Clamping type AGV (automatic guided vehicle) control system and control method

Abstract

The invention relates to the technical field of vehicle intelligent carrying, and discloses a clamping type vehicle carrying AGV control system and method, and the system comprises a navigation module which is used for obtaining the current coordinate position of an AGV, and judging whether the current coordinate position of the AGV is located at a preset coordinate position or not in combination with an AGV map module; the differential driving module is used for driving the AGV to move and adjusting the movement speed and / or the movement angle of the AGV; the wheelbase adjusting module is used for obtaining the adjusting distance between the first vehicle body and the second vehicle body and adjusting the length of the telescopic frame according to the adjusting distance. The wheel clamping module is used for clamping wheels of a to-be-carried vehicle. After the adjusting distance between the first vehicle body and the second vehicle body is determined, the front and back positions of the differential driving wheels are adjusted to change the wheelbase of the AGV, so that the AGV is adaptive to more types of vehicles; and through cooperation of the navigation module and the AGV map module, accurate and efficient movement control of the AGV under the condition of wheelbases of different types of vehicles is ensured.

Description

Cross-reference to related applications

[0001] This application claims priority to Chinese Patent Application No. 2025116317804, filed on November 7, 2025, entitled “A Clamping-Type Car Transport AGV Control System and Control Method”, and Chinese Patent Application No. 2025223540987, filed on November 5, 2025, entitled “A Car Transporter”, the contents of which are incorporated herein by reference. Technical Field

[0002] This invention relates to the field of intelligent vehicle handling technology, specifically to a clamping-type AGV control system and control method for automobile handling. Background Technology

[0003] Automated Guided Vehicles (AGVs), as automated material handling equipment, have wide applications in automobile manufacturing, material handling, and intelligent parking.

[0004] For car handling AGVs, in the field of intelligent parking, the current mainstream AGV types are usually single-layer, double-layer, and platform-type. However, in traditional vehicle handling, AGVs rely on steel rails to move, traveling in straight lines or laterally along predetermined tracks, and cannot achieve free movement. Secondly, traditional AGVs also have the drawback of being too thick to directly access the vehicle chassis for handling, thus requiring a special platform for vehicle handling. This not only increases the overall manufacturing cost of the AGV but also adds requirements to its trajectory, forcing it to travel along predetermined tracks and making free movement difficult. In addition, with the continuous updates and development of new energy vehicles, the pace of vehicle upgrades across various sizes and models is changing rapidly, and people's demands for interior space in cars are also diversifying. Therefore, there is an urgent need for an AGV that can adjust its length according to vehicles with different wheelbases to accommodate different vehicle types, thereby improving the AGV's adaptability and operational flexibility. Summary of the Invention

[0005] In view of this, the present invention provides a clamping-type AGV control system and control method to solve the technical problem of how to adjust the length of the AGV according to the wheelbase of the vehicle to be transported.

[0006] In a first aspect, the present invention provides a clamping-type AGV control system for car handling, the AGV including a first vehicle body, a second vehicle body, and a telescopic frame for connecting the first vehicle body and the second vehicle body; The control system includes: An AGV controller, and a navigation module, a differential drive module, a wheelbase adjustment module, a wheel clamping module, and an AGV map module electrically connected to the AGV controller; The navigation module is used to obtain the current coordinate position of the AGV and, in conjunction with the AGV map module, determine whether the current coordinate position of the AGV is located at a preset coordinate position. The differential drive module is used to drive the AGV to move according to the current coordinate position of the AGV, and to adjust the movement speed and / or movement angle of the AGV. The wheelbase adjustment module is used to obtain the adjustment distance between the first vehicle body and the second vehicle body, and adjust the length of the telescopic frame according to the adjustment distance; The wheel clamping module is used to clamp the wheels of the vehicle to be transported.

[0007] Beneficial effects: By setting up a first vehicle body and a second vehicle body, and installing a telescopic frame between them, the first vehicle body can move relative to the second vehicle body, or vice versa, thereby adjusting the length of the AGV. The navigation module can obtain the current coordinates of the AGV, and further, combined with the AGV map module, it can be determined whether the AGV's current coordinates are within the preset coordinates.

[0008] A differential drive module is further installed on the AGV, and the movement of the first and second vehicle bodies is independently controlled by the differential drive module. This allows the first and second vehicle bodies to move in tandem, adjusting the AGV's speed and angle to flexibly adjust its posture and meet the movement requirements of different scenarios. The wheelbase adjustment module determines the adjustment distance between the first and second vehicle bodies, ensuring that the telescopic frame is adjusted to a position that perfectly matches the wheelbase of the vehicle to be transported. Then, the wheel clamping module clamps the wheels of the vehicle to be transported, preventing the clamping from being too loose or too tight.

[0009] This invention determines the adjustment distance between the first and second vehicle bodies through a wheelbase adjustment module, then controls the differential drive module to adjust the fore-and-aft position of the differential drive wheels in real time, thereby changing the AGV's wheelbase and making it adaptable to more types of vehicles. Furthermore, through the cooperation of a navigation module and an AGV map module, it ensures that the AGV's motion control remains precise and efficient regardless of the wheelbase of different vehicle types. Moreover, the AGV does not require other media (such as parking racks, vehicle carriers, etc.) and can directly submerge under the vehicle.

[0010] In one optional implementation, the navigation module includes a laser navigation module and a magnetic nail inertial navigation module; the laser navigation module is used to emit a laser beam to obtain the current coordinate position of the AGV; the magnetic nail inertial navigation module is used to detect the magnetic field of a magnetic nail embedded in the ground to obtain the current coordinate position of the AGV.

[0011] In one optional implementation, the laser navigation module includes a reflector navigation unit and a SLAM navigation unit; The reflector navigation unit is used to emit a laser beam, detect pre-installed reflectors in the current environment, measure the angle and distance between the reflector and the AGV, and calculate the current position coordinates of the AGV by combining the global coordinates of the reflector. The SLAM navigation unit is used to acquire point cloud data of the current environment, match the point cloud data with the AGV map module, and obtain the current position coordinates of the AGV.

[0012] In an optional implementation, the differential drive module includes differential drive units located on the first vehicle body and the second vehicle body, respectively. Each differential drive unit includes a first moving component, a second moving component, and an absolute encoder; The first moving component and the second moving component are used to control the movement of the first vehicle body and the second vehicle body; The absolute encoder is used to obtain the angle of the differential drive unit; The AGV controller outputs an angle position loop adjustment signal based on the angle feedback from the absolute encoder. The second drive, based on the angle position loop adjustment signal output by the AGV controller, is used to control the running speed of the first moving component; The third drive, based on the angle position loop adjustment signal output by the AGV controller, is used to control the operating speed of the second moving component.

[0013] In an optional implementation, an automatic charging module is further included, electrically connected to the AGV controller, for controlling the AGV to automatically charge according to the automatic charging command generated by the AGV controller.

[0014] Secondly, the present invention also provides a control method for a clamping-type car handling AGV, applied to the clamping-type car handling AGV control system described above, the control method comprising: After the AGV arrives at the parking entrance point, the wheelbase of the vehicle to be transported is obtained, and the adjustment distance between the first vehicle body and the second vehicle body is determined. Based on the adjustment distance, the differential drive module is controlled to work, and the length of the telescopic frame is adjusted so that the distance between the first vehicle body and the second vehicle body is adapted to the wheelbase of the vehicle to be transported. Control the wheel clamping module to move to the first target position to clamp the wheel of the vehicle to be transported; The differential drive module is controlled to work again, and the movement speed and movement angle of the AGV are adjusted based on the differential drive module to control the AGV to move to the parking space platform. Control the movement of the wheel clamping module to the second target position, release the wheels of the vehicle to be transported, and place the vehicle to be transported in the target parking space.

