Ultra-thin heavy-load automobile transfer robot and transfer method based on online edge detection

Abstract

The present invention is an ultra-thin heavy-load automobile transfer robot based on online edge detection, comprising two AGVs arranged front and back, the control units of the two AGVs are communicatively connected to achieve coordinated action, a telescopic connection device is installed between the two AGVs, the telescopic connection device is provided with an adjustment mechanism, the adjustment mechanism is used to adjust the distance between the two AGVs, a group of tire lifting mechanisms are respectively installed on the left and right sides of the two AGVs, the tire lifting mechanisms are used to clamp and lift the corresponding automobile tires; at least two laser sensors are installed on one side of each AGV corresponding to the front and rear ends of the tires, the laser sensors use the tire edges as detection objects, and locate the tires through multiple laser sensors so that the AGVs synchronously follow the corresponding automobile tires; the transfer robot of the present invention can adaptively adjust the position of the tire lifting mechanism, and can adaptively adjust the relative position of the robot itself and the automobile, so as to complete the whole vehicle transfer work more safely, and the degree of intelligence is higher.

Description

Technical Field

[0001] The invention relates to the technical field of automobile production lines, and in particular to an ultra-thin heavy-load automobile transfer robot and a transfer method based on online edge detection. Background Art

[0002] At present, automobile manufacturers use automated production lines for production. After the automobile is assembled, it is necessary to transfer the entire vehicle from the line to the next process. Currently, transfer robots are generally used to perform automobile transfer work. The existing transfer robots mainly have three structural forms: vehicle loading plate, comb tooth type, and tire clamping type. Among them, the vehicle loading plate needs to be configured with a vehicle loading plate, and the storage and retrieval efficiency is low and the comprehensive cost is high; the comb tooth type storage and retrieval position needs to be configured with a parking rack, the storage and retrieval height is high, the installation cycle is long, the docking accuracy is high, and the safety is poor; the tire clamping type does not require a vehicle loading plate and a parking rack, has a short installation cycle, high safety, and strong adaptability, so the tire clamping type is promoted and applied.

[0003] There are two main types of existing tire clamping transfer robots: one is a gantry type, which requires the entire vehicle to be included in the equipment as a whole. The structure, size and weight are very bulky, and a large enough space needs to be reserved for the storage and retrieval parking spaces to ensure the transfer of the entire vehicle, resulting in large space waste and high energy consumption; the other is a latent type, which has an overall height lower than the height of the vehicle chassis and can be drilled under the vehicle chassis as a whole. The structure and weight are very small, and the storage and retrieval parking spaces only need to be reserved according to the size of the entire vehicle, with high space utilization; however, the existing tire clamping transfer robots can only be transferred when the entire vehicle is neatly arranged by the vehicle centering equipment during transfer work. The adaptability to vehicles with different wheelbases is poor, and the transfer efficiency and automation efficiency cannot be improved. Summary of the invention

[0004] The purpose of the present invention is to solve the problems existing in the above-mentioned prior art, and to provide an ultra-thin heavy-load automobile transfer robot and transfer method based on online edge detection, which can adapt to the changes in the wheelbase of the vehicle during the transfer and clamping process, and can adaptively adjust the position of the entire vehicle without a centering device to neatly place the entire vehicle, thereby completing the transfer of the entire vehicle more safely.

[0005] The specific scheme of the present invention is: an ultra-thin heavy-load automobile transfer robot based on online edge detection, comprising two AGVs arranged front and back, the control units of the two AGVs are communicated and connected to achieve coordinated action, a telescopic connection device is installed between the two AGVs, the telescopic connection device is provided with an adjustment mechanism, the adjustment mechanism is used to adjust the length of the telescopic connection device so as to adjust the distance between the two AGVs, both AGVs include a vehicle body, a group of tire lifting mechanisms are respectively installed on the left and right sides of the vehicle body, the tire lifting mechanism includes two swing arms, one end of the swing arm is rotatably connected to the vehicle body, and the other end is a movable end, a plurality of rollers are installed on the outward side of the swing arm, a rotary drive mechanism is provided on the inner side of the swing arm, and the rotary drive mechanism is used to control the two swing arms on the same side to rotate synchronously to open or close; at least two laser sensors are installed on one side of the vehicle body corresponding to the front and rear ends of the tires, the laser sensors use the tire edges as detection objects, and the tires are positioned by multiple laser sensors so that the front AGV synchronously follows the corresponding front wheels of the car, and the rear AGV synchronously follows the corresponding rear wheels of the car.

