Automated guided vehicle, control method thereof, warehousing system and computer readable storage medium

Abstract

The application provides a control method of an automatic guided vehicle, the automatic guided vehicle, a warehouse system and a computer readable storage medium. The control method comprises the following steps: S11: controlling the automatic guided vehicle to move along a first track; S12: determining position information of the automatic guided vehicle; S13: determining whether the automatic guided vehicle reaches a preset track switching position based on the position information; S14: when it is determined that the automatic guided vehicle reaches the preset track switching position, controlling the automatic guided vehicle to switch to a second track; S15: determining attitude information of the automatic guided vehicle; and S16: determining whether the automatic guided vehicle successfully switches tracks based on the attitude information. The control method can detect whether the automatic guided vehicle successfully switches tracks, and can improve the reliability of the automatic guided vehicle.

Description

Technical Field

[0001] This invention relates generally to the field of warehousing technology, and more particularly to a control method for an automated guided vehicle (AGV), an AGV, a warehousing system, and a computer-readable storage medium. Background Technology

[0002] Existing automated guided vehicles (AGVs) either do not perform track-crossing detection or rely on navigation systems for it. One method relies on the guiding function of the tracks or wheels, automatically correcting course when track-crossing occurs. The problem with this method is that the guiding capacity of the tracks or wheels has an upper limit; exceeding this limit will cause the vehicle to derail and cause an accident. For the second method, the problem is that the navigation system has uncertainties, with a probability of either overshooting or undershooting, leading to severe track-crossing and derailment. How to perform track-crossing detection on AGVs, how to improve the accuracy of track-crossing detection, and how to improve the reliability of AGVs are the technical problems that this application aims to solve.

[0003] The content of the background section is merely the technology known to the inventor and does not necessarily represent the prior art in this field. Summary of the Invention

[0004] To address one or more of the problems existing in the prior art, the present invention provides a control method for an automated guided vehicle, comprising:

[0005] S11: Control the automated guided vehicle to move along the first track;

[0006] S12: Determine the location information of the automated guided vehicle;

[0007] S13: Based on the location information, determine whether the automated guided vehicle has reached the preset track-changing position;

[0008] S14: When it is determined that the automated guided vehicle has reached the preset track-changing position, control the automated guided vehicle to switch to the second track;

[0009] S15: Determine the attitude information of the automated guided vehicle; and

[0010] S16: Based on the attitude information, determine whether the automated guided vehicle has successfully changed tracks.

[0011] Optionally, the first track and the second track are arranged in a cross shape on the same plane, and the preset track-switching position is located at the center of the intersection area of ​​the first track and the second track.

[0012] Optionally, the automated guided vehicle includes a first wheel set disposed below the body of the automated guided vehicle; the operation S11 includes controlling the first wheel set to move along the first track.

[0013] Optionally, the operation S12 includes: reading the location information stored in the RFID electronic tag through the RFID antenna, sensing the magnetic field strength information through the magnetic sensor, and determining the location information of the automated guided vehicle based on the location information stored in the RFID electronic tag and the magnetic field strength information.

[0014] Optionally, the automated guided vehicle includes a second wheel set disposed below the body of the automated guided vehicle; wherein operation S14 includes: controlling the first wheel set to rise to a first preset height and controlling the second wheel set to fall to a second preset height, so as to control the automated guided vehicle to switch to the second track.

[0015] Optionally, the operation S15 includes: determining the attitude information of the automated guided vehicle by means of an inertial measurement unit and an inertial navigation strapdown algorithm, the attitude information including roll angle and / or pitch angle.

[0016] Optionally, the operation S16 includes: comparing the change in attitude information of the automated guided vehicle before and after switching tracks, and determining whether the automated guided vehicle has successfully switched tracks based on the change in attitude information.

[0017] Optionally, the operation of determining whether the automated guided vehicle has successfully changed tracks based on the change in attitude information includes: when the change in roll angle of the automated guided vehicle before and after changing tracks is less than a first threshold, and / or the change in pitch angle is less than a second threshold, the automated guided vehicle is determined to have successfully changed tracks.

[0018] Optionally, the operation of determining whether the automated guided vehicle (AGV) has successfully changed tracks based on the change in attitude information includes: determining that the AGV has failed to change tracks when the change in roll angle before and after the track change is not less than a first threshold and / or the change in pitch angle is not less than a second threshold.

[0019] Optionally, it further includes: when it is determined that the automatic guided vehicle fails to change tracks, determining the type of track change failure, the type including a first type and a second type, wherein the first type includes track change failure when the automatic guided vehicle has not reached the preset track change position, and the second type includes track change failure when the automatic guided vehicle has exceeded the preset track change position.

[0020] Optionally, the operation of determining the type of track-changing failure of the automated guided vehicle includes: determining the type of track-changing failure of the automated guided vehicle based on the movement direction and attitude of the automated guided vehicle switching to the second track.

[0021] Optionally, it further includes: when it is determined that the automatic guided vehicle has failed to change tracks, controlling the automatic guided vehicle to return to a preset recovery position of the first track, and repeating at least some of the operations in S11-S16 until it is determined that the automatic guided vehicle has successfully changed tracks.

[0022] The present invention also provides an automated guided vehicle, comprising:

[0023] The positioning module is configured to determine the location information of the automated guided vehicle;

[0024] An attitude detection module is configured to determine the attitude information of the automated guided vehicle;

[0025] The control module is coupled to the positioning module and the attitude detection module, and configured to perform the following operations:

[0026] S11: Control the automated guided vehicle to move along the first track;

[0027] S12: Determine the location information of the automated guided vehicle;

[0028] S13: Based on the location information, determine whether the automated guided vehicle has reached the preset track-changing position;

[0029] S14: When it is determined that the automated guided vehicle has reached the preset track-changing position, control the automated guided vehicle to switch to the second track;

[0030] S15: Determine the attitude information of the automated guided vehicle; and

[0031] S16: Based on the attitude information, determine whether the automated guided vehicle has successfully changed tracks.

[0032] Optionally, the first track and the second track are arranged in a cross shape on the same plane, and the preset track-switching position is located at the center of the intersection area of ​​the first track and the second track.

[0033] Optionally, the automated guided vehicle includes a first wheel set disposed below the body of the automated guided vehicle; the control module is configured to control the first wheel set to move along the first track.

[0034] Optionally, the positioning module includes an RFID antenna and a magnetic sensor, and the control module is configured to: read the location information stored in the RFID electronic tag through the RFID antenna, sense the magnetic field strength information through the magnetic sensor, and determine the location information of the automated guided vehicle based on the location information stored in the RFID electronic tag and the magnetic field strength information.

[0035] Optionally, the automated guided vehicle includes a second set of wheels, which is disposed below the body of the automated guided vehicle; the control module is configured to: control the first set of wheels to rise to a first preset height and control the second set of wheels to fall to a second preset height, so as to control the automated guided vehicle to switch to the second track.

[0036] Optionally, the attitude detection module includes an inertial measurement unit, and the attitude detection module is configured to determine the attitude information of the automated guided vehicle through the inertial measurement unit and the inertial navigation strapdown algorithm, the attitude information including roll angle and / or pitch angle.

[0037] Optionally, the control module is configured to: compare the change in attitude information of the automated guided vehicle before and after switching tracks, and determine whether the automated guided vehicle has successfully switched tracks based on the change in attitude information.

[0038] Optionally, when the change in roll angle before and after the automated guided vehicle switches tracks is less than a first threshold, and / or the change in pitch angle is less than a second threshold, the control module is configured to determine that the automated guided vehicle has successfully switched tracks.

[0039] Optionally, when the change in roll angle before and after the automated guided vehicle switches tracks is not less than a first threshold, and / or the change in pitch angle is not less than a second threshold, the control module is configured to determine that the automated guided vehicle has failed to switch tracks.

