An AGV vehicle navigation control system and control method for segmented product transportation

Abstract

The application discloses an AGV vehicle navigation control system and control method for segmented product transportation, solves the problem that the transportation of product A and product B is completed by an artificial mechanism, and when the transportation is completed by artificial, the efficiency is low, the transportation of each product section is difficult to accurately control according to the predetermined assembly time, some product sections need to be stored, and cost waste is caused; the main vehicle control unit controls the main vehicle scheduling unit, real-time information interaction is facilitated, the AGV vehicle movement information measured by the magnetic navigation sensor and the angle encoder is used to realize the deviation correction of the AGV vehicle, the landmark information measured by the RFID sensor is used to realize that the control system knows the position of the vehicle on the whole form path, and then the path navigation is completed. Since the whole transportation process has high accuracy requirements, is suitable for road conditions that may appear complex situations, and can systemically coordinate multiple AGV vehicles to complete the navigation and car error tasks.

Description

Technical Field

[0001] This invention relates to vehicle navigation control methods, specifically to an AGV vehicle navigation control system and control method for transporting segmented products. Background Technology

[0002] For some large equipment, which 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, transported in segments, and connected together to form a complete system by docking product segment A with product segment B after arriving at the destination.

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

[0004] Currently, the transportation of product segment A and product segment B is completed manually. However, manual transportation is inefficient and it is difficult to accurately control the transportation of each segment of the product according to the predetermined assembly time, resulting in some product segments needing to be stored, which leads to a waste of costs. Summary of the Invention

[0005] The purpose of this invention is to address the problem that the transportation of product segment A and product segment B is completed manually, which is inefficient and makes it difficult to accurately control the transportation of each segment according to the predetermined assembly time, resulting in some product segments needing to be stored and causing cost waste. Therefore, this invention provides an AGV vehicle navigation control system and control method for transporting segmented products.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] A navigation and control system for AGV vehicles used for transporting segmented products is characterized by comprising: 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 dispatch unit via wireless signal and is used to input mobile task packages to the main vehicle dispatch unit.

[0009] The master vehicle dispatching unit is electrically connected to the master vehicle mobile control unit and wirelessly connected to the slave vehicle dispatching unit; it is used to parse the mobile task package to obtain master vehicle communication information, product segmentation selection information and slave vehicle communication information.

[0010] The main vehicle motion control unit is connected to the main AGV vehicle of the transport product section A. It is used to send motion control commands to the main AGV vehicle according to the main vehicle communication information, and to collect the main AGV vehicle motion information and send it to the main vehicle dispatching unit.

[0011] The slave vehicle dispatching 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 transporting product segment B, and the second slave vehicle movement control unit is connected to the second slave AGV vehicle transporting product segment C, which replaces product segment B. The slave vehicle dispatching unit selects product segment B or product segment C, which replaces product segment B, according to the product segment selection information, and sends movement control commands to the corresponding vehicles through the corresponding first or second slave vehicle movement control unit. It also collects vehicle movement information and sends it to the slave vehicle dispatching unit and the master vehicle dispatching unit in sequence.

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

[0013] The master vehicle communication information includes: start command, master AGV vehicle travel path, master vehicle landmark point information, and maximum deflection point information on the master AGV vehicle travel path.

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

[0015] The communication information from the vehicle includes: start command, vehicle travel path from the AGV, vehicle landmark location information, and deflection point information on the vehicle travel path from the AGV.