[0006] Furthermore, the rotary drive mechanism includes a plurality of bearing seats, which are arranged in a straight line along the front-to-rear direction and fixedly connected to the vehicle body. A screw is installed in all the bearing seats, a driving wheel is installed in the middle of the screw, and the driving wheel is connected to a driving motor. Each end of the screw is provided with a section of external thread, and the external threads at the two ends rotate in opposite directions. Each section of the external thread is threadedly connected to a slide seat, and a slide rail is provided on the vehicle body corresponding to each slide seat. The slide seat is slidably connected to the slide rail, and a connecting rod is installed between the slide seat and its corresponding swing arm. One end of the connecting rod is rotatably connected to the slide seat, and the other end is rotatably connected to the swing arm.

[0007] Furthermore, an inclined surface is provided on the outer side of the swing arm, the inclination angle of the inclined surface is adapted to the tire, and upper and lower rows of rollers are mounted on the inclined surface.

[0008] Furthermore, the telescopic connection device includes two groups of scissor rods arranged side by side, and the two ends of each group of scissor rods are fixed ends facing the side of the AGV center line, and the fixed ends are fixedly connected to the corresponding AGV. The outer sides of the two ends of the scissor rods are movable ends, and the movable ends are provided with sliders. The corresponding AGV is provided with a slideway, and the slideway is perpendicular to the telescopic direction of the scissor rods. The slideway is slidably connected to the corresponding slider. A driving mechanism is provided on the front end AGV corresponding to the movable ends of the two groups of scissor rods, and the driving mechanism is used to drive the slider to move along the slideway, and the driving mechanism has a locking function.

[0009] Furthermore, the driving mechanism includes a motor, a reducer is installed at the output end of the motor, a driving sprocket is installed at the output end of the reducer, a driven sprocket is installed on the AGV body, the driven sprocket is rotatably connected to the body, a circulating chain is installed between the driven sprocket and the driving sprocket, and a point on the circulating chain is fixedly connected to the slider.

[0010] Furthermore, a laser distance measuring sensor is installed on the front AGV or the rear AGV, and the laser distance measuring sensor is used to detect the distance between the two AGVs in real time.

[0011] Furthermore, the maximum height of the robot is less than 140 mm.

[0012] The present invention also provides a car transfer method, which uses the above-mentioned ultra-thin heavy-load car transfer robot based on online edge detection, and specifically includes the following steps: S1, adjusting the length of the telescopic connection device between the two AGVs according to the car wheelbase parameter on the line body and locking it, so that the distance between the tire lifting mechanisms of the front car and the rear car is equal to the car wheelbase;

[0013] S2, two AGVs sneak in from the bottom of the car, and the moving direction of the AGV is the same as the moving direction of the line;

[0014] S3, unlock the telescopic connection device, the front vehicle detects the position of the front wheels of the car through the laser sensor, and the rear vehicle detects the position of the rear wheels of the car through the laser sensor. The front vehicle and the rear vehicle adjust their travel speeds according to the detection results so that the front and rear tire lifting mechanisms are aligned with the corresponding car tires, and the two AGVs run synchronously with the line body;

[0015] S4. The tire lifting mechanisms of the two AGVs operate simultaneously to lift the entire vehicle and transport it.

[0016] Furthermore, in step S3, when the laser sensor detects that the corresponding tire is located in front of the set area, the AGV accelerates to catch up; when the laser sensor detects that the corresponding tire is located behind the set area, the AGV decelerates; when the laser sensor detects that the corresponding tire is located within the set area, the AGV maintains the current speed.

[0017] Furthermore, after the robot dives under the car, it automatically adjusts the position and angle of the robot according to the distance value to the corresponding tire detected by each laser sensor, so that the robot is centered with the car above.