[0040] Optionally, the control module is configured to: when it is determined that the automatic guided vehicle fails to change tracks, determine the type of track change failure, the type including a first type and a second type, wherein the first type includes track change failure when the automatic guided vehicle has not reached the preset track change position, and the second type includes track change failure when the automatic guided vehicle has exceeded the preset track change position.

[0041] Optionally, the control module is configured to determine the type of track-changing failure of the automated guided vehicle based on the movement direction and attitude of the automated guided vehicle switching to the second track.

[0042] Optionally, the control module is configured to: when it is determined that the automatic guided vehicle fails to change tracks, control the automatic guided vehicle to return to a preset recovery position of the first track, and repeat at least some of the operations in S11-S16 until it is determined that the automatic guided vehicle has successfully changed tracks.

[0043] The present invention also provides a warehousing system, comprising:

[0044] The automated guided vehicle as described above;

[0045] The track, including a first track and a second track, is equipped with RFID electronic tags;

[0046] Shelves equipped with magnetic components; and

[0047] The server is communicatively connected to the automated guided vehicle.

[0048] The automated guided vehicle is configured to perform the control method described above.

[0049] The present invention also provides a computer-readable storage medium including computer-executable instructions stored thereon, wherein the executable instructions, when executed by a processor, implement the control method described above.

[0050] The control method of the present invention can improve the accuracy of the detection of the automated guided vehicle (AGV) riding on the track, improve the reliability of the AGV, and help improve delivery efficiency and accuracy. Attached Figure Description

[0051] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings:

[0052] Figure 1 A flowchart of a control method for an automated guided vehicle according to some embodiments of the present invention is shown.

[0053] Figure 2a A schematic diagram of the track of an automated guided vehicle according to some embodiments of the present invention is shown.

[0054] Figure 2b A schematic diagram of the track of an automated guided vehicle according to other embodiments of the present invention is shown.

[0055] Figure 3a A partial schematic diagram of an automated guided vehicle according to some embodiments of the present invention is shown.

[0056] Figure 3b A partial schematic diagram of an automated guided vehicle according to other embodiments of the present invention is shown.

[0057] Figure 4 A schematic diagram of an automated guided vehicle according to some embodiments of the present invention is shown.

[0058] Figure 5 A schematic diagram of a positioning module according to some embodiments of the present invention is shown.

[0059] Figure 6a A partial schematic diagram of a positioning module according to some embodiments of the present invention is shown.

[0060] Figure 6b A partial schematic diagram of a positioning module according to other embodiments of the present invention is shown.

[0061] Figure 6c A partial schematic diagram of a positioning module according to some embodiments of the present invention is shown.

[0062] Figure 7 A schematic diagram of a positioning module according to other embodiments of the present invention is shown.

[0063] Figure 8a and Figure 8b A schematic diagram of a track-changing failure of an automated guided vehicle according to some embodiments of the present invention is shown.

[0064] Figure 9a and Figure 9b A schematic diagram of a track-changing failure of an automated guided vehicle according to other embodiments of the present invention is shown.

[0065] Figure 10a and Figure 10b A schematic diagram of a track-changing failure of an automated guided vehicle according to some embodiments of the present invention is shown.

[0066] Figure 11a and Figure 11b A schematic diagram of a track-changing failure of an automated guided vehicle according to some other embodiments of the present invention is shown.

[0067] Figure 12 A schematic diagram of a warehousing system according to some embodiments of the present invention is shown. Detailed Implementation

[0068] In the following description, only certain exemplary embodiments are briefly described. As those skilled in the art will recognize, the described embodiments can be modified in various ways without departing from the spirit or scope of the invention. Therefore, the drawings and description are considered to be exemplary in nature and not restrictive.

[0069] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined with "first" or "second" may explicitly or implicitly include one or more of the stated features. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0070] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "coupling" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection, an electrical connection, or a connection that allows for communication; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0071] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0072] The following provides many different embodiments or examples for implementing various structures of the invention. To simplify the invention, specific examples of components and arrangements are described below. Of course, these are merely examples and are not intended to limit the invention. Furthermore, reference numerals and / or letters may be repeated in different examples; such repetition is for simplification and clarity and does not in itself indicate a relationship between the various embodiments and / or arrangements discussed. In addition, examples of various specific processes and materials are provided in this invention, but those skilled in the art will recognize the application of other processes and / or the use of other materials.

[0073] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0074] This invention provides a control method for an automated guided vehicle. Figure 1 A flowchart of a control method 10 for an automated guided vehicle according to some embodiments of the present invention is shown. For example... Figure 1 As shown, control method 10 includes operations S11 to S16. In operation S11, the automated guided vehicle (AGV) is controlled to move along the first track. In operation S12, the position information of the AGV is determined. In operation S13, based on the position information, it is determined whether the AGV has reached the preset track-changing position. In operation S14, when it is determined that the AGV has reached the preset track-changing position, the AGV is controlled to switch to the second track. In operation S15, the attitude information of the AGV is determined. In operation S16, based on the attitude information, it is determined whether the AGV has successfully changed tracks. The control method of the present invention can improve the accuracy of AGV track-riding detection, improve the reliability of the AGV, and is beneficial to improving delivery efficiency and accuracy. A detailed description follows.

[0075] Figure 2a A schematic diagram of the track of an automated guided vehicle according to some embodiments of the present invention is shown. Figure 2a As shown, the track includes a first track R1 and a second track R2. The first track R1 and the second track R2 are arranged in a cross shape on the same plane. The first track R1 is arranged along the X-axis, and the second track R2 is arranged along the Y-axis. The first track R1 includes a first sub-track R11 and a second sub-track R12. The second track R2 includes a third sub-track R21 and a fourth sub-track R22. The preset track-changing position M is located at the center of the intersection area of ​​the first track R1 and the second track R2.

[0076] Figure 2b A schematic diagram of the track of an automated guided vehicle according to other embodiments of the present invention is shown. For example... Figure 2b As shown, Figure 2b The track shown is Figure 2aThe orbits shown are basically the same, the difference being that... Figure 2b In the diagram, the first track R1 is set along the Y-axis, and the second track R2 is set along the X-axis.

[0077] Figure 3a A partial schematic diagram of an automated guided vehicle according to some embodiments of the present invention is shown. For example... Figure 3a As shown, the automated guided vehicle (AGV) includes a first wheel set W1 and a second wheel set W2. The first wheel set W1 and the second wheel set W2 are located below the main body of the AGV. The first wheel set W1 includes wheels W11, W12, W13, and W14. The first wheel set W1 is positioned along the X-axis. The second wheel set W2 includes wheels W21, W22, W23, and W24. The second wheel set W2 is positioned along the Y-axis. The X-axis and Y-axis are perpendicular to each other.

[0078] Figure 3b A partial schematic diagram of an automated guided vehicle according to other embodiments of the present invention is shown. For example... Figure 3b As shown, Figure 3b and Figure 3a The situations shown are basically the same, the difference being that... Figure 3b In the diagram, the first wheel group W1 is set along the Y-axis. The second wheel group W2 is set along the X-axis.

[0079] When one of the first wheel group W1 and the second wheel group W2 is in motion, the other is in an idle state. The idle wheel group is raised to a first preset height, while the moving wheel group is lowered to a second preset height. The first preset height is greater than the second preset height. For example, when the first wheel group W1 of the automated guided vehicle moves along the first track R1, the second wheel group W2 is in an idle state. Wheels W21, W22, W23, and W24 of the second wheel group W2 are raised to the first preset height, while wheels W11, W12, W13, and W14 of the first wheel group W1 are lowered to the second preset height.

[0080] In operation S11, the first wheel set W1 of the automated guided vehicle is controlled to move along the first track R1. For example, as... Figure 2a and Figure 3a As shown, wheels W11 to W14 are controlled to move along the X-axis on the first track R1. Specifically, wheels W11 and W13 move along the first sub-track R11, and wheels W12 and W14 move along the second sub-track R12. For example, as... Figure 2b and Figure 3b As shown, the wheels W11 to W14 are controlled to move along the Y-axis on the first track R1. Among them, wheels W11 and W12 move along the first sub-track R11, and wheels W13 and W14 move along the second sub-track R12.

