AGV (Automatic Guided Vehicle) navigation control system and control method for transporting segmented products

Abstract

The invention discloses an AGV vehicle navigation control system and control method for transporting segmented products, and solves the problems that transportation of a product section A and a product section B is completed through a manual mechanism, but manual transportation is low in efficiency, transportation of each section of the product is difficult to accurately regulate and control according to preset assembling time, some product sections need to be stored, and the transportation efficiency is low. And cost waste is caused. The main vehicle dispatching unit is controlled through the main vehicle control unit, real-time information interaction is facilitated, AGV vehicle movement information is measured through the magnetic navigation sensor and the angle encoder, AGV vehicle deviation correction is achieved, the control system knows the position of a vehicle on a whole path through landmark information measured through the RFID sensor, and then path navigation is completed. As the requirement for the completion precision of the whole transportation process is high, the method is suitable for road conditions where complex conditions possibly occur, and a plurality of AGVs can be systematically coordinated to complete navigation and wrong vehicle tasks.

Description

Technical Field

[0001] The present invention relates to a vehicle navigation control method, and in particular to an AGV vehicle navigation control system and a control method for transporting segmented products. Background Art

[0002] Some large equipment is usually composed of multiple product segments. In order to complete specific tasks, these product segments need to be assembled and disassembled on the ground and transported in segments. After arriving at the destination, the product segments A and B are docked to connect the various product segments together to form a complete state.

[0003] In addition, in some tasks, certain equipment needs to carry specific loads, such as brackets, pallets, etc. These loads usually exist as independent product segments. By docking product segment A with product segment B, the load and equipment are connected together to achieve loading and transportation.

[0004] At present, the transportation of product section A and product section B is completed by manual means, but the efficiency of manual transportation is low, and it is difficult to accurately control the transportation of each product section according to the scheduled assembly time, resulting in the need to store some product sections, causing waste of costs. Summary of the invention

[0005] The purpose of the present invention is to solve the problem that the transportation of product section A and product section B is completed by manual mechanisms, but the efficiency is low during manual transportation, and it is difficult to accurately control the transportation of each product section according to the predetermined assembly time, resulting in the need to store some product sections, causing cost waste, and to provide an AGV vehicle navigation control system and control method for transporting segmented products.

[0006] In order to achieve the above object, the present invention adopts the following technical solution:

[0007] An AGV vehicle navigation control system for transporting segmented products, which is special in that it includes: a master vehicle control unit, a master vehicle dispatching unit, a master vehicle movement control unit, a slave vehicle dispatching unit, a first slave vehicle movement control unit and a second slave vehicle movement control unit;

[0008] The main vehicle control unit is connected to the main vehicle dispatching unit via a wireless signal, and is used to input a mobile task package to the main vehicle dispatching unit;

[0009] The master vehicle dispatching unit is electrically connected to the master vehicle movement control unit and is connected to the slave vehicle dispatching unit via wireless signals; it is used to parse the mobile task package to obtain the master vehicle communication information, product segment selection information and slave vehicle communication information;

[0010] The main vehicle movement control unit is connected to the main AGV vehicle that transports product section A, and is used to send movement control instructions to the main AGV vehicle according to the main vehicle communication information, and collect the main AGV vehicle movement information and send it to the main vehicle dispatching unit;

[0011] The slave vehicle scheduling unit is connected to the first slave vehicle movement control unit and the second slave vehicle movement control unit, the first slave vehicle movement control unit is connected to the first slave AGV vehicle that transports product segment B, and the second slave vehicle movement control unit is connected to the second slave AGV vehicle that transports product segment C that replaces product segment B; the slave vehicle scheduling unit selects product segment B or replaces product segment C of product segment B according to the product segment selection information, and sends the movement control instruction to the corresponding vehicle through the corresponding first slave vehicle movement control unit or the second slave vehicle movement control unit for the slave vehicle communication information, and collects the vehicle movement information, and sends it to the slave vehicle scheduling unit and the master vehicle scheduling unit in sequence.

[0012] Furthermore, the mobile task package specifically includes the master vehicle communication information, the product segment selection information and the slave vehicle communication information;

[0013] The main vehicle communication information includes: start command, main AGV vehicle driving path, main vehicle landmark point information, and maximum deflection point information on the main AGV vehicle driving path;

[0014] The product segment selection information includes: the first slave AGV vehicle is selected when the product segment A and the product segment B are combined from being separated, the first slave AGV vehicle is selected when the product segment A and the product segment B are combined from being separated, and the second slave AGV vehicle is selected when the product segment C replaces the product segment B;

[0015] The slave vehicle communication information includes: a start instruction, a driving path of the slave AGV vehicle, a slave vehicle landmark position information, and a deflection point position information on the driving path of the slave AGV vehicle.

[0016] Furthermore, the main vehicle movement control unit includes a main vehicle controller, a main vehicle RFID sensor, a main vehicle driver, a main vehicle magnetic navigation sensor and a main vehicle angle encoder. The main vehicle controller is respectively connected to the main vehicle scheduling unit, the main vehicle RFID sensor, the main vehicle driver, the main vehicle magnetic navigation sensor and the main vehicle angle encoder. The main vehicle driver is connected to the main AGV vehicle. The main vehicle controller is used to receive the main vehicle communication information sent by the main vehicle scheduling unit, and control the main vehicle driver to drive the main AGV vehicle to move according to the main vehicle communication information. The main vehicle RFID sensor is used to collect the actual landmark point information of the main AGV vehicle movement, the main vehicle magnetic navigation sensor is used to collect the actual magnetic stripe information on the main AGV vehicle path, and the main vehicle angle encoder is used to collect the wheel deflection angle of the main AGV vehicle. The actual magnetic stripe information and the wheel deflection angle of the main AGV vehicle are input into the main vehicle controller and converted into actual deflection point information on the vehicle driving path; the actual landmark point information and the actual deflection point information on the vehicle driving path are sent to the main vehicle scheduling unit as the main AGV vehicle movement information.

