Automatic guided vehicle (AGV) walking auxiliary inspection device

Abstract

The invention relates to the technical field of AGV driving path maintenance, and provides an AGV walking auxiliary inspection device which comprises a first magnetic navigation sensor, a signal feedback piece and a carrier. Wherein the first magnetic navigation sensor is used for acquiring an intensity signal of a magnetic field of the magnetic strip; the signal feedback piece is electrically connected with the first magnetic navigation sensor, and the signal feedback piece can send out at least two signals for distinguishing the magnetic field intensity of the magnetic strip; the carrier comprises a carrier body and wheels, the first magnetic navigation sensor and the signal feedback part are both installed on the carrier body, and the wheels enable the carrier body to move relative to the magnetic strips. Thus, the first magnetic navigation sensor is used for detecting the magnetic field intensity of the magnetic strip, the magnetic field intensity is visually and timely fed back through the signal feedback piece, a worker can conveniently judge whether the magnetism of the magnetic strip meets the use requirement of AGV navigation or not, and then a problem area is maintained.

Description

Technical Field

[0001] This invention relates to the field of AGV travel path maintenance technology, and in particular to an AGV travel auxiliary inspection device. Background Technology

[0002] AGV (Automated Guided Vehicle) is an abbreviation for automated guided vehicle. It refers to an unmanned automated vehicle that is equipped with automatic guidance devices such as magnetic strips, tracks or lasers, travels along a planned path, is powered by batteries, and is equipped with safety protection and various auxiliary mechanisms (such as transfer and assembly mechanisms).

[0003] Generally, in workshops, for the sake of convenient deployment and strong anti-interference, magnetic strips are often laid on the ground to set the driving route of the automated guided vehicle. The automated guided vehicle is equipped with a magnetic navigation sensor, which can acquire the surrounding magnetic field signal and determine the location of the magnetic strip based on the strength of the magnetic field signal, so that the automated guided vehicle can travel along the magnetic strip.

[0004] However, in actual use cases, the magnetic strips may be crushed or, due to other reasons, some of the magnetic strips in the route may become damaged or lose their magnetism. When the automated guided vehicle (AGV) reaches such a location, the magnetic navigation sensor may be unable to detect the magnetic field strength signal of the magnetic strips, thus losing the position of the magnetic strips and causing the AGV to stop in place.

[0005] Therefore, there is an urgent need for an AGV travel auxiliary inspection device to solve the above-mentioned technical problems. Summary of the Invention

[0006] The purpose of this invention is to provide an AGV travel auxiliary inspection device that can check the magnetic field strength of the AGV's travel path.

[0007] To achieve this objective, the present invention adopts the following technical solution:

[0008] AGV travel auxiliary inspection device, including:

[0009] The first magnetic navigation sensor is used to acquire the intensity signal of the magnetic field of the magnetic strip;

[0010] A signal feedback element is electrically connected to the first magnetic navigation sensor. The signal feedback element is capable of emitting at least two signals to distinguish the magnetic field strength of the magnetic strip.

[0011] The vehicle includes a carrier and wheels. The first magnetic navigation sensor and the signal feedback device are both mounted on the carrier. The wheels enable the carrier to move relative to the magnetic strip.

[0012] As a preferred technical solution of the above-mentioned AGV walking auxiliary inspection device, the above-mentioned signal feedback element is a signal light, which can reflect the magnetic field strength of the above-mentioned magnetic strip through light signals.

[0013] As a preferred technical solution of the above-mentioned AGV traveling auxiliary inspection device, the vehicle also includes a steering component, the wheels are connected to the carrier through the steering component, the wheels can rotate relative to the carrier, and the axis of rotation is perpendicular to the axis of the wheels.

[0014] As a preferred technical solution of the above-mentioned AGV traveling auxiliary inspection device, the carrier also includes a handle, which is installed on the carrier.

[0015] As a preferred technical solution of the above-mentioned AGV traveling auxiliary inspection device, it also includes a drive component, which is installed on the vehicle and used to drive the vehicle to travel.

