A transport track compatible with AGVs and trolleys and its traffic control method

Abstract

This invention discloses a transport track compatible with AGVs and trolleys, and its traffic control method, belonging to the field of rail transit technology. This invention solves the problem that the wheels of AGVs easily get stuck in the track grooves when passing over trolley tracks. The invention includes a leveling mechanism, a trolley blocking mechanism, a trolley weighing mechanism, a trolley speed detection mechanism, a triggering mechanism, a reminder mechanism, and a control system electrically connected to the AGV's operation control system. The control system is used to realize the interaction and control of the various mechanisms. This invention considers the characteristics of AGV and trolley travel and designs a transport track compatible with both, ensuring the smooth passage of the AGV. After the AGV passes the track, the leveling mechanism stops leveling to facilitate the passage of the trolley, thus achieving simultaneous operation of the AGV and trolley without interference.

Description

Technical Field

[0001] This invention belongs to the field of rail transit technology, specifically relating to a transport track compatible with AGVs and trolley vehicles and its traffic control method. Background Technology

[0002] Subway cars are an important component of urban public transportation systems. To ensure passenger safety and comfort, subway cars require regular inspection and maintenance. Subway car inspection is a crucial part of subway car operation, primarily involving a comprehensive check of all key components to ensure the normal operation and safe use of the subway cars.

[0003] During subway vehicle maintenance, various large, medium, and small parts are transported. Large parts are typically moved using forklifts, cranes, or other heavy equipment, while medium and small parts are transported using trolleys or AGVs (Automated Guided Vehicles). Currently, trolleys are manually propelled along tracks on the workshop floor, while AGVs operate according to a predetermined program. In this process, overlap between the trolley and AGV routes is unavoidable. When an AGV crosses the trolley's track, its wheels can easily become stuck in the track grooves, causing it to tip over and become damaged, resulting in unnecessary economic losses. Summary of the Invention

[0004] In view of the problem in the prior art that the wheels of AGV trolleys are prone to getting stuck in the track grooves when passing through the track where the 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 a method for controlling their passage.

[0005] The technical solution adopted in this invention is as follows:

[0006] A transport track compatible with AGVs and trolleys includes a track body, the track body comprising two parallel track slots, and the track body or its surrounding area having:

[0007] A leveling mechanism is used to level the track grooves where the AGV trolley passes.

[0008] The gantry car blocking mechanism is used to prevent the gantry car from continuing to move forward on the track body;

[0009] The trolley weighing mechanism is used to detect the weight of the trolley.

[0010] The gantry crane speed detection mechanism is used to detect the speed of the gantry crane.

[0011] Triggering mechanism, located around the leveling mechanism, is used to identify the scaffolding vehicle and its operators;

[0012] The reminder mechanism is used to issue reminders to the operators of the gantry crane;

[0013] The control system is used to realize the interaction and control of the leveling 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.

[0014] By adopting this technical solution, the present invention takes into account the characteristics of the AGV trolley and the platform trolley, and designs a transport track that is compatible with both AGV trolleys and platform trolleys. When the AGV trolley is about to pass the platform trolley's track, the track groove is filled by a leveling mechanism, which ensures that the AGV trolley can pass through the track normally and is less likely to fall over, thus effectively improving the service life of the AGV trolley. After the AGV trolley passes the track, the leveling mechanism stops to facilitate the passage of the platform trolley. This achieves the balance between the operation of the AGV trolley and the platform trolley without interference between them.

[0015] Meanwhile, the present invention also includes a trolley blocking mechanism, a trolley weighing mechanism, a trolley speed detection mechanism, a triggering mechanism, a reminder mechanism, and a control system. These mechanisms can control the operation of the AGV trolley and the trolley, coordinate their operation according to the actual running conditions of the AGV trolley and the trolley, and ensure that they pass through the track in sequence without stopping as much as possible. In addition, the trolley blocking mechanism can also intercept the trolley in extreme cases to protect the safe operation of both.

