Automatic line patrol method and device for NAV

Abstract

The invention discloses an automatic line patrol method and device for an NAV, and relates to the field of NAVs. The method comprises the following steps: receiving a task instruction, and acquiring the current position and the current movement direction of the NAV by using a coordinate system according to recently read RFID card information and counting of an odometer; if the current position of the NAV is located in the main channel, the NAV is controlled to run to a target roadway in the task instruction based on counting of the odometer and map data, and the NAV is controlled to steer to enter the corresponding target roadway according to the current movement direction of the NAV and the map data; after entering the target roadway, when the first RFID card of the target roadway is read, the mileage is recorded through a speedometer, and after the position of the target storage location is reached, a task instruction is executed; according to the invention, by reading the first RFID card of the target roadway, it can be confirmed that the NAV correctly enters the target roadway, and the driving distance is accurately recorded through the odometer, so that it is ensured that the NAV accurately arrives at the target storage location.

Description

Technical Field

[0001] The present invention relates to the field of NAV vehicles, and in particular to an automatic line patrol method and device for a NAV vehicle. Background Art

[0002] In modern warehousing and logistics industries, narrow aisle forklifts (NAVs) such as automated guided forklifts (AGVs) are widely used for the handling and storage of goods. These vehicles usually work in a structured environment, such as a warehouse or distribution center, which contains a main aisle, multiple lanes, and storage locations arranged on both sides of the lanes. In order to achieve efficient and accurate cargo handling, these vehicles need to have precise positioning and navigation capabilities.

[0003] One of the traditional navigation methods is to use radio frequency identification (RFID) tags to assist vehicle positioning. RFID tags are installed at key locations on the warehouse floor, and the tag information is read when the vehicle passes by to update the current location. Although the existing technology has made significant progress, there are still some challenges and shortcomings in practical applications:

[0004] Relying solely on RFID tags can lead to positioning errors, especially when there is a long distance between tags. Such errors can affect the accuracy of the vehicle's target location.

[0005] The start time of the ascent action is not well matched with the driving progress, resulting in the problem that even if the driving time of the current task is greater than the ascent time, the NAV vehicle has reached the target position but has not yet completed the ascent action.

[0006] The existing system is unable to correct deviations in the driving route in a timely manner, thus affecting the accuracy and reliability of the overall operation. Summary of the invention

[0007] In order to solve the problems existing in the above-mentioned background technology, especially the problems of insufficient positioning accuracy and incoordination between rising action and timing control, the present invention proposes an automatic line patrol method for a NAV vehicle, which is applied to a lane navigation system, wherein the lane navigation system includes a main channel and multiple lanes arranged on both sides of the main channel; at least two RFID cards are respectively arranged at both ends of the main channel and each lane; multiple rows of storage locations are arranged on both sides of the lane; the NAV vehicle is equipped with a controller, an RFID card reader and an odometer connected to the controller in communication; the controller stores the coordinate system and map data of the lane navigation system; the method includes:

[0008] Receive mission instructions and use the coordinate system to obtain the current position and direction of movement of the NAV vehicle based on the most recently read RFID card information and odometer count;

[0009] If the current position of the NAV vehicle is in the main lane, the NAV vehicle is controlled to move to the target lane in the mission instruction based on the odometer count and map data, and the NAV vehicle is controlled to turn and enter the corresponding target lane according to the current movement direction of the NAV vehicle and the map data;

[0010] If the current position is in the lane, determine whether the lane needs to be switched based on the current position of the NAV vehicle and the position of the target storage location in the task instruction. If it needs to be switched, control the NAV vehicle to return to the lane entrance, and determine the turning direction based on the map data using the most recently read RFID card information, and then control the NAV vehicle to run to the target lane and turn to enter; if it does not need to switch lanes, control the NAV vehicle to run to the target storage location in the task instruction based on the current position of the NAV vehicle and execute the task instruction;

[0011] After entering the target lane, when reading the first RFID card of the target lane, the mileage is recorded through the odometer, and after reaching the location of the target storage location, the task instruction is executed;

[0012] Two RFID cards set at both ends of the lane or main channel are used to determine the movement direction of the NAV vehicle; the movement direction of the NAV vehicle is determined based on the information of the two RFID cards read most recently.

[0013] Further, the origin of the coordinate system is set at the position of the outermost RFID card at any end of the main channel;

[0014] The y-axis of the coordinate system is defined along the main channel direction;

[0015] The x-axis of the coordinate system is defined along the roadway direction;

[0016] The z-axis of the coordinate system represents the height of the storage location;

[0017] The coordinate system is used to identify the position points in the lane navigation system through the coordinates (x, y, z) of the RFID card; the position points include: the coordinates of the main channel entrance and exit, the coordinates of the entrance and exit of each lane, and the coordinates of each storage location.