[0017] Furthermore, the main vehicle driver includes a main vehicle travel driver and a main vehicle steering driver.

[0018] Furthermore, the first slave vehicle movement control unit includes a first slave vehicle controller, a first slave vehicle RFID sensor, a first slave vehicle driver, a first slave vehicle magnetic navigation sensor and a first slave vehicle angle encoder, the first slave vehicle controller is respectively connected to the slave vehicle scheduling unit, the first slave vehicle RFID sensor, the first slave vehicle driver and the first slave vehicle magnetic navigation sensor, the first slave vehicle driver is connected to the first slave AGV vehicle, the first slave vehicle controller is used to receive the slave vehicle communication information sent by the slave vehicle scheduling unit, and control the first slave vehicle driver to drive the first slave AGV vehicle to move according to the slave vehicle communication information, through the first slave vehicle RFID sensor Collect the actual landmark position information of the movement of the first slave AGV vehicle, collect the actual magnetic stripe information on the path of the first slave AGV vehicle through the first slave vehicle magnetic navigation sensor, collect the wheel deflection angle of the first slave AGV vehicle through the first slave vehicle angle encoder, input the actual magnetic stripe information into the first slave vehicle controller, and convert it into the actual deflection point position information on the path of the first slave AGV vehicle in combination with the wheel deflection angle of the first slave AGV vehicle, and send the actual landmark position information of the movement of the first slave AGV vehicle and the actual deflection point position information on the path of the first slave AGV vehicle as vehicle movement information to the slave vehicle scheduling unit and the master vehicle scheduling unit in sequence;

[0019] The second slave vehicle movement control unit includes a second slave vehicle controller, a second slave vehicle RFID sensor, a second slave vehicle driver, a second slave vehicle magnetic navigation sensor and a second slave vehicle angle encoder. The second slave vehicle controller is respectively connected to the slave vehicle scheduling unit, the second slave vehicle RFID sensor, the second slave vehicle driver and the second slave vehicle magnetic navigation sensor. The second slave vehicle driver is connected to the second slave AGV vehicle. The second slave vehicle controller is used to receive the slave vehicle communication information sent by the slave vehicle scheduling unit, and control the second slave vehicle driver to drive the second slave AGV vehicle to move according to the slave vehicle communication information. The second slave vehicle RFID sensor collects The actual landmark point information of the movement of the second slave AGV vehicle, the actual magnetic stripe information on the path of the second slave AGV vehicle collected by the second slave vehicle magnetic navigation sensor, and the wheel deflection angle of the second slave AGV vehicle collected by the second slave vehicle angle encoder, the actual magnetic stripe information is input into the second slave vehicle controller, and combined with the wheel deflection angle of the second slave AGV vehicle, it is converted into the actual deflection point information on the path of the second slave AGV vehicle, and the actual landmark point information of the movement of the second slave AGV vehicle and the actual deflection point information on the path of the second slave AGV vehicle are sent as vehicle movement information to the slave vehicle scheduling unit and the master vehicle scheduling unit in sequence.

[0020] Furthermore, the first slave vehicle driver includes a first slave vehicle traveling driver and a first slave vehicle steering driver.

[0021] The present invention provides an AGV vehicle navigation control method for transporting segmented products, which is special in that, based on the above-mentioned AGV vehicle navigation control system for transporting segmented products, the method includes the following steps:

[0022] S1. Lay magnetic strips between various landmarks according to the mobile task package, connect the master vehicle mobile control unit to the master AGV vehicle; connect the first slave vehicle mobile control unit to the first slave AGV vehicle, and connect the second slave vehicle mobile control unit to the second slave AGV vehicle;

[0023] S2. Input the mobile task package to the main vehicle dispatching unit through the main vehicle control unit. The main vehicle dispatching unit parses the mobile task package to obtain the main vehicle communication information, product segment selection information and slave vehicle communication information; and inputs the main vehicle communication information into the main vehicle mobile control unit, and inputs the product segment selection information and slave vehicle communication information into the slave vehicle dispatching unit;

[0024] S3, the main vehicle movement control unit controls the movement of the main AGV vehicle according to the main vehicle communication information, collects the main AGV vehicle movement information and sends it to the main vehicle dispatching unit, and corrects the movement direction in combination with the main vehicle communication information;

[0025] S4, the vehicle dispatching unit selects to transport product segment B or product segment C according to the product segment selection information. If the product segment B is transported, execute S5; if the product segment C is transported, execute S6;

[0026] S5, inputting the slave vehicle communication information into the first slave vehicle movement control unit, the first slave vehicle movement control unit controls the movement of the first slave AGV vehicle according to the slave vehicle communication information, and collects the movement information of the first slave AGV vehicle and sends it to the vehicle dispatching unit and the master vehicle dispatching unit in sequence, and corrects the movement direction of the first slave AGV vehicle in combination with the slave vehicle communication information, and completes the AGV vehicle navigation control of segmented product transportation;

[0027] S6. Input the slave vehicle communication information into the second slave vehicle movement control unit. The second slave vehicle movement control unit controls the movement of the second slave AGV vehicle according to the slave vehicle communication information, collects the movement information of the second slave AGV vehicle and sends it to the vehicle dispatching unit and the main vehicle dispatching unit in sequence. Combined with the slave vehicle communication information, the movement direction of the second slave AGV vehicle is corrected to complete the AGV vehicle navigation control for segmented product transportation.