[0016] Preferably, the leveling mechanism includes an installation groove disposed between two track grooves, with both ends of the installation groove communicating with the track grooves on both sides respectively. A bracket is disposed in the installation groove, and a cover plate is fixedly disposed on the top surface of the bracket. The top surface of the cover plate is flush with the top surface of the installation groove. A push plate is disposed on each side of the bracket near the two track grooves, and the push plate is located below the cover plate. 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 a right-right telescopic mechanism for driving the push plate to extend and retract up and down relative to the bracket.

[0017] By adopting this technical solution, the present invention sets the leveling 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, while the push plate is hidden on the support under the cover plate. When the push plate is not extended, the track area with the leveling mechanism is almost identical in structure to other areas of the track. When leveling is required, the push plate is moved to cover the track groove by the left and right telescopic mechanism, and the push plate is moved to the top surface of the push plate is flush with the cover plate by the up and down telescopic mechanism, thereby achieving the effect of leveling the track groove.

[0018] Preferably, the left and right telescopic mechanism includes 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 end of each electric telescopic column is connected to the upper and lower telescopic mechanism, which is connected to the push plate.

[0019] Preferably, the telescopic mechanism includes a second fixed seat connected to two electric telescopic columns respectively. Each side of the second fixed seat is connected to a third fixed seat via a connecting rod. A screw is rotatably connected to each of the third fixed seats. One end of the screw is rotatably connected to the bottom of the push plate. A drive mechanism for driving the screw to rotate on the third fixed seat is provided inside the third fixed seat. 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 disengaging from the third fixed seat.

[0020] Preferably, the pusher plate has a Z-shaped structure.

[0021] Preferably, the trolley blocking mechanism includes two blocking components respectively disposed on both sides of the leveling mechanism. Each blocking component includes several blocking elements, which are arranged sequentially in the track groove along the length extension direction of the track body.

[0022] After adopting this technical solution, since the trolley is driven by manpower, its speed is uncontrollable and may accelerate at any time. Therefore, in this application, multiple blocking components are set in the track grooves on both sides of the filling mechanism along the extension direction of the track body to block the trolley at any time, thereby further improving safety.

[0023] Preferably, the trolley weighing mechanism includes two weight detection components respectively disposed on both sides of the leveling mechanism. Each weight detection component includes several pressure sensors. The pressure sensors are arranged sequentially along the length extension direction of the track body. Several blocking components and several pressure sensors located on the same side are arranged alternately. The trolley speed detection mechanism is electrically connected to the trolley weighing mechanism, and the trolley speed detection mechanism includes a timer.

[0024] By adopting this technical solution, the present invention achieves the detection of the gantry car 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 between significant changes in the pressure data detected by the two adjacent pressure sensors is recorded by the timer, and the speed of the gantry car can be obtained by calculation. Since several blocking components and several pressure sensors are staggered, when a sudden increase in the speed of the gantry car is detected, which may lead to a collision between the gantry car and the AGV, the adjacent blocking components can be activated to achieve emergency braking.

[0025] A traffic control method, based on the aforementioned transport track compatible with AGVs and trolleys, includes:

[0026] S1: The trigger mechanism detects whether a trolley has passed by the leveling mechanism;

[0027] When the triggering mechanism detects that the operator drives the scaffolding trolley to the deployment position of the triggering mechanism, the control system obtains the AGV trolley's operation data through the AGV trolley operation control system, and makes a preliminary judgment on whether the AGV trolley and the scaffolding trolley conflict in the time of passing the leveling mechanism based on the AGV trolley's operation data. The preliminary judgment results include conflict and no conflict.

[0028] S2: When the preliminary judgment result shows no conflict, the current control process ends;

[0029] When the initial judgment result is a conflict, the current speed of the scaffold is obtained through the scaffold speed detection mechanism, and the time t1 required for the scaffold to move to the filling mechanism is calculated based on the current speed and position of the scaffold. The time t2 required for the AGV to move to the filling mechanism is obtained based on the AGV's running data. By comparing t1 and t2, it is judged again whether there is a conflict. The result of the second judgment includes conflict and no conflict.