[0081] In operation S12, the location information stored in the RFID electronic tag is read through the RFID antenna, and the magnetic field strength information is sensed through the magnetic sensor. Based on the location information and magnetic field strength information stored in the RFID electronic tag, the location information of the automated guided vehicle is determined. Figure 4 A schematic diagram of an automated guided vehicle 20 according to some embodiments of the present invention is shown. For example... Figure 4 As shown, the automated guided vehicle 20 includes a positioning module 210, which includes an RFID antenna 211 and a magnetic sensor 212. The RFID antenna 211 and the magnetic sensor 212 are coupled to the control module 230. Operation S12 can be performed through the positioning module 210, which will be described in detail below.

[0082] Figure 5 A schematic diagram of a positioning module 210 according to some embodiments of the present invention is shown. The positioning module 210 may be at least partially mounted on the automated guided vehicle 20. Figure 5 As shown, the positioning module 210 includes a sensor module P1, a positioning control module P2, and a connector L. Connector L connects the sensor module P1 and the positioning control module P2. The sensor module P1 includes an RFID antenna 211 and a magnetic sensor 212. Multiple magnetic sensors 212 constitute a magnetic sensor group G. The magnetic sensor can sense the magnetic field strength. The positioning control module P2 is communicatively connected to the RFID antenna 211 and configured to read the first location information stored in the RFID electronic tag through the RFID antenna 211. The positioning control module P2 is also communicatively connected to the magnetic sensor 212 to receive the magnetic field strength information output by the magnetic sensor 212 and determine the second location information, and is configured to determine the position of the automated guided vehicle based on the first and second location information.

[0083] According to one embodiment of the present invention, the positioning control module P2 includes multiple sub-control modules, such as the first control module P21, the second control module P22, and the third control module P23 described below. The first control module P21 (e.g., via connector L) is communicatively connected to the RFID antenna 211. The first control module P21 can read information from RFID electronic tags (RFID electronic tags are fixedly installed in a warehouse, such as on the ground, on tracks, or on shelves) via the RFID antenna 211, and is configured to read the first location information stored in the RFID electronic tags via the RFID antenna. The second control module P22 (e.g., via connector L) is communicatively connected to the magnetic sensor 212 to receive the magnetic field strength information output by the magnetic sensor and determine the second location information. The third control module P23 is connected to the first control module P21 and the second control module P22. The third control module P23 can be configured to determine the position of the automated guided vehicle based on the first location information and the second location information, thereby achieving the positioning of the automated guided vehicle.

[0084] Furthermore, those skilled in the art will readily understand that the connector L is not essential. The sensor module P1 and the positioning control module P2 can be directly connected, or the corresponding connection conversion module can be integrated into the sensor module P1 or the positioning control module P2 to achieve communication between them. Additionally, the positioning control module P2 can also be integrated into the control module 230. All of these are within the scope of protection of this invention.

[0085] In this invention, the positioning control module P2 reads the first location information stored in the RFID electronic tag through the RFID antenna 211, which can be achieved in different ways. For example, according to one embodiment of the invention, the RFID electronic tag directly encodes and stores location coordinate information. According to another embodiment of the invention, the RFID electronic tag stores a unique identification code, and the positioning control module P2 stores a matching table containing location coordinates uniquely corresponding to each identification code. Therefore, after reading the identification code stored in the RFID electronic tag, the positioning control module P2 can obtain the corresponding location information from the matching table as the first location information. These are all within the scope of this invention.

[0086] like Figure 5 As shown, connector L includes a coaxial cable L1 and an IIC bus (integrated circuit bus). Coaxial cable L1 connects RFID antenna 211 and the first control module P21 for transmitting RFID analog signals. The IIC bus connects magnetic sensor 212 and the second control module P22. Positioning module 210 also includes a first circuit board B1 and a second circuit board B2. Sensor module P1 is mounted on the first circuit board B1, and positioning control module P2 is mounted on the second circuit board B2. The first circuit board B1 is not copper-clad, which reduces radio frequency interference and RFID radio frequency signal absorption, thus improving the accuracy and reliability of the positioning results. Positioning module 210 also includes a non-metallic housing H. Sensor module P1, positioning control module P2, and connector L are located within the non-metallic housing H, which improves the integration of the positioning module, reduces cost, and enhances ease of use. Although not shown in the figure, it should be understood that attitude detection module 220 can also be integrated with positioning module 210, both housed within the non-metallic housing H.

[0087] In some embodiments, the RFID antenna 211 comprises one or more of a circle or a polygon. The magnetic sensor 212 may be disposed inside or outside the RFID antenna 211. Figure 6a A partial schematic diagram of a positioning module according to some embodiments of the present invention is shown. Figure 6a As shown, the RFID antenna 211 is circular. The magnetic sensor 212 is disposed inside the RFID antenna 211. Figure 6b A partial schematic diagram of a positioning module according to other embodiments of the present invention is shown. For example... Figure 6b As shown, the RFID antenna 211 is polygonal, for example, rectangular. The magnetic sensor 212 is disposed inside the RFID antenna 211. Figure 6c A partial schematic diagram of a positioning module according to some embodiments of the present invention is shown. For example... Figure 6c As shown, the RFID antenna 211 is polygonal, for example, rectangular. The magnetic sensor 212 is disposed outside the RFID antenna 211. Although not shown in the figure, the RFID antenna can also be other shapes such as triangular, pentagonal, and hexagonal.

[0088] like Figures 6a to 6c As shown, the magnetic sensor 212 includes multiple sets of magnetic sensors. For example, the multiple sets of magnetic sensors include a first set of magnetic sensors G1 (center sensor group), a second set of magnetic sensors G2 (second outermost magnetic sensor group), and a third set of magnetic sensors G3 (outermost magnetic sensor group). The second set of magnetic sensors G123 is distributed around the outside of the first set of magnetic sensors G1. The third set of magnetic sensors G3 is distributed around the outside of the second set of magnetic sensors G2.

[0089] like Figures 6a to 6c As shown, the magnetic sensor 212 includes nine magnetic sensors. The first group of magnetic sensors G1 includes the first magnetic sensor S1 (magnetic sensor 212). The second group of magnetic sensors G2 includes the second magnetic sensor S2 (magnetic sensor 212), the third magnetic sensor S3 (magnetic sensor 212), the fourth magnetic sensor S4 (magnetic sensor 212), and the fifth magnetic sensor S5 (magnetic sensor 212). The second magnetic sensor S2 and the third magnetic sensor S3 are symmetrically distributed on both sides of the first magnetic sensor S1 along the X-axis. For example, the second magnetic sensor S2 is distributed along the positive X-axis, and the third magnetic sensor S3 is distributed along the negative X-axis. The fourth magnetic sensor S4 and the fifth magnetic sensor S5 are symmetrically distributed on both sides of the first magnetic sensor S1 along the Y-axis. For example, the fourth magnetic sensor S4 is distributed along the positive Y-axis, and the fifth magnetic sensor S5 is distributed along the negative Y-axis. The third group of magnetic sensors G3 includes the sixth magnetic sensor S6 (magnetic sensor 212), the seventh magnetic sensor S7 (magnetic sensor 212), the eighth magnetic sensor S8 (magnetic sensor 212), and the ninth magnetic sensor S9 (magnetic sensor 212). The sixth magnetic sensor S6 and the seventh magnetic sensor S7 are symmetrically distributed on both sides of the first magnetic sensor S1 along the X-axis. For example, the sixth magnetic sensor S6 is distributed along the positive direction of the X-axis, and the seventh magnetic sensor S7 is distributed along the negative direction of the X-axis. The eighth magnetic sensor S8 and the ninth magnetic sensor S9 are symmetrically distributed on both sides of the first magnetic sensor S1 along the Y-axis. For example, the eighth magnetic sensor S8 is distributed along the positive direction of the Y-axis, and the ninth magnetic sensor S9 is distributed along the negative direction of the Y-axis. The X-axis is perpendicular to the Y-axis and is the same as the XY coordinate axis of the shelf track.

