Transportation rail compatible with AGV (Automatic Guided Vehicle) and trolley and passing regulation and control strategy thereof

Abstract

The invention discloses a transportation track compatible with an AGV and a trolley and a passing regulation and control strategy of the transportation track, and belongs to the technical field of track traffic. The problem that when the AGV passes through a track where the AGV runs, wheels of the AGV are prone to falling into track grooves is solved. The device comprises a filling and leveling mechanism, a rack trolley blocking mechanism, a rack trolley weight measuring mechanism, a rack trolley speed detecting mechanism, a triggering mechanism, a reminding mechanism and a control system electrically connected with an AGV trolley operation control system, and meanwhile the control system is used for achieving interaction and control of all the mechanisms. The traveling characteristics of the AGV and the rack trolley are considered, the transportation track compatible with the AGV and the rack trolley is designed, it can be guaranteed that the AGV stably passes through the track, filling and leveling of the filling and leveling mechanism are stopped after the AGV passes through the track so that the rack trolley can conveniently pass through, and therefore both the AGV and the rack trolley can operate and do not interfere with each other.

Description

Technical Field

[0001] The present invention belongs to the field of rail transportation technology, and in particular relates to a transport track compatible with AGVs and trolleys and a traffic control strategy thereof. Background Art

[0002] Subway vehicles are an essential component of urban public transportation systems. To ensure passenger safety and comfort, they require regular inspection and maintenance. Subway vehicle maintenance is a crucial component of subway vehicle operations, primarily involving comprehensive inspections of key components to ensure proper operation and safe use.

[0003] During subway vehicle maintenance, a variety of large, medium, and small parts must be transported. Large parts are typically transported using large equipment such as forklifts and cranes, while small and medium-sized parts are transported using trolleys or automated guided vehicles (AGVs). Currently, trolleys are manually propelled along tracks on the workshop floor, while AGVs operate within the workshop according to established procedures. During this process, overlapping routes between the trolley and AGV are unavoidable. When AGVs pass over the trolley's tracks, their wheels can easily become trapped in the track grooves, causing the AGV to tip over and become damaged, resulting in unnecessary economic losses. Summary of the Invention

[0004] In response to the problem in the prior art that the wheels of an AGV trolley easily get stuck in the track groove when passing through the track on which a trolley runs, causing the AGV trolley to tip over and be damaged, resulting in unnecessary economic losses, the present invention provides a transport track compatible with AGVs and trolleys and its traffic control strategy.

[0005] The technical solution adopted in the present invention is as follows: A transport track compatible with AGVs and trolleys includes a track body, the track body including two track grooves arranged in parallel, and the track body or the surrounding area thereof is provided with: Filling mechanism, used to fill the track groove where the AGV trolley passes; The trolley blocking mechanism is used to prevent the trolley from continuing to move forward on the track body; The trolley weighing mechanism is used to detect the weight of the trolley; The trolley speed detection mechanism is used to detect the speed of the trolley; A trigger mechanism is provided around the filling mechanism and is used to identify the trolley and its operator; A reminder mechanism, the reminder mechanism is used to issue a reminder to the operator of the trolley; The control system is used to realize the interaction and control of the filling mechanism, the trolley blocking mechanism, the trolley weighing mechanism, the trolley speed detection mechanism, the reminder mechanism and the triggering mechanism, and the control system is electrically connected to the AGV trolley operation control system.

[0006] After adopting this technical solution, the present invention takes into account the characteristics of the movement of the AGV trolley and the rack trolley, and designs a transport track that is compatible with the AGV trolley and the rack trolley. When the AGV trolley is about to pass through the track of the rack trolley, the track groove is filled by the filling mechanism, thereby ensuring that the AGV trolley passes through the track normally and is not prone to falling, effectively improving the service life of the AGV trolley. When the AGV trolley passes through the track, the filling mechanism is stopped to facilitate the passage of the rack trolley, thereby achieving the balance of operation of the AGV trolley and the rack trolley without interfering with each other.

[0007] At the same time, the present invention also provides a trolley blocking mechanism, a trolley weighing mechanism, a trolley speed detection mechanism, a triggering mechanism, a reminder mechanism and a control system. Through these mechanisms, the operation of the AGV trolley and the trolley can be regulated, and the operation of the two can be coordinated according to their actual operation conditions, so that the two can pass through the track in turn without stopping as much as possible. The trolley blocking mechanism can also intercept the trolley in extreme cases to protect the safe operation of both.