[0015] Beneficial Effects: After the AGV arrives at the parking entrance, the wheel positions of the vehicle to be transported are detected to obtain the wheelbase. Then, combined with the wheelbase adjustment module, the adjustment distance between the first and second vehicle bodies is determined, ensuring the telescopic frame is adjusted to a position perfectly matching the wheelbase of the vehicle to be transported. After determining the adjustment distance between the first and second vehicle bodies, the differential drive module is controlled to work, adjusting the fore-and-aft position of the differential drive wheels in real time to adjust the length of the telescopic frame, making the distance between the first and second vehicle bodies compatible with the wheelbase of the vehicle to be transported. The wheel-clamping module is then controlled to move to the first target position to clamp the wheels. The differential drive module is then controlled again to move the AGV to the parking platform. During the operation of the differential drive module, the AGV's speed and angle can be adjusted to flexibly adjust its posture to meet the movement requirements of different scenarios. Once the AGV reaches the parking platform, the wheel-clamping module is controlled to rotate to the second target position, releasing the wheels of the vehicle to be transported, allowing the vehicle to be placed in the target parking space, completing the transport of the vehicle.

[0016] This invention, through the cooperation of a wheelbase adjustment module and a differential drive module, determines the adjustment distance between the first and second vehicle bodies, controls the differential drive module to work, and adjusts the front and rear positions of the differential drive wheels in real time to change the wheelbase of the AGV, making the AGV adaptable to more types of vehicles. Moreover, during vehicle handling, the differential drive module can adjust the AGV's movement speed and angle, thereby flexibly adjusting the AGV's posture to meet the movement requirements in different scenarios.

[0017] In one optional implementation, the navigation module includes a laser navigation module and a magnetic nail inertial navigation module; the laser navigation module is used to emit a laser beam to obtain the current coordinate position of the AGV; the magnetic nail inertial navigation module is used to detect the magnetic field of a magnetic nail embedded in the ground to obtain the current coordinate position of the AGV. Before obtaining the wheelbase of the vehicle to be transported after the AGV arrives at the parking entrance point, the process includes: The current coordinates of the AGV are obtained based on the laser navigation module; The current coordinate position of the AGV is compared with the map coordinate position in the AGV map module, and a first offset is output based on the deviation between the current coordinate position and the map coordinate position. Based on the first offset, the movement speed and angle of the AGV are adjusted to control the AGV to move to the front platform.

[0018] In an optional implementation, after controlling the AGV to move to the front platform, the method further includes: Based on the laser navigation module and the magnetic nail inertial navigation module, the current coordinate position of the AGV is obtained again; The current coordinate position of the AGV is compared with the coordinate position on the map, and a second offset is output based on the deviation between the current coordinate position and the map coordinate position. Based on the second offset, the movement speed and movement angle of the AGV are adjusted to control the AGV to move to the parking entrance point.

[0019] In an optional implementation, an automatic charging module is further included, electrically connected to the AGV controller, for controlling the AGV to automatically charge according to the automatic charging command generated by the AGV controller; The control method further includes: Obtain the current battery level of the AGV; In response to the current battery level being lower than a preset battery threshold, an automatic charging command is generated based on the AGV controller; Based on the automatic charging command, the AGV is controlled to move to the target charging area; In response to the AGV moving to the target charging area, the AGV controller controls the automatic charging module to dock with the charging contact piece, so that the AGV is automatically charged.

[0020] In an optional embodiment, the differential drive module includes differential drive units located on the first vehicle body and the second vehicle body respectively; each differential drive unit includes a first moving component, a second moving component, and an absolute encoder, wherein the first moving component and the second moving component are used to control the movement of the first vehicle body and the second vehicle body, and the absolute encoder is used to acquire the angle of the differential drive unit; The adjustment of the AGV's speed and angle based on the differential drive module includes: The movement speed of the AGV is adjusted based on the movement of the first and second moving components. The angle of the differential drive unit is obtained based on the absolute encoder; The movement speeds of the first moving component and the second moving component are adjusted based on the angle of the differential drive unit to adjust the movement angle of the AGV. Attached Figure Description

[0021] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0022] Figure 1 This is a schematic diagram of a clamping-type AGV control system for automobile handling according to an embodiment of the present invention; Figure 2 This is a schematic diagram of a clamping-type AGV control system for automobile handling according to another embodiment of the present invention; Figure 3 This is a schematic diagram of a clamping-type AGV control system for automobile handling according to another embodiment of the present invention; Figure 4 This is a schematic diagram of a clamping-type AGV control system for automobile handling according to another embodiment of the present invention; Figure 5 This is a schematic diagram of a clamping-type AGV control system for automobile handling according to another embodiment of the present invention; Figure 6 This is a schematic diagram of the structure of a clamping-type car transport AGV according to an embodiment of the present invention; Figure 7 This is a schematic diagram of the differential drive unit in a clamping-type AGV for transporting automobiles according to an embodiment of the present invention. Figure 8 This is a perspective view of the first charging mechanism in a clamping-type AGV for transporting automobiles according to an embodiment of the present invention; Figure 9 for Figure 8 The front view of the first charging mechanism is shown below; Figure 10 for Figure 8 A top view of the first charging mechanism shown; Figure 11 This is a perspective view of the second charging mechanism in a clamping-type AGV for transporting automobiles according to an embodiment of the present invention; Figure 12 for Figure 11The front view of the second charging mechanism is shown. Figure 13 for Figure 11 Left view of the second charging mechanism shown; Figure 14 for Figure 11 A top view of the second charging mechanism shown; Figure 15 This is a flowchart illustrating a control method for a clamping-type AGV for transporting automobiles according to an embodiment of the present invention. Figure 16 This is a flowchart illustrating a control method for a clamping-type AGV for transporting automobiles, according to another embodiment of the present invention. Figure 17 This is a flowchart illustrating a control method for a clamping-type AGV for transporting automobiles, according to another embodiment of the present invention. Figure 18 This is a flowchart illustrating a control method for a clamping-type AGV for transporting automobiles, according to another embodiment of the present invention. Figure 19 This is a flowchart illustrating a control method for a clamping-type AGV for transporting automobiles, according to another embodiment of the present invention. Figure 20 This is a schematic diagram of the structure of a clamping-type AGV for transporting automobiles, according to another embodiment of the present invention.

[0023] Explanation of reference numerals in the attached figures: 10. First vehicle body; 110. First laser scanner; 120. First magnetic nail sensor; 20. Second vehicle body; 210. Second laser scanner; 220. Second magnetic nail sensor; 30. Telescopic frame; 31. Locking mechanism; 40. Differential drive unit; 41. First moving component; 42. Second moving component; 43. Absolute encoder; 50. Wheel clamping module; 51. Clamping arm; 511. Roller; 52. Wheel detection sensor; 53. First detection switch; 5 4. Second detection switch; 55. Second driver; 56. Third driver; 60. Distance detection sensor; 70. First charging mechanism; 71. First charging guard plate; 72. Electric push rod mounting plate; 73. Electric push rod; 74. Lifting mechanism; 75. First charging contactor; 80. Charging contact piece; 90. Second charging mechanism; 91. Charging mounting plate; 92. Guide shaft; 93. Linear bearing; 94. Spring; 95. Second charging guard plate; 96. Second charging contactor. Detailed Implementation

[0024] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0025] In the description of this invention, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0026] According to an embodiment of the present invention, see Figure 1 , Figures 6 to 10 A clamping-type AGV control system for transporting vehicles is provided, comprising: an AGV controller and a navigation module, a differential drive module, a wheelbase adjustment module, a wheel clamping module 50, and an AGV map module electrically connected to the AGV controller; the navigation module is used to obtain the current coordinate position of the AGV and, in conjunction with the AGV map module, determine whether the current coordinate position of the AGV is located at a preset coordinate position; the differential drive module is used to drive the AGV to move according to the current coordinate position of the AGV and to adjust the movement speed and / or movement angle of the AGV; the wheelbase adjustment module is used to obtain the adjustment distance between the first vehicle body 10 and the second vehicle body 20 and to adjust the length of the telescopic frame 30 according to the adjustment distance; the wheel clamping module 50 is used to clamp the wheels of the vehicle to be transported.