[0016] Furthermore, the master vehicle movement control unit includes a master vehicle controller, a master vehicle RFID sensor, a master vehicle driver, a master vehicle magnetic navigation sensor, and a master vehicle angle encoder. The master vehicle controller is connected to the master vehicle scheduling unit, the master vehicle RFID sensor, the master vehicle driver, the master vehicle magnetic navigation sensor, and the master vehicle angle encoder. The master vehicle driver is connected to the master AGV vehicle. The master vehicle controller is used to receive master vehicle communication information sent by the master vehicle scheduling unit and control the master vehicle driver to drive the master AGV vehicle to move according to the master vehicle communication information. It collects the actual landmark position information of the master AGV vehicle movement through the master vehicle RFID sensor, collects the actual magnetic strip information on the path of the master AGV vehicle through the master vehicle magnetic navigation sensor, and collects the wheel deflection angle of the master AGV vehicle through the master vehicle angle encoder. It inputs the actual magnetic strip information and the wheel deflection angle of the master AGV vehicle into the master vehicle controller and converts them into actual deflection point information on the vehicle's driving path. It sends the actual landmark position information and the actual deflection point information on the vehicle's driving path as master AGV vehicle movement information to the master vehicle scheduling unit.

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

[0018] Furthermore, the first vehicle-mounted motion control unit includes a first vehicle-mounted controller, a first vehicle-mounted RFID sensor, a first vehicle-mounted driver, a first vehicle-mounted magnetic navigation sensor, and a first vehicle-mounted angle encoder. The first vehicle-mounted controller is connected to the vehicle-mounted scheduling unit, the first vehicle-mounted RFID sensor, the first vehicle-mounted driver, and the first vehicle-mounted magnetic navigation sensor. The first vehicle-mounted driver is connected to the first AGV vehicle. The first vehicle-mounted controller is used to receive vehicle-mounted communication information sent by the vehicle-mounted scheduling unit and control the first vehicle-mounted driver to drive the first AGV vehicle to move according to the vehicle-mounted communication information, via the first vehicle-mounted RFID sensor. The system collects the actual landmark location information of the first AGV vehicle's movement, collects the actual magnetic strip information on the path of the first AGV vehicle through the first AGV vehicle's magnetic navigation sensor, and collects the wheel deflection angle of the first AGV vehicle through the first AGV vehicle's angle encoder. The actual magnetic strip information is input into the first AGV vehicle controller, and combined with the wheel deflection angle of the first AGV vehicle, it is converted into actual deflection point information on the path of the first AGV vehicle. The actual landmark location information of the first AGV vehicle's movement and the actual deflection point information on the path of the first AGV vehicle are then sent as vehicle movement information to the AGV vehicle dispatching unit and the master vehicle dispatching unit in sequence.

[0019] The second vehicle movement control unit includes a second vehicle controller, a second vehicle RFID sensor, a second vehicle driver, a second vehicle magnetic navigation sensor, and a second vehicle angle encoder. The second vehicle controller is connected to the vehicle dispatching unit, the second vehicle RFID sensor, the second vehicle driver, and the second vehicle magnetic navigation sensor. The second vehicle driver is connected to the second AGV vehicle. The second vehicle controller receives vehicle communication information sent by the vehicle dispatching unit and controls the second vehicle driver to move the second AGV vehicle according to the vehicle communication information. The second vehicle RFID sensor collects data... The system collects the actual landmark location information of the second AGV vehicle's movement, the actual magnetic strip information on the path of the second AGV vehicle through the second AGV vehicle's magnetic navigation sensor, and the wheel deflection angle of the second AGV vehicle through the second AGV vehicle's angle encoder. The actual magnetic strip information is input into the second AGV vehicle controller, and combined with the wheel deflection angle of the second AGV vehicle, it is converted into actual deflection point information on the path of the second AGV vehicle. The actual landmark location information of the second AGV vehicle's movement and the actual deflection point information on the path of the second AGV vehicle are then sent as vehicle movement information to the slave vehicle scheduling unit and the master vehicle scheduling unit in sequence.

[0020] Furthermore, the first vehicle drive includes a first vehicle travel drive and a first vehicle steering drive.

[0021] This invention discloses an AGV vehicle navigation control method for transporting segmented products, characterized in that, based on the aforementioned AGV vehicle navigation control system for transporting segmented products, it includes the following steps:

[0022] S1. Lay magnetic strips between various landmarks according to the mobile task package, and 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. The main vehicle control unit inputs the mobile task package to the main vehicle dispatching 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. The main vehicle communication information is then input into the main vehicle mobile control unit, and the product segment selection information and slave vehicle communication information are input into the slave vehicle dispatching unit.