[0016] As a preferred technical solution of the above-mentioned AGV traveling auxiliary inspection device, it also includes a control unit and a second magnetic navigation sensor. The control unit and the second magnetic navigation sensor are both installed on the carrier. The second magnetic navigation sensor is used to acquire the position signal of the magnetic strip. The control unit can adjust the traveling direction and start / stop status of the carrier according to the position signal.

[0017] As a preferred technical solution of the above-mentioned AGV traveling auxiliary inspection device, the second magnetic navigation sensor is installed in front of the first magnetic navigation sensor in the forward direction of the vehicle.

[0018] As a preferred technical solution of the above-mentioned AGV travel auxiliary inspection device, it also includes a path storage device, which is installed on the vehicle and communicates with the control unit. The path storage device is used to record the travel path of the vehicle. If the magnetic field strength of the magnetic strip in the feedback path of the first magnetic navigation sensor is weaker than a threshold, the control unit commands the path storage device to record the coordinates of the magnetic strip.

[0019] As a preferred technical solution of the above-mentioned AGV traveling auxiliary inspection device, the path storage is preset with the path of the magnetic strip. If the magnetic field strength signal of the magnetic strip in the feedback path of the first magnetic navigation sensor is less than the threshold, the control unit commands the vehicle to travel according to the path recorded in the path storage.

[0020] As a preferred technical solution of the above-mentioned AGV traveling auxiliary inspection device, it also includes a marking component, which is installed on the bottom of the vehicle and is communicatively connected to the control unit. If the magnetic field strength signal of the magnetic strip in the feedback path of the first magnetic navigation sensor is weaker than the threshold, the control unit commands the marking component to set a mark on one side of the magnetic strip.

[0021] Beneficial effects of this invention:

[0022] This invention provides an AGV (Automated Guided Vehicle) movement auxiliary inspection device, comprising a first magnetic navigation sensor, a signal feedback element, and a carrier. The first magnetic navigation sensor is used to acquire the intensity signal of the magnetic field of a magnetic strip; the signal feedback element is electrically connected to the first magnetic navigation sensor and can emit at least two signals to distinguish the magnetic field intensity of the magnetic strip; the carrier includes a platform and wheels, with both the first magnetic navigation sensor and the signal feedback element mounted on the platform, and the wheels enabling relative movement between the platform and the magnetic strip.

[0023] Specifically, the first magnetic navigation sensor is connected to a signal feedback unit via a Hall effect sensor. The Hall effect sensor converts the magnetic field strength signal acquired by the first magnetic navigation sensor into an electrical signal, which is then transmitted to the signal feedback unit. The signal feedback unit changes its output signal to reflect the magnetic field strength of the magnetic strip. This allows operators to intuitively obtain information about the magnetic field strength of the magnetic strip and correct any magnetic strips that do not meet the requirements.

[0024] In this way, the magnetic field strength of the magnetic strip is detected by the first magnetic navigation sensor. The magnetic field strength is given intuitive and timely feedback through the signal feedback device, which makes it easy for the staff to judge whether the magnetism of the magnetic strip meets the requirements of AGV navigation and thus maintain the problem area. Attached Figure Description

[0025] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments of the present invention will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the content of the embodiments of the present invention and these drawings without creative effort.

[0026] Figure 1 This is a schematic diagram of the structure of the AGV traveling auxiliary inspection device provided in an embodiment of the present invention;

[0027] Figure 2 This is a logic control diagram of the AGV traveling auxiliary inspection device provided in an embodiment of the present invention.

[0028] In the picture:

[0029] 11. First magnetic navigation sensor; 12. Second magnetic navigation sensor;

[0030] 20. Signal feedback components;

[0031] 31. Carrier; 32. Wheel; 33. Handle. Detailed Implementation

[0032] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, and not all of the structures.

[0033] In the description of this invention, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; 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 based on the specific circumstances.

[0034] 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.

[0035] In the description of this embodiment, the terms "upper," "lower," "right," etc., refer to the orientation or positional relationship shown in the accompanying drawings. They are used only for ease of description and simplification of operation, 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. Therefore, they should not be construed as limitations on the present invention. In addition, the terms "first" and "second" are used only for distinction in description and have no special meaning.