[0090] like Figure 6a and Figure 6bAs shown, the magnetic sensor 212 is disposed inside the RFID antenna 211, and the first magnetic sensor S1 is distributed in the center of the RFID antenna 211, which helps to improve the accuracy of the positioning results.

[0091] Preferably, a ferrite film or other material can be attached to the back of the RFID antenna, which helps to improve the RFID signal recognition strength and thus improve the reliability of the positioning results.

[0092] It should be noted that, Figures 6a to 6c This paper exemplifies three sets of magnetic sensors, comprising nine magnetic sensors, and their distribution. However, the invention is not limited thereto. In practical applications, the magnetic sensor group may include more or fewer sets of magnetic sensors, each set may contain other quantities, and the sets of magnetic sensors and their distribution within each set can be configured according to requirements. All of these are within the scope of protection of this invention.

[0093] According to one embodiment of the present invention, the magnetic sensor group consists of two sets of magnetic sensors, for example... Figures 6a to 6c The first set of magnetic sensors G1 (including the first magnetic sensor S1) and the second set of magnetic sensors G2 (including the second magnetic sensor S2, the third magnetic sensor S3, the fourth magnetic sensor S4 and the fifth magnetic sensor S5) are shown.

[0094] Figure 7 A schematic diagram of a positioning module 210' according to some embodiments of the present invention is shown. Some parts that are the same as those of positioning module 210' and positioning module 210 will not be described again here. The differences between positioning module 210' and positioning module 210 will be highlighted below.

[0095] like Figure 7 As shown, the first control module P21 includes an RFID radio frequency unit P211 and an RFID processing unit P212. The RFID radio frequency unit P211 is communicatively connected to the RFID antenna 211 via a coaxial cable L1 and to the RFID processing unit P212 via an SPI bus. The RFID processing unit P212 can control the RFID radio frequency unit P211 to read the first location information stored in the RFID electronic tag through the RFID antenna 211.

[0096] In some embodiments, the automated guided vehicle (AGV) operates in a warehouse environment. RFID tags are fixed in the warehouse, for example, on the ground, on shelves, or on tracks. The AGV can move along the tracks to transport goods. RFID tags can be positioned along the AGV tracks and can store location information (e.g., coordinates or map information). Alternatively, the RFID tags can be positioned at the center of the track (not shown). The RFID processing unit P212 can send read commands (e.g., digital signals and digital logic), which are transmitted to the RFID radio frequency unit P211 via an SPI bus. The RFID radio frequency unit P211 can convert the read commands (e.g., digital signals and digital logic) into RFID analog radio frequency signals. The RFID radio frequency unit P211 can then transmit the read commands (e.g., RFID analog radio frequency signals) to the RFID antenna 211 via a coaxial cable L1, and then to the RFID tags via the RFID antenna 211. When an RFID tag receives a read command (e.g., an analog RFID radio frequency signal), it transmits its stored information (e.g., location coordinates, as first location information) to the RFID radio frequency unit P211 via the RFID antenna 211 and coaxial cable L1. The RFID radio frequency unit P211 receives (e.g., the analog RFID radio frequency signal) and processes the information (e.g., converting the analog RFID radio frequency signal into digital signals and digital logic), and then transmits the processed information (e.g., digital signals and digital logic) to the RFID processing unit P212 via the SPI bus. The RFID processing unit P212 determines the first location information based on the processed information (e.g., coordinate information). In other words, the RFID radio frequency unit P211 can convert between analog RFID radio frequency signals and digital signals and digital logic, but it is not limited to this; it can also perform demodulation, encryption, and other processing operations, all of which are within the scope of this invention.

[0097] like Figure 7 As shown, the IIC bus includes a first IIC bus, denoted as IIC1 bus, and the second control module P22 includes a magnetic sensor processing unit P222. The first IIC bus (IIC1 bus) connects the first magnetic sensor S1 and the magnetic sensor processing unit P222.

[0098] like Figure 7As shown, the IIC bus also includes a second IIC bus and a third IIC bus, denoted as IIC2 bus and IIC3 bus, respectively. The second control module P22 also includes a first switching module T1 and a second switching module T2. The first switching module T1 is connected to the second group of magnetic sensors G2 and the magnetic sensor processing unit P222 via the second IIC bus (IIC2 bus). The second switching module T2 is connected to the third group of magnetic sensors G3 and the magnetic sensor processing unit P222 via the third IIC bus (IIC3 bus). The first switching module T1 can select one or more magnetic sensors from the second group of magnetic sensors G2 to communicate with the magnetic sensor processing unit P222. Similarly, the second switching module T2 can select one or more magnetic sensors from the third group of magnetic sensors G3 to communicate with the magnetic sensor processing unit P222. In other words, the first switching module T1 can select the magnetic sensor from the second magnetic sensor S2, the third magnetic sensor S3, the fourth magnetic sensor S4, and the fifth magnetic sensor S5 to communicate with the magnetic sensor processing unit P222. The second switching module T2 can select the magnetic sensor that communicates with the magnetic sensor processing unit P222 from the sixth magnetic sensor S6, the seventh magnetic sensor S7, the eighth magnetic sensor S8, and the ninth magnetic sensor S9.

[0099] Figure 7 The diagram shows that the second control module P22 includes a first switching module T1 and a second switching module T2, wherein the number of switching modules corresponds to the number of magnetic sensor groups minus one. For example, as... Figure 7 As shown, the magnetic sensor group G includes three sets of magnetic sensors (first set G1, second set G2, and third set G3). The second control module P22 includes two switching modules: the first switching module T1 and the second switching module T2. For example, when the magnetic sensor 212 includes only two sets of magnetic sensors (first set G1 and second set G2), the second control module P22 only needs to include the first switching module T1, without needing to include the second switching module T2. Those skilled in the art will readily understand that the first switching module T1 and the second switching module T2 can also be integrated into a single switching module to select one or more of the second set of magnetic sensors G2 and the third set of magnetic sensors G3. This is particularly advantageous when it is not necessary to simultaneously select both the second set of magnetic sensors G2 and the third set of magnetic sensors G3.

[0100] In some embodiments, the first switching module T1 and the second switching module T2 may include switches, which may be mechanical switches or semiconductor switches, and the present invention is not limited thereto. The magnetic sensor processing unit P222 realizes the selection of the magnetic sensor by controlling the on or off state of the switches of the first switching module T1 and / or the second switching module T2.

[0101] In some embodiments, the positioning module further includes a magnetic element (e.g., Figure 12 Magnetic component 41). The magnetic component can be placed on shelves, the ground, or tracks in the environment surrounding the automated guided vehicle (AGV). For example, the magnetic component can be placed on the side closer to the AGV. The present invention does not limit the number of magnetic components. One or more magnetic components can be placed on a shelf. Magnetic components include, but are not limited to, magnets, magnetic sheets, magnetic strips, magnetic blocks, magnetic nails, etc. Magnetic components can be stacked with RFID electronic tags (e.g., on tracks). Magnetic sensors can be placed on the side of the AGV body closer to the shelf to facilitate sensing the magnetic field strength of the magnetic components, which is beneficial for accurate positioning.