[0030] S3: When the result of the second judgment shows no conflict, the current control process ends;

[0031] When the result of the judgment shows a conflict again, first calculate whether adjusting the speed of the AGV within the operating speed range of the AGV can stagger the time it takes for both to pass through the leveling mechanism. If the speed can be adjusted to stagger the time, the AGV speed adjustment program is executed. If the speed cannot be adjusted to stagger the time, the weighing mechanism of the scaffolding car is activated to detect the weight of the scaffolding car, and the braking distance of the scaffolding car is calculated based on the weight and speed of the scaffolding car. If the braking distance is less than the distance between the scaffolding car and the leveling mechanism, a reminder mechanism is issued to the scaffolding car operator to stop running. If the braking distance is greater than the distance between the scaffolding car and the leveling mechanism, the scaffolding car blocking mechanism is activated at the same time as the reminder mechanism is activated to issue a reminder to the scaffolding car operator to stop running. Based on the AGV's operating data, it is determined whether the AGV has completely passed through the leveling mechanism. When the AGV has completely passed through the leveling mechanism, a reminder mechanism is issued to the scaffolding car operator to start running.

[0032] Preferably, S1 is considered non-conflicting if it satisfies the following formula, and conflicting if it does not:

[0033] ;

[0034] in, This is the distance from the AGV trolley to the leveling mechanism.

[0035] After adopting this technical solution, when the AGV is too far away from the filling mechanism, there is basically no chance that the two will intersect. At this time, the control process will be stopped, which can reduce equipment wear and tear.

[0036] Preferably, S2 is considered non-conflicting if it satisfies the following formula, and conflicting if it does not:

[0037] ;

[0038] in, This is the time required for the AGV trolley to move from its position when the trolley triggers the trigger mechanism to the edge of the track body. This refers to the time required for the AGV trolley to move from its position when the trolley triggers the trigger mechanism to completely traverse the track body. For buffer time, The time required for the trolley to move from its position when the trigger mechanism is activated to the edge of the leveling mechanism. The time required for the trolley to move from its position when the triggering mechanism is activated to completely pass through the track body.

[0039] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are:

[0040] This invention takes into account the characteristics of AGV trolleys and platform trolleys, and designs a transport track compatible with both. When the AGV trolley passes over the platform trolley's track, a leveling mechanism fills the track groove, ensuring that the AGV trolley can pass through the track normally without easily falling over, effectively improving the service life of the AGV trolley. After the AGV trolley passes over the track, the leveling mechanism stops to allow the platform trolley to pass. This achieves the simultaneous operation of the AGV trolley and the platform trolley without interference between them.

[0041] Meanwhile, the present invention also includes a trolley blocking mechanism, a trolley weighing mechanism, a trolley speed detection mechanism, a triggering mechanism, a reminder mechanism, and a control system. These mechanisms can control the operation of the AGV trolley and the trolley, coordinate their operation according to the actual running conditions of the AGV trolley and the trolley, and ensure that they pass through the track in sequence without stopping as much as possible. In addition, the trolley blocking mechanism can also intercept the trolley in extreme cases to protect the safe operation of both. Attached Figure Description

[0042] Figure 1 This is a schematic diagram of the structure of the transport track in one embodiment of the present invention;

[0043] Figure 2This is a schematic diagram of the filling mechanism in one embodiment of the present invention;

[0044] Figure 3 for Figure 2 A magnified view of a section at point A in the middle;

[0045] Figure 4 This is the control logic diagram of the present invention;

[0046] 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-triggering mechanism, 5-track body. Detailed Implementation

[0047] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely represents selected embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0048] In the description of the embodiments of this application, it should be noted that the terms "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of the invention is in use. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application. In addition, the terms "first," "second," and "third," etc., are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0049] like Figure 1-3As shown, a transport track compatible with AGVs and trolleys includes a track body 5. The following mechanisms are arranged on or around the track body 5 (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 wherever the AGV trolley will pass):

[0050] The leveling mechanism 1 is used to level the track groove where the AGV trolley will pass when it is about to pass the track body 5. After the AGV trolley has completely passed the leveling mechanism 1, the leveling mechanism 1 should automatically complete the storage (i.e. stop leveling) to avoid affecting the normal operation of the trolley.