[0008] Preferably, the filling mechanism includes a mounting groove arranged between the two track grooves, the two ends of the mounting groove are respectively connected to the track grooves on both sides, a bracket is arranged in the mounting groove, a cover plate is fixedly arranged on the top surface of the bracket, the top surface of the cover plate is flush with the top surface of the mounting groove, and a push plate is provided on each side of the bracket close to the two track grooves, the push plate is located below the cover plate, and the bracket is provided with a left-right telescopic mechanism for driving the push plate to extend and retract left and right relative to the bracket and an up-down telescopic mechanism for driving the push plate to extend and retract up and down relative to the bracket.

[0009] After adopting this technical solution, the present invention sets the filling mechanism in the middle area of ​​the two track grooves, the top surface of the cover plate is flush with the surface of the middle area, and the push plate is hidden on the bracket under the cover plate. When the push plate is not extended, the track area where the filling mechanism is set is almost identical to the structure of other areas of the track. When filling is required, the left and right telescopic mechanisms are used to drive the push plate to move to cover the track groove, and the upper and lower telescopic mechanisms are used to drive the push plate to move until the top surface of the push plate is flush with the cover plate, thereby achieving the effect of filling the track groove.

[0010] Preferably, the left and right telescopic mechanisms include a first fixed seat connected to the bracket, and electric telescopic columns are symmetrically arranged on both sides of the first fixed seat. The telescopic ends of each electric telescopic column are connected to the upper and lower telescopic mechanisms, and the upper and lower telescopic mechanisms are connected to the push plate.

[0011] Preferably, the upper and lower telescopic mechanism includes a second fixed seat respectively connected to the two electric telescopic columns, and the two sides of the second fixed seat are each connected to a third fixed seat through a connecting rod, and each of the third fixed seats is rotatably connected to a screw, one end of the screw is rotatably connected to the bottom of the push plate, and a driving mechanism for driving the screw to rotate on the third fixed seat is provided in the third fixed seat, and a limit rod is also slidably provided on each of the third fixed seats, one end of the limit rod is connected to the push plate, and the other end of the limit rod is provided with a limit block for preventing the limit rod from detaching from the third fixed seat.

[0012] Preferably, the push plate is a Z-shaped structure.

[0013] Preferably, the trolley blocking mechanism includes two blocking assemblies respectively arranged on both sides of the filling mechanism, each of the blocking assemblies includes a plurality of blocking parts, and the plurality of blocking parts are sequentially arranged in the track groove along the length extension direction of the track body.

[0014] After adopting this technical solution, since the trolley is pushed by manpower, its speed is uncontrollable and it is possible to accelerate at any time. Therefore, in this application, multiple blocking members are respectively arranged in the track grooves on both sides of the filling mechanism along the extension direction of the track body to facilitate blocking the trolley at any time, thereby further improving safety.

[0015] Preferably, the trolley weighing mechanism includes two weight detection components respectively arranged on both sides of the leveling mechanism, each weight detection component includes several pressure sensors, and several of the pressure sensors are arranged in sequence along the length extension direction of the track body, and several of the blocking members and several of the pressure sensors located on the same side are arranged in sequence in an staggered manner, the trolley speed detection mechanism is electrically connected to the trolley weighing mechanism, and the trolley speed detection mechanism includes a timer.

[0016] After adopting this technical solution, the present invention realizes the detection of the trolley speed through the cooperation of a timer and a pressure sensor. Specifically: since the distance between two adjacent pressure sensors is known, the time interval of the obvious change in the pressure data detected by the two adjacent pressure sensors is recorded by the timer, and the speed of the trolley can be obtained by calculation. Since several of the blocking members and several of the pressure sensors are staggered, when a sudden increase in the speed of the trolley is detected, which may cause the trolley to collide with the AGV cart, the adjacent blocking members can be activated to achieve emergency braking.

[0017] A traffic control strategy, based on the transport track compatible with AGVs and trolleys, includes: S1: The trigger mechanism detects whether there is a trolley passing around the filling mechanism; When the trigger mechanism detects that the operator drives the trolley to the layout position of the trigger mechanism, the control system obtains the operation data of the AGV trolley through the AGV trolley operation control system, and preliminarily determines whether the time for the AGV trolley and the trolley to pass through the filling mechanism conflicts based on the operation data of the AGV trolley. The preliminary judgment results include conflict or no conflict. S2: When the preliminary judgment result shows no conflict, end this control process; When the preliminary judgment result is a conflict, the current speed of the trolley is obtained through the trolley speed detection mechanism, and the time t1 required for the trolley to move to the filling mechanism is calculated based on the current speed and position of the trolley. The time t2 required for the AGV to move to the filling mechanism is obtained based on the operation data of the AGV. By comparing t1 and t2, it is judged again whether there is a conflict. The re-judgment result includes conflict or no conflict; S3: When the result of the second determination shows no conflict, the control process ends; When the result of the second judgment shows a conflict, it is first determined by calculation whether the time for the two to pass through the leveling mechanism can be staggered by adjusting the speed of the AGV within the operating speed range of the AGV. If it can be staggered by speed adjustment, the AGV speed control program is executed; if the speed adjustment cannot be staggered, the trolley weighing mechanism is started to detect the weight of the trolley, and the braking distance of the trolley is calculated based on the weight and speed of the trolley. If the braking distance is less than the distance between the trolley and the leveling mechanism, a reminder is issued through the reminder mechanism to let the trolley operator stop running. If the braking distance is greater than the distance between the trolley and the leveling mechanism, the trolley blocking mechanism is started to block the trolley while the reminder mechanism is started to issue a reminder to the trolley operator to stop running; based on the operating data of the AGV trolley, it is determined whether the AGV trolley has completely passed the leveling mechanism. When the AGV trolley has completely passed the leveling mechanism, a reminder is issued through the reminder mechanism to let the trolley operator start running.