[0102] Each magnetic sensor can sense the magnetic field strength and send the sensed value to the magnetic sensor processing unit. For example, the first magnetic sensor S1 can sense the first magnetic field strength M1 of the magnetic component and send the first magnetic field strength M1 to the magnetic sensor processing unit P222 via the IIC1 bus. The first switching module T1 can select one of the magnetic sensors in the second group of magnetic sensors G2 to communicate with the magnetic sensor processing unit P222. This magnetic sensor can sense the second magnetic field strength M2 of the magnetic component. For example, the first switching module T1 selects the second magnetic sensor S2 to communicate with the magnetic sensor processing unit P222. The second magnetic sensor S2 can sense the second magnetic field strength M2 of the magnetic component and send the second magnetic field strength M2 to the magnetic sensor processing unit P222 via the IIC2 bus. Similarly, the second switching module T2 can select one of the magnetic sensors in the third group of magnetic sensors G3 to communicate with the magnetic sensor processing unit P222. This magnetic sensor can sense the third magnetic field strength M3 of the magnetic component. For example, the second switching module T2 selects the seventh magnetic sensor S7 to communicate with the magnetic sensor processing unit P222. The seventh magnetic sensor S7 can sense the third magnetic field strength M3 of the magnetic component and send the third magnetic field strength M3 to the magnetic sensor processing unit P222 through the IIC3 bus.

[0103] In some embodiments, the attitude detection module 220 and the positioning module 210 can be integrated into one unit. The IMU can be coupled to the magnetic sensor processing unit P222, mounted at the center of gravity of the automated guided vehicle (AGV), for measuring the AGV's motion data (e.g., angular velocity and acceleration). Based on the motion data measured by the IMU, the magnetic sensor processing unit P222 can determine the AGV's attitude and direction of motion. Based on the AGV's direction of motion, the magnetic sensor processing unit P222 can control the operation of the first switching module T1 and / or the second switching module T2. For example, as... Figures 6a to 6cAs shown, the automated guided vehicle moves along the positive X direction. The magnetic sensor processing unit P222 can control the first switching module T1 to select the second magnetic sensor S2 to sense the second magnetic field strength M2, control the second switching module T2 to select the sixth magnetic sensor S6 to sense the third magnetic field strength M3, and control the second magnetic sensor S2 to send the measured second magnetic field strength M2 to the magnetic sensor processing unit P222 through the IIC2 bus, and control the sixth magnetic sensor S6 to send the measured third magnetic field strength M3 to the magnetic sensor processing unit P222 through the IIC3 bus.

[0104] According to one embodiment of the present invention, the positioning control module P2 is configured to: select a magnetic sensor located in front of the first group of magnetic sensors (along the direction of travel) from a second group or a third group of magnetic sensors; detect the magnetic field strength information output by the selected magnetic sensor; when the output magnetic field strength information reaches a peak value, determine the second position information, wherein the second position information includes the alignment of the selected magnetic sensor with a magnetic component; and determine the position of the automated guided vehicle based on the first position information and the position of the selected magnetic sensor on the automated guided vehicle.

[0105] Preferably, the third control module P23 is connected to the RFID processing unit P212 and the magnetic sensor processing unit P222, for example, via an RS422 bus, but not limited thereto. The third control module P23 can control the RFID processing unit P212 and the magnetic sensor processing unit P222 to work simultaneously to determine the first location information and the second location information, and determine the position of the automated guided vehicle based on the first location information and the second location information, which helps to improve the real-time performance of positioning and the accuracy of positioning results.

[0106] Specifically, the magnetic sensor processing unit P222 is configured to: control the first switching module T1 to select a magnetic sensor located in front of the first group of magnetic sensors G1 from the second group of magnetic sensors 122 and / or control the second switching module T2 to select a magnetic sensor from the third group of magnetic sensors 123; detect whether the magnetic field strength information output by the selected magnetic sensor has reached its peak value; when it is determined that the output magnetic field strength information has reached its peak value, determine the second position information, which includes the alignment of the selected magnetic sensor with the magnetic component. The third control module P23 is configured to: determine the position of the automated guided vehicle based on the first position information and the position of the selected magnetic sensor on the automated guided vehicle.

[0107] According to one embodiment of the present invention, the magnetic sensor processing unit P222 selects one of the magnetic sensors in the second group of magnetic sensors G2 through the first switching module T1, and determines the second position information based on the magnetic field strength information output by the selected magnetic sensor, as described in detail below.

[0108] Preferably, the first position information stored in the RFID antenna 211 is the coordinate position of the magnetic component. When it is determined that the automated guided vehicle is moving in the positive X direction, the second magnetic sensor S2 can be selected (because the second magnetic sensor S2 is located in front of the first magnetic sensor S1 along the forward direction), and the magnetic field strength signal output by the second magnetic sensor S2 is continuously monitored. When the magnetic field strength signal output by the second magnetic sensor S2 reaches its maximum value, it can be determined that the second magnetic sensor S2 is basically aligned with the magnetic component (aligned in the Y direction), that is, the second position information is determined. Since the second magnetic sensor S2 is fixedly installed on the automated guided vehicle, the third control module P23 can determine the position of any point on the automated guided vehicle based on the coordinate position of the magnetic component (from the RFID antenna 211) and the position of the second magnetic sensor S2 on the automated guided vehicle. For example, suppose the position of the first magnetic sensor S1 is taken as the position of the automated guided vehicle, and the coordinate position of the magnetic component is (x1, y1). The position (or distance) of the second magnetic sensor S2 relative to the first magnetic sensor is d (along the X direction). Then, the coordinate of the first magnetic sensor S1 along the X direction is (x1-d) (when the automated guided vehicle is running on the track, its y coordinate is limited by the track, so the Y coordinate is not considered).

[0109] The positioning module of this invention determines first location information by reading information from RFID electronic tags through an RFID antenna, determines second location information by magnetic field strength, and determines the position of the automated guided vehicle (AGV) using both the first and second location information, thereby achieving the positioning of the AGV. Compared with existing technologies, it offers faster identification speed, stronger anti-interference capabilities, is less prone to dirt and damage, and provides more accurate identification results. This improves the effectiveness, accuracy, and reliability of the positioning results, enabling the AGV to perform delivery tasks more accurately and efficiently.

[0110] Next, we will introduce control method 10.

[0111] In some embodiments, during operation S13, the position coordinates of the automated guided vehicle (AGV) can be compared with the coordinates of a preset track-changing position. When the two match (e.g., the position coordinates of the AGV and the coordinates of the preset track-changing position are the same, or substantially the same within an allowable error range), it is determined that the AGV has reached the preset track-changing position. Conversely, when the two do not match, it is determined that the AGV has not reached the preset track-changing position.

[0112] In operation S14, when it is determined that the automated guided vehicle has reached the preset track-changing position M, the automated guided vehicle can be controlled to switch from the first track R1 to the second track R2. Specifically, as follows... Figures 2a to 3bAs shown, the first wheel set W1 (e.g., wheels W11, W12, W13, and W14) can be raised to a first preset height, and the second wheel set W2 (e.g., W21, W22, W23, and W24) can be lowered to a second preset height to control the automated guided vehicle (AGV) to switch to the second track R2. It should be understood that because the AGV vibrates somewhat when moving along the track, the determination of whether the AGV has reached the preset track-changing position may have some error. For example, the AGV may misjudge not reaching the preset track-changing position as reaching it, or it may misjudge exceeding the preset track-changing position as reaching it. Both of these will cause abnormal track riding after the AGV switches tracks, which is the phenomenon where the wheels, which should be moving along the track, miss their mark.

[0113] In operation S15, the attitude information of the automated guided vehicle (AGV) can be determined using the Inertial Measurement Unit (IMU) and the inertial navigation strapdown algorithm. In operation S16, the changes in attitude information of the AGV before and after the track change are compared. Based on the changes in attitude information, it is determined whether the AGV has successfully changed tracks. Attitude information includes roll angle and / or pitch angle. The AGV is deemed to have successfully changed tracks when the change in roll angle before and after the track change is less than a first threshold and / or the change in pitch angle is less than a second threshold. In other words, the AGV is deemed to have successfully changed tracks when the change in roll angle before and after the track change is less than the first threshold. Or, the AGV is deemed to have successfully changed tracks when the change in pitch angle before and after the track change is less than the second threshold. Or, the AGV is deemed to have successfully changed tracks when the change in roll angle before and after the track change is less than the first threshold and the change in pitch angle is less than the second threshold.

