts an electric servo control method, and the lifting speed is executed according to the instructions of the scheduling system. The vehicle-mounted lifting mechanism adopts a lead screw mechanism to mechanically ensure synchronization. A guide mechanism is adopted to increase stability.

[0009] The aforementioned lidar sensor is used for positioning and obstacle detection; The aforementioned 3D SLAM navigation system, based on lidar positioning and mapping, can acquire the radar pose and construct a complete 3D point cloud map in real time. Combined with a scheduling system, it can complete a one-stop positioning and mapping solution for processing and analysis.

[0010] The drive system uses dual-sided differential drive wheels and four omnidirectional wheels. The integrated differential wheel set can reduce the overall vehicle height and size, simplify control, and efficiently complete curved, straight, and rotary movements.

[0011] The power charging system has a power indicator, the touch screen displays the battery power in real time, and automatically triggers charging when the power is low; The specific steps of the power charging system are as follows: 1) When the AGV arrives at the charging station and stops correctly, the photoelectric device of the charger can detect the reflector on the AGV body, extend the brush block to connect with the vehicle brush plate, establish communication and start charging. The charger charges according to the BMS request. 2) Once the battery is fully charged, the charger will automatically retract, completing the charging process; 3) During the charging process, upon receiving a work instruction, the BMS sends a termination charging instruction to the charger, which retracts and terminates the charging process.

[0012] The obstacle avoidance safety device includes: 1) The 3D LiDAR also has obstacle avoidance capabilities; safety edges are placed around the vehicle as a passive safety protection method. 2) The obstacle detection angle of the AGV is fully covered within a 360° range, the detection distance is within 200mm, and the safety distance on both sides of the vehicle is set at 300~500mm; 3) When an obstacle is encountered or a person touches the safety edge, the vehicle shall stop immediately and be allowed to pass again after manual confirmation; 4) Pressing the emergency stop button will immediately stop the vehicle; after releasing the emergency stop button, the previous actions will continue. 5) The AGV has light prompts and sound alarms when it is stopped, waiting, running, turning, or malfunctioning; 6) Error message: When the AGV malfunctions, the display screen on the AGV panel will show the corresponding Chinese message, which will allow maintenance personnel to quickly perform repairs based on the message. 7) The AGV power circuit has overvoltage and overcurrent protection functions; 8) If the AGV accidentally deviates from the working path, the AGV will stop immediately and sound an alarm, waiting for staff to troubleshoot the problem.

[0013] The cab assembly line uses three backpack lifting AGVs.

[0014] The cab assembly line has 5 stations. Station 1 is a preparation station, and stations 2, 3, and 4 are operation stations. Two ground lifting devices are set up at station 4. After the cab is assembled, the whole machine is assembled at station 5. Station 1 is an unmanned station, and stations 2, 3, 4, and 5 are manned stations.

[0015] The specific steps of the cab sub-assembly line process are as follows: 1) The assembled cab is at station 5. It is manually sent into the assembly line and the release button is pressed. After the goods are released, the AGV carries the empty tooling to the AGV waiting area and automatically observes the two storage areas to identify the occupied storage area and the unoccupied storage area. 2) If only one storage area is occupied, the AGV will carry the empty tool back to the unoccupied storage area, go to the occupied storage area, lift the cab and send it to the first workstation, and wait at the first workstation. 3) If the AGV returns to the waiting area from station 5 and both storage areas are not occupied, the AGV continues to wait in the waiting area until a cab to be loaded is placed in one of the storage areas; 4) Repeat step 2). 5) When the call button is pressed at the second workstation, the AGV at the first workstation will automatically move to the second workstation; if there is no AGV parked at the first workstation, the dispatching system will not respond to the call. 6) After the assembly at station 2 is completed, press the release button in time to release the AGV at that station; the scheduling system will only allow the AGV to travel to station 3 when station 3 calls for the AGV; if the AGV at station 2 has not been released or there is no AGV, the scheduling system will not respond to the call from station 3. 7) After the AGV completes assembly at station 3, the operator should promptly press the release button to release the AGV at that station; after station 4 calls for the AGV, it will travel from station 3 to station 4; if there is no AGV at station 3 or it has not been released, the dispatching system will not respond to the call from station 4. 8) After the AGV arrives at the 4th workstation, it will put down the cab and tooling and proceed to the charging station to charge on its own. 9) After the 4th station completes the assembly, press the release button for that station. The AGV will return from the charging station or when the 5th station calls for the AGV, and will then lift the cab fixture of that station again. 10) If the system malfunctions and cannot charge, the AGV will automatically return to station 4; 11) After the AGV is called from station 5, it will travel from station 4 to station 5; if there is no AGV at station 4 or it has not been released, the call is invalid. 12) When the AGV arrives at station 5 and completes the assembly, the operator will send the assembled cab into the assembly line and press the release button on the button station of that station. The AGV will then automatically run to the AGV waiting area with the empty tooling on its back. 13) Repeat the above steps for each AGV.