[0028] Furthermore, S3 is specifically:

[0029] The driving path of the main AGV vehicle and the landmark point information of the main vehicle are input into the main vehicle controller. The main vehicle controller controls the main AGV vehicle to move according to the driving path of the main AGV vehicle. The landmark point information of the main AGV vehicle is collected through the main vehicle RFID sensor. The actual magnetic stripe information of the relative position of the landmark point information of the main vehicle is collected through the main vehicle magnetic navigation sensor. The wheel deflection angle of the main AGV vehicle is collected through the main vehicle angle encoder. The actual magnetic stripe information and the wheel deflection angle of the main AGV vehicle are input into the main vehicle controller and converted into actual deflection point information on the vehicle driving path. The actual landmark point information and the actual deflection point information are sent to the main vehicle dispatching unit in sequence as the movement information of the main AGV vehicle; it is determined whether the actual deflection point information is within the maximum deflection point information range on the driving path of the main AGV vehicle. If so, there is no need to correct the moving direction of the main AGV vehicle, otherwise the wheel deflection angle of the main AGV vehicle is adjusted through the main vehicle controller.

[0030] Furthermore, S5 is specifically:

[0031] The slave vehicle communication information is input into the first slave vehicle controller, and the first slave vehicle driver is controlled according to the slave vehicle communication information to drive the first slave AGV vehicle to move. The landmark point information of the first slave AGV vehicle is collected through the first slave vehicle RFID sensor, and the actual landmark point information of the movement of the first slave AGV vehicle is collected through the first slave vehicle RFID sensor. The actual magnetic stripe information on the path of the first slave AGV vehicle is collected through the first slave vehicle magnetic navigation sensor, and the wheel deflection angle of the first slave AGV vehicle is collected through the first slave vehicle angle encoder. The actual magnetic stripe information and the wheel deflection angle of the first slave AGV vehicle are input into the first slave vehicle controller and converted into actual deflection point information on the driving path of the first slave AGV vehicle. The actual landmark point information and the actual deflection point information are sent to the slave vehicle scheduling unit and the master vehicle scheduling unit in sequence as the movement information of the first slave AGV vehicle; it is determined whether the actual deflection point information is within the maximum deflection point information range on the driving path of the slave AGV vehicle. If so, there is no need to correct the moving direction of the first slave AGV vehicle, otherwise the wheel deflection angle of the first slave AGV vehicle is adjusted through the first slave vehicle controller.

[0032] Furthermore, S6 is specifically:

[0033] The slave vehicle communication information is input into the second slave vehicle controller, and the second slave vehicle driver is controlled according to the slave vehicle communication information to drive the second slave AGV vehicle to move. The landmark point information of the second slave AGV vehicle is collected through the second slave vehicle RFID sensor, and the actual landmark point information of the second slave AGV vehicle movement is collected through the second slave vehicle RFID sensor. The actual magnetic stripe information on the path of the second slave AGV vehicle is collected through the second slave vehicle magnetic navigation sensor, and the wheel deflection angle of the second slave AGV vehicle is collected through the second slave vehicle angle encoder. The actual magnetic stripe information and the wheel deflection angle of the second slave AGV vehicle are input into the second slave vehicle controller and converted into actual deflection point information on the driving path of the second slave AGV vehicle. The actual landmark point information and the actual deflection point information are sent to the slave vehicle scheduling unit and the master vehicle scheduling unit in sequence as the movement information of the second slave AGV vehicle; it is determined whether the actual deflection point information is within the maximum deflection point information range on the driving path of the slave AGV vehicle. If so, there is no need to correct the moving direction of the second slave AGV vehicle, otherwise the wheel deflection angle of the second slave AGV vehicle is adjusted through the second slave vehicle controller.

[0034] Beneficial effects of the present invention:

[0035] 1. The present invention provides an AGV vehicle navigation control system and control method for transporting segmented products, which can be used for segmented transportation of products of large equipment, facilitate timely adjustment of the transportation time of each segment, and improve the success rate of equal-time docking of product segments.

[0036] 2. The present invention provides an AGV vehicle navigation control system and control method for transporting segmented products. The main vehicle dispatching unit is controlled by the main vehicle control unit to facilitate real-time information interaction. The AGV vehicle movement information is measured by the magnetic navigation sensor and the angle encoder to realize the deviation correction of the AGV vehicle. The landmark information measured by the RFID sensor enables the control system to know the position of the vehicle on the entire path, thereby completing the path navigation. Since the entire transportation process requires high accuracy, it is suitable for road conditions where complex situations may occur. It can systematically coordinate multiple AGV vehicles to complete navigation and vehicle-passing tasks, and the vehicle controller interacts with the coordinate information of other sensors multiple times. Therefore, a high-precision, high-success rate fully automatic mobile transportation method to realize the transportation of product segments A and B becomes very important. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 It is a structural schematic diagram of an embodiment of an AGV vehicle navigation control system for transporting segmented products according to the present invention;

[0038] Figure 2 It is a structural schematic diagram of a main vehicle movement control unit in an embodiment of an AGV vehicle navigation control system for transporting segmented products according to the present invention;

[0039] Figure 3 It is a structural schematic diagram of a first slave vehicle movement control unit in an embodiment of an AGV vehicle navigation control system for transporting segmented products of the present invention;

[0040] Figure 4 It is a structural schematic diagram of a second slave vehicle movement control unit in an embodiment of an AGV vehicle navigation control system for transporting segmented products of the present invention.