[0018] Compared with the prior art, the present invention has the following advantages: 1. It can adapt to the wheelbase change of the vehicle during the transportation and clamping process, and can adaptively adjust the positions of the tire clamping mechanisms of the front vehicle and the rear vehicle to match the positions of the corresponding vehicle tires;

[0019] 2. In the case of no centering device to neatly place the whole vehicle, the robot can adaptively adjust its position and angle to match the position of the whole vehicle and transfer the whole vehicle more safely;

[0020] 3. The maximum height of the robot is less than 140mm, which is lower than the height of the handling robots on the market and can adapt to more car models;

[0021] 4. The tire lifting mechanism adopts two rows of rollers. The center distance of the two rows of rollers is designed according to the tire shape to ensure that all rollers start to roll and lift the tire during the lifting process. The angle generated by the newly added row of rollers is a stable V-shaped angle, which makes transportation safer. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 is a three-dimensional view of the transfer robot of the present invention;

[0023] Figure 2 yes Figure 1 A top view of

[0024] Figure 3 It is a schematic diagram of the present invention entering the bottom of a car to perform online edge detection;

[0025] Figure 4 is a three-dimensional view of the tire lifting mechanism of the present invention;

[0026] Figure 5 It is a schematic diagram of the expansion and folding of the swing arm of the tire lifting mechanism of the present invention;

[0027] Figure 6 It is a schematic structural diagram of the telescopic connection device of the present invention;

[0028] Figure 7 It is a schematic diagram of the robot of the present invention diving into the bottom of a car and performing lateral movement adjustment and centering;

[0029] Figure 8 It is a schematic diagram of the robot of the present invention diving into the bottom of a car and performing rotation adjustment and centering;

[0030] In the figure: 1. rear vehicle; 2. tire lifting mechanism; 21. drive motor; 22. screw rod; 23. slide rail; 24. slide seat; 25. connecting rod; 26. swing arm; 27. roller; 3. telescopic connection device; 31. motor; 32. slider; 33. scissor rod; 34. laser ranging sensor; 35. connecting plate; 4. front vehicle; 5. laser sensor; 51. rear wheel laser sensor A; 52. rear wheel laser sensor B; 53. front wheel laser sensor A; 54. front wheel laser sensor B; 55. front wheel laser sensor C; 56. front wheel laser sensor D. DETAILED DESCRIPTION

[0031] See also Figure 1-6The ultra-thin heavy-load automobile transfer robot based on online edge detection in this embodiment includes two AGVs arranged front and back, the control units of the two AGVs are connected to each other by communication to realize coordinated action, a telescopic connection device 3 is installed between the two AGVs, the telescopic connection device 3 is provided with an adjustment mechanism, the adjustment mechanism is used to adjust the length of the telescopic connection device 3 so as to adjust the distance between the two AGVs, the two AGVs both include a vehicle body, a set of tire lifting mechanisms 2 are respectively installed on the left and right sides of the vehicle body, the tire lifting mechanism 2 includes two swing arms 26, one end of the swing arm 26 is connected to the vehicle body for rotation, and the other end is a movable end, a plurality of rollers 27 are installed on the outward side of the swing arm 26, a rotary drive mechanism is provided on the inner side of the swing arm 26, and the rotary drive mechanism is used to control the two swing arms 26 on the same side to rotate synchronously to open or close; at least two laser sensors 5 are installed on one side of the vehicle body corresponding to the front end and the rear end of the tire, the laser sensor 5 takes the tire edge as the detection object, and the tire is positioned by multiple laser sensors 5 so that the front AGV synchronously follows the corresponding front wheel of the car, and the rear AGV synchronously follows the corresponding rear wheel of the car.

[0032] Furthermore, the rotary drive mechanism includes a plurality of bearing seats, which are arranged in a straight line along the front-to-back direction and fixedly connected to the vehicle body. A screw rod 22 is commonly installed in all the bearing seats, a driving wheel is installed in the middle of the screw rod 22, and the driving wheel is connected to a driving motor 21. Each end of the screw rod 22 is provided with a section of external thread, and the external threads at the two ends rotate in opposite directions. Each section of the external thread is threadedly connected to a slide seat 24, and a slide rail 23 is provided on the vehicle body corresponding to each slide seat 24. The slide seat 24 is slidably connected to the slide rail 23, and a connecting rod 25 is installed between the slide seat 24 and its corresponding swing arm 26. One end of the connecting rod 25 is rotatably connected to the slide seat 24, and the other end is rotatably connected to the swing arm 26.

