A magnetic tape guided AGV vehicle

Abstract

The present invention provides a magnetic tape guided AGV trolley, which relates to the technical field of automatic guided vehicles. A travel component is installed at the front of the AGV trolley, which integrates a grayscale sensor, a gyroscope and an encoder, and can react in advance when an abnormal road section is detected, thereby providing a guarantee for the stable operation of the AGV trolley. In addition, the control algorithm of the AGV trolley can maintain the path accuracy by using the data of the gyroscope and the encoder when the grayscale sensor fails, and predict the future driving path based on the complete path model and perform real-time correction and modification. The AGV trolley can better cope with various emergencies that may occur on the magnetic tape track, such as magnetic tape damage, so that the trolley can generally continue to travel along the original path until the sensor finds the magnetic tape track again, thereby continuing to travel normally; it reduces the impact and loss caused by track damage to the entire transportation system, and improves the reliability and safety of the AGV trolley.

Description

Technical Field

[0001] The invention relates to the technical field of automatic guided vehicles, and in particular to a magnetic tape guided AGV trolley. Background Art

[0002] At present, in the field of modern logistics and industrial production, automated guided vehicles (AGVs) play a vital role; AGVs transport goods automatically, significantly improving the efficiency and accuracy of material handling while reducing labor costs. Among them, tape-guided AGVs have become the first choice for many companies due to their simple structure and low cost. This type of AGV lays magnetic tape on the ground, uses sensors on the vehicle to identify magnetic tape signals, and realizes automatic driving along a predetermined path. It has the advantages of easy laying and flexible path changes.

[0003] However, magnetic tape-guided AGVs also face some challenges in practical applications. Since magnetic tapes have high requirements for environmental cleanliness, dust and debris may interfere with the recognition of magnetic tape signals, which in turn may cause the AGV to deviate from the intended path. In addition, changes in humidity and temperature may also affect the performance of the magnetic tape and reduce the accuracy of guidance. More importantly, magnetic tapes are prone to wear and damage during long-term use and require regular inspection and replacement. Once the AGV enters a damaged magnetic tape section that has not been handled in time, it may pose a threat to the surrounding environment and personnel safety, and may even cause the entire transportation system to malfunction, resulting in economic losses and safety hazards. Therefore, the existing magnetic tape-guided AGVs have safety hazards that need to be addressed when the magnetic track is worn or damaged.

[0004] In view of this, this application is filed. Summary of the invention

[0005] The present invention provides a magnetic tape guided AGV trolley, which can at least partially improve the above-mentioned problem.

[0006] To achieve the above object, the present invention adopts the following technical solutions:

[0007] A magnetic tape guided AGV trolley, comprising: a trolley body, a control module, a first magnetic tape identification module, a traveling component, a fixing component, a traveling data collection component, and a second magnetic tape identification module, wherein the first magnetic tape identification module and the control module are arranged on the trolley body, the traveling component is arranged at the front end of the trolley body through the fixing component, the traveling data collection component and the second magnetic tape identification module are arranged on the traveling component, and the output end of the first magnetic tape identification module, the output end of the second magnetic tape identification module, and the output end of the traveling data collection component are electrically connected to the data end of the control module;

[0008] Wherein, the first tape identification module is configured to identify the tape signal when the black tape track is intact and undamaged and the tape signal is stable, and the second tape identification module is configured to identify the tape signal when the black tape track is intact and undamaged and the tape signal is unstable;

[0009] The control module is configured to implement the following steps by executing a computer program stored therein:

[0010] When it is determined that the black magnetic tape track is damaged, the magnetic tape signal disappears, and the second magnetic tape identification module cannot identify the magnetic tape signal, the driving data collection component is turned on;

[0011] Acquire the driving data of the current AGV collected by the driving data collection component, and perform fusion conversion processing on the driving data to obtain the driving angular velocity, driving acceleration and driving distance of the current AGV;

[0012] Reading a preset complete path model, determining a next predicted driving position according to the driving distance, and obtaining a model angular velocity and a model acceleration corresponding to the next predicted driving position, wherein the next predicted driving position is longer than the driving distance by a displacement of a preset length unit;

[0013] The model angular velocity and model acceleration corresponding to the next predicted driving position are used as predicted quantities to control the rotation of the motor of the vehicle body.