[0024] S3. The main vehicle movement control unit controls the movement of the main AGV vehicle based on the main vehicle communication information, and collects the main AGV vehicle movement information and sends it to the main vehicle dispatching unit, and corrects the movement direction based on the main vehicle communication information.

[0025] S4. The vehicle dispatching unit selects either product segment B or product segment C based on the product segment selection information. If product segment B is to be transported, proceed to S5; if product segment C is to be transported, proceed to S6.

[0026] S5. Input the vehicle communication information into the first vehicle movement control unit. The first vehicle movement control unit controls the movement of the first AGV vehicle according to the vehicle communication information, and collects the movement information of the first AGV vehicle and sends it to the vehicle dispatching unit and the main vehicle dispatching unit in sequence. Combine the vehicle communication information to correct the movement direction of the first AGV vehicle and complete the navigation control of the AGV vehicle for 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, and 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. Combine the slave vehicle communication information to correct the movement direction of the second slave AGV vehicle and complete the AGV vehicle navigation control for segmented product transportation.

[0028] Furthermore, S3 specifically refers to:

[0029] The main AGV vehicle's travel path and landmark point information are input into the main vehicle controller. The main vehicle controller controls the main AGV vehicle to move according to the travel path. The main vehicle's RFID sensor collects the landmark point information of the main AGV vehicle, the main vehicle's magnetic navigation sensor collects the actual magnetic strip information of the relative position of the landmark point information, and the main vehicle's angle encoder collects the wheel deflection angle of the main AGV vehicle. The actual magnetic strip 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's travel path. The actual landmark point information and the actual deflection point information are sent to the main vehicle scheduling unit as the main AGV vehicle's movement information. It is determined whether the actual deflection point information is within the maximum deflection point information range on the main AGV vehicle's travel path. If it is, there is no need to correct the main AGV vehicle's movement direction; otherwise, the main vehicle controller adjusts the wheel deflection angle of the main AGV vehicle.

[0030] Furthermore, S5 specifically refers to:

[0031] The system inputs vehicle communication information into the first slave vehicle controller, which then controls the first slave vehicle driver to move the first slave AGV. The system collects landmark location information and actual landmark location information of the first slave AGV via the first slave vehicle RFID sensor. It also collects actual magnetic strip information along the path of the first slave AGV via the first slave vehicle magnetic navigation sensor and wheel deflection angle via the first slave vehicle angle encoder. The actual magnetic strip information and wheel deflection angle are input into the first slave vehicle controller and converted into actual deflection point information along the path of the first slave AGV. This actual landmark location information and actual deflection point information are then sent sequentially to the slave vehicle scheduling unit and the master vehicle scheduling unit as movement information of the first slave AGV. The system determines whether the actual deflection point information is within the maximum deflection point information range along the path of the slave AGV. If it is, the movement direction of the first slave AGV does not need to be corrected; otherwise, the wheel deflection angle of the first slave AGV is adjusted by the first slave vehicle controller.

[0032] Furthermore, S6 specifically refers to:

[0033] The second slave vehicle controller receives communication information from the slave vehicle and controls the second slave vehicle driver to move the second slave AGV. It collects landmark location information and actual landmark location information of the second slave AGV via the second slave vehicle RFID sensor, as well as actual magnetic strip information along the path of the second slave AGV via the second slave vehicle magnetic navigation sensor. It also collects the wheel deflection angle of the second slave AGV via the second slave vehicle angle encoder. The actual magnetic strip information and wheel deflection angle are input into the second slave vehicle controller and converted into actual deflection point information along the path of the second slave AGV. This actual landmark location information and actual deflection point information are then sent sequentially to the slave vehicle scheduling unit and the master vehicle scheduling unit as movement information of the second slave AGV. The controller determines whether the actual deflection point information is within the maximum deflection point information range along the path of the slave AGV. If it is, there is no need to correct the movement direction of the second slave AGV; otherwise, the wheel deflection angle of the second slave AGV is adjusted via the second slave vehicle controller.