[0051] The trolley blocking mechanism 2 is used to prevent the trolley from continuing to move forward. In one embodiment, the trolley blocking mechanism 2 can be set on the inner wall of the track groove. When it is necessary to prevent the trolley from continuing to move forward, the trolley blocking mechanism 2 extends out from the groove on the inner wall of the track groove to form a block, thereby achieving the passive stopping of the trolley.

[0052] The trolley weighing mechanism 3 is set at the bottom of the track groove and is located on the contact surface between the track groove and the trolley wheels. 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 speed. In order to achieve more precise coordinated operation, the trolley weighing mechanism 3 detects the weight of the trolley and combines it with the speed of the trolley to calculate its braking distance.

[0053] The trolley speed detection mechanism is set on or around the track body 5. When the trolley passes the trolley speed detection mechanism, the speed of the trolley can be detected. Whether the trolley will meet the AGV trolley on the leveling mechanism 1 depends on the distance between the two to the leveling mechanism 1 and their speeds. The operation of the AGV trolley is controlled by the AGV trolley operation control system (its control logic is the same as the existing technology), and its operating speed is generally constant. However, the trolley is operated manually, and its speed will vary. Therefore, the trolley speed detection mechanism is needed to detect its speed.

[0054] Triggering mechanism 4 is located around leveling mechanism 1 and is used to identify whether the gantry car and its operator have arrived at this location. This allows for the determination of whether to activate other mechanisms (gantry car speed detection mechanism, gantry car blocking mechanism 2, etc.) to control the operation of the AGV car and gantry car. In this embodiment, triggering mechanism 4 is located at the edge of track body 5, approximately 5-10m away from leveling mechanism 1. In one embodiment, triggering mechanism 4 can be a rangefinder, consisting of a transmitter and a receiver. The transmitter and receiver are respectively located on both sides of track body 5, with the transmitter and receiver facing each other. The detection surface of the rangefinder is approximately 10-30cm above the ground. When the gantry car passes through this location, the distance data detected by the rangefinder changes, thereby identifying the arrival of the gantry car and its operator at this location.

[0055] The reminder mechanism is used to alert the operator of the gantry crane. This mechanism can remind the operator that the operation of the gantry crane may conflict with the operation of the AGV (Automated Guided Vehicle) or that the AGV is passing by or about to pass ahead, requiring careful operation. This reduces the probability of conflict between the gantry crane and the AGV. For example, the operator might fail to observe properly, not noticing the AGV passing by. In this case, the operator might suddenly change the gantry crane's operation (e.g., accelerate), causing a conflict. The reminder from the mechanism can reduce the probability of this happening. In one embodiment, the reminder mechanism can be a voice prompt, such as "An AGV is about to or is passing by the track ahead, please stop," or "Please maintain your current speed while passing the track ahead."

[0056] The control system is used to realize the interaction and control of the leveling mechanism 1, the platform blocking mechanism 2, the platform weighing mechanism 3, the platform 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.

[0057] This device can not only fill the track groove on the track body 5 to allow the AGV trolley to pass smoothly, but also adjust the operation of the AGV trolley and the gantry car to minimize the mutual influence between the two operations and allow them to pass through the track body 5 one after the other without stopping.

[0058] In one embodiment, such as Figure 2-3As shown, the leveling mechanism 1 includes an installation groove disposed between two track grooves. Both ends of the installation groove are connected to the track grooves on both sides. A bracket 104 is disposed within the installation groove, and a cover plate 101 is fixedly disposed on the top surface of the bracket 104. The top surface of the cover plate 101 is flush with the top surface of the installation groove. A push plate 109 is disposed on each side of the bracket 104 near the two track grooves, with the push plate 109 located below the cover plate 101. The bracket 104 is equipped with 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 right-right 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 installation groove into the track grooves, thereby leveling the two track grooves. This structural design makes the leveling mechanism 1 more robust and easier to install and use.