[0114] Once the automated guided vehicle successfully changes tracks, the second wheel assembly can move along the second track. For example, as... Figure 2a and Figure 3a As shown, when the automated guided vehicle successfully switches from the first track R1 (i.e., the X direction) to the second track R2 (i.e., the Y direction), the second wheel set W2 can move along the second track R2 on the Y-axis. Specifically, wheels W21 and W22 move along the third sub-track R21, and wheels W23 and W24 move along the fourth sub-track R22.

[0115] For example, such as Figure 2b and Figure 3b As shown, when the automated guided vehicle successfully switches from the first track R1 (i.e., the Y direction) to the second track R2 (i.e., the X direction), the second wheel set W2 can move along the second track R2 on the X-axis. Specifically, wheels W21 and W23 move along the third sub-track R21, and wheels W22 and W24 move along the fourth sub-track R22.

[0116] The Automated Guided Vehicle (AGV) is deemed to have failed to change track if the change in roll angle before and after track switching is not less than a first threshold and / or the change in pitch angle is not less than a second threshold. In other words, the AGV is deemed to have failed to change track if the change in roll angle before and after track switching is not less than the first threshold, the change in pitch angle before and after track switching is not less than the second threshold, and the change in both roll angle and pitch angle before and after track switching is not less than the first and second thresholds.

[0117] In some embodiments, the control method further includes: when it is determined that the automated guided vehicle (AGV) has failed to change tracks, determining the type of track change failure. The type includes a first type and a second type. The first type includes track change failure when the AGV has not reached the preset track change position (e.g., ...). Figure 8a , Figure 8b , Figure 10a , Figure 10b (Illustrative). The second type includes track switching failure when the automated guided vehicle exceeds the preset track switching position (e.g., Figure 9a , Figure 9b , Figure 11a , Figure 11b (Illustrative).

[0118] The following details an example of an automated guided vehicle (AGV) failing to change tracks.

[0119] Figure 8a and Figure 8b A schematic diagram illustrating a track-changing failure of an automated guided vehicle (AGV) according to some embodiments of the present invention is shown. Figure 2a , Figure 3a , Figure 4 , Figure 8a and Figure 8b As shown, when the automated guided vehicle 20 has not reached the preset track-changing position M, it switches from the first track R1 (X direction) to the second track R2 (Y direction). The automated guided vehicle 20 will move in the negative Y direction in the future. Wheels W23 and W24 can switch to the fourth sub-track R22, while wheels W21 and W22 (missing track) cannot switch to the third sub-track R21. The automated guided vehicle 20 deflects in the positive X direction.

[0120] Figure 9a and Figure 9b A schematic diagram illustrating a track-changing failure of an automated guided vehicle according to other embodiments of the present invention is shown. For example... Figure 2a , Figure 3a , Figure 4 , Figure 9a and Figure 9bAs shown, when the automated guided vehicle 20 exceeds the preset track-changing position M, it switches from the first track R1 (X direction) to the second track R2 (Y direction). The automated guided vehicle 20 will move in the negative Y direction in the future. Wheels W23 and W24 (lost) cannot switch to the fourth sub-track R22, while wheels W21 and W22 can switch to the third sub-track R21. The automated guided vehicle 20 deflects in the negative X direction.

[0121] Figure 10a and Figure 10b A schematic diagram illustrating a track-changing failure of an automated guided vehicle (AGV) according to some embodiments of the present invention is shown. Figure 2b , Figure 3b , Figure 4 , Figure 10a and Figure 10b As shown, when the automated guided vehicle 20 has not reached the preset track-changing position M, it switches from the first track R1 (Y direction) to the second track R2 (X direction). The automated guided vehicle 20 will move in the negative X-axis direction in the future. Wheels W21 and W23 can switch to the third sub-track R21, while wheels W22 and W24 (missing track) cannot switch to the fourth sub-track R22. The automated guided vehicle 20 deflects in the negative Y-axis direction.

[0122] Figure 11a and Figure 11b A schematic diagram illustrating a track-changing failure of an automated guided vehicle according to other embodiments of the present invention is shown. For example... Figure 2b , Figure 3b , Figure 4 , Figure 11a and Figure 11b As shown, when the automated guided vehicle 20 exceeds the preset track-changing position M, it switches from the first track R1 (Y direction) to the second track R2 (X direction). The automated guided vehicle 20 will move in the negative X-axis direction in the future. Wheels W22 and W24 can switch to the fourth sub-track R22, while wheels W21 and W23 (lost) cannot switch to the third sub-track R21. The automated guided vehicle 20 deflects in the positive Y-axis direction.

[0123] In some embodiments, determining the type of track-changing failure of the automated guided vehicle (AGV) includes: determining the type of track-changing failure of the AGV based on the movement direction and attitude of the AGV as it switches to the second track.

[0124] For example, such as Figure 8a and Figure 8b As shown, the automated guided vehicle 20 switches to the second track R2 and moves along the negative Y-axis, and the automated guided vehicle 20 deflects in the positive X-direction. Therefore, it can be seen that the automated guided vehicle 20 failed to reach the preset track-changing position, resulting in track-changing failure, which is the first type of track-changing failure.

[0125] For example, such as Figure 10a and Figure 10b As shown, the automated guided vehicle 20 switches to the second track R2 and moves along the negative X-axis, and the automated guided vehicle 20 deflects in the negative Y-axis direction. Therefore, it can be seen that the type of track switching failure of the automated guided vehicle 20 is the first type.

[0126] For example, such as Figure 9a and Figure 9b As shown, the automated guided vehicle 20 switches to the second track R2 and moves along the negative Y-axis, and the automated guided vehicle 20 deflects in the negative X-axis direction. Therefore, it can be seen that the automated guided vehicle 20 exceeds the preset track-changing position, resulting in track-changing failure. That is, the track-changing failure type is the second type.

[0127] For example, such as Figure 11a and Figure 11b As shown, the automated guided vehicle 20 switches to the second track R2 and moves along the negative X-axis, and the automated guided vehicle 20 deflects in the positive Y-axis direction. It can be seen that the automated guided vehicle 20 exceeds the preset track-changing position, resulting in track-changing failure. That is, the track-changing failure type is the second type.

[0128] Based on the direction and attitude of the automated guided vehicle (AGV) when switching to the second track, the type of track-switching failure can be determined. This is beneficial for the recovery of the AGV's attitude.

[0129] In some embodiments, the control method further includes: when it is determined that the automatic guided vehicle fails to change tracks, controlling the automatic guided vehicle to return to a preset recovery position on the first track, and repeating at least some of the operations in S11-S16 until it is determined that the automatic guided vehicle has successfully changed tracks.

[0130] For example, such as Figure 2a , Figure 3a , Figure 4 , Figure 8a and Figure 8bAs shown, when the automated guided vehicle 20 fails to switch tracks (X to Y), wheels W21 and W22 in the second wheel set W2 lose contact with the track, and the second wheel set W2 cannot switch to the second track R2 normally. However, since the automated guided vehicle 20 was moving normally along the first track R1 before the track switch, that is, the first wheel set W1 was moving normally along the first track R1 before the track switch. Preferably, the automated guided vehicle 20 can restore its posture by using the first wheel set W1, which was moving normally along the first track R1 before the track switch. It should be understood that before switching to the second track R2, the first wheel set W1 can move normally along the first track R1, that is, the first wheel set W1 is aligned with the first track R1, so the posture of the automated guided vehicle can be restored by using the first wheel set W1 and the first track R1. Specifically, the second wheel set W2 can be raised to a first preset height, and the first wheel set W1 can be lowered to a second preset height, so that the first wheel set W1 switches to the first track R1, and the first wheel set W1 is controlled to move along the first track R1 in the negative X-axis direction (operation S11). The position information of the automated guided vehicle 20 is determined by the positioning module 210 (operation S12) until the automated guided vehicle 20 returns to the preset recovery position of the first track R1. When the automated guided vehicle 20 returns to the preset recovery position, its attitude can be determined to restore normal operation. Preferably, the attitude of the automated guided vehicle 20 can also be detected. When the roll angle of the automated guided vehicle is less than a third threshold and / or the pitch angle is less than a fourth threshold, the attitude recovery of the automated guided vehicle is determined to be successful. It should be noted that the present invention does not limit the specific values ​​and magnitude relationships of the first, second, third, and fourth thresholds, and they can be set according to requirements. Here, only the following is used as an example. Figure 8a and Figure 8b The example shown, depicting a failed track change, illustrates how to restore the attitude of the automated guided vehicle (AGV). It should be understood that for... Figures 9a to 11b Examples of track-changing failures described are similar and will not be repeated here.