[0018] Further, the map data is: a data set of static structural information in a lane navigation system;

[0019] The data set includes: the coordinates (x, y, z) of each storage location, the direction and layout of each lane, the location of the main channel and the locations at both ends, the location of each RFID card, and the correspondence between RFID cards and lanes.

[0020] Furthermore, the lane navigation system is also provided with a frequency generator; the main channel and each lane are independently provided with a wire loop;

[0021] The frequency generator is used to make each wire loop generate a continuous alternating current of a preset frequency, thereby forming a direction guidance signal in the main channel and the lane.

[0022] Furthermore, navigation sensors are respectively provided at the front and rear ends of the NAV vehicle for real-time detection of current changes in the wire loop; the NAV vehicle receives the direction guidance signal generated by the wire loop through the navigation sensor, and performs automatic line patrol operation based on the signal.

[0023] Furthermore, the task instruction includes specific coordinates (x, y, z) of the target storage location and NAV vehicle action instructions;

[0024] The RFID cards on the main channel are arranged along the direction of the main channel;

[0025] The RFID cards on the lane are arranged along the direction of the lane.

[0026] Furthermore, the method further comprises:

[0027] After receiving the task instruction, the height of the target storage location in the task instruction is obtained as the target height;

[0028] According to the running speed of the NAV vehicle and the time required to rise to the target height, calculate whether the time required for the NAV vehicle to run from the current position to the target storage location is greater than the time required to rise to the target height;

[0029] If it is greater than: set a preset time point as the lifting time of the NAV vehicle, and after the task instruction starts to be executed, monitor the driving progress of the NAV vehicle in real time through the controller, and dynamically adjust the lifting time according to the remaining distance and speed, so that the NAV vehicle gradually rises in the process of approaching the target storage location and just reaches the target height when arriving at the target location;

[0030] If it is not greater than: then the ascending action is started immediately, and after reaching the target storage location and the target height, the NAV vehicle action command is executed.

[0031] Furthermore, the RFID card on the main channel is arranged on the center line of the main channel; and the RFID card on the lane is arranged on the center line of the lane.

[0032] The present invention also proposes an automatic line patrol device for a NAV vehicle, which is applied to a lane navigation system. The lane navigation system includes a main channel and multiple lanes arranged on both sides of the main channel; at least two RFID cards are respectively arranged at both ends of the main channel and each lane; multiple rows of storage locations are arranged on both sides of the lane; the NAV vehicle is equipped with a controller, an RFID card reader and an odometer that are communicatively connected to the controller; the controller stores the coordinate system and map data of the lane navigation system; the automatic line patrol device includes:

[0033] The receiving module is used to receive the task instruction and obtain the current position and current movement direction of the NAV vehicle using the coordinate system according to the most recently read RFID card information and the odometer count;

[0034] A main channel control module is used to control the NAV vehicle to move to the target lane in the task instruction based on the odometer count and map data if the current position of the NAV vehicle is in the main channel, and control the NAV vehicle to turn and enter the corresponding target lane according to the current movement direction of the NAV vehicle and the map data;

[0035] The lane control module is used to determine whether the lane needs to be switched according to the current position of the NAV vehicle and the position of the target storage location in the task instruction if the current position is in the lane. If switching is required, the NAV vehicle is controlled to return to the lane entrance, and the turning direction is determined based on the map data using the RFID card information that was recently read, and then the NAV vehicle is controlled to run to the target lane and turn to enter; if lane switching is not required, the NAV vehicle is controlled to run to the target storage location in the task instruction according to the current position of the NAV vehicle to execute the task instruction;

[0036] The execution module is used to enter the target lane, record the mileage through the odometer when reading the first RFID card of the target lane, and execute the task instruction after reaching the location of the target storage location;

[0037] Two RFID cards set at both ends of the lane or main channel are used to determine the movement direction of the NAV vehicle; the movement direction of the NAV vehicle is determined based on the information of the two RFID cards read most recently.

[0038] Further, the origin of the coordinate system is set at the position of the outermost RFID card at any end of the main channel;

[0039] The y-axis of the coordinate system is defined along the main channel direction;

[0040] The x-axis of the coordinate system is defined along the roadway direction;

[0041] The z-axis of the coordinate system represents the height of the storage location;

[0042] The coordinate system is used to identify each position point in the lane navigation system by coordinates (x, y, z); the position point includes: the coordinates of the main channel entrance and exit, the coordinates of the entrance and exit of each lane, and the coordinates of each storage location;

[0043] The map data is: a data set of static structural information in a lane navigation system;

[0044] The data set includes: the coordinates (x, y, z) of each storage location, the direction and layout of each lane, the location of the main channel and the locations at both ends, the location of each RFID card, and the correspondence between RFID cards and lanes.