[0014] In summary, a driving component is designed and installed at the front end of the vehicle body. The component is equipped with a grayscale sensor, a gyroscope and an encoder. These sensors work together to sense abnormal road conditions in advance and respond, thereby providing an additional layer of safety for the navigation of the AGV vehicle. In addition, the core of the control module includes three key parts, namely multi-sensor data fusion, path prediction and real-time position correction. Specifically, in the case of tape navigation failure, the gyroscope and encoder data can be used to maintain path control; at the same time, the path of the vehicle can be predicted and adjusted based on the complete path model generated according to historical driving data; finally, the position of the vehicle can be corrected in real time to reduce error accumulation. This integrated solution enables the AGV vehicle to maintain the ability to travel along the predetermined path in the face of emergencies such as tape damage until the sensor recaptures the tape signal. It improves the adaptability and robustness of the AGV vehicle in the face of unexpected situations, reduces the impact on the transportation system, and reduces potential economic losses and safety risks. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a module schematic diagram of a magnetic tape guided AGV trolley provided by the first embodiment of the present invention;

[0016] Figure 2 It is a complete flow chart of the magnetic tape guided AGV trolley provided by the first embodiment of the present invention. DETAILED DESCRIPTION

[0017] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0018] refer to Figure 1 , Figure 2 As shown, the first embodiment of the present invention discloses a magnetic tape guided AGV trolley, which comprises: a trolley body, a control module, a first magnetic tape identification module, a traveling component, a fixing component, a traveling data collection component, and a second magnetic tape identification module, wherein the first magnetic tape identification module and the control module are arranged on the trolley body, the traveling component is arranged at the front end of the trolley body through the fixing component, the traveling data collection component and the second magnetic tape identification module are arranged on the traveling component, and the output end of the first magnetic tape identification module, the output end of the second magnetic tape identification module, and the output end of the traveling data collection component are electrically connected to the data end of the control module;

[0019] The first tape identification module is configured to identify the tape signal when the black tape track is intact and the tape signal is stable, and the second tape identification module is configured to identify the tape signal when the black tape track is intact and the tape signal is unstable.

[0020] Preferably, the first magnetic tape identification module adopts an electromagnetic induction sensor.

[0021] Preferably, the second magnetic tape identification module is a five-way grayscale sensor, wherein the five-way grayscale sensor is composed of five identical cylindrical light-emitting diodes and a photosensitive receiving element.

[0022] Preferably, the travel assembly comprises a carrier plate, a fixed link, and a passive wheel, wherein the fixed link is disposed on the carrier plate, and the passive wheel is rotatably disposed on the carrier plate via the fixed link.

[0023] Preferably, the driving data acquisition component includes a gyroscope and an encoder, and the gyroscope and the encoder are configured on the driving component, and the output end of the gyroscope and the output end of the encoder are electrically connected to the data end of the control module.

[0024] Preferably, the gyroscope is configured to collect the angular velocity and acceleration of the AGV during driving, and the encoder is configured to measure the travel distance of the AGV during driving.

[0025] Specifically, in this embodiment, the AGV trolley is composed of a trolley body, which is the basic frame of the trolley and is used to support and connect all other components. On the trolley body, a control module is configured, which is the brain of the trolley and is responsible for processing signals from various sensors and controlling the travel of the trolley based on these signals. The control module is connected to the first tape identification module, the second tape identification module and the data end of the travel data acquisition component through electrical connection to ensure rapid transmission and processing of information.

[0026] Among them, the first tape identification module and the second tape identification module are the key parts of the car's navigation system. The car may encounter the following situations in actual operation: in the first case, the black tape track is intact and the electromagnetic signal is stable; in the second case, the black tape track is intact but the electromagnetic signal may be unstable due to the influence of the surrounding environment of the track; in the third case, the black tape track is damaged, the electromagnetic signal disappears, and the grayscale sensor cannot identify the track. The first tape identification module uses an electromagnetic induction sensor, which identifies the tape signal when the black tape track is intact and the tape signal is stable, and provides a stable navigation signal for the car. This design improves the navigation accuracy and stability of the car under normal conditions. The second tape identification module is a five-way grayscale sensor, which consists of five identical cylindrical light-emitting diodes and photosensitive receiving elements. It identifies the tape signal when the black tape track is intact but the tape signal is unstable. For the third case, the car navigates based on the complete path model. This design provides the car with a backup navigation capability when the electromagnetic signal is interfered or attenuated, and enhances the adaptability and robustness of the car in complex environments. In simple terms, the grayscale sensor plays a direct role in providing navigation for the car in the second case. In the third case, the simultaneous failure of the electromagnetic induction sensor and the grayscale sensor will constitute a prerequisite for starting the track model navigation.