[0059] In one embodiment, the left and right telescopic mechanism includes a first fixed base 102 connected to the bracket 104. Electric telescopic columns 103 are symmetrically arranged on both sides 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 can drive 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 upwards, 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's running surface smoother and facilitating better passage for the AGV.

[0060] In one embodiment, the telescopic mechanism includes a second fixed base 108 connected to two electric telescopic columns 103 respectively. A third fixed base 105 is connected to each side of the second fixed base 108 via a connecting rod. A screw 107 is rotatably connected to each of the third fixed bases 105. One end of the screw 107 is rotatably connected to the bottom of the push plate 109. A drive mechanism for driving the screw 107 to rotate on the third fixed base 105 is provided within each third fixed base 105. In this embodiment, the third fixed base 105 is provided with a threaded groove that mates with the screw 107. The drive mechanism includes... The drive groove in the third fixed seat 105 is connected to the threaded groove, and a gear transmission structure that cooperates with the screw 107 is provided in the drive groove. The gear transmission structure is connected to the drive motor. The screw 107 rotates in the threaded groove through the cooperation of the drive motor and the gear transmission structure, thereby realizing the vertical extension and retraction. A limit rod 106 can also be slidably provided on each of the third fixed seats 105. In this embodiment, the limit rod 106 is a quadrangular prism structure. One end of the limit rod 106 is connected to the push plate 109, and the other end of the limit rod 106 is provided with a limit block to prevent the limit rod 106 from disengaging 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. The third fixed seat 105 is rotatably connected to the push plate 109 through the screw 107, thus realizing the left and right extension and retraction of the push plate 109. The drive mechanism drives the screw 107 to rotate, thereby enabling the screw 107 to move up and down. At the same time, due to the limiting rod 106, the push plate 109 can achieve up and down extension and retraction through the cooperation of the screw 107 and the limiting rod 106.

[0061] In one embodiment, the pusher plate 109 has a Z-shaped structure. The Z-shaped pusher plate 109 can better cooperate with the vertical telescopic mechanism and the horizontal telescopic mechanism to achieve the filling of the track groove.

[0062] In one embodiment, the trolley blocking mechanism 2 includes two blocking components respectively disposed on both sides of the leveling mechanism 1. Each blocking component includes several blocking elements, which are sequentially arranged in two track grooves along the length of the track body 5. The specific structure of the blocking element can be as follows: a groove is provided on the inner wall of the track body 5, and an electric telescopic component is disposed within the groove. This electric telescopic component is electrically connected to the control system. A baffle is provided at the telescopic end of the electric telescopic column. The electric telescopic component 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, preventing it from moving forward. In a preferred embodiment, a silicone buffer pad is provided on the side of the baffle closest to the approaching trolley. The silicone buffer pad reduces the impact force from the trolley wheels, effectively improving the service life of the trolley blocking mechanism 2. This invention provides blocking components on both sides of the leveling mechanism 1 to protect the leveling mechanism 1 and the AGV trolley on it, preventing the trolley from directly colliding with the leveling mechanism 1 and causing damage to the leveling mechanism 1 and the AGV trolley.

[0063] In one embodiment, the trolley weighing mechanism 3 includes two weight detection components respectively disposed on both sides of the leveling mechanism 1. Each weight detection component includes several pressure sensors. The pressure sensors are arranged sequentially in the two track grooves along the length extension direction of the track body 5. Several blocking members and several 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 pressure sensor detection of trolley weight is the same as existing technology. Specifically, the pressure sensor senses the pressure applied by the trolley and converts it into an electrical signal. After processing by a system (such as analog-to-digital conversion, filtering, and algorithm calculation), the weight of the trolley can be calculated. The trolley speed can be detected by combining a timer and pressure sensor. Since the distance between two adjacent pressure sensors is known, the time interval between significant changes in pressure data detected by two adjacent pressure sensors is recorded by the timer, thus obtaining the trolley speed. Because several blocking components and several pressure sensors are staggered, when a sudden increase in trolley speed is detected, which may lead to a collision between the trolley and the AGV, adjacent blocking components can be activated to achieve emergency braking. In other embodiments, a speed measuring instrument can be directly installed around the track body 5 to directly detect the trolley speed.