[0045] Compared with the prior art, the present invention has at least the following beneficial effects:

[0046] (1) The present invention receives a task instruction and uses a coordinate system to obtain the current position and current movement direction of the NAV vehicle according to the most recently read RFID card information and the odometer count; that is, by combining the RFID card information and the odometer data, the high-precision identification of the NAV vehicle position is ensured, and the positioning error is reduced, especially in long-distance driving or complex environments. At the same time, at least two RFID cards are used to determine the movement direction of the NAV vehicle, which ensures the reliability of direction identification and avoids direction errors caused by failure or misreading of a single RFID card.

[0047] (2) In the present invention, if the current position of the NAV vehicle is in the main channel, the NAV vehicle is controlled to run to the target lane in the task instruction based on the odometer count and map data, and the NAV vehicle is controlled to turn and enter the corresponding target lane according to the current movement direction of the NAV vehicle and the map data; if the current position is in the lane, it is determined whether the lane needs to be switched based on the current position of the NAV vehicle and the position of the target storage location in the task instruction; that is, the present invention can accurately control the steering action based on the current position and the direction of the target lane, ensuring that the NAV vehicle enters the target lane smoothly, avoiding operational delays or safety risks caused by steering errors;

[0048] (3) In the present invention, if switching is required, the NAV vehicle is controlled to return to the lane entrance, and the turning direction is determined based on the map data using the most recently read RFID card information, and then the NAV vehicle is controlled to run to the target lane and turn to enter; that is, when the lane needs to be switched, the present invention can flexibly adjust the path to ensure that the NAV vehicle safely returns to the lane entrance and accurately enters the new target lane, adapting to complex warehouse layouts;

[0049] (4) In the present invention, after entering the target lane, when the first RFID card of the target lane is read, the mileage is recorded by the odometer, and after reaching the location of the target storage location, the task instruction is executed. That is, by reading the first RFID card of the target lane, the present invention can confirm that the NAV vehicle has correctly entered the target lane, and accurately record the travel distance by the odometer, ensuring that the NAV vehicle accurately arrives at the target storage location;

[0050] (5) The present invention introduces a mechanism for dynamically adjusting the lifting time to ensure that the NAV vehicle gradually rises as it approaches the target storage location and reaches the target height just when it arrives at the target storage location. For short-distance driving paths, the controller will immediately start the lifting action to ensure that the NAV vehicle has enough time to complete the lifting process;

[0051] (6) The present invention monitors the driving progress of the NAV vehicle in real time and dynamically adjusts the path planning according to the remaining distance and speed, ensuring that the driving route can be adjusted in time when encountering obstacles or other unexpected situations, thereby ensuring the safe and efficient completion of the task;

[0052] (7) The present invention significantly improves the safety, accuracy and efficiency of NAV vehicle operation by introducing guidance provided by wire loops. Specifically, the wire loops independently arranged on the main channel and each lane generate continuous alternating current of a preset frequency under the action of a frequency generator, forming a reliable direction guidance signal. The navigation sensors arranged at the front and rear ends of the NAV vehicle can detect these current changes in real time to ensure that the NAV vehicle always travels along the correct path, greatly reducing the risk of deviation from the track. This continuous and stable guidance signal not only improves the accuracy of path guidance, but also enhances the stability and safety of driving, especially in warehouses with insufficient light or complex environments. In addition, the guidance provided by the wire loop simplifies the navigation logic of the NAV vehicle, reduces dependence on other sensors, makes it easier for the controller to process complex path information, and improves the robustness and adaptability of the control. In summary, through the precise path guidance provided by the wire loop, the present invention ensures that the NAV vehicle can complete its tasks reliably and efficiently in any environment, greatly improving the efficiency and safety of the entire warehousing and logistics process. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] Figure 1 A structural diagram of a lane navigation system in an automatic line patrol method for a NAV vehicle;

[0054] Figure 2 This is a schematic diagram of the structure of a single lane.

[0055] In the figure:

[0056] 1. NAV vehicle; 2. Navigation sensor; 3. RFID card reader; 4. Wire loop; 5. Frequency generator; 6. RFID card; 7. Lane; 8. Multiple rows of storage locations set up along the lane edge; 9. Main channel. DETAILED DESCRIPTION

[0057] The following are specific embodiments of the present invention and the accompanying drawings to further describe the technical solution of the present invention, but the present invention is not limited to these embodiments.