[0016] The beneficial effects of this invention are: it automates the sub-assembly line required in the cab assembly workshop, automates material handling, reduces human error, and lowers labor intensity; the AGV is equipped with a carrying and lifting mechanism to achieve automatic lifting operations and accurately position the cab to the target location. The AGV is equipped with an automatic guidance system that uses technologies such as laser navigation, magnetic tape guidance, visual recognition, or inertial navigation to achieve precise positioning and navigation control, enabling the AGV to accurately travel on the sub-assembly line and complete tasks. The AGV is equipped with various sensors, such as laser sensors, infrared sensors, and ultrasonic sensors, to detect obstacles, personnel, and other vehicles in the surrounding environment to ensure safety during operation. If any dangerous situation is detected, the AGV will take corresponding measures through the safety system, such as stopping movement or issuing an alarm. The AGV communicates with the main control system on the sub-assembly line to receive task instructions, transmit status information and real-time data, and can achieve collaborative work and data interaction with other equipment, improving the overall operating efficiency and production capacity of the cab sub-assembly line. Attached Figure Description

[0017] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0018] Figure 1 This is a block diagram illustrating the structural principle of the present invention; Figure 2 This is a schematic diagram of the obstacle avoidance safety device of the present invention. Figure 3 This is a flowchart of the cab assembly line process of the present invention; Figure 4 This is a process flow diagram of the power supply charging system of the present invention; Figure 5 These are schematic diagrams of states one to six of the embodiments of the present invention. Implementation

[0019] like Figure 1-4 The illustrated AGV system for a cab assembly line includes a vehicle body, a scheduling system, a lifting device, a navigation and positioning system, a drive system, a power charging system, and an obstacle avoidance safety device. The scheduling system is a key component for managing and coordinating the tasks and actions of AGVs, including automatic and manual operation modes. In automatic operation mode, the scheduling system autonomously allocates and schedules AGV work based on preset tasks and priorities. In this mode, the system uses a series of algorithms and rules to determine the optimal AGV routes, task sequences, and operation times to maximize production efficiency and ensure the rational use of resources. Automatic operation mode is typically suitable for highly automated production environments where AGVs can complete tasks independently, reducing human intervention. In manual operation mode, the operator manually specifies the AGV's tasks and actions through the scheduling system. In this mode, the scheduling system transmits task information to the corresponding AGV based on the operator's instructions and provides real-time status monitoring and feedback. Manual operation mode is typically suitable for scenarios requiring more flexible control and human intervention, such as in special circumstances or when task priorities need to be adjusted temporarily.

[0020] The scheduling system rationally allocates tasks to AGVs based on task priority, vehicle status, and production needs, ensuring timely completion of operations. Utilizing map data and real-time traffic information provided by the navigation system, it plans optimal routes to avoid congestion and conflicts, improving transportation efficiency. It engages in real-time communication and data exchange with other equipment and systems, including integration with production planning systems and warehouse management systems, to achieve comprehensive production chain collaboration. It monitors and handles abnormal situations during AGV operation, such as traffic conflicts and equipment malfunctions, taking timely measures to ensure safety and minimize downtime.

[0021] Lifting device: It adopts a 4-point screw lifting system; it consists of 4 mutually perpendicular screws, each screw is fixed on a support column, and the lifting operation is achieved by rotating the screws through an electric device.

[0022] When using a four-point lead screw jack, it's crucial to ensure all four screws apply force simultaneously to prevent instability caused by uneven lifting. An electric actuator controls the screw's movement, maintaining a consistent lifting speed for each screw. As the screw rotates, the distance between the support column and the lifting platform changes, thus lifting the object. By adjusting the rotational motion of the four screws and ensuring balanced force distribution, the lifting process can be smooth, guaranteeing lifting stability. Lead screw lifting utilizes the torque transmission principle of the threaded joint, converting rotational motion into linear motion. The thread pitch and friction of the threaded joint generate a vertical force, thereby lifting the object.