[0033] Furthermore, an inclined plane is provided on the outer side of the swing arm 26, and the inclination angle of the inclined plane is adapted to the tire. The inclined plane is provided with upper and lower rows of rollers 27. Two rows of rollers 27 are adopted, and the center distance of the two rows of rollers 27 is designed according to the tire shape to ensure that all rollers 27 start to roll and lift the tire during the lifting process, and the angle generated by the newly added row of rollers 27 is a stable structure of a V-shaped angle, so that transportation is safer.

[0034] The working principle of the tire lifting mechanism 2 is as follows: the screw rod 22 is driven to rotate by the driving motor 21. Since the threads at both ends of the screw rod 22 rotate in opposite directions, the slides 24 at both ends translate in opposite directions along the screw rod 22, thereby synchronously driving the two swing arms 26 to rotate. When the two swing arms 26 rotate outward by 90°, the two swing arms 26 clamp the tire, and finally the tire is lifted off the ground and fixed in the V-shaped angle formed by the two swing arms 26. The roller 27 on the swing arm 26 rolls with the tire to reduce friction. Similarly, the reverse action can cause the two swing arms 26 to retract inward, thereby lowering the tire to the ground.

[0035] The tire lifting mechanism 2 adopts the form of a left-right rotating screw 22, and realizes the simultaneous opening and closing of the swing arm 26 through the transmission of a servo motor. The screw 22 and the slider 32 units do not bear loads and only provide torque output. The load is borne by the tapered roller bearing connecting the swing arm 26 and the vehicle body. Therefore, the power output unit has a long service life and is stable. The servo motor using an absolute encoder can accurately control the displacement of the screw 22, and smooth lifting of the tire can be achieved by adjusting the motor curve.

[0036] For further information, see Figure 6 The telescopic connection device 3 includes two groups of scissor rods 33 arranged side by side. The two ends of each group of scissor rods 33 are fixed ends facing the side of the AGV center line, and the fixed ends are fixedly connected to the corresponding AGV. The outer sides of the two ends of the scissor rods 33 are movable ends. The movable ends are provided with sliders 32. The corresponding AGV is provided with a slideway. The slideway is perpendicular to the telescopic direction of the scissor rods 33. The slideway is slidably connected to the corresponding slider 32. A driving mechanism is provided on the front AGV corresponding to the movable ends of the two groups of scissor rods 33. The driving mechanism is used to drive the slider 32 to move along the slideway, and the driving mechanism has a locking function.

[0037] Furthermore, the driving mechanism includes a motor 31, a reducer is installed at the output end of the motor 31, a driving sprocket is installed at the output end of the reducer, a driven sprocket is installed on the AGV body, the driven sprocket is rotatably connected to the body, a circular chain is installed between the driven sprocket and the driving sprocket, and a point on the circular chain is fixedly connected to the slider 32.

[0038] Furthermore, a laser distance measuring sensor 34 is installed on the front AGV or the rear AGV, and the laser distance measuring sensor 34 is used to detect the distance between the two AGVs in real time.

[0039] In this embodiment, the motor 31 drives the slider 32 to move along the slideway, changing the distance between the movable end and the fixed end, thereby changing the angle of the scissor rod 33, so that the scissor rod 33 is extended or shortened, and the extension distance is proportional to the movement distance of the slider 32. During the process of adjusting the extension length, the distance between the two vehicles is detected in real time by the laser ranging sensor 34. When the actual distance reaches the set distance, the adjustment action is stopped. A connecting plate 35 is provided at the middle hinge point of the two sets of scissor rods 33, and the connecting plate 35 is set on the center line of the robot.

[0040] When the electrode is locked, the slider 32 at the movable end cannot move, thereby locking the length of the scissor rod 33 .

[0041] Furthermore, the maximum height of the robot is less than 140 mm, which can meet the chassis clearance requirement of most cars.

[0042] The present invention also provides a car transfer method, which adopts the above-mentioned ultra-thin heavy-load car transfer robot based on online edge detection, and specifically includes the following steps: S1, adjusting the length of the telescopic connection device 3 between the two AGVs according to the car wheelbase parameter on the line body and locking it, so that the distance between the tire lifting mechanism 2 of the front car 4 and the rear car 1 is equal to the car wheelbase; S2, the two AGVs sneak into from the bottom of the car, and the movement direction of the AGV is the same as the movement direction of the line body; S3, unlocking the telescopic connection device 3, the front car 4 detects the position of the front wheel of the car through the laser sensor 5, and the rear car 1 detects the position of the rear wheel of the car through the laser sensor 5, and the front car 4 and the rear car 1 respectively adjust the travel speed according to the detection situation so that the front and rear two sets of tire lifting mechanisms 2 are aligned with the corresponding car tires, and the two AGVs run synchronously with the line body; S4, the tire lifting mechanisms 2 of the two AGVs act at the same time to lift the car as a whole to achieve car transfer.