[0058] Embodiment 1

[0059] In order to solve the problems existing in the above background technology, especially the problems of insufficient positioning accuracy and incoordination between rising action and timing control, such as Figure 1 and Figure 2 As shown, the present invention proposes an automatic line patrol method for a NAV vehicle, which is applied to a lane navigation system, wherein the lane navigation system includes a main channel 9 and multiple lanes 7 arranged on both sides of the main channel; at least two RFID cards 6 are respectively provided at both ends of the main channel 9 and each lane 7; multiple rows of storage locations 8 are provided on both sides of the lane 7; the NAV vehicle is equipped with a controller, an RFID card reader 3 and an odometer that are communicatively connected to the controller; the controller stores the coordinate system and map data of the lane navigation system; the NAV vehicle in this embodiment represents a narrow channel forklift.

[0060] The RFID card 6 on the main channel 9 is arranged along the direction of the main channel 9;

[0061] The RFID card 6 on the lane 7 is arranged along the direction of the lane 7 .

[0062] The RFID card 6 on the main channel 9 is arranged on the center line of the main channel 9 ; the RFID card 6 on the lane 7 is arranged on the center line of the lane 7 .

[0063] like Figure 2 As shown, the present invention can accurately identify the movement direction of the NAV vehicle by setting at least two RFID cards in parallel at both ends of the main channel or lane (parallel means that the line connecting the two RFID cards is parallel to the corresponding channel or lane). This technical feature ensures that the NAV vehicle can always maintain the correct driving direction even in a complex warehouse environment. When the NAV vehicle passes through the two RFID cards, the controller determines whether the NAV vehicle is moving forward or backward based on the information read, and adjusts the driving path accordingly. This double confirmation mechanism greatly improves the positioning accuracy and reduces the risk of direction errors caused by failure or misreading of a single RFID card.

[0064] The origin of the coordinate system is set at the position of the outermost RFID card at either end of the main channel;

[0065] The y-axis of the coordinate system is defined along the main channel direction;

[0066] The x-axis of the coordinate system is defined along the roadway direction;

[0067] The z-axis of the coordinate system represents the height of the storage location;

[0068] The coordinate system is used to identify the position points in the lane navigation system through the coordinates (x, y, z) of the RFID card; the position points include: the coordinates of the main channel entrance and exit, the coordinates of the entrance and exit of each lane, and the coordinates of each storage location.

[0069] The map data is: a data set of static structural information in a lane navigation system;

[0070] The data set includes: the coordinates (x, y, z) of each storage location, the direction and layout of each lane, the location of the main channel and the locations at both ends, the location of each RFID card, and the correspondence between RFID cards and lanes.

[0071] The lane navigation system is also provided with a frequency generator 5; the main channel and each lane are independently provided with a wire loop;

[0072] The frequency generator 5 is used to make each wire loop 4 generate a continuous alternating current of a preset frequency, thereby forming a direction guidance signal in the main channel and the lane.

[0073] The front and rear ends of the NAV vehicle are respectively provided with navigation sensors for real-time detection of current changes in the wire loop; the NAV vehicle receives the direction guidance signal generated by the wire loop through the navigation sensor, and performs automatic line patrol operation based on the signal.

[0074] like Figure 2 As shown, the rear end and the front end of the NAV vehicle 1 are both provided with navigation sensors 2; the center position of the NAV vehicle is provided with an RFID card reader 3; Figure 2 Two RFID cards 6 are respectively arranged at the front end and the rear end of the lane shown, and the four RFID cards 6 are all arranged on the wire loop 5 passing through the lane. It should be noted that the wire passing through the lane coincides with the center line of the lane.

[0075] The present invention significantly improves the safety, accuracy and efficiency of NAV vehicle operation by introducing guidance provided by wire loops; specifically, the wire loops independently arranged on the main channel and each lane generate continuous alternating current of a preset frequency under the action of a frequency generator, forming a reliable direction guidance signal; the navigation sensors arranged at the front and rear ends of the NAV vehicle can detect these current changes in real time to ensure that the NAV vehicle always travels along the correct path, greatly reducing the risk of deviation from the track; this continuous and stable guidance signal not only improves the accuracy of path guidance, but also enhances the stability and safety of driving, especially in warehouses with insufficient light or complex environments; in addition, the guidance provided by the wire loop simplifies the navigation logic of the NAV vehicle, reduces dependence on other sensors, makes it easier for the controller to process complex path information, and improves the robustness and adaptability of the control; in summary, through the precise path guidance provided by the wire loop, the present invention ensures that the NAV vehicle can complete its tasks reliably and efficiently in any environment, greatly improving the efficiency and safety of the entire warehousing and logistics process.