[0023] Navigation and positioning system: including LiDAR sensor and 3D SLAM navigation; Drive system: Two-wheel differential drive and servo control system; Power charging system: including automatic online charging and manual charging; Obstacle avoidance safety devices include laser obstacle avoidance, four-sided edge contact, audible and visual alarms, and an emergency stop button.

[0024] The manual operation mode of the scheduling system only responds to the handheld device's action commands; the automatic operation mode only responds to the scheduling system's action commands. In automatic operation mode, the scheduling system autonomously allocates and schedules the work of the AGVs according to preset tasks and priorities. In this mode, the scheduling system determines the optimal AGV route, task sequence, and operation time based on a series of algorithms and rules to maximize production efficiency and ensure the rational use of resources. Automatic operation mode is typically suitable for highly automated production environments where AGVs can complete tasks independently, reducing manual intervention.

[0025] In manual operation mode, the operator manually specifies the AGV's tasks and actions through the scheduling system. In this mode, the scheduling system transmits task information to the corresponding AGV according to the operator's instructions and provides real-time status monitoring and feedback. Manual operation mode is typically suitable for scenarios requiring more flexible control and human intervention, such as in special circumstances or when task priorities need to be adjusted temporarily.

[0026] The dispatching system operates according to the predefined process route requirements of the cab assembly line. The scheduling system allows users to customize vehicle types and operating speeds within the scheduling software, enabling differentiated management of AGVs.

[0027] The lifting device includes a servo motor and a vehicle-mounted lifting mechanism. The lifting device adopts an electric servo control method, and the lifting speed is executed according to the instructions of the scheduling system. The vehicle-mounted lifting mechanism adopts a lead screw mechanism to mechanically ensure synchronization. A guide mechanism is adopted to increase stability.

[0028] The aforementioned lidar sensor is used for positioning and obstacle detection; The aforementioned 3D SLAM navigation system, based on lidar positioning and mapping, can acquire the radar pose and construct a complete 3D point cloud map in real time. Combined with a scheduling system, it can complete a one-stop positioning and mapping solution for processing and analysis.

[0029] The system uses a LiDAR sensor to acquire 3D point cloud data of the environment. The LiDAR emits a laser beam and receives the reflected beam, calculating the point cloud by measuring the time difference and angle information. By scanning the surrounding environment, the LiDAR matches the acquired point cloud data with previous measurements and estimates its own position and orientation. Through continuous scanning and matching, the system gradually builds a 3D map of the environment. During movement, the LiDAR continuously acquires new point cloud data and matches it with the known map. Based on the matching results, the system can estimate its own position and orientation in real time, as well as the possible error range. Due to errors in the sensor and positioning algorithm, the positioning estimate may deviate from the true position after long-term operation. To address this, the system periodically checks and closes the loop. That is, when the system returns to a previously scanned area, it matches and compares it with the previous map, correcting errors and optimizing the map and positioning. Based on the established map and real-time positioning information, the system can perform path planning and navigation decisions to achieve autonomous navigation. By generating a path based on the target location and making real-time adjustments based on sensor feedback, the system can avoid obstacles and reach the target location.

[0030] The drive system employs dual-sided differential drive wheels and four omnidirectional wheels. The integrated differential wheel set reduces the overall vehicle height and size, simplifies control, and enables efficient completion of curved, straight, and rotary movements. This configuration provides flexibility and maneuverability, allowing the AGV to move and turn in various terrains and environments.

[0031] The dual-side differential drive wheel consists of two independently driven wheels, each driven by a separate motor. By controlling the rotational speed and direction of the two drive wheels separately, the AGV can move forward, backward, and turn. When the two drive wheels rotate at the same speed and direction, the AGV will move forward or backward in a straight line; while when the two drive wheels rotate at different speeds or in opposite directions, the robot can turn.

[0032] The four omnidirectional wheels are also configured to increase the AGV's mobility and flexibility. Omnidirectional wheels are specially designed wheels that can roll freely in multiple directions, allowing for forward and backward movement as well as lateral sliding on a plane. By installing four omnidirectional wheels, the robot can achieve more flexible translation and turning capabilities, better adapting to narrow spaces, complex environments, and curved paths.