[0018] Preferably, if the following formula is satisfied in S1, it is determined that there is no conflict; otherwise, it is determined that there is a conflict: ; in, It is the distance from the AGV to the filling mechanism.

[0019] After adopting this technical solution, when the AGV is too far away from the filling mechanism, there is basically no chance of intersection between the two. At this time, the control process is stopped, which can reduce equipment loss.

[0020] Preferably, if S2 satisfies the following formula, it is determined that there is no conflict; if it does not satisfy the following formula, it is determined that there is a conflict: or ; in, It is the time required for the AGV to move from the position where the trigger mechanism is triggered by the trolley to the edge of the track body. It is the time required for the AGV to move from the position where the trigger mechanism is triggered by the trolley to completely pass through the track body. To buffer time, The time required for the trolley to move from the position where the trigger mechanism is triggered to the edge of the filling mechanism, It is the time required for the trolley to move from the position where it is when the trigger mechanism is triggered to completely pass through the track body.

[0021] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are: The present invention takes into account the characteristics of the movement of AGV trolleys and rack trolleys, and designs a transport track that is compatible with AGV trolleys and rack trolleys. When the AGV trolley is about to pass through the track of the rack trolley, the track groove is filled by the filling mechanism, thereby ensuring that the AGV trolley can pass through the track normally and is not prone to falling, effectively improving the service life of the AGV trolley. When the AGV trolley passes through the track, the filling mechanism is stopped to facilitate the passage of the rack trolley, thereby achieving the balanced operation of the AGV trolley and the rack trolley without interfering with each other.

[0022] At the same time, the present invention also provides a trolley blocking mechanism, a trolley weighing mechanism, a trolley speed detection mechanism, a triggering mechanism, a reminder mechanism and a control system. Through these mechanisms, the operation of the AGV trolley and the trolley can be regulated, and the operation of the two can be coordinated according to their actual operation conditions, so that the two can pass through the track in turn without stopping as much as possible. The trolley blocking mechanism can also intercept the trolley in extreme cases to protect the safe operation of both. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 This is a schematic diagram of the structure of a transport track in one embodiment of the present invention; Figure 2 A structural diagram of a filling mechanism in one embodiment of the present invention; Figure 3 for Figure 2 A partial enlarged view of point A in the middle; Figure 4 is a control logic diagram of the present invention; Among them, 1-filling mechanism, 101-cover plate, 102-first fixed seat, 103-electric telescopic column, 104-bracket, 105-third fixed seat, 106-limiting rod, 107-screw, 108-second fixed seat, 109-push plate, 2-trolley blocking mechanism, 3-trolley weighing mechanism, 4-trigger mechanism, 5-track body. DETAILED DESCRIPTION

[0024] In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application generally described and shown in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application for protection, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative work are within the scope of protection of this application.