[0041] In the figure, 1, the main vehicle control unit; 2, the main vehicle scheduling unit; 3, the main vehicle movement control unit, 3-1, the main vehicle controller, 3-2, the main vehicle RFID sensor, 3-3, the main vehicle drive, 3-4, the main vehicle magnetic navigation sensor, 3-5, the main vehicle angle encoder; 4, the slave vehicle scheduling unit; 5, the first slave vehicle movement control unit, 5-1, the first slave vehicle controller, 5-2, the first slave vehicle RFID sensor, 5-3, the first slave vehicle drive, 5-4, the first slave vehicle magnetic navigation sensor, 5-5, the first slave vehicle angle encoder; 6, the second slave vehicle movement control unit, 6-1, the second slave vehicle controller, 6-2, the second slave vehicle RFID sensor, 6-3, the second slave vehicle drive, 6-4, the second slave vehicle magnetic navigation sensor, 6-5, the second slave vehicle angle encoder. DETAILED DESCRIPTION

[0042] The technical solution of the present invention will be clearly and completely described below in conjunction with the accompanying drawings and embodiments. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0043] Example 1

[0044] This embodiment is an AGV vehicle navigation control system for transporting segmented products, which is used to transport product segment A and product segment B separately and then assemble them; the connection relationship of the system is as follows Figure 1 and Figure 2 As shown, it includes: a master vehicle control unit 1, a master vehicle scheduling unit 2, a master vehicle movement control unit 3, a slave vehicle scheduling unit 4, a first slave vehicle movement control unit 5 and a second slave vehicle movement control unit 6.

[0045] The main vehicle movement control unit 3 includes a main vehicle controller 3-1, a main vehicle RFID sensor 3-2, a main vehicle driver 3-3, a main vehicle magnetic navigation sensor 3-4 and a main vehicle angle encoder 3-5.

[0046] The first slave vehicle movement control unit 5 includes a first slave vehicle controller 5-1, a first slave vehicle RFID sensor 5-2, a first slave vehicle driver 5-3, a first slave vehicle magnetic navigation sensor 5-4 and a first slave vehicle angle encoder 5-5.

[0047] The second slave vehicle movement control unit 6 includes a second slave vehicle controller 6-1, a second slave vehicle RFID sensor 6-2, a second slave vehicle driver 6-3, a second slave vehicle magnetic navigation sensor 6-4 and a second slave vehicle angle encoder 6-5.

[0048] The main vehicle control unit 1 is connected to the main vehicle dispatching unit 2 through a wireless signal, the main vehicle dispatching unit 2 is electrically connected to the main vehicle controller 3-1, the main vehicle controller 3-1 is respectively connected to the main vehicle RFID sensor 3-2, the main vehicle driver 3-3, the main vehicle magnetic navigation sensor 3-4 and the main vehicle angle encoder 3-5, and the main vehicle driver 3-3 is connected to the main AGV vehicle;

[0049] The master vehicle dispatching unit 2 is connected to the slave vehicle dispatching unit 4 through a wireless signal, the slave vehicle dispatching unit 4 is connected to the first slave vehicle controller 5-1, the first slave vehicle controller 5-1 is respectively connected to the first slave vehicle RFID sensor 5-2, the first slave vehicle driver 5-3, the first slave vehicle magnetic navigation sensor 5-4, and the first slave vehicle angle encoder 5-5; the first slave vehicle driver 5-3 is connected to the first slave AGV vehicle;

[0050] The main vehicle control unit 1 may use a main vehicle touch screen capable of inputting a mobile task package to the main vehicle dispatching unit 2 .

[0051] The first slave vehicle controller 5-1 can read the magnetic stripe information of the AGV vehicle and the magnetic stripe on the driving path detected by the first slave vehicle magnetic navigation sensor 5-4.

[0052] The slave vehicle dispatching unit 4 is also connected to the second slave vehicle controller 6-1, and the second slave vehicle controller 6-1 is respectively connected to the second slave vehicle RFID sensor 6-2, the second slave vehicle driver 6-3, the second slave vehicle magnetic navigation sensor 6-4, and the second slave vehicle angle encoder 6-5; the second slave vehicle driver 6-3 is connected to the second slave AGV vehicle.