[0033] The power charging system features a power indicator, with the touchscreen displaying the battery level in real time. It automatically triggers charging when the battery is low. This is achieved by setting a battery power threshold; when the battery level falls below the set threshold, the charging system automatically activates the charging device to ensure sufficient power supply to the battery.

[0034] The specific steps of the power charging system are as follows: 1) When the AGV arrives at the charging station and stops correctly, the photoelectric device of the charger can detect the reflector on the AGV body, extend the brush block to connect with the vehicle brush plate, establish communication and start charging. The charger charges according to the BMS request. 2) Once the battery is fully charged, the charger will automatically retract, completing the charging process; 3) During the charging process, upon receiving a work instruction, the BMS sends a termination charging instruction to the charger, which retracts and terminates the charging process.

[0035] The power charging system employs a series of safety protection measures to ensure the safety of the charging process. These include monitoring battery temperature to prevent overheating, detecting battery voltage and current to prevent overcharging or over-discharging, and monitoring the connection status between the charger and the battery. If any abnormality is detected, such as excessively high battery temperature or abnormal voltage, the charger will automatically stop charging and send an alarm.

[0036] Charging records and data management: The charging system records relevant data for each charging process, such as charging time, charge amount, and charging efficiency. This data can be used for subsequent data analysis and management, helping to optimize charging strategies and improve system efficiency. Simultaneously, the charging system can provide real-time charging status information and reports, facilitating monitoring and management by operations personnel.

[0037] Fault Diagnosis and Maintenance: The charging system also needs to provide fault diagnosis and maintenance functions to ensure system stability and reliability. By monitoring the status of the charger and battery, faults can be identified and corresponding alarms and fault codes can be provided, facilitating troubleshooting and repair by maintenance personnel. Meanwhile, regular maintenance and upkeep are also crucial for ensuring the normal operation of the charging system.

[0038] The obstacle avoidance safety device includes: 1) 3D LiDAR also has obstacle avoidance function; LiDAR uses laser beams to scan the surrounding environment, measure the distance and position of objects, and obtain the position information of obstacles in real time. Safety edges are arranged around the vehicle as a passive safety protection method. 2) The obstacle detection angle of the AGV is fully covered within a 360° range, the detection distance is within 200mm, and the safety distance on both sides of the vehicle is set at 300~500mm; 3) When an obstacle is encountered or a person touches the safety edge, the vehicle shall stop immediately and be allowed to pass again after manual confirmation; 4) Pressing the emergency stop button will immediately stop the vehicle; after releasing the emergency stop button, the previous actions will continue. 5) The AGV has light prompts and sound alarms when it is stopped, waiting, running, turning, or malfunctioning; 6) Error message: When the AGV malfunctions, the display screen on the AGV panel will show the corresponding Chinese message, which will allow maintenance personnel to quickly perform repairs based on the message. 7) The AGV power circuit has overvoltage and overcurrent protection functions; 8) If the AGV accidentally deviates from the working path, the AGV will stop immediately and sound an alarm, waiting for staff to troubleshoot the problem.

[0039] The cab assembly line uses three backpack lifting AGVs.

[0040] The cab assembly line has 5 stations. Station 1 is a preparation station, and stations 2, 3, and 4 are operation stations. Two ground lifting devices are set up at station 4. After the cab is assembled, the whole machine is assembled at station 5. Station 1 is an unmanned station, and stations 2, 3, 4, and 5 are manned stations.

[0041] like Figure 5 The embodiment of the present invention shown divides the cab manufacturing process into three zones: 1. Rightmost workstation 1: Driver's cab preparation; 2. The middle 2-4 workstations are the work area; 1) Two workstations: Assembly and fitting of chairs 2) 3-station: Valve assembly and assembly 3) 4-station assembly: Steering column and steering gear assembly 3. The leftmost 5 workstations are the cab assembly area; Note: 1. In the table, "frame" refers to "cab tooling frame".

[0042] 2. AGV3 unloads the frame 4 at the material area and takes the frame 5 with the driver's cab into the circulation line.

[0043] 3. The three AGVs on the circulation line will be charged according to factors such as the 16-minute cycle time and the amount of electricity.