[0027] In this embodiment, the AGV is formed by combining a first vehicle body 10 and a second vehicle body 20. A telescopic frame 30 is provided between the first vehicle body 10 and the second vehicle body 20, allowing the first vehicle body 10 to move relative to the second vehicle body 20, or vice versa, thereby adjusting the length of the AGV. A locking mechanism 31 is further provided on the telescopic frame 30, which can be a mechanical locking pin, an electromagnetic lock, or a hydraulic lock, etc. When the telescopic frame 30 is adjusted to match the wheelbase of the vehicle to be transported, the locking mechanism 31 fixes the telescopic frame 30, preventing the first vehicle body 10 and the second vehicle body 20 from sliding relative to each other during vehicle transport, ensuring the clamping stability of the AGV.

[0028] The navigation module obtains the current coordinates of the AGV, and combined with the AGV map module, determines whether the AGV's current coordinates are within the preset coordinates. A differential drive module is further installed on the AGV, independently controlling the movement of the first vehicle body 10 and the second vehicle body 20. This allows the first and second vehicle bodies 10 and 20 to move collaboratively, adjusting the AGV's speed and angle to flexibly adjust its posture and meet the movement requirements of different scenarios. When the AGV's current coordinates are not within the preset coordinates, the differential drive module adjusts the AGV's current coordinates until it reaches the preset position. The wheelbase adjustment module determines the adjustment distance between the first and second vehicle bodies 10 to ensure the telescopic frame 30 is adjusted to perfectly match the wheelbase of the vehicle to be transported. The wheel clamping module 50 then clamps the wheels of the vehicle to be transported, preventing the clamping from being too loose or too tight.

[0029] This invention determines the adjustment distance between the first vehicle body 10 and the second vehicle body 20 through a wheelbase adjustment module, then controls the differential drive module to adjust the fore-and-aft position of the differential drive wheels in real time. By stretching or contracting the length of the telescopic frame 3 between the two vehicles, the wheelbase of the AGV can be changed, making the AGV adaptable to more types of vehicles. Furthermore, through the cooperation of the navigation module and the AGV map module, it ensures that the motion control of the AGV remains accurate and efficient under different types of vehicle wheelbases. Moreover, the AGV does not require other media (such as parking racks, vehicle carriers, etc.), and the overall thickness of the AGV is less than or equal to 100mm, allowing the AGV to directly crawl under the vehicle to be transported.

[0030] Furthermore, the AGV map module includes elements such as segments, platforms, points, and coordinates. Segments include straight segments, curved segments, lateral segments, and spinning segments, and each segment contains information such as its start point, end point, segment type, speed, direction, running time, and weight. Points are topological nodes used for path search, containing information such as X, Y, and angular coordinates. During AGV operation, it generally moves according to the segments and points planned on the map. After obtaining the AGV's current coordinate position, the AGV controller calculates the deviation from the target segment point. This deviation includes lateral deviation and angular deviation. The lateral deviation (Δy) is the vertical distance between the point and the segment point path; the angular deviation (Δθ) is the angle between the vehicle's orientation and the segment point direction. Based on the deviation value, the AGV controller outputs the speed of the differential movement wheels, which can control and reduce the deviation between the AGV coordinates and the map coordinates.

[0031] See also Figure 2In one embodiment, the navigation module includes a laser navigation module and a magnetic nail inertial navigation module; the laser navigation module is used to emit a laser beam to obtain the current coordinate position of the AGV; the magnetic nail inertial navigation module is used to detect the magnetic field of a magnetic nail embedded in the ground to obtain the current coordinate position of the AGV.

[0032] In this embodiment, the laser navigation module includes a first laser scanner 110 located at the front end of the first vehicle body 10 and a second laser scanner 210 located at the rear end of the second vehicle body 20; the magnetic nail inertial navigation module includes a first magnetic nail sensor 120 located at the front end of the first vehicle body 10 and a second magnetic nail sensor 220 located at the rear end of the second vehicle body 20; by fusing laser navigation and magnetic nail navigation, the position detection of the AGV is more accurate, improving the navigation accuracy and anti-interference capability of the AGV.

[0033] The magnetic nail-based inertial navigation module includes a magnetic nail absolute position correction unit and an inertial measurement unit (IMU) gyroscope, integrating the AGV's absolute position correction with heading angle compensation. Specifically, a magnetic nail or magnetic object pre-embedded in the ground serves as an absolute position reference point with known coordinates. When the magnetic nail sensors installed at the front and rear bottom of the AGV pass a magnetic nail, they detect its magnetic field and calculate the nail's offset relative to the vehicle. The AGV controller compares the detected magnetic nail position with the coordinates on the AGV map, correcting the current pose (X, Y, θ) and eliminating accumulated errors. The gyroscope measures the vehicle's angular velocity in real time, replacing the traditional steering encoder in calculating heading angle changes. The IMU directly measures the vehicle's rotational motion, avoiding heading angle errors caused by wheel slippage and mechanical backlash. Based on the displacement calculated by the drive wheel encoder and combined with the heading angle provided by the IMU, the vehicle position is continuously estimated, outputting position information (X, Y, θ). During magnetic nail correction, the IMU integration error is simultaneously reset to prevent angular velocity drift.

[0034] See also Figure 3 In one embodiment, the laser navigation module includes a reflector navigation unit and a SLAM navigation unit; the reflector navigation unit is used to emit a laser beam, detect pre-installed reflectors in the current environment, measure the angle and distance between the reflector and the AGV, and calculate the current position coordinates of the AGV by combining the global coordinates of the reflector; the SLAM navigation unit is used to acquire point cloud data of the current environment, match the point cloud data with the AGV map module, and obtain the current position coordinates of the AGV.

[0035] In this embodiment, reflector navigation involves using a laser scanner to emit a laser beam to detect pre-installed reflectors in the current environment. By measuring the angle and distance between the reflector and the AGV, and combining this with the known global coordinates (X, Y, θ) of the reflector, the current coordinate position of the AGV is calculated. Multi-sensor fusion: Encoder data (drive wheel / steering wheel displacement) is fused with laser measurement results, and the position is corrected using Kalman filtering. The detected reflectors are matched with known reflectors in the AGV map (excluding false reflections; the position (X, Y, θ) is updated every 60ms).

[0036] SLAM navigation utilizes a laser scanner to acquire point cloud data of the current environment. Through iterative nearest-point or normal distribution transformation algorithms, the point cloud data is matched with the AGV map module to calculate the AGV's current position coordinates. Encoder data is fused to predict the AGV's trajectory and compensate for laser scanning delay. Positioning reliability is determined based on the point cloud matching rate (e.g., ≥70%); if matching fails, relocation is triggered. The position (X, Y, θ) is updated every 60ms.