[0034] The beneficial effects of this invention are:

[0035] 1. The present invention provides an AGV vehicle navigation control system and control method for segmented product transportation, which can be used for segmented transportation of large equipment products, making it easy to adjust the transportation time of each segment in a timely manner and improve the success rate of product segment docking at the same time.

[0036] 2. This invention discloses an AGV vehicle navigation control system and method for transporting segmented products. The system controls a main vehicle scheduling unit through a main vehicle control unit, facilitating real-time information exchange. AGV vehicle movement information measured by magnetic navigation sensors and angle encoders enables vehicle deviation correction. Landmark information measured by RFID sensors allows the control system to determine the vehicle's position along the entire route, thus completing path navigation. Due to the high precision requirements of the entire transportation process, this system is suitable for road conditions that may involve complex situations. It can coordinate multiple AGV vehicles to complete navigation and passing tasks, and the vehicle controller interacts with other sensors multiple times to exchange coordinate information. Therefore, a high-precision, high-success-rate fully automated mobile transportation method for transporting segment A and segment B of the product becomes crucial. Attached Figure Description

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

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

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

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

[0041] In the diagram, 1 is the master vehicle control unit; 2 is the master vehicle dispatching unit; 3 is the master vehicle motion control unit; 3-1 is the master vehicle controller; 3-2 is the master vehicle RFID sensor; 3-3 is the master vehicle driver; 3-4 is the master vehicle magnetic navigation sensor; 3-5 is the master vehicle angle encoder; 4 is the slave vehicle dispatching unit; 5 is the first slave vehicle motion control unit; 5-1 is the first slave vehicle controller; 5-2 is the first slave vehicle RFID sensor; 5-3 is the first slave vehicle driver; 5-4 is the first slave vehicle magnetic navigation sensor; 5-5 is the first slave vehicle angle encoder; 6 is the second slave vehicle motion control unit; 6-1 is the second slave vehicle controller; 6-2 is the second slave vehicle RFID sensor; 6-3 is the second slave vehicle driver; 6-4 is the second slave vehicle magnetic navigation sensor; 6-5 is the second slave vehicle angle encoder. Detailed Implementation

[0042] The technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings and embodiments. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0043] Example 1

[0044] This embodiment describes an AGV vehicle navigation and control system for transporting segmented products, 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 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.

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

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

[0048] The main vehicle control unit 1 is connected to the main vehicle dispatching unit 2 via 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 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 respectively. 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 via 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 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 respectively. The first slave vehicle driver 5-3 is connected to the first slave AGV vehicle.

[0050] The main vehicle control unit 1 can be equipped with a main vehicle touch screen that can input mobile task packages to the main vehicle dispatch unit 2.

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

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

[0053] This embodiment describes a navigation control method for AGV vehicles used in the transportation of segmented products, specifically including the following steps:

[0054] S1. To ensure that the AGV vehicle can travel along the planned route, magnetic strips are laid between various landmarks on the ground. The main 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] Connect the main vehicle angle encoder 3-5 in the main vehicle motion control unit 3 to the main AGV vehicle; it is used for the vehicle's deflection angle; connect the main vehicle RFID sensor 3-2 and the main vehicle magnetic navigation sensor 3-4 to the outside of the main AGV vehicle; connect the main vehicle driver 3-3 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; it is used for the 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 second AGV vehicle for 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; according to the movement task package input by the master vehicle control unit 1 to the master vehicle dispatching unit 2, the master vehicle dispatching unit 2 parses the movement task package to obtain the master vehicle communication information, product segment selection information and slave vehicle communication information; and inputs the master vehicle communication information into the master vehicle movement control unit 3 and the product segment selection information and slave vehicle communication information into the slave vehicle dispatching unit 4;