[0131] Once the automated guided vehicle (AGV) has regained its posture, operations S11-S16 can be repeated until the AGV successfully changes track.

[0132] In some embodiments, the automated guided vehicle (AGV) may be equipped with a track-changing switch (not shown). This switch may be coupled to the control module 230, and can be either a separate switch or integrated into the control module 230, used to enable or disable the track-changing function. Preferably, when the AGV reaches a preset track-changing position, the control module 230 controls the track-changing switch to turn on, thereby enabling the track-changing function. When the AGV leaves the preset track-changing position, the control module 230 controls the track-changing switch to turn off, thereby disabling the track-changing function. The track-changing switch may include a mechanical switch or a semiconductor switch. It should be understood that the track-changing switch is not mandatory, and the enabling or disabling of the track-changing function can also be performed by the control module 230. These are all within the scope of protection of this invention.

[0133] The control method of this invention can not only control the automatic guided vehicle to change tracks, but also detect whether the track change is successful. When the track change fails, it can also control the automatic guided vehicle to restore its posture. This can improve the accuracy of the automatic guided vehicle's track riding detection and improve the reliability of the automatic guided vehicle, which is conducive to improving delivery efficiency and accuracy.

[0134] The present invention also provides an automated guided vehicle. Figure 4 A schematic diagram of an automated guided vehicle 20 according to some embodiments of the present invention is shown. For example... Figure 4 As shown, the automated guided vehicle (AGV) includes a positioning module 210, an attitude detection module 220, and a control module 230. The positioning module 210 determines the position information of the AGV. The attitude detection module 220 determines the attitude information of the AGV. The control module 230 is coupled to the positioning module 210 and the attitude detection module 220, and can execute control method 10 and any of its operations.

[0135] In some embodiments, the first track and the second track are arranged in a cross shape on the same plane, and the preset track-switching position is located at the center of the intersection area of ​​the first track and the second track.

[0136] In some embodiments, the automated guided vehicle includes a first wheel set disposed below the body of the automated guided vehicle; the control module is configured to control the first wheel set to move along the first track.

[0137] In some embodiments, the positioning module includes an RFID antenna and a magnetic sensor, and the control module is configured to: read the location information stored in the RFID electronic tag through the RFID antenna, sense the magnetic field strength information through the magnetic sensor, and determine the location information of the automated guided vehicle based on the location information stored in the RFID electronic tag and the magnetic field strength information.

[0138] In some embodiments, the automated guided vehicle includes a second set of wheels, which is disposed below the body of the automated guided vehicle; the control module is configured to: control the first set of wheels to rise to a first preset height and control the second set of wheels to fall to a second preset height, so as to control the automated guided vehicle to switch to the second track.

[0139] In some embodiments, the attitude detection module includes an inertial measurement unit, and the attitude detection module is configured to determine the attitude information of the automated guided vehicle by the inertial measurement unit and an inertial navigation strapdown algorithm, the attitude information including roll angle and / or pitch angle.

[0140] In some embodiments, the control module is configured to: compare the change in attitude information of the automated guided vehicle before and after switching tracks, and determine whether the automated guided vehicle has successfully switched tracks based on the change in attitude information.

[0141] In some embodiments, when the change in roll angle before and after the automated guided vehicle switches tracks is less than a first threshold and / or the change in pitch angle is less than a second threshold, the control module is configured to determine that the automated guided vehicle has successfully switched tracks.

[0142] In some embodiments, when the change in roll angle before and after the automated guided vehicle switches tracks is not less than a first threshold and / or the change in pitch angle is not less than a second threshold, the control module is configured to determine that the automated guided vehicle has failed to switch tracks.

[0143] In some embodiments, the control module is configured to: when it is determined that the automatic guided vehicle (ARV) has failed to change tracks, determine the type of track change failure, the type including a first type and a second type, wherein the first type includes track change failure when the ARV has not reached the preset track change position, and the second type includes track change failure when the ARV has exceeded the preset track change position.

[0144] In some embodiments, the control module is configured to determine the type of track-changing failure of the automated guided vehicle based on the movement direction and attitude of the automated guided vehicle switching to the second track.

[0145] In some embodiments, the control module is configured to: when it is determined that the automatic guided vehicle fails to change tracks, control the automatic guided vehicle to return to a preset recovery position on the first track, and repeat at least some of the operations in S11-S16 until it is determined that the automatic guided vehicle has successfully changed tracks.

[0146] The present invention also provides a warehousing system 30. Figure 12 A schematic diagram of a storage system 30 according to some embodiments of the present invention is shown. Figure 12As shown, the warehousing system 30 includes an automated guided vehicle (AGV) 20, tracks, shelves 40, and a server 50. The AGV 20 can execute control method 10. The tracks include a first track R1 and a second track R2, on which RFID tags T are installed to determine the first position of the AGV 20. The first track R1 includes a first sub-track R11 and a second sub-track R12. The second track R2 includes a third sub-track R21 and a fourth sub-track R22. Magnetic elements 41 are installed on the shelves 40 to determine the second position of the AGV 20. It should be noted that the magnetic elements 41 can be stacked with the RFID tags T on the tracks. The shelves 40 can be installed close to the tracks. The server 50 is communicatively connected to the AGV 20 and can serve as the dispatch center of the entire warehousing system 30 for controlling the operation of the AGV 20. The server 50 can be a physical server or a cloud server. This invention does not limit the number of tracks, shelves, RFID tags, or magnetic elements in the warehousing system; in practical applications, these can be configured according to requirements.

[0147] It should be noted that any embodiment or combination of the control method, automated guided vehicle (AGV), and warehousing system of the present invention can be used interchangeably. The AGV and warehousing system of the present invention can achieve the same or similar technical effects as the control method, which will not be elaborated further here.

[0148] The present invention also provides a computer-readable storage medium including computer-executable instructions stored thereon, wherein the executable instructions, when executed by a processor, implement the control method described above.

[0149] In some embodiments, a computer-readable storage medium can be any tangible medium that contains or stores a program that can be used or combined with an instruction execution system, apparatus, or device. Computer-readable storage media include, but are not limited to, electrical, magnetic, optical, or semiconductor forms or devices, and more specific examples (a non-exhaustive list) include: an electrical connection having one or more wires, a portable computer hard disk, a hard disk drive, random access memory (RAM), non-volatile random access memory (NVRAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0150] In some embodiments, the control method of this disclosure may exist in the form of program code. The program code may be contained in a physical medium, such as a floppy disk, optical disk, hard disk, or any other machine-readable (e.g., computer-readable) storage medium, or may be a computer program product in an external form, wherein when the program code is loaded and executed by a machine, such as a computer, that machine becomes an apparatus for participating in this disclosure. The program code may also be transmitted via some transmission medium, such as wires or cables, optical fibers, or any transmission method, wherein when the program code is received, loaded, and executed by a machine, such as a computer, that machine becomes an apparatus for participating in this disclosure. When actually operated in a general-purpose processing unit, the program code, in conjunction with the processing unit, provides a unique apparatus that operates similarly to application-specific logic circuitry.

[0151] In some embodiments, the control module / processor / processing unit / server may include a central processing unit (CPU), a micro control unit (MCU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, and similar devices.