[0027] In this embodiment, at the front end of the main body of the trolley, a travel component is installed through a fixed component, which includes wheels and a drive system, so that the trolley can move smoothly on the factory floor. The travel data acquisition component is installed on the travel component, including a gyroscope and an encoder, which is used to monitor and record the travel status of the trolley in real time, such as speed, direction and distance. These data are crucial to the control module because they provide real-time information on the precise position and motion status of the trolley. In actual application, when the AGV trolley travels along the preset tape track inside the factory, the first tape identification module and the second tape identification module work together to ensure that the trolley can maintain the correct travel path even when the tape signal is unstable. At the same time, the data provided by the travel data acquisition component enables the control module to adjust the travel status of the trolley in real time to adapt to possible obstacles or path changes. This multi-sensor fusion design not only improves the navigation accuracy of the trolley, but also enhances its ability to cope with emergencies, such as tape damage or signal interference.

[0028] Preferably, the fixing component includes a first screw hole, a second screw hole, a first screw adapted to the first screw hole, and a second screw adapted to the second screw hole, wherein the first screw hole and the second screw hole are symmetrically arranged at the front end of the trolley body, and the first screw and the second screw are respectively combined with the first screw hole and the second screw hole to fix the traveling component at the front end of the trolley body.

[0029] Specifically, in this embodiment, the fixing assembly is exquisitely designed, including a first screw hole and a second screw hole, which are symmetrically arranged at the front end of the vehicle body, ensuring the balance and symmetry of the travel assembly during installation. This symmetrical design not only enhances the aesthetics of the vehicle, but also provides better mechanical support, so that the travel assembly can remain stable when subjected to various loads.

[0030] The first screw is adapted to the first screw hole, and the second screw is adapted to the second screw hole. By combining the first screw and the second screw with the corresponding screw holes, the travel component can be firmly fixed to the front end of the trolley body. This fixing method is simple and efficient, allowing for quick installation and removal of the travel component, and facilitating maintenance and repair. At the same time, the tightening effect of the screws ensures that the travel component will not be displaced or loosened during the operation of the trolley, thereby improving the reliability and safety of the trolley.

[0031] The control module is configured to implement the following steps by executing a computer program stored therein:

[0032] When it is determined that the black magnetic tape track is damaged, the magnetic tape signal disappears, and the second magnetic tape identification module cannot identify the magnetic tape signal, the driving data collection component is turned on;

[0033] Acquire the driving data of the current AGV collected by the driving data collection component, and perform fusion conversion processing on the driving data to obtain the driving angular velocity, driving acceleration and driving distance of the current AGV;

[0034] Reading a preset complete path model, determining a next predicted driving position according to the driving distance, and obtaining a model angular velocity and a model acceleration corresponding to the next predicted driving position, wherein the next predicted driving position is longer than the driving distance by a displacement of a preset length unit;

[0035] The model angular velocity and model acceleration corresponding to the next predicted driving position are used as predicted quantities to control the rotation of the motor of the vehicle body.

[0036] In this embodiment, the control module is the core of the AGV car, which is responsible for processing data from various sensors and controlling the travel of the car based on these data. Specifically, when the control module determines that the black tape track is damaged, the tape signal disappears, and the second tape recognition module cannot recognize the tape signal, it will immediately turn on the travel data acquisition component. This step is very important because it allows the car to continue to navigate by relying on its own sensor data when it loses the tape navigation signal. Then, the travel data acquisition component starts working and collects the current AGV car's travel data, including key information such as speed, direction and distance. The control module performs fusion conversion processing on these data, and converts the raw data into the car's travel angular velocity, travel acceleration and travel distance through algorithms such as Kalman filtering. This data processing process not only improves the accuracy of the data, but also enhances the car's adaptability to complex driving environments.

[0037] Next, the control module reads the preset complete path model, which is a model built based on historical driving data and contains the trajectory data of the car under normal driving conditions. The control module determines the next predicted driving position based on the current driving distance, and obtains the model angular velocity and model acceleration corresponding to the predicted position. This step is based on the current position and driving state of the car, predicting the position and state of the car in the short future, thereby realizing the prediction and control of the car's driving path. Finally, the control module uses the model angular velocity and model acceleration corresponding to the next predicted driving position as the predicted quantity to control the motor rotation of the car body. This control process ensures that the car can continue to drive according to the preset path model even if the tape navigation signal is lost, reducing driving errors caused by track damage or signal disappearance.