[0064] A traffic control method based on a transport track compatible with AGVs and trolleys, such as Figure 4 The following are included:

[0065] S1: The triggering mechanism 4 can detect whether a trolley is passing by the leveling mechanism 1. When the triggering mechanism 4 detects and identifies that someone is driving the trolley to the location of the triggering mechanism 4, the control system obtains the AGV's running data (including speed and movement path) through the AGV's running control system, and preliminarily judges whether the AGV and the trolley will conflict when passing the leveling mechanism 1. The preliminary judgment results include conflict and no conflict. In this step, the main determination of whether the two will conflict is based on the distance between the AGV and the trolley that they are about to pass through the leveling mechanism 1. When the AGV is far enough away from the leveling mechanism 1, the two will not conflict regardless of whether the trolley accelerates or decelerates (the speed of the trolley is generally 0.5-1 m / s). Therefore, there is no need to perform subsequent avoidance steps, which can save the program.

[0066] In one embodiment, the triggering mechanism 4 may include a rangefinder, which consists of a transmitter and a receiver. The transmitter and receiver are respectively located on both sides of the track body 5, and the detection surface formed between them is perpendicular to the track body 5. The height of the detection surface is approximately 10-30 cm above the ground. When the trolley passes through this location, the rangefinder data changes, thereby recognizing the arrival of the trolley and its operator. In another embodiment, the triggering mechanism 4 also includes an image acquisition mechanism (a set of rangefinders and an image acquisition mechanism are set on each side of the leveling mechanism 1). The image acquisition mechanism includes a camera and an image analysis mechanism. The camera can acquire images around the leveling mechanism 1 (one image is acquired every 1 second). It should be noted that the acquired image starts at the position of the rangefinder and ends at the side of the leveling mechanism 1 furthest from the rangefinder. The entire image needs to cover the area around the rangefinder. The area between the starting and ending ends of the cover is covered. The image analysis mechanism analyzes the acquired images to determine whether the images contain the AGV trolley. In this embodiment, the working principle of the entire triggering mechanism 4 is as follows: the rangefinder detects whether the AGV trolley has arrived around the leveling mechanism 1. When the rangefinder detects the arrival of the AGV trolley, it immediately starts the preliminary judgment program and also starts the image acquisition mechanism. If the image acquisition mechanism analyzes that the AGV trolley is running normally, no other additional operations are performed until the image does not contain the AGV trolley before the image acquisition mechanism is turned off. If the image acquisition mechanism analyzes that the AGV trolley has not moved for a long time (for example, the AGV trolley is in the same position in five consecutive images), it is judged that its operation is abnormal. If the operation is judged to be abnormal, a reminder is issued through the reminder mechanism, such as "Do not stop, pass in time". This can prevent the AGV trolley from staying in the intersection area of ​​operation, thereby affecting the operation of the AGV trolley.

[0067] S2: When the preliminary judgment result shows no conflict, the current 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 trolley does not perform detection or blocking even when the trolley passes through each mechanism.

[0068] When the initial judgment result is a conflict, the current speed of the scaffold is obtained through the scaffold speed detection mechanism, and the time t1 required for the scaffold to move to the filling mechanism is calculated based on the current speed and position of the scaffold. The time t2 required for the AGV to move to the filling mechanism is obtained based on the AGV's running data. By comparing t1 and t2, it is judged again whether there is a conflict. The result of the second judgment includes conflict and no conflict.