[0076] The method comprises:

[0077] Receive mission instructions and use the coordinate system to obtain the current position and direction of movement of the NAV vehicle based on the most recently read RFID card information and odometer count;

[0078] The present invention receives a task instruction and uses a coordinate system to obtain the current position and current movement direction of the NAV vehicle according to the most recently read RFID card information and the odometer count; that is, by combining the RFID card information and the odometer data, high-precision identification of the NAV vehicle's position is ensured, and positioning errors are reduced, especially in long-distance driving or complex environments. At the same time, at least two RFID cards are used to determine the movement direction of the NAV vehicle, ensuring the reliability of direction identification and avoiding direction errors caused by failure or misreading of a single RFID card.

[0079] The task instructions include the specific coordinates (x, y, z) of the target storage location and the NAV vehicle action instructions;

[0080] If the current position of the NAV vehicle is in the main lane, the NAV vehicle is controlled to move to the target lane in the mission instruction based on the odometer count and map data, and the NAV vehicle is controlled to turn and enter the corresponding target lane according to the current movement direction of the NAV vehicle and the map data;

[0081] The present invention can accurately control the steering action based on the current position and the direction of the target lane, ensuring that the NAV vehicle enters the target lane smoothly, avoiding operation delays or safety risks caused by steering errors.

[0082] If the current position is in the lane, determine whether the lane needs to be switched based on the current position of the NAV vehicle and the position of the target storage location in the task instruction. If it needs to be switched, control the NAV vehicle to return to the lane entrance, and determine the turning direction based on the map data using the most recently read RFID card information, and then control the NAV vehicle to run to the target lane and turn to enter; if it does not need to switch lanes, control the NAV vehicle to run to the target storage location in the task instruction based on the current position of the NAV vehicle and execute the task instruction;

[0083] In the present invention, if switching is required, the NAV vehicle is controlled to return to the tunnel entrance, and the turning direction is determined based on the map data using the most recently read RFID card information, and then the NAV vehicle is controlled to run to the target tunnel and turn to enter; that is, when the present invention needs to switch tunnels, it can flexibly adjust the path to ensure that the NAV vehicle safely returns to the tunnel entrance and accurately enters the new target tunnel, thereby adapting to complex warehouse layouts.

[0084] After entering the target lane, when reading the first RFID card of the target lane, the mileage is recorded through the odometer, and after reaching the location of the target storage location, the task instruction is executed;

[0085] The present invention can confirm that the NAV vehicle has correctly entered the target lane by reading the first RFID card of the target lane, and accurately records the travel distance through the odometer to ensure that the NAV vehicle accurately reaches the target storage location.

[0086] Two RFID cards set at both ends of the lane or main channel are used to determine the movement direction of the NAV vehicle; the movement direction of the NAV vehicle is determined based on the information of the two RFID cards read most recently.

[0087] The method further comprises:

[0088] After receiving the task instruction, the height of the target storage location in the task instruction is obtained as the target height;

[0089] According to the running speed of the NAV vehicle and the time required to rise to the target height, calculate whether the time required for the NAV vehicle to run from the current position to the target storage location is greater than the time required to rise to the target height;

[0090] If it is greater than: set a preset time point as the lifting time of the NAV vehicle, and after the task instruction starts to be executed, monitor the driving progress of the NAV vehicle in real time through the controller, and dynamically adjust the lifting time according to the remaining distance and speed, so that the NAV vehicle gradually rises in the process of approaching the target storage location and just reaches the target height when arriving at the target location;

[0091] If it is not greater than: then the ascending action is started immediately, and after reaching the target storage location and the target height, the NAV vehicle action command is executed.

[0092] The present invention introduces a mechanism for dynamically adjusting the lifting time to ensure that the NAV vehicle gradually rises while approaching the target storage location and just reaches the target height when arriving at the target storage location. For short-distance driving paths, the controller will immediately start the lifting action to ensure that the NAV vehicle has enough time to complete the lifting process.

[0093] That is to say, the present invention monitors the driving progress of the NAV vehicle in real time and dynamically adjusts the path planning according to the remaining distance and speed, ensuring that the driving route can be adjusted in time when encountering obstacles or other unexpected situations, thereby ensuring the safe and efficient completion of the task.

[0094] It should be noted that the NAV vehicle is also equipped with a laser obstacle avoidance sensor, which will stop when an obstacle is detected.