[0036] like Figure 1 and Figure 2As shown, the present invention provides an AGV (Automated Guided Vehicle) movement auxiliary inspection device, including a first magnetic navigation sensor 11, a signal feedback element 20, and a carrier. The first magnetic navigation sensor 11 is used to acquire the intensity signal of the magnetic field of the magnetic strip; the signal feedback element 20 is electrically connected to the first magnetic navigation sensor 11 and can emit at least two signals to distinguish the magnetic field intensity of the magnetic strip; the carrier includes a platform 31 and wheels 32, both the first magnetic navigation sensor 11 and the signal feedback element 20 are mounted on the platform 31, and the wheels 32 enable relative movement between the platform 31 and the magnetic strip.

[0037] Specifically, the first magnetic navigation sensor 11 is connected to the signal feedback unit 20 via a Hall effect sensor. The Hall effect sensor converts the magnetic field strength signal acquired by the first magnetic navigation sensor 11 into an electrical signal and transmits it to the signal feedback unit 20. The signal feedback unit 20 changes its output signal to reflect the magnetic field strength of the magnetic strip. This allows operators to intuitively obtain the magnetic field strength information of the magnetic strip and correct magnetic strips that do not meet the usage requirements.

[0038] In this way, the magnetic field strength of the magnetic strip is detected by the first magnetic navigation sensor 11, and the magnetic field strength is fed back intuitively and in a timely manner through the signal feedback device 20. This makes it easy for staff to judge whether the magnetism of the magnetic strip meets the requirements for AGV navigation, and then to maintain the problem area.

[0039] It should be noted that the first magnetic navigation sensor 11 is used to obtain the magnetic field strength of the magnetic strip, which is a well-known technology in the field, and its specific principle will not be described in detail here.

[0040] Optionally, the signal feedback element 20 is a signal light, which can respond to the magnetic field strength of the magnetic strip through light signals.

[0041] In this embodiment, the signal light is equipped with multiple display units, each of which can be illuminated. The number of illuminated display units is positively correlated with the magnetic field strength of the magnetic strip; that is, the stronger the magnetic field strength, the more illuminated display units are, and vice versa. Thus, by illuminating different numbers of display units via the signal light, the magnetic field strength of the magnetic strip is fed back.

[0042] In other embodiments, the signal light includes at least one display unit capable of adjusting its brightness. The brightness of the display unit is positively correlated with the magnetic field strength of the magnetic strip; that is, the stronger the magnetic field strength of the magnetic strip, the higher the brightness level of the display unit, and vice versa. Thus, the brightness level of the signal light reflects the current magnetic field strength of the magnetic strip.

[0043] In other embodiments, the signal light includes at least two display units, each capable of displaying a corresponding color of light. For example, the signal light includes three display units, denoted as a red display unit, a green display unit, and a yellow display unit. When the magnetic field strength of the magnetic strip is higher than a first threshold, the green display unit is illuminated, and the other two display units are off; when the magnetic field strength of the magnetic strip is between the first and second thresholds, the yellow display unit is illuminated, and the other two display units are off; when the magnetic field strength of the magnetic strip is lower than the second threshold, the red display unit is illuminated, and the other two display units are off. Thus, by emitting different colored lights, the signal light reflects the current magnetic field strength of the magnetic strip.

[0044] In other embodiments, the magnetic field strength of the magnetic strip can also be fed back through sound signals or other signals that are easy for the operator to perceive.

[0045] Optionally, the vehicle also includes a steering component, through which the wheel 32 is connected to the carrier 31. The wheel 32 is able to rotate relative to the carrier 31, and the axis of rotation is perpendicular to the axis of the wheel 32.

[0046] Specifically, the steering component includes a mounting base and a connecting shaft. The wheel 32 is rotatably mounted on the mounting base via the rotating shaft, with at least a portion of the wheel 32 exposed outside the mounting base for contact with the ground. The axis of the rotating shaft is perpendicular to the vertical direction. The mounting base is connected to the carrier 31 via the connecting shaft. At least one of the mounting base and the carrier 31 is rotatably connected to the connecting shaft, and the axis of the connecting shaft is parallel to the vertical direction. Thus, the vehicle can achieve steering action.