[0025] In the description of the embodiments of the present application, it should be noted that the terms "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings, or are the orientation or positional relationship in which the product of the invention is usually placed when in use. They are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation. Therefore, they cannot be understood as limiting the present application. In addition, the terms "first", "second", "third", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0026] like Figure 1-3 As shown, a transport track compatible with AGVs and trolleys includes a track body, on which or around which the following mechanisms are arranged (it should be noted that this refers to the various components of the transport track, some of which are arranged on the track body 5, and others are arranged around the track body 5, and the following components are arranged on the entire track body 5 as long as the AGV trolley passes): The filling mechanism 1 is used to fill the track groove where the AGV trolley is about to pass through the track body 5. When the AGV trolley has completely passed through the filling mechanism 1, the filling mechanism 1 needs to automatically complete the storage (i.e. stop filling) to avoid affecting the normal operation of the trolley; The trolley blocking mechanism 2 is used to prevent the trolley from moving forward. In one embodiment, the trolley blocking mechanism 2 can be set on the inner side wall of the track groove. When it is necessary to prevent the trolley from moving forward, the trolley blocking mechanism 2 extends from the groove on the inner side wall of the track groove to form a block, thereby realizing the passive stopping of the trolley. The trolley weighing mechanism 3 is arranged at the bottom of the track groove and is located on the contact surface between the track groove and the trolley wheel. When the trolley passes through the track groove, the trolley weighing mechanism 3 detects the weight of the trolley. The braking distance of the trolley is related to its own weight and vehicle speed. In order to achieve more accurate coordinated operation, the trolley weighing mechanism 3 detects the weight of the trolley and combines it with the vehicle speed to calculate its braking distance. The trolley speed detection mechanism is arranged on or around the track body 5. When the trolley passes through the trolley speed detection mechanism, the trolley speed can be detected. Whether the trolley will meet the AGV car on the filling mechanism 1 depends on the distance between the two and the filling mechanism 1 and the speed of both. The operation of the AGV car is controlled by the AGV car operation control system (its control logic is the same as that of the prior art), and its operating speed is generally constant. However, the trolley is operated by manual control, and its speed will vary. Therefore, a trolley speed detection mechanism is required to detect its speed. The trigger mechanism 4 is arranged around the filling mechanism 1, and is used to identify whether the trolley and its operator have arrived here, so as to decide whether to start other mechanisms (trolley speed detection mechanism, trolley blocking mechanism 2, etc.) to realize the regulation of the operation of the AGV trolley and the trolley; in this embodiment, the trigger mechanism 4 is arranged at the edge of the track body 5, and is about 5-10m away from the filling mechanism 1; in one embodiment, the trigger mechanism 4 can be a rangefinder, which consists of a transmitter and a receiver, and the transmitter and the receiver are respectively arranged on both sides of the track body 5, and the transmitter and the receiver are arranged opposite to each other, and the detection surface of the rangefinder is about 10-30cm away from the ground. When the trolley passes by this place, the distance data detected by the rangefinder changes, thereby realizing the recognition that the trolley and its operator have arrived here; The reminder mechanism is used to issue a reminder to the operator of the trolley. The reminder mechanism can remind the operator of the trolley that the operation of the trolley he is controlling may conflict with the operation of the AGV or that the AGV is or is about to pass in front and needs to operate with caution, thereby reducing the probability of the trolley operation conflicting with the AGV operation. For example, the operator of the trolley may have improper observation, resulting in him not noticing that the AGV is or is about to pass in front. Under this premise, the operator of the trolley may suddenly change the operation of the trolley (such as accelerating), resulting in a conflict between the two operations. The reminder issued by the reminder mechanism can reduce the probability of this situation occurring. In one embodiment, the reminder mechanism can be a voice prompt, and the prompt can be "There is an AGV about to or is passing the track ahead, please stop operation", "Please maintain the current speed to pass the track ahead"... The control system is used to realize the interaction and control of the filling mechanism 1, the trolley blocking mechanism 2, the trolley weighing mechanism 3, the trolley speed detection mechanism, the reminder mechanism and the triggering mechanism 4, and the control system is electrically connected to the AGV trolley operation control system.

[0027] This device can not only fill the track groove on the track body 5 to allow the AGV car to pass smoothly, but also adjust the operation of the AGV car and the trolley to minimize the mutual influence of the operation of the two, and try to make the two pass through the track body 5 one after another without stopping.

[0028] In one embodiment, Figure 2-3 As shown, the leveling mechanism 1 includes a mounting groove disposed between two track grooves, the two ends of the mounting groove being connected to the track grooves on both sides, a bracket 104 being disposed in the mounting groove, a cover plate 101 being fixedly disposed on the top surface of the bracket 104, the top surface of the cover plate 101 being flush with the top surface of the mounting groove, a push plate 109 being disposed on each side of the bracket 104 near the two track grooves, the push plate 109 being located below the cover plate 101, and a left-right telescopic mechanism for driving the push plate 109 to extend and retract left and right relative to the bracket 104, and a vertical telescopic mechanism for driving the push plate 109 to extend and retract up and down relative to the bracket 104. In this embodiment, the leveling mechanism 1 is disposed in the area between the two track grooves, with the two push plates 109 extending from both sides of the mounting groove into the track grooves, thereby leveling the two track grooves; this structural design makes the leveling mechanism 1 more integrated and easier to install and use.