[0053] This embodiment provides an AGV vehicle navigation control method for transporting segmented products, which specifically includes the following steps:

[0054] S1. To ensure that the AGV vehicle can travel along the planned route, magnetic strips are laid between landmarks on the entire ground. The master vehicle magnetic navigation sensor 3-4, the first slave vehicle magnetic navigation sensor 5-4, and the second slave vehicle magnetic navigation sensor 6-4 can all detect the relative position of the AGV vehicle and the magnetic strip as magnetic strip information;

[0055] The main vehicle angle encoder 3-5 in the main vehicle mobile control unit 3 is connected to the main AGV vehicle; it is used for the vehicle deflection angle; the main vehicle RFID sensor 3-2 and the main vehicle magnetic navigation sensor 3-4 are connected to the outside of the main AGV vehicle; the main vehicle driver 3-3 is connected to the main AGV vehicle controller;

[0056] The first slave vehicle angle encoder 5-5 in the first slave vehicle movement control unit 5 is connected to the vehicle of the first slave AGV vehicle; used for the vehicle vehicle deflection angle; the first slave vehicle RFID sensor 5-2 and the first slave vehicle magnetic navigation sensor 5-4 are connected to the outside of the first slave AGV vehicle; the first slave vehicle driver 5-3 is connected to the first slave AGV vehicle controller;

[0057] The second vehicle angle encoder 6-5 in the second vehicle movement control unit 6 is connected to the vehicle of the second AGV vehicle; it is used for the vehicle deflection angle; the second vehicle RFID sensor 6-2 and the second vehicle magnetic navigation sensor 6-4 are connected to the outside of the second AGV vehicle; the second vehicle driver 6-3 is connected to the second AGV vehicle controller.

[0058] S2, connect the first slave vehicle movement control unit 5 to the first slave AGV vehicle, and connect the second slave vehicle movement control unit 6 to the second slave AGV vehicle; input the movement task package to the master vehicle scheduling unit 2 according to the master vehicle control unit 1, and the master vehicle scheduling unit 2 parses the movement task package to obtain the master vehicle communication information, product segment selection information and slave vehicle communication information; and input the master vehicle communication information to the master vehicle movement control unit 3, and input the product segment selection information and the slave vehicle communication information to the slave vehicle scheduling unit 4;

[0059] S3, input the main AGV vehicle's driving path and the main vehicle's landmark point information into the main vehicle controller 3-1, the main vehicle controller 3-1 controls the main AGV vehicle to move according to the main AGV vehicle's driving path, collects the main AGV vehicle's landmark point information through the main vehicle RFID sensor 3-2, collects the actual magnetic stripe information of the relative position of the main vehicle's landmark point information through the main vehicle magnetic navigation sensor 3-4, collects the main AGV vehicle's wheel deflection angle through the main vehicle angle encoder 3-5, inputs the actual magnet information and the main AGV vehicle's wheel deflection angle into the main vehicle controller 3-1 and converts them into actual deflection point information on the vehicle's driving path, sends the actual landmark point information and the actual deflection point information as the main AGV vehicle's movement information to the main vehicle dispatching unit 2 in sequence; judges whether the actual deflection point information is within the maximum deflection point information range on the main AGV vehicle's driving path, if so, there is no need to correct the main AGV vehicle's moving direction, otherwise adjusts the main AGV vehicle's wheel deflection angle through the main vehicle controller 3-1;

[0060] S4, the vehicle dispatching unit selects the transport product segment B according to the product segment selection information;

[0061] S5, input the slave vehicle communication information into the first slave vehicle controller 5-1, control the first slave vehicle driver 5-3 to drive the first slave AGV vehicle to move according to the slave vehicle communication information, collect the landmark point information of the first slave AGV vehicle through the first slave vehicle RFID sensor 5-2, collect the actual landmark point information of the movement of the first slave AGV vehicle through the first slave vehicle RFID sensor 5-2, collect the actual magnetic stripe information on the path of the first slave AGV vehicle through the first slave vehicle magnetic navigation sensor 5-4, collect the wheel deflection angle of the first slave AGV vehicle through the first slave vehicle angle encoder 5-5, and collect the actual magnet information and the first slave AGV vehicle. The wheel deflection angle of the vehicle is input into the first slave vehicle controller 5-1 and converted into the actual deflection point information on the driving path of the first slave AGV vehicle. The actual landmark point information and the actual deflection point information are sent to the slave vehicle scheduling unit 4 and the master vehicle scheduling unit 2 in sequence as the movement information of the first slave AGV vehicle; it is determined whether the actual deflection point information is within the maximum deflection point information range on the driving path of the slave AGV vehicle. If so, there is no need to correct the moving direction of the first slave AGV vehicle. Otherwise, the wheel deflection angle of the first slave AGV vehicle is adjusted through the first slave vehicle controller 5-1 to complete the AGV vehicle navigation control of segmented product transportation.

[0062] Example 2

[0063] Different from Example 1, S4 is:

[0064] S4, the vehicle dispatching unit selects the transport product segment C according to the product segment selection information;

[0065] S5, input the slave vehicle communication information into the second slave vehicle controller 6-1, control the second slave vehicle driver 6-3 to drive the second slave AGV vehicle to move according to the slave vehicle communication information, collect the landmark point information of the second slave AGV vehicle through the second slave vehicle RFID sensor 6-2, collect the actual landmark point information of the second slave AGV vehicle movement through the second slave vehicle RFID sensor 6-2, collect the actual magnetic stripe information on the path of the second slave AGV vehicle through the second slave vehicle magnetic navigation sensor 6-5, collect the wheel deflection angle of the second slave AGV vehicle through the second slave vehicle angle encoder 6-5, and collect the actual magnet information and the second slave AGV vehicle. The wheel deflection angle of the vehicle is input into the second slave vehicle controller 6-1 and converted into the actual deflection point information on the driving path of the second slave AGV vehicle. The actual landmark point information and the actual deflection point information are sent to the slave vehicle scheduling unit 4 and the master vehicle scheduling unit 2 in sequence as the movement information of the second slave AGV vehicle; it is determined whether the actual deflection point information is within the maximum deflection point information range on the driving path of the slave AGV vehicle. If so, there is no need to correct the moving direction of the second slave AGV vehicle. Otherwise, the wheel deflection angle of the second slave AGV vehicle is adjusted through the second slave vehicle controller 6-1 to complete the AGV vehicle navigation control of segmented product transportation.