[0095] In order to more clearly illustrate the automatic line patrol method of the present invention, a specific embodiment is used below to show how the NAV vehicle completes the cargo handling task according to the task instruction. Assume that the warehouse layout is as follows Figure 1 and Figure 2As shown in the figure, the NAV vehicle enters from the main channel entrance (coordinate origin), and the task instruction is to store the goods at the target storage location A3 (coordinates are X3, Y3, Z3). The specific steps are as follows:

[0096] 1. Receive task instructions

[0097] Task instruction content: Store the goods in the target storage location A3 (coordinates are X3, Y3, Z3) and provide corresponding action instructions.

[0098] Get target height: The controller uses the height Z3 of the target location A3 in the task instruction as the target height.

[0099] 2. Determine the current position and direction of movement

[0100] Reading RFID card information: When the NAV vehicle enters the main channel, it first reads the RFID cards set at both ends of the main channel to confirm that it is currently in the main channel, and determines the current direction of movement (for example, forward) through the information of the two RFID cards read most recently.

[0101] Get current position: Combining the odometer data and the coordinate system, the controller calculates the current position coordinates (X0, Y0, Z0) of the NAV vehicle.

[0102] 3. Path planning and steering control

[0103] Determine whether to switch lanes: Since the current position is in the main lane, the controller plans a path to the target lane D3 (including the target storage location A3) based on the odometer count and map data. The controller controls the NAV vehicle to turn and enter the target lane D3 based on the current movement direction and map data.

[0104] 4. Enter the target lane

[0105] Reading lane RFID cards: When the NAV vehicle enters the target lane D3, it reads the RFID cards set at both ends of the lane to further confirm that it has correctly entered the target lane and adjusts the driving path to ensure that it travels along the correct route (i.e., the wire loop).

[0106] Record mileage: Use the odometer to record the distance traveled after entering the lane to prepare for subsequent arrival at the target storage location.

[0107] 5. Rising action and timing control

[0108] Calculate travel time and ascent time: The controller calculates the time required to travel from the current position to the target storage location based on the current operating speed of the NAV vehicle and the time required to ascend to the target height.

[0109] If the driving time is greater than the lifting time, a preset time point is set as the lifting time. After the task instruction starts to be executed, the driving progress is monitored in real time and the lifting time is dynamically adjusted so that the NAV vehicle gradually rises while approaching the target storage location and reaches the target height when it arrives at the target location.

[0110] If the travel time is not greater than the ascent time, the ascent action is started immediately to ensure that the NAV vehicle has enough time to complete the ascent process and execute the NAV vehicle action instructions after reaching the target storage location and reaching the target height.

[0111] 6. Arrive at the target location and perform the task

[0112] Confirm arrival at the target location: When the NAV vehicle reads the first RFID card in the target lane D3, the odometer records the mileage to ensure that the NAV vehicle accurately reaches the target location A3.

[0113] Execute mission instructions: After confirming that it has arrived at the target location and reached the target altitude, the NAV vehicle executes the action of storing the cargo according to the mission instructions.

[0114] Through the above specific embodiments, the present invention demonstrates how to use RFID cards, wire loop guidance, accurate map data and dynamic adjustment mechanisms to ensure that NAV vehicles can efficiently and accurately complete cargo handling tasks. In particular, by setting at least two RFID cards in parallel at both ends of the main channel or lane to identify the movement direction of the NAV vehicle, the safety, accuracy and efficiency of NAV vehicle operation are significantly improved. This innovative design ensures that NAV vehicles can complete tasks reliably and efficiently in complex environments, greatly improving the automation level of the entire warehousing and logistics process.

[0115] This embodiment also proposes an automatic line patrol device for a NAV vehicle, which is applied to a lane navigation system, wherein the lane navigation system includes a main channel and multiple lanes arranged on both sides of the main channel; at least two RFID cards are respectively arranged at both ends of the main channel and each lane; multiple rows of storage locations are arranged on both sides of the lane; the NAV vehicle is equipped with a controller, an RFID card reader and an odometer that are communicatively connected to the controller; the controller stores the coordinate system and map data of the lane navigation system;

[0116] The origin of the coordinate system is set at the position of the outermost RFID card at either end of the main channel;

[0117] The y-axis of the coordinate system is defined along the main channel direction;

[0118] The x-axis of the coordinate system is defined along the roadway direction;

[0119] The z-axis of the coordinate system represents the height of the storage location;

[0120] The coordinate system is used to identify each position point in the lane navigation system by coordinates (x, y, z); the position point includes: the coordinates of the main channel entrance and exit, the coordinates of the entrance and exit of each lane, and the coordinates of each storage location;

[0121] The map data is: a data set of static structural information in a lane navigation system;

[0122] The data set includes: the coordinates (x, y, z) of each storage location, the direction and layout of each lane, the location of the main channel and the locations at both ends, the location of each RFID card, and the correspondence between RFID cards and lanes.