[0029] In one embodiment, the left-right telescopic mechanism includes a first fixed base 102 connected to a bracket 104. Electric telescopic columns 103 are symmetrically provided on either side of the first fixed base 102. The telescopic end of each electric telescopic column 103 is connected to an upper and lower telescopic mechanism, which is connected to a push plate 109. When the electric telescopic column 103 extends, it drives the push plate 109 to extend relative to the cover plate 101 into the track groove, thereby covering the track groove. The upper and lower telescopic mechanism further drives the push plate 109 to move upward, so that the road surface around the track body 5, the top surface of the area between the two track grooves, and the top surface of the push plate 109 are almost on the same horizontal plane, making the AGV running on a smoother surface and facilitating the AGV's passage.

[0030] In one embodiment, the upper and lower telescopic mechanism includes a second fixed seat 108 connected to two electric telescopic columns 103 respectively, and each side of the second fixed seat 108 is connected to a third fixed seat 105 through a connecting rod. Each of the third fixed seats 105 can be rotatably connected to a screw 107, and one end of the screw 107 is rotatably connected to the bottom of the push plate 109. A driving mechanism for driving the screw 107 to rotate on the third fixed seat 105 is provided in the third fixed seat 105. In this embodiment, a threaded groove that cooperates with the screw 107 is provided on the third fixed seat 105, and the driving mechanism includes a setting A driving groove in the third fixed seat 105 is connected to the thread groove, and a gear transmission structure cooperating with the screw 107 is provided in the driving groove, and the gear transmission structure is connected to the driving motor. The screw 107 is rotated in the thread groove through the cooperation of the driving motor and the gear transmission structure, thereby realizing up and down extension; a limiting rod 106 can also be slidably provided on each of the third fixed seats 105. In this embodiment, the limiting rod 106 is a quadrangular prism structure, one end of the limiting rod 106 is connected to the push plate 109, and the other end of the limiting rod 106 is provided with a limiting block for preventing the limiting rod 106 from detaching from the third fixed seat 105. The extension and retraction of the electric telescopic column 103 can drive the second fixed seat 108 and the third fixed seat 105 to extend and retract along the width direction of the track body 5, and the third fixed seat 105 is rotatably connected to the push plate 109 through the screw 107, thereby realizing the left and right extension and retraction of the push plate 109, and the driving mechanism drives the screw 107 to rotate so that the screw 107 can move up and down. At the same time, due to the limitation of the limit rod 106, the push plate 109 can be extended and retracted up and down through the cooperation of the screw 107 and the limit rod 106.

[0031] In one embodiment, the push plate 109 is a Z-shaped structure. The Z-shaped push plate 109 can better cooperate with the upper and lower telescopic mechanisms and the left and right telescopic mechanisms to achieve the filling of the track groove.

[0032] In one embodiment, the trolley blocking mechanism 2 includes two blocking assemblies respectively arranged on both sides of the filling mechanism 1, each of the blocking assemblies includes a plurality of blocking members, and the plurality of blocking members are sequentially arranged in the two track grooves along the length extension direction of the track body 5. The specific structure of the blocking member can be: a groove is provided on the inner side wall of the track body 5, an electric telescopic member is provided in the groove, the electric telescopic member is electrically connected to the control system, and a baffle is provided at the telescopic end of the electric telescopic column. The electric telescopic member can drive the baffle to extend or enter the groove. When the baffle extends from the groove, it can block the wheels of the trolley and prevent it from continuing to move forward. In a more preferred case, a silicone cushion is provided on the side of the baffle close to the trolley. The silicone cushion reduces the impact force caused by the trolley wheels, which can effectively improve the service life of the trolley blocking mechanism 2. The present invention provides blocking assemblies on both sides of the filling mechanism 1 to protect the filling mechanism 1 and the AGV trolley on the filling mechanism 1, and prevent the trolley from directly colliding with the filling mechanism 1 and causing damage to the filling mechanism 1 and the AGV trolley.

[0033] In one embodiment, the trolley weighing mechanism 3 includes two weight detection components respectively arranged on both sides of the filling mechanism 1, each weight detection component includes several pressure sensors, and several of the pressure sensors are arranged in two track grooves in sequence along the length extension direction of the track body 5, and several of the blocking members and several of the pressure sensors located on the same side are arranged alternately, the trolley speed detection mechanism is electrically connected to the trolley weighing mechanism 3, and the trolley speed detection mechanism includes a timer. The principle of using a pressure sensor to detect the weight of a trolley is the same as that of the prior art. Specifically, the pressure sensor senses the pressure applied by the trolley and converts it into an electrical signal. After these signals pass through a processing system (such as analog-to-digital conversion, filtering, and algorithm calculation), the weight of the trolley can be calculated. The trolley's speed can be detected by cooperating with a timer and a pressure sensor. Since the spacing between two adjacent pressure sensors is known, the time interval between significant changes in the pressure data detected by the two adjacent pressure sensors is recorded by a timer, thereby obtaining the trolley's speed. Since several of the aforementioned blocking members and several of the aforementioned pressure sensors are arranged in an interlaced manner, when a sudden increase in the trolley's speed is detected, which may cause the trolley to collide with the AGV, the adjacent blocking members can be activated to achieve emergency braking. In other embodiments, a speedometer can also be directly provided around the track body 5 to directly detect the trolley's speed.