[0066] In Example 1 and Example 2, the slave vehicle dispatching unit 4 inputs the movement information of the first slave AGV vehicle or the second slave AGV vehicle, i.e., the actual landmark position information and the actual deflection position information, to the master vehicle dispatching unit 2 at a cycle of 1 second, so as to determine whether the actual deflection position information is within the maximum deflection position information range corresponding to the actual landmark position information.

[0067] The master vehicle dispatching unit 2 determines the position information of the slave AGV vehicle according to the actual landmark point information and actual deflection point information sent to it by the slave vehicle dispatching unit 4, and updates the slave vehicle communication information sent to the slave vehicle dispatching system 4 in real time, so as to realize the passing of the three AGV vehicles on the driving path, that is, alternating movement.

[0068] In Example 1, the mobile task packet follows the TCP / IP standard protocol, and the specific content includes frame header, frame length, frame type, instruction code, target point information, check code, etc. After receiving the mobile task packet, the main vehicle dispatch unit 2 first determines the frame header and frame length, determines the validity of the information, and then determines the validity of the check code to determine the validity of the information, and then intercepts the communication content therein, reads the main vehicle communication information, product segment selection information and slave vehicle communication information, and suspends the mobile task at any time according to the maximum point information during the task execution process.

[0069] The above description is only a specific embodiment of the present invention, and a comparison of the effects of the specific embodiments and the related comparative examples, but the protection scope of the present invention is not limited thereto. Any changes or substitutions within the technical scope disclosed by the present invention should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. An AGV vehicle navigation control system for transporting segmented products, characterized in that: include: A master vehicle control unit (1), a master vehicle dispatching unit (2), a master vehicle movement control unit (3), a slave vehicle dispatching unit (4), a first slave vehicle movement control unit (5) and a second slave vehicle movement control unit (6); The main vehicle control unit (1) is connected to the main vehicle dispatching unit (2) via a wireless signal, and is used to input a mobile task package to the main vehicle dispatching unit (2); The master vehicle dispatching unit (2) is electrically connected to the master vehicle movement control unit (3), and is connected to the slave vehicle dispatching unit (4) via a wireless signal; and is used to parse the movement task package to obtain the master vehicle communication information, product segment selection information and slave vehicle communication information; The main vehicle movement control unit (3) is connected to the main AGV vehicle transporting product section A, and is used to send movement control instructions to the main AGV vehicle according to the main vehicle communication information, and collect the main AGV vehicle movement information and send it to the main vehicle dispatching unit (2); The slave vehicle dispatching unit (4) is connected to a first slave vehicle movement control unit (5) and a second slave vehicle movement control unit (6); the first slave vehicle movement control unit (5) is connected to a first slave AGV vehicle for transporting product segment B, and the second slave vehicle movement control unit (6) is connected to a second slave AGV vehicle for transporting product segment C that replaces product segment B; the slave vehicle dispatching unit (4) selects product segment B or replaces product segment C of product segment B according to product segment selection information, and inputs slave vehicle communication information into the corresponding first slave vehicle movement control unit (5) or the second slave vehicle movement control unit (6), sends movement control instructions to the corresponding slave AGV vehicle, and collects vehicle movement information, and sends it to the slave vehicle dispatching unit (4) and the master vehicle dispatching unit (2) in sequence.

2. According to claim 1, an AGV vehicle navigation control system for transporting segmented products is characterized in that: The mobile task package is a combination of the master vehicle communication information, the product segment selection information and the slave vehicle communication information; The main vehicle communication information includes: start command, main AGV vehicle driving path, main vehicle landmark point information, and maximum deflection point information on the main AGV vehicle driving path; The product segment selection information includes: the first slave AGV vehicle is selected when the product segment A and the product segment B are combined from being separated, the first slave AGV vehicle is selected when the product segment A and the product segment B are combined from being separated, and the second slave AGV vehicle is selected when the product segment C replaces the product segment B; The slave vehicle communication information includes: a start instruction, a driving path of the slave AGV vehicle, a slave vehicle landmark position information, and a deflection point position information on the driving path of the slave AGV vehicle.

3. According to claim 1, an AGV vehicle navigation control system for transporting segmented products is characterized in that: The main vehicle movement control unit (3) comprises a main vehicle controller (3-1), a main vehicle RFID sensor (3-2), a main vehicle driver (3-3), a main vehicle magnetic navigation sensor (3-4) and a main vehicle angle encoder (3-5); the main vehicle controller (3-1) is respectively connected to the main vehicle dispatching unit (2), the main vehicle RFID sensor (3-2), the main vehicle driver (3-3), the main vehicle magnetic navigation sensor (3-4) and the main vehicle angle encoder (3-5); the main vehicle driver (3-3) is connected to the main AGV vehicle; the main vehicle controller (3-1) is used to receive the main vehicle communication information sent by the main vehicle dispatching unit (2), and control the main vehicle according to the main vehicle communication information. The vehicle driver (3-3) drives the main AGV vehicle to move, collects actual landmark point information of the main AGV vehicle movement through the main vehicle RFID sensor (3-2), collects actual magnetic stripe information on the main AGV vehicle path through the main vehicle magnetic navigation sensor (3-4), and collects the wheel deflection angle of the main AGV vehicle through the main vehicle angle encoder (3-5), inputs the actual magnetic stripe information and the wheel deflection angle of the main AGV vehicle into the main vehicle controller (3-1) and converts them into actual deflection point information on the vehicle driving path; and sends the actual landmark point information and the actual deflection point information on the vehicle driving path as the main AGV vehicle movement information to the main vehicle dispatching unit (2).