[0059] S3. The main AGV vehicle's travel path and 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's travel path. The main vehicle RFID sensor 3-2 collects the main AGV vehicle's landmark point information, the main vehicle magnetic navigation sensor 3-4 collects the actual magnetic strip information of the relative position of the main vehicle's landmark point information, and the main vehicle angle encoder 3-5 collects the main AGV vehicle's wheel deflection angle. The actual magnetic information and the main AGV vehicle's wheel deflection angle are input into the main vehicle controller 3-1 and converted into actual deflection point information on the vehicle's travel path. The actual landmark point information and the actual deflection point information are sent sequentially to the main vehicle scheduling unit 2 as the main AGV vehicle's movement information. It is determined whether the actual deflection point information is within the maximum deflection point information range on the main AGV vehicle's travel path. If it is, there is no need to correct the main AGV vehicle's movement direction; otherwise, the main vehicle controller 3-1 adjusts the main AGV vehicle's wheel deflection angle.

[0060] S4. The vehicle dispatching unit selects transportation product segment B based on the product segment selection information.

[0061] S5. Input the slave vehicle communication information into the first slave vehicle controller 5-1, and 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 position information of the first slave AGV vehicle through the first slave vehicle RFID sensor 5-2, collect the actual landmark position information of the first slave AGV vehicle as it moves, collect the actual magnetic strip information on the path of the first slave AGV vehicle through the first slave vehicle magnetic navigation sensor 5-4, and collect the wheel deflection angle of the first slave AGV vehicle through the first slave vehicle angle encoder 5-5. Then, input the actual magnetic strip 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 as the movement information of the first slave AGV vehicle to the slave vehicle scheduling unit 4 and the master vehicle scheduling unit 2 in sequence. 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 it is, there is no need to correct the movement 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 navigation control of the AGV vehicle for segmented product transportation.

[0062] Example 2

[0063] Unlike Example 1, S4 is:

[0064] S4. The vehicle dispatching unit selects transportation product segment C based on the product segment selection information;

[0065] S5. Input the slave vehicle communication information into the second slave vehicle controller 6-1, and 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 position information of the second slave AGV vehicle through the second slave vehicle RFID sensor 6-2, collect the actual landmark position information of the second slave AGV vehicle as it moves, collect the actual magnetic strip information on the path of the second slave AGV vehicle through the second slave vehicle magnetic navigation sensor 6-5, and collect the wheel deflection angle of the second slave AGV vehicle through the second slave vehicle angle encoder 6-5. Then, input the actual magnetic strip 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 travel path of the second slave AGV vehicle. The actual landmark point information and the actual deflection point information are sent as the movement information of the second slave AGV vehicle to the slave vehicle scheduling unit 4 and the master vehicle scheduling unit 2 in sequence. It is determined whether the actual deflection point information is within the maximum deflection point information range on the travel path of the slave AGV vehicle. If it is, there is no need to correct the movement 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 navigation control of the AGV vehicle for segmented product transportation.

[0066] In Examples 1 and 2, the vehicle dispatching unit 4 inputs the movement information of the first or second slave AGV vehicle, namely the actual landmark location information and the actual deflection location information, to the master vehicle dispatching unit 2 at a 1-second interval. This is to facilitate the determination of whether the actual deflection location information is within the maximum deflection location information range corresponding to the actual landmark location information.

[0067] The master vehicle dispatching unit 2 determines the position information of the slave AGV vehicles based on the actual landmark location 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 and alternating travel of the three AGV vehicles on the driving path.

[0068] In Example 1, the mobile task packet follows the TCP / IP standard protocol, and its specific content includes frame header, frame length, frame type, command code, target point information, and checksum. After receiving the mobile task packet, the master vehicle dispatching unit 2 first checks the frame header and frame length to determine the validity of the information, then checks the checksum to determine the validity of the information, and then extracts the communication content from it, reading the master vehicle communication information, product segmentation selection information, and slave vehicle communication information. During the task execution process, the mobile task can be paused at any time based on the maximum point information.