[0044] The specific steps of the cab sub-assembly line process are as follows: 1) The assembled cab is at station 5. It is manually sent into the assembly line and the release button is pressed. After the goods are released, the AGV carries the empty tooling to the AGV waiting area and automatically observes the two storage areas to identify the occupied storage area and the unoccupied storage area. 2) If only one storage area is occupied, the AGV will carry the empty tool back to the unoccupied storage area, go to the occupied storage area, lift the cab and send it to the first workstation, and wait at the first workstation. 3) If the AGV returns to the waiting area from station 5 and both storage areas are not occupied, the AGV continues to wait in the waiting area until a cab to be loaded is placed in one of the storage areas; 4) Repeat step 2). 5) When the call button is pressed at the second workstation, the AGV at the first workstation will automatically move to the second workstation; if there is no AGV parked at the first workstation, the dispatching system will not respond to the call. 6) After the assembly at station 2 is completed, press the release button in time to release the AGV at that station; the scheduling system will only allow the AGV to travel to station 3 when station 3 calls for the AGV; if the AGV at station 2 has not been released or there is no AGV, the scheduling system will not respond to the call from station 3. 7) After the AGV completes assembly at station 3, the operator should promptly press the release button to release the AGV at that station; after station 4 calls for the AGV, it will travel from station 3 to station 4; if there is no AGV at station 3 or it has not been released, the dispatching system will not respond to the call from station 4. 8) After the AGV arrives at the 4th workstation, it will put down the cab and tooling and proceed to the charging station to charge on its own. 9) After the 4th station completes the assembly, press the release button for that station. The AGV will return from the charging station or when the 5th station calls for the AGV, and will then lift the cab fixture of that station again. 10) If the system malfunctions and cannot charge, the AGV will automatically return to station 4; 11) After the AGV is called from station 5, it will travel from station 4 to station 5; if there is no AGV at station 4 or it has not been released, the call is invalid. 12) When the AGV arrives at station 5 and completes the assembly, the operator will send the assembled cab into the assembly line and press the release button on the button station of that station. The AGV will then automatically run to the AGV waiting area with the empty tooling on its back. 13) Repeat the above steps for each AGV.

[0045] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A back-lifting AGV system for a cab assembly line, characterized in that: This includes the vehicle body, dispatching system, lifting device, navigation and positioning system, drive system, power charging system, and obstacle avoidance safety device; Dispatch system: includes automatic operation mode and manual operation mode; Lifting device: adopts 4-point lead screw lifting; Navigation and positioning system: including LiDAR sensor and 3D SLAM navigation; Drive system: Two-wheel differential drive and servo control system; Power charging system: including automatic online charging and manual charging; Obstacle avoidance safety devices include laser obstacle avoidance, four-sided edge contact, audible and visual alarms, and an emergency stop button; The specific steps of the cab assembly line process are as follows: 1) The assembled cab is at station 5. It is manually sent into the assembly line and the release button is pressed. After the cargo is released, the AGV carries the empty tooling to the AGV waiting area and automatically observes the two storage areas to identify the occupied and unoccupied storage areas. 2) If only one storage area is occupied, the AGV will carry the empty tool back to the unoccupied storage area, go to the occupied storage area, lift the cab and send it to the first workstation, and wait at the first workstation. 3) If the AGV returns to the waiting area from station 5 and both storage areas are not occupied, the AGV continues to wait in the waiting area until a cab to be loaded is placed in one of the storage areas; 4) Repeat step 2). 5) When the call button is pressed at the second workstation, the AGV at the first workstation will automatically move to the second workstation; if there is no AGV parked at the first workstation, the dispatching system will not respond to the call. 6) After the assembly at station 2 is completed, press the release button in time to release the AGV at that station; the scheduling system will only allow the AGV to travel to station 3 when station 3 calls for the AGV; if the AGV at station 2 has not been released or there is no AGV, the scheduling system will not respond to the call from station 3. 7) After the AGV completes assembly at station 3, the operator should promptly press the release button to release the AGV at that station; after station 4 calls for the AGV, it will travel from station 3 to station 4; if there is no AGV at station 3 or it has not been released, the dispatching system will not respond to the call from station 4. 8) After the AGV arrives at the 4th workstation, it will put down the cab and tooling and proceed to the charging station to charge on its own. 9) After the 4th station completes the assembly, press the release button for that station. The AGV will return from the charging station or when the 5th station calls for the AGV, and will then lift the cab fixture of that station again. 10) If the system malfunctions and cannot charge, the AGV will automatically return to station 4; 11) After the AGV is called from station 5, it will travel from station 4 to station 5; if there is no AGV at station 4 or it has not been released, the call is invalid. 12) When the AGV arrives at station 5 and completes the assembly, the operator will send the assembled cab into the assembly line and press the release button on the button station of that station. The AGV will then automatically run to the AGV waiting area with the empty tooling on its back. 13) Repeat the above steps for each AGV.