[0069] S3: When the result of the second judgment shows no conflict, the current control process ends;

[0070] When the judgment result shows a conflict again, the system first calculates whether adjusting the AGV's speed within its operating speed range can stagger the time it takes for both vehicles to pass through the leveling mechanism 1. Specifically, since the AGV's operating speed is generally 0.8-1.5 m / s, it usually moves at a constant speed within this range during normal operation. When the control system determines that the AGV's operation may conflict with the platform vehicle's operation, it first considers whether adjusting the AGV's speed within this range can stagger the two vehicles. If they can be staggered, the AGV's speed control program is executed, and a reminder is issued through the reminder mechanism. The reminder content can be: if the AGV decelerates, remind the platform vehicle operator to accelerate; if the AGV accelerates, remind the platform vehicle operator to decelerate, thus staggering the two vehicles. If the speed cannot be staggered, the trolley weighing mechanism 3 is activated 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 1, a reminder is issued through the reminder mechanism to stop the trolley operator. If the braking distance is greater than the distance between the trolley and the leveling mechanism 1, a reminder is issued through the reminder mechanism to stop the trolley operator, and the trolley blocking mechanism 2 is activated at the same time to block the trolley. The AGV trolley's running data is used to determine 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 allow the trolley operator to start running.

[0071] 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:

[0072] ;

[0073] in, This is the distance from the AGV trolley to the leveling mechanism 1.

[0074] 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:

[0075] ;

[0076] in, This refers to the time required for the AGV trolley to move from its position when the trigger mechanism 4 is activated to the edge of the track body 5. This refers to the time required for the AGV trolley to move from its position when the trolley triggers the triggering mechanism 4 to completely pass through the track body 5. In this embodiment, the buffer time is set to 2 seconds based on experience, which is used as a buffer time. The time required for the trolley to move from its position when the triggering mechanism 4 is activated to the edge of the filling mechanism 1. The time required for the trolley to move from its position when the triggering mechanism 4 is activated to when it has completely passed the track body 5.

[0077] The embodiments described above merely illustrate specific implementation methods of this application, and while the descriptions are detailed and specific, they should not be construed as limiting the scope of protection of this application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the technical solution of this application, and these modifications and improvements all fall within the scope of protection of this application.

Claims

1. A transport track compatible with AGVs and trolleys, comprising a track body (5), wherein the track body (5) includes two parallel track grooves, characterized in that: The track body (5) or the area around the track body (5) is provided with: A leveling mechanism (1) is used to level the track grooves where the AGV trolley passes; The 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 gantry crane speed detection mechanism is used to detect the speed of the gantry crane. Triggering mechanism (4), which is located around leveling mechanism (1), is used to identify the trolley and its operators; The reminder mechanism is used to issue reminders to the operators of the gantry crane; The control system is used to realize the interaction and control of the leveling mechanism (1), the platform blocking mechanism (2), the platform weighing mechanism (3), the platform 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.

2. The transport track compatible with AGVs and trolleys according to claim 1, characterized in that: The leveling mechanism (1) includes an installation groove between two track grooves. The two ends of the installation groove are respectively connected to the track grooves on both sides. A bracket (104) is provided in the installation groove. A cover plate (101) is fixedly provided on the top surface of the bracket (104). The top surface of the cover plate (101) is flush with the top surface of the installation groove. A push plate (109) is provided on each side of the bracket (104) near the two track grooves. The push plate (109) is located below the cover plate (101). The bracket (104) is provided with 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 right-right telescopic mechanism for driving the push plate (109) to extend and retract up and down relative to the bracket (104).

3. The transport track compatible with AGVs and trolleys according to claim 2, characterized in that: The left and right telescopic mechanism includes a first fixed seat (102) connected to the bracket (104). Electric telescopic columns (103) are symmetrically arranged on both sides of the first fixed seat (102). The telescopic end of each electric telescopic column (103) is connected to the upper and lower telescopic mechanism, which is connected to the push plate (109).

4. The transport track compatible with AGVs and trolleys according to claim 3, characterized in that: The telescopic mechanism includes a second fixed seat (108) connected to two electric telescopic columns (103) respectively. Each side of the second fixed seat (108) is connected to a third fixed seat (105) via a connecting rod. Each third fixed seat (105) is rotatably connected to a screw (107). One end of the screw (107) is rotatably connected to the bottom of the push plate (109). The third fixed seat (105) is provided with a drive mechanism for driving the screw (107) to rotate on the third fixed seat (105). Each third fixed seat (105) is also slidably provided with a limit rod (106). One end of the limit rod (106) is connected to the push plate (109), and the other end of the limit rod (106) is provided with a limit block for preventing the limit rod (106) from disengaging from the third fixed seat (105).