[0123] The automatic line patrol device comprises:

[0124] The receiving module is used to receive the task instruction and obtain the current position and current movement direction of the NAV vehicle using the coordinate system according to the most recently read RFID card information and the odometer count;

[0125] A main channel control module is used to control the NAV vehicle to move to the target lane in the task instruction based on the odometer count and map data if the current position of the NAV vehicle is in the main channel, and control the NAV vehicle to turn and enter the corresponding target lane according to the current movement direction of the NAV vehicle and the map data;

[0126] The lane control module is used to determine whether the lane needs to be switched according to the current position of the NAV vehicle and the position of the target storage location in the task instruction if the current position is in the lane. If switching is required, the NAV vehicle is controlled to return to the lane entrance, and the turning direction is determined based on the map data using the RFID card information that was recently read, and then the NAV vehicle is controlled to run to the target lane and turn to enter; if lane switching is not required, the NAV vehicle is controlled to run to the target storage location in the task instruction according to the current position of the NAV vehicle to execute the task instruction;

[0127] The execution module is used to enter the target lane, record the mileage through the odometer when reading the first RFID card of the target lane, and execute the task instruction after reaching the location of the target storage location;

[0128] Two RFID cards set at both ends of the lane or main channel are used to determine the movement direction of the NAV vehicle; the movement direction of the NAV vehicle is determined based on the information of the two RFID cards read most recently.

[0129] It should be noted that all directional indications in the embodiments of the present invention (such as up, down, left, right, front, back, etc.) are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0130] In addition, in the present invention, descriptions such as "first", "second", "one", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0131] In the present invention, unless otherwise clearly specified and limited, the terms "connection", "fixation", etc. should be understood in a broad sense. For example, "fixation" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0132] In addition, the technical solutions between the various embodiments of the present invention can be combined with each other, but it must be based on the fact that ordinary technicians in the field can implement it. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

Claims

1. An automatic line patrol method for a NAV vehicle, characterized in that: Applied to a lane navigation system, the lane navigation system includes a main channel and multiple lanes arranged on both sides of the main channel; at least two RFID cards are respectively arranged at both ends of the main channel and each lane; multiple rows of storage locations are arranged on both sides of the lane; the NAV vehicle is equipped with a controller, an RFID card reader and an odometer that are communicatively connected to the controller; the controller stores the coordinate system and map data of the lane navigation system; the method includes: Receive mission instructions and use the coordinate system to obtain the current position and direction of movement of the NAV vehicle based on the most recently read RFID card information and odometer count; If the current position of the NAV vehicle is in the main lane, the NAV vehicle is controlled to move to the target lane in the mission instruction based on the odometer count and map data, and the NAV vehicle is controlled to turn and enter the corresponding target lane according to the current movement direction of the NAV vehicle and the map data; If the current position is in the lane, determine whether the lane needs to be switched based on the current position of the NAV vehicle and the position of the target storage location in the task instruction. If it needs to be switched, control the NAV vehicle to return to the lane entrance, and determine the turning direction based on the map data using the most recently read RFID card information, and then control the NAV vehicle to run to the target lane and turn to enter; if it does not need to switch lanes, control the NAV vehicle to run to the target storage location in the task instruction based on the current position of the NAV vehicle and execute the task instruction; After entering the target lane, when reading the first RFID card of the target lane, the mileage is recorded through the odometer, and after reaching the location of the target storage location, the task instruction is executed; Two RFID cards set at both ends of the lane or main channel are used to determine the movement direction of the NAV vehicle; the movement direction of the NAV vehicle is determined based on the information of the two RFID cards read most recently.

2. The automatic line patrol method for a NAV vehicle according to claim 1, characterized in that: The origin of the coordinate system is set at the position of the outermost RFID card at either end of the main channel; The y-axis of the coordinate system is defined along the main channel direction; The x-axis of the coordinate system is defined along the roadway direction; The z-axis of the coordinate system represents the height of the storage location; The coordinate system is used to identify the position points in the lane navigation system through the coordinates (x, y, z) of the RFID card; the position points include: the coordinates of the main channel entrance and exit, the coordinates of the entrance and exit of each lane, and the coordinates of each storage location.

3. The automatic line patrol method for a NAV vehicle according to claim 2, characterized in that: The map data is: a data set of static structural information in a lane navigation system; The data set includes: the coordinates (x, y, z) of each storage location, the direction and layout of each lane, the location of the main channel and the locations of both ends, the location of each RFID card, and the correspondence between RFID cards and lanes.