[0037] In one embodiment, wheel clamping modules 50 are respectively disposed on both sides of the first vehicle body 10 and the second vehicle body 20 for clamping the wheels of the vehicle to be transported; the wheel clamping modules 50 include clamping arms 51 disposed opposite to each other, and the clamping arms 51 are rotatably mounted on the first vehicle body 10 and the second vehicle body 20.

[0038] In this embodiment, wheel clamping modules 50 are respectively provided on both sides of the first vehicle body 10 and the second vehicle body 20. The wheel clamping module 50 has a pair of opposing clamping arms 51, and the clamping arms 51 are rotatably mounted on the first vehicle body 10 and the second vehicle body 20. When the AGV moves to the side of the vehicle to be transported, the wheel is positioned at the center between the two clamping arms 51, and the clamping arms 51 are rotated to clamp the wheel, so as to complete the clamping of the wheel of the vehicle to be transported.

[0039] Furthermore, the wheelbase adjustment module includes a distance detection sensor 60, which determines the adjustment distance between the first vehicle body 10 and the second vehicle body 20, ensuring that after the telescopic frame 30 is adjusted to the correct position, the AGV vehicle body can adapt to the wheelbase of the vehicle to be transported, thus avoiding the clamping arm 51 clamping too loosely or too tightly.

[0040] In one embodiment, a plurality of rollers 511 are arranged at intervals on the clamping arm 51, and the clamping surface formed by the plurality of rollers 511 is set at an angle to the horizontal plane; a wheel detection sensor 52 is installed on both the first vehicle body 10 and the second vehicle body 20, and the wheel detection sensor 52 is located between the two clamping arms 51.

[0041] In this embodiment, multiple small, freely rotatable rollers 511 are installed at intervals along the wheel contact direction on the inner clamping side of the clamping arm 51, i.e., the side facing the wheel. When the two clamping arms 51 of the AGV rotate relative to each other, clamping or releasing the wheel, the rollers 511 rotate with the wheel, converting sliding friction into rolling friction. This avoids hard friction scratching the tire surface, reduces the load on the drive motor of the clamping arm 51, and extends the service life of the clamping arm 51. Moreover, the spaced rollers 511 can conform to the wheel curvature through multi-point contact, which increases the clamping stability and avoids excessive local pressure that could damage the wheel.

[0042] The clamping surface is formed by the tangents of the outer circles of all rollers 511. The clamping surface is tilted at a certain angle towards the center of the wheel, forming a trapezoidal clamping space that is wider at the top and narrower at the bottom. When the wheel is placed between the two tilted clamping surfaces, gravity will cause the wheel to slide naturally towards the narrow end of the clamping surface, eventually stabilizing at the symmetrical center of the two clamping surfaces. Without the need for an additional positioning mechanism, the wheel's lateral offset can be automatically corrected, ensuring that the wheel center is aligned with the AGV's handling center and preventing tipping due to center of gravity shift during handling.

[0043] Furthermore, by installing the wheel detection sensor 52 between the two clamping arms 51, the specific position of the wheels can be detected, facilitating vehicle clamping; it can also detect the wheelbase of the vehicle being transported, so as to control the movement of the first vehicle body 10 or the second vehicle body 20, making the AGV compatible with the wheelbase of the vehicle to be transported. The wheel detection sensor 52 can be a diffuse reflection photoelectric sensor or an ultrasonic sensor, etc.

[0044] In one embodiment, the wheel clamping module 50 further includes a first detection switch 53 for detecting the opening angle of the clamping arm 51; a second detection switch 54 for detecting the clamping angle of the clamping arm 51; a first drive motor for drivingly connecting to the clamping arm 51; and a first driver for electrically connecting to the first drive motor.

[0045] In this embodiment, both the first vehicle body 10 and the second vehicle body 20 are equipped with a first detection switch 53, a second detection switch 54, a first drive motor, and a first driver. The first detection switch 53 is correspondingly located at the rotation trajectory of the clamping arm 51 when it is fully open. When the clamping arm 51 rotates outward around the rotation axis, if the first detection switch 53 detects the clamping arm 51, the clamping arm 51 reaches its maximum opening angle. At this time, the clamping arm 51 is parallel to the vehicle body, keeping the clamping angle of the clamping arm 51 at its maximum. If the clamping arm 51 does not open to a sufficient angle, the wheel cannot smoothly enter the clamping space, which may cause the wheel to collide with the clamping arm 51. Moreover, if the first drive motor continues to drive the clamping arm 51 to rotate outward, it may exceed the bearing limit of the mechanical structure, causing damage or deformation of the clamping arm 51. After the first detection switch 53 is triggered, the AGV controller will immediately instruct the first drive motor to stop rotating to protect the safety of the AGV.

[0046] The second detection switch 54 is positioned along the rotational trajectory of the clamping arm 51 when it clamps the wheel. Once the wheel enters the clamping space, the AGV controller instructs the first drive motor to rotate the clamping arm 51 inwards. If the second detection switch 54 detects the clamping arm 51 during its inward rotation around the axis of rotation, the clamping arm 51 has clamped the wheel and sends a signal to the AGV controller indicating that the clamping arm 51 is in place, thus stopping the clamping action. By setting the second detection switch 54, it ensures that the clamping arm 51 clamps the wheel, preventing the wheel from falling off during vehicle transport if it is not properly clamped.

[0047] The first drive motor serves as the power source, driving the clamping arm 51 to rotate around its axis via a transmission mechanism, thus achieving the rotational movement of the clamping arm 51. The transmission mechanism can be a gear, synchronous belt, or lead screw, etc., and can be customized according to actual usage requirements. The first driver is electrically connected to the first motor. The first driver receives action commands from the AGV controller and converts these commands into electrical signals that the first drive motor can recognize, while also providing real-time feedback on the operating status of the first drive motor. Through the cooperation of the first driver and the first drive motor, the rotational movement of the clamping arm 51 can be achieved, enabling the clamping arm 51 to open or clamp.

[0048] See also Figure 4 , Figure 7 In one embodiment, the differential drive module includes differential drive units 40 located on the first vehicle body 10 and the second vehicle body 20, respectively. Each differential drive unit 40 includes a first moving component 41, a second moving component 42, and an absolute encoder 43. The first moving component 41 and the second moving component 42 are used to control the movement of the first vehicle body 10 and the second vehicle body 20, and the absolute encoder 43 is used to acquire the angle of the differential drive unit. An AGV controller outputs an angle position loop adjustment signal based on the angle fed back by the absolute encoder 43. A second driver 55 controls the running speed of the first moving component 41 based on the angle position loop adjustment signal output by the AGV controller. A third driver 56 controls the running speed of the second moving component 42 based on the angle position loop adjustment signal output by the AGV controller.

[0049] In this embodiment, a differential drive unit 40 is provided on both the first vehicle body 10 and the second vehicle body 20. Each differential drive unit 40 consists of a first moving component 41, a second moving component 42, and an absolute encoder 43. The first moving component 41 and the second moving component 42 can be differential moving wheels, arranged on the left and right sides to realize the movement and steering of the vehicle body. A second drive motor and a second driver 55 are provided on the side of the first moving component 41, with the second drive motor being drive-connected to the first moving component 41 and the second driver 55 being electrically connected to the second drive motor to control the rotational speed of the first moving component 41. When the second driver 55 transmits the action command sent by the AGV controller to the second drive motor, the second drive motor operates to drive the first moving component 41 to move. A third drive motor and a third driver 56 are provided on the side of the second moving component 42, with the third drive motor being drive-connected to the second moving component 42 and the third driver 56 being electrically connected to the third drive motor to control the rotational speed of the second moving component 42. When the third drive 56 transmits the motion command sent by the AGV controller to the third drive motor, the third drive motor operates to drive the second moving component 42 to move. The motion command sent by the AGV controller includes a motion speed signal.