[0069] The above description is merely a specific embodiment of the present invention and a comparison of the effects of the specific embodiments with relevant comparative examples. However, the scope of protection of the present invention is not limited thereto. Any changes or substitutions within the technical scope disclosed in the present invention should be covered within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A navigation control system for AGV vehicles transporting segmented products, characterized in that, The application relates to a mobile task package processing system for AGV (Automatic Guided Vehicle) vehicles, which comprises 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). The master vehicle control unit (1) is connected with the master vehicle scheduling unit (2) through wireless signals, and is used for inputting a movement task package to the master vehicle scheduling unit (2). The master vehicle scheduling unit (2) is electrically connected with the master vehicle movement control unit (3), and is connected with the slave vehicle scheduling unit (4) through wireless signals; the master vehicle scheduling unit (2) is used for analyzing the movement task package to obtain master vehicle communication information, product segmentation selection information and slave vehicle communication information. The master vehicle movement control unit (3) is connected with a master AGV vehicle for transporting a product A section, and is used for sending a movement control instruction to the master AGV vehicle according to the master vehicle communication information, and collecting movement information of the master AGV vehicle and sending the movement information to the master vehicle scheduling unit (2). The slave vehicle scheduling unit (4) is connected with the first slave vehicle movement control unit (5) and the second slave vehicle movement control unit (6); the first slave vehicle movement control unit (5) is connected with a first slave AGV vehicle for transporting a product B section; the second slave vehicle movement control unit (6) is connected with a second slave AGV vehicle for transporting a product C section which replaces the product B section; the slave vehicle scheduling unit (4) selects the product B section or the product C section which replaces the product B section according to the product segmentation selection information, inputs slave vehicle communication information into the corresponding first slave vehicle movement control unit (5) or second slave vehicle movement control unit (6), sends a movement control instruction to the corresponding slave AGV vehicle, and collects vehicle movement information and sequentially sends the vehicle movement information to the slave vehicle scheduling unit (4) and the master vehicle scheduling unit (2). The movement task package is combined information formed by the master vehicle communication information, the product segmentation selection information and the slave vehicle communication information.

2. The AGV vehicle navigation control system for transporting segmented products according to claim 1, wherein, The master vehicle communication information comprises a start instruction, a master AGV vehicle running path, master vehicle landmark point information and maximum deflection point information on the master AGV vehicle running path. The product segmentation selection information comprises that the product A section and the product B section are selected as a whole by a first slave AGV vehicle, the product A section and the product B section are selected as a separate body by a first slave AGV vehicle, and the product C section replaces the product B section by a second slave AGV vehicle. The slave vehicle communication information comprises a start instruction, a slave AGV vehicle running path, slave vehicle landmark point information and deflection point information on the slave AGV vehicle running path. ​ 3. The AGV vehicle navigation control system for transporting segmented products according to claim 1, wherein, 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 connected with the main vehicle scheduling 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) respectively, the main vehicle driver (3-3) is connected with the main AGV vehicle, the main vehicle controller (3-1) is used for receiving the main vehicle communication information sent by the main vehicle scheduling unit (2), and the main vehicle driver (3-3) is controlled to drive the main AGV vehicle to move according to the main vehicle communication information, the actual landmark point position information of the main AGV vehicle movement is collected through the main vehicle RFID sensor (3-2), the actual magnetic stripe information on the path of the main AGV vehicle is collected through the main vehicle magnetic navigation sensor (3-4), the wheel deflection angle of the main AGV vehicle is collected through the main vehicle angle encoder (3-5), the actual magnetic stripe information and the wheel deflection angle of the main AGV vehicle are input into the main vehicle controller (3-1) to be converted into the actual deflection point position information on the vehicle running path, and the actual landmark point position information and the actual deflection point position information on the vehicle running path are sent to the main vehicle scheduling unit (2) as the main AGV vehicle movement information.