4. The automatic line patrol method for a NAV vehicle according to any one of claims 1 to 3, characterized in that: The lane navigation system is also provided with a frequency generator; the main channel and each lane are independently provided with a wire loop; The frequency generator is used to make each wire loop generate a continuous alternating current of a preset frequency, thereby forming a direction guidance signal in the main channel and the lane.

5. The automatic line patrol method for a NAV vehicle according to claim 4, characterized in that: The front and rear ends of the NAV vehicle are respectively provided with navigation sensors for real-time detection of current changes in the wire loop; the NAV vehicle receives the direction guidance signal generated by the wire loop through the navigation sensor, and performs automatic line patrol operation based on the signal.

6. The automatic line patrol method for a NAV vehicle according to claim 5, characterized in that: The task instructions include the specific coordinates (x, y, z) of the target storage location and the NAV vehicle action instructions; The RFID cards on the main channel are arranged along the direction of the main channel; The RFID cards on the lane are arranged along the direction of the lane.

7. The automatic line patrol method for a NAV vehicle according to claim 6, characterized in that: The method further comprises: After receiving the task instruction, the height of the target storage location in the task instruction is obtained as the target height; According to the running speed of the NAV vehicle and the time required to rise to the target height, calculate whether the time required for the NAV vehicle to run from the current position to the target storage location is greater than the time required to rise to the target height; If it is greater than: set a preset time point as the lifting time of the NAV vehicle, and after the task instruction starts to be executed, monitor the driving progress of the NAV vehicle in real time through the controller, and dynamically adjust the lifting time according to the remaining distance and speed, so that the NAV vehicle gradually rises in the process of approaching the target storage location and just reaches the target height when arriving at the target location; If it is not greater than: then the ascending action is started immediately, and after reaching the target storage location and the target height, the NAV vehicle action command is executed.

8. The automatic line patrol method for a NAV vehicle according to claim 6, characterized in that: The RFID card on the main channel is arranged on the center line of the main channel; the RFID card on the lane is arranged on the center line of the lane.

9. An automatic line patrol device for a NAV vehicle, characterized in that: Applied to a lane navigation system, the lane navigation system includes a main channel and multiple lanes arranged on both sides of the main channel; at least two RFID cards are respectively arranged at both ends of the main channel and each lane; multiple rows of storage locations are arranged on both sides of the lane; the NAV vehicle is equipped with a controller, an RFID card reader and an odometer that are connected to the controller in communication; the controller stores the coordinate system and map data of the lane navigation system; The automatic line patrol device comprises: The receiving module is used to receive the task instruction and obtain the current position and current movement direction of the NAV vehicle using the coordinate system according to the most recently read RFID card information and the odometer count; A main channel control module is used to control the NAV vehicle to move to the target lane in the task instruction based on the odometer count and map data if the current position of the NAV vehicle is in the main channel, and control the NAV vehicle to turn and enter the corresponding target lane according to the current movement direction of the NAV vehicle and the map data; The lane control module is used to determine whether the lane needs to be switched according to the current position of the NAV vehicle and the position of the target storage location in the task instruction if the current position is in the lane. If switching is required, the NAV vehicle is controlled to return to the lane entrance, and the turning direction is determined based on the map data using the RFID card information that was recently read, and then the NAV vehicle is controlled to run to the target lane and turn to enter; if lane switching is not required, the NAV vehicle is controlled to run to the target storage location in the task instruction according to the current position of the NAV vehicle to execute the task instruction; The execution module is used to enter the target lane, record the mileage through the odometer when reading the first RFID card of the target lane, and execute the task instruction after reaching the location of the target storage location; Two RFID cards set at both ends of the lane or main channel are used to determine the movement direction of the NAV vehicle; the movement direction of the NAV vehicle is determined based on the information of the two RFID cards read most recently.

10. The automatic line patrol device for a NAV vehicle according to claim 9, characterized in that: The origin of the coordinate system is set at the position of the outermost RFID card at either end of the main channel; The y-axis of the coordinate system is defined along the main channel direction; The x-axis of the coordinate system is defined along the roadway direction; The z-axis of the coordinate system represents the height of the storage location; The coordinate system is used to identify each position point in the lane navigation system by coordinates (x, y, z); the position point includes: the coordinates of the main channel entrance and exit, the coordinates of the entrance and exit of each lane, and the coordinates of each storage location; The map data is: a data set of static structural information in a lane navigation system; The data set includes: the coordinates (x, y, z) of each storage location, the direction and layout of each lane, the location of the main channel and the locations at both ends, the location of each RFID card, and the correspondence between RFID cards and lanes.

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