[0050] The absolute encoder 43 provides real-time feedback on the angle of the differential drive unit 40 and detects whether the left and right differential wheels are slipping. The second driver 55 and the third driver 56 compare the target speed and actual speed of the left and right differential wheels to perform speed loop adjustment. The AGV controller adjusts the angle and position loop of the second driver 55 and the third driver 56 based on the angle feedback from the encoder.

[0051] Since each vehicle body is equipped with two differential wheels, the AGV controller can calculate the wheel speed difference between the left and right differential wheels in real time to facilitate AGV steering. When the left and right differential wheels of the first vehicle body 10 and the second vehicle body 20 rotate at the same speed, and both vehicles rotate at the same speed, the AGV will move forward or backward in a straight line. When a left turn is required, the AGV controller controls the angle of the differential drive unit 40 of the first vehicle body 10 to a positive value and the angle of the differential drive unit 40 of the second vehicle body 20 to a negative value, causing the AGV to turn with the left side as the center, completing the left turn. When the AGV needs to rotate in place, the left and right differential moving wheels of the first vehicle body 10 rotate in opposite directions to the differential drive unit 40 at an angle of 90 degrees, while the left and right differential moving wheels of the second vehicle body 20 rotate in opposite directions to the differential drive unit 40 at an angle of -90 degrees with synchronized rotation speeds. This allows the AGV to rotate 360° in place, enabling posture adjustment in confined spaces. By independently controlling the movement of the first moving component 41 and the second moving component 42, the AGV's posture can be flexibly adjusted according to the position of the vehicle to be transported, ensuring that the wheel clamping module 50 can accurately align with the wheels. Simultaneously, the movement speed is adjusted according to the path complexity during transport to ensure the stability of vehicle transport.

[0052] Furthermore, the relationship between the turning radius and the speed difference of a single set of wheels is expressed as follows:

[0053] Where R is the turning radius, i.e., the distance from the vehicle center to the center of the rotation circle; W is the center-to-center distance between the left and right differential wheels; V left V is the linear velocity of the left differential moving wheel. right This represents the linear velocity of the right differential moving wheel.

[0054] See also Figure 5 , Figures 8 to 10 In one embodiment, an automatic charging module is also included, which is electrically connected to the AGV controller and is used to control the AGV to charge automatically according to the automatic charging command generated by the AGV controller.

[0055] In this embodiment, the automatic charging module includes two first charging mechanisms 70, located on the first vehicle body 10 and the second vehicle body 20, respectively. When the current power of the AGV is lower than a preset power threshold, the AGV controller generates an automatic charging command, controls the AGV to run to the target charging area, completes the docking of the first charging contactor 75 with the ground charger contact plate through the first charging mechanism 70, and automatically disengages after charging is completed. The first charging mechanism 70 includes a first charging guard plate 71 and an electric push rod mounting plate 72 fixedly connected to the first charging guard plate 71; the first charging guard plate 71 serves as the mounting body, and the lifting mechanism 74 can be installed inside the first charging guard plate 71, so that the first charging guard plate 71 can protect the lifting mechanism 74 and prevent damage to the lifting mechanism 74 due to collision. The electric push rod 73 is mounted on the electric push rod mounting plate 72 and is connected to the lifting mechanism 74 in a transmission manner. When the electric push rod 73 moves, the lifting mechanism 74 can move synchronously with the electric push rod 73. A first charging contactor 75 is provided below the lifting mechanism 74. When the lifting mechanism 74 moves, the first charging contactor 75 moves synchronously so that the first charging contactor 75 can abut against the charging contact piece 80 of the ground charger, thereby facilitating the charging function of the AGV.

[0056] When the AGV controller detects that the current battery level is lower than a preset threshold, it activates the automatic charging mode. The AGV controller guides the AGV to autonomously navigate to the preset location of the ground charger via its own navigation mechanism and park within the designated coordinates of the target charging area. Then, the AGV controller sends a docking command to the first charging mechanism 70 to control the extension of the electric push rod 73. The thrust of the electric push rod 73 is transmitted to the lifting mechanism 74, causing the lifting mechanism 74 and the first charging contactor 75 located below the lifting mechanism 74 to move downwards. During the movement, the position sensor monitors the position of the electric push rod 73 in real time. When the electric push rod 73 reaches the lower limit, that is, when the vehicle-mounted contact copper piece on the first charging contactor 75 abuts against the charging contact piece 80, the sensor sends a lower limit input signal back to the AGV controller. The AGV controller outputs a signal to stop the electric push rod 73 from driving, and the lifting mechanism 74 maintains its current height, ensuring a tight contact between the vehicle-mounted contact copper piece and the charging contact piece 80 of the ground charger.

[0057] After the vehicle-mounted contact copper sheet is connected to the charging contact piece 80 of the ground charger, the vehicle-mounted contact copper sheet and the ground charger contact piece are connected, and the current begins to charge the AGV battery. During the charging process, the AGV controller will monitor the charging current, voltage and battery power in real time. At the same time, the position sensor will continuously monitor the position of the electric push rod 73 to prevent accidental deviation from causing poor contact between the first charging contactor 75 and the charging contact piece 80 of the ground charger.

[0058] Once the battery charge reaches the set threshold, the AGV controller sends a disengagement command. The electric push rod 73 retracts in the reverse direction, causing the lifting mechanism 74 and the first charging contactor 75 to move upwards. This disengages the first charging contactor 75 from the charging contact plate 80 of the ground charger. After the position sensor detects that the electric push rod 73 has returned to its upper limit position, it sends an upper limit input signal back to the AGV controller. The AGV then ends the charging mode and can autonomously navigate to the work area to continue working. By combining the electric push rod 73 and the lifting mechanism 74, the height of the first charging contactor 75 can be adjusted to ensure a tight contact between the first charging contactor 75 and the charging contact plate 80 of the ground charger, thus guaranteeing the AGV's charging efficiency.

[0059] See also Figures 11 to 14 In other possible implementations, the automatic charging module also includes a second charging mechanism 90, located at the end of the second vehicle body 20 away from the first vehicle body 10, i.e., at the tail of the AGV, to avoid spatial interference with the vehicle to be transported or the work area during charging. When the current power of the AGV is lower than a preset power threshold, the AGV controller generates an automatic charging command, controls the AGV to run to the target charging area, and completes the docking of the second charging contactor 96 with the ground charger contact piece through the second charging mechanism 90, and automatically disengages after charging is completed. The second charging mechanism 90 includes a charging mounting plate 91 and a guide shaft 92 fixedly connected to the charging mounting plate 91; the charging mounting plate 91 serves as the mounting body, one end of the linear bearing 93 is connected to the guide shaft 92, and the other end is connected to the second charging guard plate 95; a spring 94 is sleeved on the linear bearing, and the two ends of the spring 94 abut against the charging mounting plate 91 and the second charging guard plate 95 respectively. A second charging contactor 96 is provided inside the second charging guard plate 95. The second charging guard plate 95 can protect the second charging contactor 96 and prevent it from colliding with the second charging contactor 96 during the movement of the AGV.

[0060] When the AGV controller detects that the current battery level is lower than a preset threshold, it activates the automatic charging mode. The AGV controller then guides the AGV to autonomously navigate to the preset location of the ground charger via its own navigation mechanism, parking it within the designated coordinates of the target charging area. Next, the AGV controller sends a docking command to the second charging mechanism 90, causing the second vehicle body 20 to move towards the charging contact piece 80; and bringing the second charging contactor 96 into contact with the charging contact piece 80, ensuring a tight connection between them.