2. The back-mounted lifting AGV system for a cab assembly line according to claim 1, characterized in that: The manual operation mode of the scheduling system only responds to handheld device action commands; the automatic operation mode only responds to scheduling system action commands. The dispatching system operates according to the predefined process route requirements of the cab assembly line. The scheduling system allows users to customize vehicle types and operating speeds within the scheduling software, enabling differentiated management of AGVs.

3. The back-lifting AGV system for a cab assembly line according to claim 1, characterized in that: The lifting device includes a servo motor and a vehicle-mounted lifting mechanism. The lifting device adopts an electric servo control method, and the lifting speed is executed according to the instructions of the scheduling system. The vehicle-mounted lifting mechanism adopts a lead screw mechanism to mechanically ensure synchronization. A guide mechanism is adopted to increase stability.

4. The back-lifting AGV system for a cab assembly line according to claim 1, characterized in that: The aforementioned lidar sensor is used for positioning and obstacle detection; The aforementioned 3D SLAM navigation system, based on lidar positioning and mapping, can acquire the radar pose and construct a complete 3D point cloud map in real time. Combined with a scheduling system, it can complete a one-stop positioning and mapping solution for processing and analysis.

5. The back-lifting AGV system for a cab assembly line according to claim 1, characterized in that: The drive system uses dual-sided differential drive wheels and four omnidirectional wheels. The integrated differential wheel set can reduce the overall vehicle height and size, simplify control, and efficiently complete curved, straight, and rotary movements.

6. The back-lifting AGV system for a cab assembly line according to claim 1, characterized in that: The power charging system has a power indicator, the touch screen displays the battery power in real time, and automatically triggers charging when the power is low; The specific steps of the power charging system are as follows: (1) When the AGV arrives at the charging station and stops correctly, the photoelectric device of the charger can detect the reflector on the AGV body, extend the brush block to connect with the vehicle brush plate, establish communication and start charging. The charger charges according to the BMS request. (2) When the battery is fully charged, the charger will automatically retract, completing the charging process; (3) During the charging process, upon receiving the work instruction, the BMS sends a termination charging instruction to the charger, and the charger retracts to terminate the charging.

7. A back-lifting AGV system for a cab assembly line according to claim 1, characterized in that, The obstacle avoidance safety device includes: (1) 3D lidar also has obstacle avoidance function; safety touch edges are arranged around the vehicle as a passive safety protection method; (2) The obstacle detection angle of the AGV is fully covered within a 360° range, the detection distance is within a 200mm range, and the safety distance on both sides of the vehicle is set at 300~500mm; (3) When there is an obstacle or a person touches the safety edge, the vehicle shall stop immediately and be allowed to pass again after manual confirmation; (4) Pressing the emergency stop button will immediately stop the vehicle; after the emergency stop button is released, the previous actions will continue. (5) The AGV has light prompts and sound alarms when it is stopped, waiting, running, turning, or in a fault state; (6) Error message: When the AGV malfunctions, the display screen on the AGV panel will show the corresponding Chinese message, and the maintenance personnel can quickly carry out the repair based on the message. (7) The AGV power circuit has overvoltage and overcurrent protection functions; (8) When the AGV accidentally leaves the working path, the AGV will stop immediately and sound an alarm, waiting for the staff to troubleshoot the problem.

8. A back-lifting AGV system for a cab assembly line according to claim 1, characterized in that, The cab assembly line uses three backpack lifting AGVs.

9. A back-lifting AGV system for a cab assembly line according to claim 1, characterized in that, The cab assembly line has 5 stations. Station 1 is a preparation station, and stations 2, 3, and 4 are operation stations. Two ground lifting devices are set up at station 4. After the cab is assembled, the whole machine is assembled at station 5. Station 1 is an unmanned station, and stations 2, 3, 4, and 5 are manned stations.

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