[0152] It should be noted that this specification provides the operational steps of the methods described in the embodiments or diagrams, but based on conventional or non-inventive labor, more or fewer operational steps may be included. The order of steps listed in the embodiments is merely one possible execution order among many steps and does not represent the only execution order. In actual system or device products, the methods shown in the embodiments or flowcharts can be executed sequentially or in parallel.

[0153] It should be noted that although several modules of the positioning module / automated guided vehicle have been mentioned in the detailed description above, this division is not mandatory. In fact, according to embodiments of this disclosure, the features and functions of two or more modules described above can be implemented in one module. Conversely, the features and functions of one module described above can be further divided and embodied by multiple modules.

[0154] Finally, it should be noted that the above descriptions are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A control method for an automated guided vehicle, comprising: S11: Control the automated guided vehicle to move along the first track; S12: Determine the location information of the automated guided vehicle; S13: Based on the location information, determine whether the automated guided vehicle has reached the preset track-changing position; S14: When it is determined that the automated guided vehicle has reached the preset track-changing position, control the automated guided vehicle to switch to the second track; S15: Determine the attitude information of the automated guided vehicle; and S16: Based on the attitude information, determine whether the automated guided vehicle has successfully changed tracks; The operation S15 includes: determining the attitude information of the automated guided vehicle through an inertial measurement unit and an inertial navigation strapdown algorithm, wherein the attitude information includes roll angle and / or pitch angle; The operation S16 includes: comparing the change in attitude information of the automated guided vehicle before and after switching tracks, and determining whether the automated guided vehicle has successfully switched tracks based on the change in attitude information. The operation of determining whether the automated guided vehicle has successfully changed tracks based on the change in attitude information includes: when the change in roll angle before and after the automated guided vehicle changes tracks is less than a first threshold, and / or the change in pitch angle is less than a second threshold, the automated guided vehicle is determined to have successfully changed tracks.

2. The control method according to claim 1, wherein the first track and the second track are arranged in a cross shape on the same plane, and the preset track-changing position is located at the center of the intersection area of ​​the first track and the second track.

3. The control method according to claim 1 or 2, wherein the automated guided vehicle includes a first wheel set disposed below the body of the automated guided vehicle; the operation S11 includes: Control the first wheel assembly to move along the first track.

4. The control method according to claim 1 or 2, wherein the operation S12 includes: The location information of the automated guided vehicle is determined by reading the location information stored in the RFID electronic tag through the RFID antenna, sensing the magnetic field strength information through the magnetic sensor, and then determining the location information of the automated guided vehicle based on the location information stored in the RFID electronic tag and the magnetic field strength information.

5. The control method according to claim 3, wherein the automated guided vehicle includes a second wheel set disposed below the body of the automated guided vehicle; wherein operation S14 includes: The first wheel set is raised to a first preset height, and the second wheel set is lowered to a second preset height, so as to control the automated guided vehicle to switch to the second track.

6. The control method according to claim 1, wherein the operation of determining whether the automated guided vehicle has successfully changed tracks based on the change in attitude information includes: When the change in roll angle before and after the automated guided vehicle (AGV) switches tracks is not less than a first threshold, and / or the change in pitch angle is not less than a second threshold, the AGV is determined to have failed to switch tracks.

7. The control method according to claim 1, further comprising: When it is determined that the automated guided vehicle (AGV) failed to change tracks, the type of the failure is determined. The type includes a first type and a second type. The first type includes failure when the AGV has not reached the preset track-changing position, and the second type includes failure when the AGV has exceeded the preset track-changing position.

8. The control method according to claim 7, wherein the operation of determining the type of track-changing failure of the automated guided vehicle includes: Based on the direction of movement and attitude of the automated guided vehicle switching to the second track, the type of track switching failure of the automated guided vehicle is determined.

9. The control method according to claim 1, further comprising: When it is determined that the automatic guided vehicle has failed to change tracks, the automatic guided vehicle is controlled to return to the preset recovery position of the first track, and at least some of the operations in S11-S16 are repeated until it is determined that the automatic guided vehicle has successfully changed tracks.

10. An automated guided vehicle, comprising: The positioning module is configured to determine the location information of the automated guided vehicle; An attitude detection module is configured to determine the attitude information of the automated guided vehicle; The control module is coupled to the positioning module and the attitude detection module, and configured to perform the following operations: S11: Control the automated guided vehicle to move along the first track; S12: Determine the location information of the automated guided vehicle; S13: Based on the location information, determine whether the automated guided vehicle has reached the preset track-changing position; S14: When it is determined that the automated guided vehicle has reached the preset track-changing position, control the automated guided vehicle to switch to the second track; S15: Determine the attitude information of the automated guided vehicle; and S16: Based on the attitude information, determine whether the automated guided vehicle has successfully changed tracks; The attitude detection module includes an inertial measurement unit and is configured to determine the attitude information of the automated guided vehicle through the inertial measurement unit and the inertial navigation strapdown algorithm. The attitude information includes roll angle and / or pitch angle. The control module is configured to: compare the change in attitude information of the automated guided vehicle before and after switching tracks, and determine whether the automated guided vehicle has successfully switched tracks based on the change in attitude information; Specifically, when the change in roll angle before and after the automated guided vehicle switches tracks is less than a first threshold, and / or the change in pitch angle is less than a second threshold, the control module is configured to determine that the automated guided vehicle has successfully switched tracks.

11. The automated guided vehicle according to claim 10, wherein the first track and the second track are arranged in a cross shape on the same plane, and the preset track-changing position is located at the center of the intersection area of ​​the first track and the second track.

12. The automated guided vehicle according to claim 10 or 11, wherein the automated guided vehicle includes a first wheel set disposed below the body of the automated guided vehicle; the control module is configured to control the first wheel set to move along the first track.

13. The automated guided vehicle according to claim 10 or 11, wherein the positioning module includes an RFID antenna and a magnetic sensor, and the control module is configured to: read the location information stored in the RFID electronic tag through the RFID antenna, sense the magnetic field strength information through the magnetic sensor, and determine the location information of the automated guided vehicle based on the location information stored in the RFID electronic tag and the magnetic field strength information.

14. The automated guided vehicle according to claim 12, wherein the automated guided vehicle includes a second wheel set disposed below the body of the automated guided vehicle; the control module is configured to: control the first wheel set to rise to a first preset height and control the second wheel set to fall to a second preset height, so as to control the automated guided vehicle to switch to the second track.

15. The automated guided vehicle according to claim 10, wherein when the change in roll angle before and after the automated guided vehicle switches tracks is not less than a first threshold, and / or the change in pitch angle is not less than a second threshold, the control module is configured to: determine that the automated guided vehicle has failed to switch tracks.

16. The automated guided vehicle according to claim 10, wherein the control module is configured to: when it is determined that the automated guided vehicle fails to change tracks, determine the type of track change failure, the type including a first type and a second type, wherein the first type includes track change failure when the automated guided vehicle has not reached the preset track change position, and the second type includes track change failure when the automated guided vehicle has exceeded the preset track change position.

17. The automated guided vehicle according to claim 16, wherein the control module is configured to: determine the type of track-changing failure of the automated guided vehicle based on the direction of motion and attitude of the automated guided vehicle switching to the second track.

18. The automated guided vehicle according to claim 10, wherein the control module is configured to: when it is determined that the automated guided vehicle has failed to change tracks, control the automated guided vehicle to return to a preset recovery position of the first track, and repeat at least some of the operations S11-S16 until it is determined that the automated guided vehicle has successfully changed tracks.

19. A warehousing system, comprising: The automated guided vehicle as described in any one of claims 10-18; The track, including a first track and a second track, is equipped with RFID electronic tags; Shelves equipped with magnetic components; and The server is communicatively connected to the automated guided vehicle. The automated guided vehicle is configured to perform the control method as described in any one of claims 1-9.

20. A computer-readable storage medium comprising computer-executable instructions stored thereon, the executable instructions, when executed by a processor, implementing the control method as described in any one of claims 1-9.

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