[0038] Preferably, it also includes:

[0039] Obtaining a model angular velocity and a model acceleration corresponding to the driving distance in the complete path model;

[0040] Respectively comparing the driving angular velocity, driving acceleration, and model angular velocity and model acceleration corresponding to the driving distance, generating a comparison result value, and performing path correction;

[0041] When the comparison result value is within the preset error range, the motor of the vehicle body is directly controlled according to the driving angular velocity and the driving acceleration, and the path correction is ended;

[0042] When the driving angular velocity and the driving acceleration appear ahead of the model angular velocity and the model acceleration corresponding to the driving distance, the driving distance is increased based on a preset offset, and the corresponding angular velocity and acceleration are obtained from the complete path model according to the increased driving distance, thereby controlling the motor of the vehicle body;

[0043] When the driving angular velocity and the driving acceleration are delayed from the model angular velocity and the model acceleration corresponding to the driving distance, the driving distance is reduced based on a preset offset, and the corresponding angular velocity and acceleration are obtained from the complete path model according to the reduced driving distance, thereby controlling the motor of the vehicle body;

[0044] Repeat the above steps until the comparison result value is within the preset error range, and then end the path correction.

[0045] In this embodiment, during the driving process, the control module not only reads the preset complete path model to determine the next predicted driving position; it can also obtain the model angular velocity and model acceleration corresponding to the current driving distance, so that the control module can compare the actual driving data with the model data, thereby more accurately correcting the path. By comparing the actual driving angular velocity, driving acceleration and the model angular velocity, model acceleration, the control module generates a comparison result value. These values ​​reflect the deviation between the actual driving state of the car and the preset path model, providing a basis for path correction. When the comparison result value is within the preset error range, the control module directly controls the motor of the car body according to the actual driving angular velocity and driving acceleration, and ends the path correction. This process ensures the stability and accuracy of the car under normal driving conditions, reduces the need for frequent corrections, and improves driving efficiency.

[0046] However, when the actual driving angular velocity and driving acceleration appear ahead of the model angular velocity and model acceleration, the control module will increase the driving distance based on the preset offset, and obtain the corresponding angular velocity and acceleration from the complete path model according to the increased driving distance, thereby controlling the motor of the main body of the car. On the contrary, when the actual driving angular velocity and driving acceleration are delayed from the model angular velocity and model acceleration, the control module will reduce the driving distance based on the preset offset, and obtain the corresponding angular velocity and acceleration from the complete path model according to the reduced driving distance, thereby controlling the motor of the main body of the car. This method of dynamically adjusting the driving distance enables the car to adapt to different driving conditions and environmental changes, and improves the adaptability and flexibility to complex paths. Finally, repeat the above steps until the comparison result value is within the preset error range, and end the path correction. This closed-loop control strategy ensures that the car can remain on the predetermined path when facing various uncertain factors, such as uneven road surface, speed changes, etc., reducing the risk of deviation from the track.

[0047] Through this sophisticated control strategy, the AGV trolley can achieve high-precision material handling in various industrial environments. The design of this control module not only improves the autonomous navigation capability of the trolley, but also reduces the reliance on manual intervention, thereby improving production efficiency and safety. In addition, by correcting path deviations in real time, the trolley can pass through complex paths more smoothly, reducing the risk of cargo damage caused by sudden stops or turns, and improving the stability and efficiency of transportation. In general, the control module of the present invention provides an intelligent and efficient path correction and control solution for the tape-guided AGV trolley, enabling it to operate stably in various industrial automation environments.

[0048] In summary, the magnetic tape guided AGV trolley is designed to improve the navigation ability and stability of the magnetic tape guided AGV trolley when facing track anomalies. The driving component is equipped with a grayscale sensor, a gyroscope and an encoder, which are installed at the front end of the AGV trolley and can monitor the motion state and position of the trolley in real time. The algorithm in the control module is implemented through three main parts, namely multi-sensor data fusion, which is responsible for integrating sensor data to ensure that navigation accuracy can be maintained when the grayscale sensor fails; path prediction, which uses historical driving data to predict the future path of the trolley and make necessary real-time adjustments; real-time position correction, which automatically corrects the position of the trolley to reduce the error accumulated during the sensor failure. To ensure that the AGV trolley can continue to travel along the predetermined path in the event of magnetic tape damage or other abnormalities until the sensor re-detects the magnetic tape, thereby ensuring the continuity and safety of the transportation system and reducing potential losses caused by track problems.