[0061] After the second charging contactor 96 is connected to the charging contact piece 80, the on-board contact copper piece of the second charging contactor 96 becomes conductive with the charging contact piece 80, and current begins to charge the AGV battery. During the charging process, the AGV controller monitors the charging current, voltage, and battery level in real time. When the battery level reaches a set threshold, the AGV controller sends a disengagement command, and the AGV moves to disengage the second charging contactor 96 from the charging contact piece 80. The AGV then ends the charging mode and can autonomously navigate to the work area to continue working.

[0062] Understandably, users can choose to install a first charging mechanism 70 and / or a second charging mechanism 90 on the AGV according to their actual usage needs. If the ground allows for the installation of a ground charger, the first charging mechanism 70 can charge the first vehicle body 10 and the second vehicle body 20. If the ground does not allow for the installation of a ground charger, charging contact pieces 80 can be installed in other locations where charger installation is permitted, and the second charging mechanism 90 can be used to charge the first vehicle body 10 and the second vehicle body 20. When the AGV uses the second charging mechanism 90 to charge the battery, the batteries of the first vehicle body 10 and the second vehicle body 20 are connected by a wire, allowing the second charging mechanism 90 to charge both the first vehicle body 10 and the second vehicle body 20 simultaneously.

[0063] Secondly, in conjunction with [see also] Figure 15 The present invention also provides a control method for a clamping-type car transport AGV, comprising the following steps: Step S100: After the AGV arrives at the vehicle storage entrance point, obtain the wheelbase of the vehicle to be transported, and determine the adjustment distance between the first vehicle body 10 and the second vehicle body 20. Step S200: Based on the operation of the differential drive module for adjusting the distance, adjust the length of the telescopic frame 30 so that the distance between the first vehicle body 10 and the second vehicle body 20 is adapted to the wheelbase of the vehicle to be transported. Step S300: Control the wheel clamping module 50 to move to the first target position to clamp the wheels of the vehicle to be transported; Step S400: Control the differential drive module to work again, and adjust the movement speed and movement angle of the AGV based on the differential drive module to control the AGV to move to the parking space platform point; Step S500: Control the wheel clamping module 50 to move to the second target position, release the wheels of the vehicle to be transported, and place the vehicle to be transported in the target parking space.

[0064] In this embodiment, after the AGV arrives at the vehicle storage entrance, the wheel position of the vehicle to be transported can be detected by the wheel detection sensor 52, and the wheelbase of the vehicle to be transported can be obtained based on the wheel position. Then, combined with the distance detection sensor 60, the adjustment distance between the first vehicle body 10 and the second vehicle body 20 is determined to ensure that the telescopic frame 30 is adjusted to a position that perfectly matches the wheelbase of the vehicle to be transported. After determining the adjustment distance between the first vehicle body 10 and the second vehicle body 20, the differential drive unit 40 is controlled to work, adjusting the front and rear positions of the differential drive wheels in real time to adjust the length of the telescopic frame 30, so that the first vehicle body 10 moves relative to the second vehicle body 20 or the second vehicle body 20 moves relative to the first vehicle body 10, thereby adapting the distance between the first vehicle body 10 and the second vehicle body 20 to the wheelbase of the vehicle to be transported. When the AGV moves next to the vehicle to be transported, the wheel is positioned at the center between the two clamping arms 51. At this time, the wheel clamping module 50 is controlled to rotate to the first target position, that is, the clamping arms 51 are rotated to the first target angle to clamp the wheel. Then, the differential drive unit 40 is controlled to operate again, causing the AGV to move to the parking space platform. During the operation of the differential drive unit 40, the movement speed and angle of the AGV can be adjusted to flexibly adjust the AGV's posture to meet the movement requirements in different scenarios. After the AGV moves to the parking space platform, the wheel clamping module 50 is controlled to rotate to the second target position, that is, the clamping arm 51 is controlled to rotate to the second target angle, releasing the wheels of the vehicle to be transported, allowing the vehicle to be placed in the target parking space, thus completing the transport of the vehicle.

[0065] This invention, through the cooperation of distance detection sensor 60 and differential drive unit 40, determines the adjustment distance between the first vehicle body 10 and the second vehicle body 20, and then controls the differential drive unit 40 to work. The differential drive wheel of the front vehicle remains stationary, while the position of the differential drive wheel of the rear vehicle is adjusted in real time. The wheelbase of the AGV is changed by stretching or contracting the length of the telescopic frame 3 between the two vehicles, making the AGV adaptable to more types of vehicles. Moreover, during vehicle transportation, the movement speed and movement angle of the AGV can be adjusted through the differential drive unit 40, thereby flexibly adjusting the posture of the AGV to meet the movement requirements in different scenarios.

[0066] See also Figure 16 In one embodiment, the following steps are included before step S100: Step S010: Obtain the current coordinate position of the AGV based on the laser navigation module; Step S020: Compare the current coordinate position of the AGV with the map coordinate position in the AGV map module, and output the first offset based on the deviation between the current coordinate position and the map coordinate position; Step S030: Adjust the movement speed and movement angle of the AGV based on the first offset, and control the AGV to move to the front platform.

[0067] In this embodiment, when the AGV parking task begins, laser navigation is first used. The first laser scanner 110 and the second laser scanner 210 scan the reflector or point cloud data to determine the current coordinate position of the AGV. Then, the current coordinate position of the AGV is compared with the map coordinate position to determine whether the AGV is moving according to the segments and points planned on the map. If the current coordinate position of the AGV does not match the map coordinate position, a first offset is output based on the deviation between the current coordinate position and the map coordinate position. The first offset is then used to control the differential drive unit 40 on the first vehicle body 10 and the second vehicle body 20 of the AGV, and to control the movement speed and movement angle of the AGV differential drive unit 40, so that the AGV moves to the front platform according to the segments and points planned on the map. During the movement of the AGV, the current coordinate position of the AGV is compared with the coordinate position of the front platform on the AGV map to determine whether the AGV has reached the front platform. If the AGV has not yet reached the front platform, the above steps S010 to S030 are repeated until the AGV reaches the front platform.

[0068] See also Figure 17 In one embodiment, step S030 is followed by: Step S040: Based on the laser navigation module and the magnetic nail inertial navigation module, obtain the current coordinate position of the AGV again; Step S050: Compare the current coordinate position of the AGV with the map coordinate position, and output the second offset based on the deviation between the current coordinate position and the map coordinate position; Step S060: Adjust the movement speed and movement angle of the AGV based on the second offset, and control the AGV to move to the parking entrance point.

[0069] In this embodiment, after the AGV moves to the front platform, a fusion of laser navigation and magnetic navigation is used. The current coordinates of the AGV are obtained again through the first laser scanner 110, the first magnetic nail sensor 120, the second laser scanner 210, and the second magnetic nail sensor 220. Then, the current coordinates of the AGV are compared with the map coordinates to determine whether the AGV is moving according to the segments and points planned on the map. If the current coordinates of the AGV do not match the map coordinates, a second offset is output based on the deviation between the current and map coordinates. The second offset is then used to control the differential drive unit 40 on the first and second bodies of the AGV, controlling its speed and angle of movement, so that the AGV moves towards the storage entrance point according to the segments and points planned on the map. During AGV movement, the current coordinates of the AGV are compared with the coordinates of the vehicle entry point on the AGV map to determine if the AGV has reached the vehicle entry point. If the AGV has not yet reached the vehicle entry point, steps S040 to S060 are repeated until the AGV reaches the vehicle entry point. By integrating laser navigation and magnetic nail navigation, the AGV's position detection becomes more accurate, improving the AGV's navigation accuracy and anti-interference capability, thus facilitating subsequent vehicle transport by the AGV.