4. The AGV vehicle navigation control system for transporting segmented products according to claim 3, characterized in that: The main vehicle driver (3-3) comprises a main vehicle travel driver and a main vehicle steering driver.

5. The AGV vehicle navigation control system for transporting segmented products according to claim 1, characterized in that: The first slave vehicle movement control unit (5) comprises a first slave vehicle controller (5-1), a first slave vehicle RFID sensor (5-2), a first slave vehicle driver (5-3), a first slave vehicle magnetic navigation sensor (5-4) and a first slave vehicle angle encoder (5-5); the first slave vehicle controller (5-1) is respectively connected to the slave vehicle scheduling unit (4), the first slave vehicle RFID sensor (5-2), the first slave vehicle driver (5-3), the first slave vehicle magnetic navigation sensor (5-4) and the first slave vehicle angle encoder (5-5); the first slave vehicle driver (5-3) is connected to the first slave AGV vehicle; the first slave vehicle controller (5-1) is used to receive slave vehicle communication information sent by the slave vehicle scheduling unit (4), and control the first slave vehicle driver (5-3) according to the slave vehicle communication information. ) drives the first slave AGV vehicle to move, collects actual landmark point information of the movement of the first slave AGV vehicle through the first slave vehicle RFID sensor (5-2), collects actual magnetic stripe information on the path of the first slave AGV vehicle through the first slave vehicle magnetic navigation sensor (5-4), collects the wheel deflection angle of the first slave AGV vehicle through the first slave vehicle angle encoder (5-5), inputs the actual magnetic stripe information into the first slave vehicle controller (5-1), and converts it into actual deflection point information on the path of the first slave AGV vehicle in combination with the wheel deflection angle of the first slave AGV vehicle, and sends the actual landmark point information of the movement of the first slave AGV vehicle and the actual deflection point information on the path of the first slave AGV vehicle as vehicle movement information to the slave vehicle scheduling unit (4) and the master vehicle scheduling unit (2) in sequence; The second slave vehicle movement control unit (6) comprises a second slave vehicle controller (6-1), a second slave vehicle RFID sensor (6-2), a second slave vehicle driver (6-3), a second slave vehicle magnetic navigation sensor (6-4) and a second slave vehicle angle encoder (6-5); the second slave vehicle controller (6-1) is respectively connected to the slave vehicle dispatching unit (4), the second slave vehicle RFID sensor (6-2), the second slave vehicle driver (6-3), the second slave vehicle magnetic navigation sensor (6-4) and the second slave vehicle angle encoder (6-5); the second slave vehicle driver (6-3) is connected to the second slave AGV vehicle; the second slave vehicle controller (6-1) is used to receive slave vehicle communication information sent by the slave vehicle dispatching unit (4), and control the second slave vehicle driver (6-3) according to the slave vehicle communication information. ) drives the second slave AGV vehicle to move, collects the actual landmark point information of the second slave AGV vehicle through the second slave vehicle RFID sensor (6-2), collects the actual magnetic stripe information on the path of the second slave AGV vehicle through the second slave vehicle magnetic navigation sensor (6-5), collects the wheel deflection angle of the second slave AGV vehicle through the second slave vehicle angle encoder (6-5), inputs the actual magnetic stripe information into the second slave vehicle controller (6-1), and converts it into the actual deflection point information on the path of the second slave AGV vehicle in combination with the wheel deflection angle of the second slave AGV vehicle, and sends the actual landmark point information of the second slave AGV vehicle and the actual deflection point information on the path of the second slave AGV vehicle as vehicle movement information to the slave vehicle scheduling unit (4) and the master vehicle scheduling unit (2) in sequence.

6. The AGV vehicle navigation control system for transporting segmented products according to claim 5, characterized in that: The first slave vehicle driver (5-3) comprises a first slave vehicle travel driver and a first slave vehicle steering driver; The second slave vehicle driver (6-3) comprises a second slave vehicle travel driver and a second slave vehicle steering driver.