[0049] The above is a preferred embodiment of the present invention. It should be pointed out that a person skilled in the art can make several improvements and modifications without departing from the principle of the present invention. These improvements and modifications are also considered to be within the scope of protection of the present invention.

Claims

1. A magnetic tape guided AGV, characterized in that: include: A trolley body, a control module, a first magnetic tape identification module, a traveling component, a fixing component, a traveling data collection component, and a second magnetic tape identification module, wherein the first magnetic tape identification module and the control module are arranged on the trolley body, the traveling component is arranged at the front end of the trolley body through the fixing component, the traveling data collection component and the second magnetic tape identification module are arranged on the traveling component, and the output end of the first magnetic tape identification module, the output end of the second magnetic tape identification module, and the output end of the traveling data collection component are electrically connected to the data end of the control module; Wherein, the first tape identification module is configured to identify the tape signal when the black tape track is intact and undamaged and the tape signal is stable, and the second tape identification module is configured to identify the tape signal when the black tape track is intact and undamaged and the tape signal is unstable; The control module is configured to implement the following steps by executing a computer program stored therein: When it is determined that the black magnetic tape track is damaged, the magnetic tape signal disappears, and the second magnetic tape identification module cannot identify the magnetic tape signal, the driving data collection component is turned on; Acquire the driving data of the current AGV collected by the driving data collection component, and perform fusion conversion processing on the driving data to obtain the driving angular velocity, driving acceleration and driving distance of the current AGV; Reading a preset complete path model, determining a next predicted driving position according to the driving distance, and obtaining a model angular velocity and a model acceleration corresponding to the next predicted driving position, wherein the next predicted driving position is longer than the driving distance by a displacement of a preset length unit; The model angular velocity and model acceleration corresponding to the next predicted driving position are used as predicted quantities to control the rotation of the motor of the vehicle body; Obtaining a model angular velocity and a model acceleration corresponding to the driving distance in the complete path model; Respectively comparing the driving angular velocity, driving acceleration, and model angular velocity and model acceleration corresponding to the driving distance, generating a comparison result value, and performing path correction; When the comparison result value is within the preset error range, the motor of the vehicle body is directly controlled according to the driving angular velocity and the driving acceleration, and the path correction is ended; When the driving angular velocity and the driving acceleration appear ahead of the model angular velocity and the model acceleration corresponding to the driving distance, the driving distance is increased based on a preset offset, and the corresponding angular velocity and acceleration are obtained from the complete path model according to the increased driving distance, thereby controlling the motor of the vehicle body; When the driving angular velocity and the driving acceleration are delayed from the model angular velocity and the model acceleration corresponding to the driving distance, the driving distance is reduced based on a preset offset, and the corresponding angular velocity and acceleration are obtained from the complete path model according to the reduced driving distance, thereby controlling the motor of the vehicle body; Repeat the above steps until the comparison result value is within the preset error range, and then end the path correction.

2. The magnetic tape guided AGV according to claim 1, characterized in that: The first magnetic tape identification module adopts an electromagnetic induction sensor.

3. The magnetic tape guided AGV according to claim 1, characterized in that: The travel assembly includes a carrier plate, a fixed link, and a passive wheel, wherein the fixed link is disposed on the carrier plate, and the passive wheel is rotatably disposed on the carrier plate through the fixed link.

4. The magnetic tape guided AGV according to claim 1, characterized in that: The fixing component includes a first screw hole, a second screw hole, a first screw adapted to the first screw hole, and a second screw adapted to the second screw hole, wherein the first screw hole and the second screw hole are symmetrically arranged at the front end of the trolley body, and the first screw and the second screw are respectively combined with the first screw hole and the second screw hole to fix the traveling component to the front end of the trolley body.

5. The magnetic tape guided AGV according to claim 1, characterized in that: The driving data acquisition component includes a gyroscope and an encoder. The gyroscope and the encoder are arranged on the driving component. The output end of the gyroscope and the output end of the encoder are electrically connected to the data end of the control module.

6. The magnetic tape guided AGV according to claim 5, characterized in that: The gyroscope is configured to collect the angular velocity and acceleration of the AGV during its travel, and the encoder is configured to measure the travel distance of the AGV during its travel.

7. The magnetic tape guided AGV according to claim 1, characterized in that: The second magnetic tape identification module is a five-way grayscale sensor, wherein the five-way grayscale sensor is composed of five identical cylindrical light-emitting diodes and a photosensitive receiving element.

Images