4. The AGV vehicle navigation control system for transporting segmented products according to claim 3, wherein, The main vehicle driver (3-3) comprises a main vehicle walking driver and a main vehicle steering driver.

5. The AGV vehicle navigation control system for transporting segmented products according to claim 1, wherein, 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 connected with 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) respectively, the first slave vehicle driver (5-3) is connected with the first slave AGV vehicle, the first slave vehicle controller (5-1) is used for receiving the slave vehicle communication information sent by the slave vehicle scheduling unit (4), and the first slave vehicle driver (5-3) is controlled to drive the first slave AGV vehicle to move according to the slave vehicle communication information, the actual landmark point position information of the first slave AGV vehicle movement is collected through the first slave vehicle RFID sensor (5-2), the actual magnetic stripe information on the first slave AGV vehicle path is collected through the first slave vehicle magnetic navigation sensor (5-4), the wheel deflection angle of the first slave AGV vehicle is collected through the first slave vehicle angle encoder (5-5), the actual magnetic stripe information is input into the first slave vehicle controller (5-1), the actual deflection point position information on the first slave AGV vehicle path is converted by combining the wheel deflection angle of the first slave AGV vehicle, the actual landmark point position information of the first slave AGV vehicle movement and the actual deflection point position information on the first slave AGV vehicle path are sent to the slave vehicle scheduling unit (4) and the master vehicle scheduling unit (2) in sequence as vehicle movement information. The second slave vehicle moving 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 connected with the slave vehicle scheduling 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) respectively, the second slave vehicle driver (6-3) is connected with the second slave AGV vehicle, the second slave vehicle controller (6-1) is used for receiving the slave vehicle communication information sent by the slave vehicle scheduling unit (4), and the second slave vehicle driver (6-3) is controlled to drive the second slave AGV vehicle to move according to the slave vehicle communication information, the actual landmark point position information of the second slave AGV vehicle movement is collected through the second slave vehicle RFID sensor (6-2), the actual magnetic stripe information on the second slave AGV vehicle path is collected through the second slave vehicle magnetic navigation sensor (6-5), the wheel deflection angle of the second slave AGV vehicle is collected through the second slave vehicle angle encoder (6-5), the actual magnetic stripe information is input into the second slave vehicle controller (6-1), and the actual deflection point position information on the second slave AGV vehicle path is converted by combining the wheel deflection angle of the second slave AGV vehicle, the actual landmark point position information of the second slave AGV vehicle movement and the actual deflection point position information on the second slave AGV vehicle path are sent to the slave vehicle scheduling unit (4) and the master vehicle scheduling unit (2) in sequence as vehicle moving information.

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

7. A method for navigation control of AGV vehicles for transporting segmented products, characterized in that, The AGV vehicle navigation control system for product segmented transportation according to any one of claims 1-6 comprises the following steps: S1, according to the moving task package, the magnetic stripe is laid between the landmarks, the master vehicle moving control unit (3) is connected with the master AGV vehicle, the first slave vehicle moving control unit (5) is connected with the first slave AGV vehicle, and the second slave vehicle moving control unit (6) is connected with the second slave AGV vehicle; S2, the master vehicle control unit (1) inputs the moving task package to the master vehicle scheduling unit (2), the master vehicle scheduling unit (2) analyzes the moving task package to obtain the master vehicle communication information, the product segmented selection information and the slave vehicle communication information, inputs the master vehicle communication information into the master vehicle moving control unit (3), and inputs the product segmented selection information and the slave vehicle communication information into the slave vehicle scheduling unit (4); S3, the master vehicle moving control unit (3) controls the master AGV vehicle to move according to the master vehicle communication information, and sends the master AGV vehicle moving information to the master vehicle scheduling unit (2), and the moving direction is corrected in combination with the master vehicle communication information; S4, the slave vehicle scheduling unit (4) selects the product B section or the product C section according to the product segmented selection information, if the product B section is transported, S5 is executed, and if the product C section is transported, S6 is executed; S5, input the slave communication information into the first slave mobile control unit (5), the first slave mobile control unit (5) controls the first slave AGV vehicle movement according to the slave communication information, and collects the movement information of the first slave AGV vehicle and sends it to the vehicle scheduling unit (4) and the master vehicle scheduling unit (2) in turn, combines the slave communication information to correct the movement direction of the first slave AGV vehicle, and completes the navigation control of the AGV vehicle for segmented product transportation; S6, input the slave communication information into the second slave mobile control unit (6), the second slave mobile control unit (6) controls the second slave AGV vehicle movement according to the slave communication information, and collects the movement information of the second slave AGV vehicle and sends it to the vehicle scheduling unit (4) and the master vehicle scheduling unit (2) in turn, combines the slave communication information to correct the movement direction of the second slave AGV vehicle, and completes the navigation control of the AGV vehicle for segmented product transportation.