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

6. The transport track compatible with AGVs and trolleys according to any one of claims 1-4, characterized in that: The trolley blocking mechanism (2) includes two blocking components respectively disposed on both sides of the leveling mechanism (1). Each blocking component includes several blocking elements, which are arranged sequentially in the track groove along the length extension direction of the track body (5).

7. The transport track compatible with AGVs and trolleys according to claim 6, characterized in that: The trolley weighing mechanism (3) includes two weight detection components respectively set on both sides of the leveling mechanism (1). Each weight detection component includes several pressure sensors. The pressure sensors are arranged sequentially along the length extension direction of the track body (5). The blocking components and the pressure sensors on the same side are arranged alternately. The trolley speed detection mechanism is electrically connected to the trolley weighing mechanism (3). The trolley speed detection mechanism includes a timer.

8. A traffic control method, characterized in that: The transport track compatible with AGVs and trolleys according to any one of claims 1-7 includes: S1: Triggering mechanism (4) detects whether there is a trolley passing by the leveling mechanism (1); When the triggering mechanism (4) detects that the operator drives the trolley to the deployment position of the triggering mechanism (4), the control system obtains the AGV trolley's running data through the AGV trolley's running control system, and makes a preliminary judgment on whether the AGV trolley and the trolley's passing time of the leveling mechanism (1) conflict. The preliminary judgment results include conflict and no conflict. S2: When the preliminary judgment result shows no conflict, the current control process ends; When the initial judgment result is a conflict, the current speed of the scaffold is obtained through the scaffold speed detection mechanism, and the time t1 required for the scaffold to move to the filling mechanism (1) is calculated based on the current speed and position of the scaffold. The time t2 required for the AGV to move to the filling mechanism (1) is obtained based on the AGV's running data. The conflict is judged again by comparing t1 and t2. The result of the second judgment includes conflict and no conflict. S3: When the result of the second judgment shows no conflict, the current control process ends; When the result of the judgment shows a conflict, first calculate whether the speed of the AGV can be adjusted within the running speed range of the AGV to avoid the time when the two pass through the leveling mechanism (1). If the speed can be adjusted to avoid the conflict, the AGV speed adjustment program is executed. If the speed cannot be adjusted to avoid the conflict, the platform weighing mechanism (3) is started to detect the weight of the platform and the braking distance of the platform is calculated based on the weight and speed of the platform. If the braking distance is less than the distance between the platform and the leveling mechanism (1), the platform operator is reminded to stop running through the reminder mechanism. If the braking distance is greater than the distance between the platform and the leveling mechanism (1), the platform operator is reminded to stop running through the reminder mechanism and the platform blocking mechanism (2) is started to block the platform at the same time. The AGV running data is used to determine whether the AGV has completely passed through the leveling mechanism (1). When the AGV has completely passed through the leveling mechanism (1), the platform operator is reminded to start running through the reminder mechanism.

9. The traffic control method according to claim 8, characterized in that: If S1 satisfies the following formula, it is determined to be non-conflicting; otherwise, it is determined to be conflicting: ； in, The distance from the AGV trolley to the leveling mechanism (1) is denoted as .

10. The traffic control method according to claim 8, characterized in that: If S2 satisfies the following formula, it is determined to be non-conflicting; otherwise, it is determined to be conflicting: ； in, The time required for the AGV trolley to move from its position when the trigger mechanism (4) is triggered by the trolley to the edge of the track body (5) is given. The time required for the AGV trolley to move from its position when the trolley triggers the triggering mechanism (4) to completely pass through the track body (5) is given. For buffer time, The time required for the trolley to move from its position when the triggering mechanism (4) is activated to the edge of the filling mechanism (1) is given. The time required for the trolley to move from its position when the trigger mechanism (4) is activated to when it has completely passed the track body (5).

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