[0034] A traffic control strategy based on a transport track compatible with AGVs and trolleys, such as Figure 4 Shown include: S1: The trigger mechanism 4 can detect whether there is a trolley passing around the filling mechanism 1; when the trigger mechanism 4 detects and recognizes that someone is driving the trolley to the layout position of the trigger mechanism 4, the control system obtains the operation data of the AGV trolley (including vehicle speed and movement path, etc.) through the AGV trolley operation control system, and preliminarily judges whether the time when the AGV trolley and the trolley pass the filling mechanism 1 conflicts based on the operation data of the AGV trolley, and the preliminary judgment results include conflict and no conflict; in this step, whether the AGV trolley and the trolley will conflict is mainly judged based on the distance between the AGV trolley and the filling mechanism 1 that the trolley is about to pass. When the distance between the AGV trolley and the filling mechanism 1 is far enough, no conflict will occur regardless of whether the trolley accelerates or decelerates (the speed of the trolley is generally 0.5-1 m / s), so there is no need to perform subsequent avoidance steps, which can achieve the effect of saving procedures; In one embodiment, the trigger mechanism 4 may include a rangefinder, which consists of a transmitter and a receiver. The transmitter and the receiver are respectively arranged on both sides of the track body 5. The detection surface formed between the two is arranged perpendicular to the track body 5, and the height of the detection surface is about 10-30 cm from the ground. When the trolley passes through this place, the rangefinder data changes, thereby realizing the recognition that the trolley and its operator have arrived there; in another embodiment, the trigger mechanism 4 also includes an image acquisition mechanism (a group of rangefinders and image acquisition mechanisms are arranged on each side of the leveling mechanism 1), and the image acquisition mechanism includes a camera and an image analysis mechanism. The camera can collect pictures around the leveling mechanism 1 (one picture is collected every 1 second). It should be noted that the collected pictures start with the position of the rangefinder and end with the side of the leveling mechanism 1 away from the rangefinder. The entire picture needs to be covered In the area between the starting end and the ending end of the cover, the image analysis mechanism analyzes the collected picture to determine whether the picture contains a trolley; in this embodiment, the working principle of the entire trigger mechanism 4 is as follows: the rangefinder detects whether the trolley has reached the vicinity of the filling mechanism 1, and when the rangefinder detects that the trolley has arrived, the preliminary judgment program is immediately started, and the image acquisition mechanism is also started. If the image acquisition mechanism analyzes that the trolley is operating normally, no other additional operations are performed until the image does not contain the trolley and the image acquisition mechanism is turned off; if the image acquisition mechanism analyzes that the trolley has not moved for a long time (for example, the trolley is at the same position in five consecutive images), it is determined that its operation is abnormal. If it is determined that the operation is abnormal, a reminder is issued through the reminder mechanism, such as "Do not stay, pass in time", so as to avoid the trolley staying in the operation intersection area, thereby affecting the operation of the AGV car; S2: When the preliminary judgment result shows no conflict, the control process ends, that is, the trolley speed detection mechanism, trolley weight measurement mechanism 3 and trolley blocking mechanism 2 on the track body 5 stop working, and the mechanisms do not detect or block the trolley even when it passes through them; When the preliminary judgment result is a conflict, the current speed of the trolley is obtained through the trolley speed detection mechanism, and the time t1 required for the trolley to move to the filling mechanism is calculated based on the current speed and position of the trolley. The time t2 required for the AGV to move to the filling mechanism is obtained based on the operation data of the AGV. By comparing t1 and t2, it is judged again whether there is a conflict. The re-judgment result includes conflict or no conflict; S3: When the result of the second determination shows no conflict, the control process ends; When the result of the second judgment shows a conflict, it is first determined by calculation whether the speed of the AGV can be adjusted within the operating speed range of the AGV to stagger the time it takes for the two to pass through the filling mechanism 1. Specifically: since the operating speed of the AGV is generally 0.8-1.5 m / s, the AGV generally moves forward at a constant speed within this range during normal operation. When the control system determines that the operation of the AGV may conflict with the operation of the trolley, it first considers whether the speed of the AGV can be adjusted within this range to stagger the two. If they can be staggered, the AGV speed control program is executed, and a reminder is issued through the reminder mechanism. The reminder content can be: when the AGV slows down, the trolley operator is reminded to speed up; if the AGV accelerates, the trolley operator is reminded to slow down, so that the two are staggered. If the speed adjustment cannot be staggered, the trolley weighing mechanism 3 is started to detect the weight of the trolley, and the braking distance of the trolley is calculated according to the weight and speed of the trolley. If the braking distance is less than the distance between the trolley and the leveling mechanism 1, a reminder is issued through the reminder mechanism to let the trolley operator stop running. If the braking distance is greater than the distance between the trolley and the leveling mechanism 1, a reminder is issued after the reminder mechanism is started to let the trolley operator stop running, and the trolley blocking mechanism 2 is started at the same time to block the trolley; according to the operation data of the AGV trolley, it is judged whether the AGV trolley has completely passed the leveling mechanism 1. When the AGV trolley has completely passed the leveling mechanism 1, a reminder is issued through the reminder mechanism to let the trolley operator start running.