7. An AGV vehicle navigation control method for transporting segmented products, characterized in that: An AGV vehicle navigation control system for segmented transportation of products according to any one of claims 1 to 6 comprises the following steps: S1. Lay magnetic strips between various landmarks according to the mobile task package, connect the master vehicle mobile control unit (3) to the master AGV vehicle; connect the first slave vehicle mobile control unit (5) to the first slave AGV vehicle, and connect the second slave vehicle mobile control unit (6) to the second slave AGV vehicle; S2, inputting a mobile task package to the main vehicle dispatching unit (2) through the main vehicle control unit (1), the main vehicle dispatching unit (2) parses the mobile task package to obtain the main vehicle communication information, product segment selection information and slave vehicle communication information; and inputting the main vehicle communication information to the main vehicle mobile control unit (3), and inputting the product segment selection information and slave vehicle communication information to the slave vehicle dispatching unit (4); S3, the main vehicle movement control unit (3) controls the movement of the main AGV vehicle according to the main vehicle communication information, collects the main AGV vehicle movement information and sends it to the main vehicle dispatching unit (2), and corrects the movement direction in combination with the main vehicle communication information; S4, the vehicle dispatching unit (4) selects to transport product segment B or product segment C according to the product segment selection information. If product segment B is to be transported, S5 is executed; if product segment C is to be transported, S6 is executed; S5, inputting the slave vehicle communication information into the first slave vehicle movement control unit (5), the first slave vehicle movement control unit (5) controls the movement of the first slave AGV vehicle according to the slave vehicle communication information, collects the movement information of the first slave AGV vehicle and sends it to the vehicle dispatching unit (4) and the master vehicle dispatching unit (2) in sequence, and corrects the movement direction of the first slave AGV vehicle in combination with the slave vehicle communication information, thereby completing the AGV vehicle navigation control for segmented product transportation; S6, inputting the slave vehicle communication information into the second slave vehicle movement control unit (6), the second slave vehicle movement control unit (6) controls the movement of the second slave AGV vehicle according to the slave vehicle communication information, collects the movement information of the second slave AGV vehicle and sends it to the vehicle dispatching unit (4) and the main vehicle dispatching unit (2) in sequence, and corrects the movement direction of the second slave AGV vehicle in combination with the slave vehicle communication information, thereby completing the AGV vehicle navigation control for segmented product transportation.

8. The AGV vehicle navigation control method for transporting segmented products according to claim 7, characterized in that: S3 is specifically: The main AGV vehicle driving path and the main vehicle landmark point information are input into the main vehicle controller (3-1). The main vehicle controller (3-1) controls the main AGV vehicle to move according to the main AGV vehicle driving path through the main vehicle driver (3-3). The main vehicle RFID sensor (3-2) collects the landmark point information of the main AGV vehicle. The main vehicle magnetic navigation sensor (3-4) collects the actual magnetic stripe information of the relative position of the main vehicle landmark point information. The main vehicle angle encoder (3-5) collects the wheel deflection angle of the main AGV vehicle. The actual magnetic stripe information is converted into the actual magnetic stripe information. The information and the wheel deflection angle of the main AGV vehicle are input into the main vehicle controller (3-1) and converted into actual deflection point information on the vehicle's driving path. The actual landmark point information and the actual deflection point information are sequentially sent to the main vehicle dispatching unit (2) as the movement information of the main AGV vehicle; it is determined whether the actual deflection point information is within the maximum deflection point information range on the main AGV vehicle's driving path. If so, there is no need to correct the moving direction of the main AGV vehicle. Otherwise, the wheel deflection angle of the main AGV vehicle is adjusted through the main vehicle controller (3-1).

9. The AGV vehicle navigation control method for transporting segmented products according to claim 7, characterized in that: S5 is specifically: The slave vehicle communication information is input into the first slave vehicle controller (5-1), and the first slave vehicle driver (5-3) is controlled according to the slave vehicle communication information to drive the first slave AGV vehicle to move, and the landmark point information of the first slave AGV vehicle is collected through the first slave vehicle RFID sensor (5-2), and the actual landmark point information of the movement of the first slave AGV vehicle is collected through the first slave vehicle RFID sensor (5-2), and the actual magnetic stripe information on the path of the first slave AGV vehicle is collected through the first slave vehicle magnetic navigation sensor (5-4), and the wheel deflection angle of the first slave AGV vehicle is collected through the first slave vehicle angle encoder (5-5), and the actual magnetic stripe information is collected. The information and the wheel deflection angle of the first slave AGV vehicle are input into the first slave vehicle controller (5-1) and converted into actual deflection point information on the driving path of the first slave AGV vehicle. The actual landmark point information and the actual deflection point information are sent to the slave vehicle scheduling unit (4) and the master vehicle scheduling unit (2) in sequence as the movement information of the first slave AGV vehicle; it is determined whether the actual deflection point information is within the maximum deflection point information range on the driving path of the slave AGV vehicle. If so, there is no need to correct the moving direction of the first slave AGV vehicle; otherwise, the wheel deflection angle of the first slave AGV vehicle is adjusted through the first slave vehicle controller (5-1).

10. The AGV vehicle navigation control method for transporting segmented products according to claim 7, characterized in that: S6 is specifically: The slave vehicle communication information is input into the second slave vehicle controller (6-1), and the second slave vehicle driver (6-3) is controlled according to the slave vehicle communication information to drive the second slave AGV vehicle to move, and the landmark point information of the second slave AGV vehicle is collected through the second slave vehicle RFID sensor (6-2), and the actual landmark point information of the second slave AGV vehicle movement is collected through the second slave vehicle RFID sensor (6-2), and the actual magnetic stripe information on the path of the second slave AGV vehicle is collected through the second slave vehicle magnetic navigation sensor (6-5), and the wheel deflection angle of the second slave AGV vehicle is collected through the second slave vehicle angle encoder (6-5), and the actual magnetic stripe information is collected. The information and the wheel deflection angle of the second slave AGV vehicle are input into the second slave vehicle controller (6-1) and converted into actual deflection point information on the driving path of the second slave AGV vehicle. The actual landmark point information and the actual deflection point information are sent to the slave vehicle scheduling unit (4) and the master vehicle scheduling unit (2) in sequence as the movement information of the second slave AGV vehicle; it is determined whether the actual deflection point information is within the maximum deflection point information range on the driving path of the slave AGV vehicle. If so, there is no need to correct the moving direction of the second slave AGV vehicle; otherwise, the wheel deflection angle of the second slave AGV vehicle is adjusted through the second slave vehicle controller (6-1).

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