[0070] See also Figure 18 In one embodiment, the following steps are also included: Step S710: Obtain the current battery level of the AGV; Step S720: In response to the current power level being lower than a preset power threshold, an automatic charging command is generated based on the AGV controller; Step S730: Control the AGV to move to the target charging area based on the automatic charging command; Step S740: In response to the AGV moving to the target charging area, the AGV controller controls the automatic charging module to dock with the charging contact piece 80, so that the AGV is automatically charged.

[0071] In this embodiment, the automatic charging module includes two first charging mechanisms 70, located on the first vehicle body 10 and the second vehicle body 20, respectively. When the AGV controller detects that the current battery level is lower than a preset power threshold, the AGV controller generates and issues an automatic charging command and activates the automatic charging mode. Using its own navigation mechanism, the AGV autonomously navigates to the preset charging location of the ground charger and parks within the designated coordinates of the target charging area. Then, the AGV controller sends a docking command to the first charging mechanism 70 to control the extension of the electric push rod 73; the thrust of the electric push rod 73 is transmitted to the lifting mechanism 74, causing the lifting mechanism 74 and the first charging contactor 75 located below the lifting mechanism 74 to move downwards. During the movement, the position sensor detects the position of the electric push rod 73 in real time. When the electric push rod 73 reaches the first limit position, i.e. the lower limit position, the sensor sends a lower limit input signal to the AGV controller. The AGV controller immediately stops the electric push rod 73 from driving, and the lifting mechanism 74 maintains the current height. Then, it controls the first charging contactor 75 to open, so that the vehicle-mounted contact copper sheet abuts against the charging contact piece 80 of the ground charger, ensuring a tight contact between the vehicle-mounted contact copper sheet and the charging contact piece 80 of the ground charger.

[0072] After the on-board contact copper plate is connected to the charging contact piece 80 of the ground charger, the on-board contact copper plate and the ground charger contact piece are electrically connected. After the ground charger detects the AGV's battery voltage, the current begins to charge the AGV battery. During the charging process, the AGV controller monitors the charging current, voltage, and battery level in real time. At the same time, the position sensor continuously monitors the position of the electric push rod 73 to prevent accidental deviation that could lead to poor contact between the first charging contactor 75 and the charging contact piece 80 of the ground charger. By combining the electric push rod 73 and the lifting mechanism 74, the height of the first charging contactor 75 can be adjusted to ensure a tight contact between the first charging contactor 75 and the charging contact piece 80 of the ground charger, thereby ensuring the charging effect of the AGV.

[0073] Furthermore, when AGV charging ends or is interrupted, the AGV controller sends a disengagement command. At this time, the first charging contactor 75 is turned off, and the electric push rod 73 is controlled to retract in the opposite direction, causing the electric push rod 73 to move to the second limit position, i.e., the upper limit position. This causes the lifting mechanism 74 and the first charging contactor 75 to move upward, causing the first charging contactor 75 to disengage from the charging contact piece 80 of the ground charger. After the position sensor detects that the electric push rod 73 has returned to the upper limit position, it feeds back the upper limit input signal to the AGV controller. The ground charger is turned off, the AGV ends the charging mode, and can autonomously navigate to the work area to continue working.

[0074] In other possible implementations, the automatic charging module also includes a second charging mechanism 90, located at the end of the second vehicle body 20 furthest from the first vehicle body 10, i.e., at the rear of the AGV. When the AGV controller detects that the current battery level is lower than a preset threshold, it activates the automatic charging mode. The AGV autonomously navigates to the preset location of the ground charger using its own navigation mechanism and parks within the designated coordinates of the target charging area. Then, the AGV controller sends a docking command to the second charging mechanism 90, causing the second vehicle body 20 to move towards the charging contact piece 80; and bringing the second charging contactor 96 into contact with the charging contact piece 80, ensuring tight contact between them.

[0075] After the second charging contactor 96 is connected to the charging contact piece 80, the on-board contact copper piece of the second charging contactor 96 becomes conductive with the charging contact piece 80, and current begins to charge the AGV battery. During the charging process, the AGV controller monitors the charging current, voltage, and battery level in real time. When the battery level reaches a set threshold, the AGV controller sends a disengagement command, and the AGV moves to disengage the second charging contactor 96 from the charging contact piece 80. The AGV then ends the charging mode and can autonomously navigate to the work area to continue working.

[0076] See also Figure 19 In one embodiment, step S400 includes the following steps: Step S410: Adjust the movement speed of the AGV based on the movement of the first moving component 41 and the second moving component 42; Step S420: Obtain the angle of the differential drive unit based on the absolute encoder 43; Step S430: Adjust the movement speed of the first moving component 41 and the second moving component 42 based on the angle of the differential drive unit to adjust the movement angle of the AGV.

[0077] In this embodiment, a differential drive unit 40 is provided on both the first vehicle body 10 and the second vehicle body 20. Each differential drive unit 40 consists of a first moving component 41, a second moving component 42, and an absolute encoder 43. The first moving component 41 and the second moving component 42 can be differential moving wheels, arranged on the left and right sides to realize the movement and steering of the vehicle body. A second drive motor and a second driver 55 are provided on the side of the first moving component 41, with the second drive motor being drive-connected to the first moving component 41 and the second driver 55 being electrically connected to the second drive motor to control the rotational speed of the first moving component 41. When the second driver 55 transmits the action command sent by the AGV controller to the second drive motor, the second drive motor operates to drive the first moving component 41 to move. A third drive motor and a third driver 56 are provided on the side of the second moving component 42, with the third drive motor being drive-connected to the second moving component 42 and the third driver 56 being electrically connected to the third drive motor to control the rotational speed of the second moving component 42. When the third drive 56 transmits the action command sent by the AGV controller to the third drive motor, the third drive motor works to drive the second moving component 42 to move.

[0078] The absolute encoder 43 provides real-time feedback on the angle of the differential drive unit 40 and detects whether the left and right differential wheels are slipping. The second driver 55 and the third driver 56 compare the target speed with the actual speed of the left and right differential wheels to perform speed loop adjustment. The AGV controller adjusts the angle and position loop of the second driver 55 and the third driver 56 based on the angle feedback from the encoder.

[0079] Since each vehicle body is equipped with two differential wheels, the AGV controller can calculate the wheel speed difference between the left and right differential wheels in real time to facilitate AGV steering. When the output power of the second and third drive motors is the same, the movement speeds of the first moving component 41 and the second moving component 42 are the same. When the left and right differential wheels of the first vehicle body 10 and the second vehicle body 20 rotate at the same speed, and the rotation speeds of both vehicles are consistent, the AGV moves forward or backward in a straight line to adjust its speed.

[0080] When the output power of the second and third drive motors is different, the movement speeds of the first moving component 41 and the second moving component 42 are different; the higher the output power, the faster the movement speed. When the AGV needs to turn left, the output power of the second drive motor is reduced and the output power of the third drive motor is increased, so that the angle of the differential drive unit of the first vehicle body 10 is positive and the angle of the differential drive unit of the second vehicle body 20 is negative, causing the AGV to turn with the left side as the center, thus completing the left turn action and adjusting the movement angle of the AGV. When the AGV needs to rotate in place, the left and right differential moving wheels of the first vehicle body 10 rotate in opposite directions to a 90-degree angle, and the left and right differential moving wheels of the second vehicle body 20 rotate in opposite directions to a -90-degree angle with the speeds matched, allowing the AGV to rotate 360° in place, thus adjusting its posture in a narrow space. By independently controlling the movement of the first moving component 41 and the second moving component 42, the posture of the AGV can be flexibly adjusted according to the position of the vehicle to be transported, ensuring that the wheel clamping module 50 can accurately align with the wheel; at the same time, the movement speed is adjusted according to the path complexity during the transport process to ensure the stability of vehicle transport.