[0047] Optionally, the vehicle also includes a handle 33, which is mounted on the carrier 31. By holding the handle 33, the operator can straighten the vehicle and control its direction of travel.

[0048] Optionally, the AGV traveling auxiliary inspection device also includes a drive unit, which is mounted on the vehicle and used to drive the vehicle to travel.

[0049] Specifically, the drive unit is connected to the wheel 32 through a transmission assembly, which drives the wheel 32 to rotate around its own axis, thereby realizing the automatic driving of the vehicle.

[0050] Optionally, the AGV travel auxiliary inspection device also includes a control unit and a second magnetic navigation sensor 12. Both the control unit and the second magnetic navigation sensor 12 are installed on the carrier 31. The second magnetic navigation sensor 12 is used to acquire the position signal of the magnetic strip. The control unit can adjust the travel direction and start / stop status of the vehicle according to the position signal.

[0051] Generally, the magnetic field strength of the area with the magnetic strip is always greater than that of the area without the magnetic strip. The second magnetic navigation sensor 12 can acquire the surrounding magnetic field signal and determine the strength of the magnetic field signal. The control unit determines the area with the strongest magnetic field signal, i.e., the location of the magnetic strip, and drives the vehicle to always move in the direction of the strongest magnetic field signal. In this way, the vehicle can automatically travel along the magnetic strip, reduce the deviation between the vehicle and the magnetic strip, and eliminate the change in the magnetic field strength acquired by the first magnetic navigation sensor 11 due to the change in the relative distance between it and the magnetic strip.

[0052] Optionally, in the direction of travel of the vehicle, the second magnetic navigation sensor 12 is mounted in front of the first magnetic navigation sensor 11.

[0053] In this embodiment, the second magnetic navigation sensor 12 is used for the vehicle to track and navigate the magnetic strip, and the first magnetic navigation sensor 11 is used to determine the strength of the magnetic field of the magnetic strip. The second magnetic navigation sensor 12 is positioned in front, which is beneficial for the vehicle to track the magnetic strip.

[0054] Optionally, the AGV travel auxiliary inspection device also includes a path storage device, installed on the vehicle and connected to the control unit. The path storage device records the vehicle's travel path. If the magnetic field strength of the magnetic strip along the path, as reported by the first magnetic navigation sensor 11, is weaker than a threshold, the control unit commands the path storage device to record the coordinates of that magnetic strip. After the vehicle has traveled the entire path, the path storage device records the position information of all the magnetic strips to be repaired along the path. In this way, the operator does not need to accompany the vehicle throughout its journey; they only need to locate the magnetic strips to be repaired based on the position information recorded in the path storage device.

[0055] Optionally, the path storage contains a preset path of magnetic strips. If the magnetic field strength signal of the magnetic strips along the path fed back by the first magnetic navigation sensor 11 is less than a threshold, the control unit commands the vehicle to travel according to the path recorded in the path storage.

[0056] During the vehicle's operation, if the magnetic strip breaks, or if a portion of the magnetic strip is missing due to other reasons, or if the magnetic strip loses its magnetism, or if the magnetism of that section of the magnetic strip is too weak (below a threshold), the second magnetic navigation sensor 12 will be unable to accurately acquire the corresponding magnetic field signal, causing the vehicle to stop due to loss of forward direction command. To solve this problem, in this embodiment, a complete magnetic strip laying path is preset in the path storage. When the second magnetic navigation sensor 12 can determine the magnetic strip position by acquiring the magnetic field strength and thus provide a driving mode for the vehicle, the vehicle uses the feedback signal from the second magnetic navigation sensor 12 as the driving basis. When the above situations occur, causing the second magnetic navigation sensor 12 to be unable to accurately acquire the magnetic field strength and lose the magnetic strip position, the vehicle will travel according to the preset path in the path storage until the second magnetic navigation sensor 12 can reacquire the magnetic strip position.

[0057] It should be noted that when the second magnetic navigation sensor 12 cannot obtain the magnetic field strength of the magnetic strip, the first magnetic navigation sensor 11 also cannot obtain the magnetic field strength of the magnetic strip.