[0043] like Figure 3As shown, further, in the step S3, when the rear wheel laser sensor A51 and the rear wheel laser sensor B52 detect that the corresponding rear wheel of the car is located in front of the area, the rear vehicle 1 performs acceleration to catch up; when the rear wheel laser sensor A51 and the rear wheel laser sensor B52 detect that the corresponding rear wheel of the car is located behind the area, the rear vehicle 1 performs deceleration; when the rear wheel laser sensor A51 and the rear wheel laser sensor B52 detect that the corresponding rear wheel of the car is located in the area, the rear vehicle 1 maintains the current speed, and the rear vehicle 1 runs synchronously with the line body; similarly, if the front wheel of the car is located at the front wheel laser sensor A53, the front wheel laser sensor B54, the front wheel laser sensor C55, and the front wheel laser sensor D 56, the front vehicle 4 accelerates to catch up; if the front wheels of the vehicle are located behind the areas detected by the front wheel laser sensors A53, B54, C55 and D56, the front vehicle 4 decelerates; when the front wheels of the vehicle are located within the areas detected by the front wheel laser sensors A53, B54, C55 and D56, the front vehicle 4 maintains the current speed, at this time the front vehicle 4 runs synchronously with the line body to perform the above-mentioned adaptive adjustment action, the tire lifting mechanisms 2 on both sides of the front vehicle 4 are respectively aligned with the left and right front wheels of the vehicle, and the tire lifting mechanisms 2 on both sides of the rear vehicle 1 are respectively aligned with the left and right rear wheels of the vehicle.

[0044] Furthermore, after the robot dives under the car, it automatically adjusts the position and angle of the robot according to the distance value to the corresponding tire detected by each laser sensor 5, so that the robot is centered with the car above.

[0045] like Figure 7 As shown, when the car deviates to the left or right, the robot automatically calculates the lateral movement distance required for centering based on the distance value detected by the laser sensor 5, and then controls the steering wheels of the front car 4 and the rear car 1 to synchronously move the distance laterally through the control unit, ultimately achieving centering with the car.

[0046] like Figure 8 As shown, when there is a deflection angle between the car and the line body, the robot automatically calculates the angle of rotation required for the robot to align with the car based on the distance measured by the laser sensor 5, and then the control unit controls the steering wheels of the front car 4 and the rear car 1 to drive in opposite directions at the same time, so that the robot can rotate with its own center point as the center of the circle, and finally achieves alignment with the car.

[0047] The present invention realizes online edge detection and can adaptively adjust the position and angle of the robot itself according to the different wheelbases and positions of the cars on the line to achieve alignment with the car to be transported. Therefore, compared with the existing transfer robots, it is more intelligent and more adaptable.

Claims

1. An ultra-thin heavy-load automobile transfer robot based on online edge detection is used to transfer the entire automobile from the line to the next process after the automobile assembly is completed. Its characteristics are: The invention comprises two AGVs arranged front and back, the control units of the two AGVs are connected by communication to realize coordinated action, a telescopic connection device is installed between the two AGVs, the telescopic connection device is provided with an adjustment mechanism, the adjustment mechanism is used to adjust the length of the telescopic connection device so as to adjust the distance between the two AGVs, the two AGVs both comprise a vehicle body, a set of tire lifting mechanisms are installed on the left and right sides of the vehicle body, the tire lifting mechanism comprises two swing arms, one end of the swing arm is connected to the vehicle body for rotation, and the other end is a movable end, a plurality of rollers are installed on the outward side of the swing arm, a rotary drive mechanism is provided on the inner side of the swing arm, and the rotary drive mechanism is used to control the two swing arms on the same side to rotate synchronously to open or close; at least two laser sensors are installed on one side of the vehicle body corresponding to the front and rear ends of the tires, the laser sensors take the tire edge as the detection object, and locate the tires through multiple laser sensors so that the front AGV synchronously follows the corresponding front wheel of the car, and the rear AGV synchronously follows the corresponding rear wheel of the car; after the robot dives into the bottom of the car, the position and angle of the robot are automatically adjusted according to the distance value to the corresponding tire detected by each laser sensor, so that the robot is centered with the car above; The telescopic connection device includes two groups of scissor rods arranged side by side, and the two ends of each group of scissor rods are fixed ends facing the side of the AGV center line, and the fixed ends are fixedly connected to the corresponding AGV. The outer sides of the two ends of the scissor rods are movable ends, and the movable ends are provided with sliders. The corresponding AGV is provided with a slideway, and the slideway is perpendicular to the telescopic direction of the scissor rods. The slideway is slidably connected to the corresponding slider. A driving mechanism is provided on the front AGV corresponding to the movable ends of the two groups of scissor rods. The driving mechanism is used to drive the slider to move along the slideway, and the driving mechanism has a locking function.