8. The method for navigation control of AGV vehicles for transporting segmented products according to claim 7, wherein, 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), collects the landmark point information of the main AGV vehicle through the main vehicle RFID sensor (3-2), collects the actual magnetic stripe information of the relative position of the main vehicle landmark point information through the main vehicle magnetic navigation sensor (3-4), collects the wheel deflection angle of the main AGV vehicle through the main vehicle angle encoder (3-5), and inputs the actual magnetic stripe information and the wheel deflection angle of the main AGV vehicle into the main vehicle controller (3-1) to convert 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 scheduling unit (2) as the movement information of the main AGV vehicle; judge whether the actual deflection point information is within the maximum deflection point information range on the main AGV vehicle driving path, if yes, the main AGV vehicle movement direction does not need to be corrected, otherwise the wheel deflection angle of the main AGV vehicle is adjusted through the main vehicle controller (3-1).

9. The method for navigation control of an AGV vehicle for transporting segmented products according to claim 7, wherein, S5 is specifically: The slave vehicle communication information is input into the first slave vehicle controller (5-1), 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, the first slave AGV vehicle landmark point position information is collected through the first slave vehicle RFID sensor (5-2), the actual landmark point position information of the first slave AGV vehicle movement is collected through the first slave vehicle RFID sensor (5-2), 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), the wheel deflection angle of the first slave AGV vehicle is collected through the first slave vehicle angle encoder (5-5), the actual magnetic stripe information and the wheel deflection angle of the first slave AGV vehicle are input into the first slave vehicle controller (5-1) to be converted into the actual deflection point position information on the first slave AGV vehicle travel path, and the actual landmark point position information and the actual deflection point position 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; whether the actual deflection point position information is within the maximum deflection point position information range on the AGV vehicle travel path is judged, if yes, the first slave AGV vehicle moving direction does not need to be corrected, otherwise the wheel deflection angle of the first slave AGV vehicle is adjusted through the first slave vehicle controller (5-1).

10. The method for navigation control of an AGV vehicle for transporting segmented products according to claim 7, wherein, S6 specifically is: The slave vehicle communication information is input into the second slave vehicle controller (6-1), 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, the second slave AGV vehicle landmark point position information is collected through the second slave vehicle RFID sensor (6-2), the actual landmark point position information of the second slave AGV vehicle movement is collected through the second slave vehicle RFID sensor (6-2), 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), the wheel deflection angle of the second slave AGV vehicle is collected through the second slave vehicle angle encoder (6-5), the actual magnetic stripe information and the wheel deflection angle of the second slave AGV vehicle are input into the second slave vehicle controller (6-1) to be converted into the actual deflection point position information on the second slave AGV vehicle travel path, and the actual landmark point position information and the actual deflection point position 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; whether the actual deflection point position information is within the maximum deflection point position information range on the AGV vehicle travel path is judged, if yes, the second slave AGV vehicle moving direction does not need to be corrected, 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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