[0058] Optionally, the AGV traveling auxiliary inspection device also includes a marking component, which is installed on the bottom of the vehicle and is connected to the control unit. If the magnetic field strength signal of the magnetic strip in the feedback path of the first magnetic navigation sensor 11 is weaker than the threshold, the control unit commands the marking component to set a mark on one side of the magnetic strip.

[0059] Specifically, the marking component includes a telescopic component and an actuator. The actuator is installed at the bottom of the carrier 31 via the telescopic component. The telescopic component can adjust the distance between the actuator and the ground. The actuator can mark on the ground, for example, by spraying or pasting symbols. If the magnetic field strength signal of the magnetic strip in the feedback path of the first magnetic navigation sensor 11 is weaker than the threshold, the telescopic component drives the actuator closer to the ground to mark. After completion, the telescopic component drives the actuator away from the ground.

[0060] Furthermore, the above description is merely a preferred embodiment of the present invention and the technical principles employed. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions can be made without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments, and may include many other equivalent embodiments without departing from the concept of the present invention, the scope of which is determined by the scope of the appended claims.

Claims

1. AGV running auxiliary inspection device, characterized in that: include: A first magnetic navigation sensor, wherein the first magnetic navigation sensor is used to obtain a strength signal of a magnetic field of a magnetic strip; A signal feedback component, the signal feedback component is electrically connected to the first magnetic navigation sensor, and the signal feedback component can send out at least two signals for distinguishing the magnetic field strength of the magnetic strip; The carrier comprises a carrier and wheels, the first magnetic navigation sensor and the signal feedback component are both mounted on the carrier, and the wheels enable the carrier to move relative to the magnetic strip.

2. The AGV running auxiliary inspection device according to claim 1 is characterized in that: The signal feedback component is a signal lamp, and the signal lamp can reflect the magnetic field strength of the magnetic strip through a light signal.

3. The AGV running auxiliary inspection device according to claim 1 is characterized in that: The carrier also includes a steering member, and the wheel is connected to the carrier via the steering member. The wheel can rotate relative to the carrier, and the axis of rotation is perpendicular to the axis of the wheel.

4. The AGV running auxiliary inspection device according to claim 3 is characterized in that: The carrier also includes a handle, which is mounted on the carrier.

5. The AGV running auxiliary inspection device according to claim 3 is characterized in that: It also includes a driving component, which is installed on the vehicle and is used to drive the vehicle to travel.

6. The AGV running auxiliary inspection device according to claim 5, characterized in that: It also includes a control unit and a second magnetic navigation sensor, both of which are installed on the carrier. The second magnetic navigation sensor is used to obtain the position signal of the magnetic strip, and the control unit can adjust the driving direction and start and stop status of the vehicle according to the position signal.

7. The AGV running auxiliary inspection device according to claim 6 is characterized in that: In the forward direction of the vehicle, the second magnetic navigation sensor is installed in front of the first magnetic navigation sensor.

8. The AGV running auxiliary inspection device according to claim 6, characterized in that: It also includes a path storage device installed on the vehicle and communicatively connected to the control unit. The path storage device is used to record the driving path of the vehicle. If the magnetic field strength of the magnetic strip in the feedback path of the first magnetic navigation sensor is weaker than a threshold value, the control unit instructs the path storage device to record the coordinates of the magnetic strip.

9. The AGV running auxiliary inspection device according to claim 8, characterized in that: The path of the magnetic stripe is preset in the path storage. If the magnetic field strength signal of the magnetic stripe in the feedback path of the first magnetic navigation sensor is less than a threshold value, the control unit commands the vehicle to travel along the path recorded in the path storage.

10. The AGV running auxiliary inspection device according to any one of claims 6 to 9, characterized in that: It also includes a marking component, which is installed at the bottom of the carrier and is communicatively connected to the control unit. If the magnetic field strength signal of the magnetic strip in the feedback path of the first magnetic navigation sensor is weaker than a threshold, the control unit instructs the marking component to set a mark on one side of the magnetic strip.

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