[0035] In one embodiment, if the following formula is satisfied in S1, it is determined that there is no conflict; otherwise, it is determined that there is a conflict: ; in, is the distance from the AGV to the filling mechanism 1.

[0036] In one embodiment, if the following formula is satisfied in S2, it is determined that there is no conflict; otherwise, it is determined that there is a conflict: or ; in, The time required for the AGV to move from the position where the trigger mechanism 4 is triggered by the trolley to the edge of the track body 5, The time required for the AGV to move from the position where the trigger mechanism 4 is triggered by the trolley to the time it completely passes through the track body 5. The buffer time is set to 2s based on experience in this embodiment. is the time required for the trolley to move from the position where the trigger mechanism 4 is triggered to the edge of the filling mechanism 1, It is the time required for the trolley to move from the position where the trigger mechanism 4 is triggered to completely pass through the track body 5.

[0037] The above-described embodiments merely represent specific implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of protection of the present application. It should be noted that a person skilled in the art would be able to make numerous variations and improvements without departing from the technical concept of the present application, and all such variations and improvements fall within the scope of protection of the present application.

Claims

1. A transport track compatible with AGV and trolley, comprising a track body (5), wherein the track body (5) comprises two track grooves arranged in parallel, characterized in that: The track body (5) or the track body (5) is provided with: A filling mechanism (1) is used to fill the track groove where the AGV trolley passes; A trolley blocking mechanism (2) is used to prevent the trolley from continuing to move forward on the track body (5); The trolley weighing mechanism (3) is used to detect the weight of the trolley; The trolley speed detection mechanism is used to detect the speed of the trolley; A trigger mechanism (4), the trigger mechanism (4) is arranged around the filling mechanism (1) and is used to identify the trolley and its operator; A reminder mechanism, the reminder mechanism is used to issue a reminder to the operator of the trolley; The control system is used to realize the interaction and control of the filling mechanism (1), the trolley blocking mechanism (2), the trolley weight measuring mechanism (3), the trolley speed detection mechanism, the reminder mechanism and the trigger mechanism (4), and the control system is electrically connected to the AGV trolley operation control system.

2. The transport track compatible with AGV and trolley according to claim 1, characterized in that: The filling mechanism (1) includes a mounting groove arranged between two track grooves, the two ends of the mounting groove are respectively communicated with the track grooves on both sides, a bracket (104) is arranged in the mounting groove, a cover plate (101) is fixedly arranged on the top surface of the bracket (104), the top surface of the cover plate (101) is flush with the top surface of the mounting groove, a push plate (109) is respectively arranged on both sides of the bracket (104) close to the two track grooves, the push plate (109) is located below the cover plate (101), and the bracket (104) is provided with a left-right telescopic mechanism for driving the push plate (109) to telescope left and right relative to the bracket (104) and an up-down telescopic mechanism for driving the push plate (109) to telescope up and down relative to the bracket (104).

3. The transport track compatible with AGV and trolley according to claim 2, characterized in that: The left and right telescopic mechanisms include a first fixed seat (102) connected to a bracket (104), electric telescopic columns (103) are symmetrically arranged on both sides of the first fixed seat (102), and the telescopic ends of each electric telescopic column (103) are connected to the upper and lower telescopic mechanisms, and the upper and lower telescopic mechanisms are connected to the push plate (109).