2. The ultra-thin heavy-load vehicle transfer robot based on online edge detection according to claim 1 is characterized in that: The rotary drive mechanism includes a plurality of bearing seats, which are arranged in a straight line along the front-rear direction and fixedly connected to the vehicle body. A screw is installed in all the bearing seats, a driving wheel is installed in the middle of the screw, and the driving wheel is connected to a driving motor. An external thread is provided at each end of the screw, and the external threads at the two ends rotate in opposite directions. Each external thread is threadedly connected to a slide seat, and a slide rail is provided on the vehicle body corresponding to each slide seat. The slide seat is slidably connected to the slide rail, and a connecting rod is installed between the slide seat and its corresponding swing arm, one end of the connecting rod is rotatably connected to the slide seat, and the other end is rotatably connected to the swing arm.

3. The ultra-thin heavy-load automobile transfer robot based on online edge detection according to claim 1 is characterized in that: An inclined surface is arranged on the outer side of the swing arm, the inclination angle of the inclined surface is adapted to the tire, and upper and lower rows of rollers are arranged on the inclined surface.

4. The ultra-thin heavy-load vehicle transfer robot based on online edge detection according to claim 1 is characterized in that: The driving mechanism includes a motor, a reducer is installed at the output end of the motor, a driving sprocket is installed at the output end of the reducer, a driven sprocket is installed on the AGV body, the driven sprocket is rotatably connected to the body, a circulating chain is installed between the driven sprocket and the driving sprocket, and a point on the circulating chain is fixedly connected to the slider.

5. The ultra-thin heavy-load automobile transfer robot based on online edge detection according to claim 1 is characterized in that: The front AGV or the rear AGV is equipped with a laser distance sensor, which is used to detect the distance between the two AGVs in real time.

6. The ultra-thin heavy-load automobile transfer robot based on online edge detection according to claim 1 is characterized in that: The maximum height of the robot is less than 140 mm.

7. A method for transporting vehicles, characterized by: The ultra-thin heavy-load vehicle transfer robot based on online edge detection according to any one of claims 1 to 6 specifically comprises the following steps: S1, adjusting the length of the telescopic connection device between the two AGVs according to the vehicle wheelbase parameter on the line body and locking it so that the distance between the tire lifting mechanisms of the front vehicle and the rear vehicle is equal to the vehicle wheelbase; S2, two AGVs sneak in from the bottom of the car, and the moving direction of the AGV is the same as the moving direction of the line; S3, unlock the telescopic connection device, the front vehicle detects the position of the front wheels of the car through the laser sensor, and the rear vehicle detects the position of the rear wheels of the car through the laser sensor. The front vehicle and the rear vehicle adjust their travel speeds according to the detection results so that the front and rear tire lifting mechanisms are aligned with the corresponding car tires, and the two AGVs run synchronously with the line body; S4. The tire lifting mechanisms of the two AGVs operate simultaneously to lift the entire vehicle and transport it.

8. The automobile transport method according to claim 7, characterized in that: In step S3, when the laser sensor detects that the corresponding tire is located in front of the set area, the AGV accelerates to catch up; when the laser sensor detects that the corresponding tire is located behind the set area, the AGV decelerates; when the laser sensor detects that the corresponding tire is located within the set area, the AGV maintains the current speed.

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