4. The transport track compatible with AGV and trolley according to claim 3, characterized in that: The upper and lower telescopic mechanism includes a second fixed seat (108) respectively connected to two electric telescopic columns (103), and the two sides of the second fixed seat (108) are each connected to a third fixed seat (105) through a connecting rod. Each of the third fixed seats (105) is rotatably connected to a screw rod (107), one end of the screw rod (107) is rotatably connected to the bottom of the push plate (109), and a driving mechanism for driving the screw rod (107) to rotate on the third fixed seat (105) is provided in the third fixed seat (105). A limiting rod (106) can also be slidably provided on each of the third fixed seats (105), one end of the limiting rod (106) is connected to the push plate (109), and the other end of the limiting rod (106) is provided with a limiting block for preventing the limiting rod (106) from detaching from the third fixed seat (105).

5. The transport track compatible with AGV and trolley according to any one of claims 2 to 4, characterized in that: The push plate (109) is a Z-shaped structure.

6. The transport track compatible with AGV and trolley according to any one of claims 1 to 4, characterized in that: The trolley blocking mechanism (2) comprises two blocking assemblies respectively arranged on both sides of the filling mechanism (1), each of the blocking assemblies comprises a plurality of blocking members, and the plurality of blocking members are sequentially arranged in the track groove along the length extension direction of the track body (5).

7. The transport track compatible with AGV and trolley according to claim 6, characterized in that: The trolley weighing mechanism (3) includes two weight detection components respectively arranged on both sides of the filling mechanism (1), each weight detection component includes a plurality of pressure sensors, and the plurality of pressure sensors are arranged in sequence along the length extension direction of the track body (5), and the plurality of blocking members and the plurality of pressure sensors located on the same side are arranged in sequence in an interlaced manner. The trolley speed detection mechanism is electrically connected to the trolley weighing mechanism (3), and the trolley speed detection mechanism includes a timer.

8. A traffic control strategy, characterized by: The transport track compatible with AGV and trolley according to any one of claims 1 to 7 comprises: S1: The trigger mechanism (4) detects whether a trolley passes by the filling mechanism (1); When the trigger mechanism (4) detects that the operator drives the trolley to the placement position of the trigger mechanism (4), the control system obtains the operation data of the AGV trolley through the AGV trolley operation control system, and preliminarily determines whether the time when the AGV trolley and the trolley pass through the filling mechanism (1) conflicts based on the operation data of the AGV trolley. The preliminarily determined result includes conflict or no conflict. S2: When the preliminary judgment result shows no conflict, end this control process; When the preliminary judgment result is a conflict, the current speed of the trolley is obtained through the trolley speed detection mechanism, and the time t1 required for the trolley to move to the filling mechanism (1) is calculated based on the current speed and position of the trolley. The time t2 required for the AGV to move to the filling mechanism (1) is obtained based on the operation data of the AGV trolley. By comparing t1 and t2, it is judged again whether there is a conflict. The re-judgment result includes conflict and no conflict. S3: When the result of the second determination shows no conflict, the control process ends; When the result of the second judgment shows a conflict, it is first determined by calculation whether the speed of the AGV can be adjusted within the operating speed range of the AGV to stagger the time for the two to pass through the filling mechanism (1). If the speed can be staggered, the AGV speed control program is executed; if the speed cannot be staggered, the trolley weight measuring mechanism (3) is started to detect the weight of the trolley, and the braking distance of the trolley is calculated based on the weight and speed of the trolley. If the braking distance is less than the distance between the trolley and the filling mechanism (1), a reminder is issued to the trolley operator to stop running through the reminder mechanism; if the braking distance is greater than the distance between the trolley and the filling mechanism (1), a reminder is issued to the trolley operator to stop running after the reminder mechanism is started, and the trolley blocking mechanism (2) is started to block the trolley; based on the operating data of the AGV, it is determined whether the AGV has completely passed through the filling mechanism (1). When the AGV has completely passed through the filling mechanism (1), a reminder is issued to the trolley operator to start running through the reminder mechanism.

9. The traffic control strategy according to claim 8, characterized in that: If S1 satisfies the following formula, it is judged as non-conflict; if it does not satisfy the following formula, it is judged as conflict: ； in, is the distance from the AGV to the filling mechanism (1).

10. The traffic control strategy according to claim 8, characterized in that: If S2 satisfies the following formula, it is judged as non-conflict; if it does not satisfy the following formula, it is judged as conflict: or ; in, The time required for the AGV to move from the position where the trigger mechanism (4) is triggered by the trolley to the edge of the track body (5), The time required for the AGV trolley to move from the position where it is when the trolley triggers the trigger mechanism (4) to completely pass through the track body (5), To buffer time, is the time required for the trolley to move from the position where the trigger mechanism (4) is triggered to the edge of the filling mechanism (1), The time required for the trolley to move from the position where the trigger mechanism (4) is triggered to completely pass through the track body (5).

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