[0081] Figure 20 The diagram shows a structural schematic of an embodiment of the clamping car transport AGV provided in this invention. The specific embodiments of this invention do not limit the specific implementation of the clamping car transport AGV.

[0082] like Figure 20 As shown, the clamping car transport AGV may include: a processor 1002, a communication interface 1004, a memory 1006, and a communication bus 1008.

[0083] The processor 1002, communication interface 1004, and memory 1006 communicate with each other via communication bus 1008. Communication interface 1004 is used to communicate with other network elements such as clients or other servers. The processor 1002 executes program 1010, specifically performing the relevant steps in the control method embodiment for clamp-type vehicle transport AGV described above.

[0084] Specifically, program 1010 may include program code, which includes computer-executable instructions.

[0085] The processor 1002 may be a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement embodiments of the present invention. The clamp-type vehicle transport AGV includes one or more processors, which may be processors of the same type, such as one or more CPUs; or processors of different types, such as one or more CPUs and one or more ASICs.

[0086] Memory 1006 is used to store program 1010. Memory 1006 may include high-speed RAM memory, and may also include non-volatile memory, such as at least one disk storage device.

[0087] Specifically, program 1010 can be called by processor 1002 to cause the clamping car transport AGV to perform the relevant steps in the above-described control method embodiment for clamping car transport AGV.

[0088] Those skilled in the art will understand that Figure 20 The structure shown is for illustrative purposes only and does not limit the structure of the aforementioned equipment. For example, the clamp-type car handling AGV may also include components that are more... Figure 20 The more or fewer components shown, or having the same Figure 20 The different configurations shown.

[0089] This invention also provides a computer-readable storage medium. The methods described above according to embodiments of the invention can be implemented in hardware or firmware, or implemented as computer code that can be recorded on a storage medium, or implemented as computer code downloaded via a network and originally stored on a remote storage medium or a non-transitory machine-readable storage medium and then stored on a local storage medium. Thus, the methods described herein can be processed by software stored on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. The storage medium can be a magnetic disk, optical disk, read-only memory, random access memory, flash memory, hard disk, or solid-state drive, etc.; further, the storage medium can also include combinations of the above types of memory. It is understood that computers, processors, microprocessor controllers, or programmable hardware include storage components capable of storing or receiving software or computer code, which, when accessed and executed by the computer, processor, or hardware, implements the methods shown in the above embodiments.

[0090] In the specific implementation of the above embodiments, the technical features can be combined in any non-contradictory way. For the sake of brevity, not all possible combinations of the above technical features are described. However, as long as the combination of these technical features is not contradictory, it should be considered to be within the scope of this specification.

[0091] The specific embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are detailed, they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements all fall within the scope of protection of the present invention. Therefore, the scope of protection of this patent should be determined by the appended claims.

Claims

1. A clamp type automobile carrying AGV control system, characterized by, The AGV comprises a first vehicle body (10), a second vehicle body (20), and a telescopic frame (30) for connecting the first vehicle body (10) and the second vehicle body (20); The control system comprises: An AGV controller, a navigation module, a differential drive module, an axle distance adjustment module, a clamping wheel module (50), and an AGV map module electrically connected to the AGV controller; The navigation module is configured to obtain a current coordinate position of the AGV and determine whether the current coordinate position of the AGV is located at a preset coordinate position in combination with the AGV map module; The differential drive module is configured to drive the AGV to move according to the current coordinate position of the AGV and adjust a moving speed and / or a moving angle of the AGV; The axle distance adjustment module is configured to obtain an adjustment distance between the first vehicle body (10) and the second vehicle body (20) and adjust a length of the telescopic frame (30) according to the adjustment distance; The clamping wheel module (50) is configured to clamp wheels of a vehicle to be transported.

2. The clamp-type automobile carrying AGV control system according to claim 1, characterized in that, The navigation module comprises a laser navigation module and a magnetic nail inertial navigation module; the laser navigation module is configured to emit a laser beam to obtain the current coordinate position of the AGV; and the magnetic nail inertial navigation module is configured to detect a magnetic field of a magnetic nail embedded in the ground to obtain the current coordinate position of the AGV.

3. The clamp-type vehicle handling AGV control system according to claim 2, wherein The laser navigation module comprises a reflector plate navigation unit and a SLAM navigation unit; The reflector plate navigation unit is configured to emit a laser beam, detect a reflector pre-installed in a current environment, measure an angle and a distance between the reflector and the AGV, and calculate a current position coordinate of the AGV in combination with a global coordinate of the reflector; The SLAM navigation unit is configured to obtain point cloud data of a current environment, match the point cloud data with the AGV map module, and obtain the current position coordinate of the AGV.

4. The clamp-type vehicle handling AGV control system according to claim 1, wherein The differential drive module comprises differential drive units (40) respectively located on the first vehicle body (10) and the second vehicle body (20); The differential drive unit (40) comprises a first moving assembly (41), a second moving assembly (42), and an absolute value encoder (43); The first moving assembly (41) and the second moving assembly (42) are configured to control the first vehicle body (10) and the second vehicle body (20) to move; The absolute value encoder (43) is configured to obtain an angle of the differential drive unit (40); The AGV controller is configured to output an angle position loop adjustment signal based on the angle fed back by the absolute value encoder (43); A second driver (55) is configured to control a running speed of the first moving assembly (41) based on the angle position loop adjustment signal output by the AGV controller; A third driver (56) is configured to control a running speed of the second moving assembly (42) based on the angle position loop adjustment signal output by the AGV controller.

5. The clamp-type vehicle handling AGV control system according to claim 1, wherein, An automatic charging module is further included and electrically connected to the AGV controller, and is configured to control the AGV to automatically charge based on an automatic charging instruction generated by the AGV controller.

6. A control method of a clamp-type vehicle carrying AGV, characterized by, The control method is applied to the clamp-type automobile carrying AGV control system as claimed in any one of claims 1-5, and the control method comprises: After the AGV reaches the parking entrance point, the wheelbase of the vehicle to be carried is obtained, and the adjustment distance between the first vehicle body and the second vehicle body is determined; Based on the adjustment distance, the differential drive module is controlled to work, the length of the telescopic frame is adjusted, the distance between the first vehicle body and the second vehicle body is adapted to the wheelbase of the vehicle to be carried; The clamp wheel module is controlled to move to a first target position to clamp the wheels of the vehicle to be carried; The differential drive module is controlled to work again, and the movement speed and the movement angle of the AGV are adjusted based on the differential drive module to control the AGV to move to a parking station point; The clamp wheel module is controlled to move to a second target position to release the wheels of the vehicle to be carried, so that the vehicle to be carried is placed in a target parking space.

7. The control method of the clamp-type vehicle handling AGV according to claim 6, characterized by, The navigation module comprises a laser navigation module and a magnetic nail inertial navigation module; the laser navigation module is used to emit a laser beam to obtain the current coordinate position of the AGV; the magnetic nail inertial navigation module is used to detect the magnetic field of a magnetic nail embedded in the ground to obtain the current coordinate position of the AGV; Before the AGV reaches the parking entrance point, the wheelbase of the vehicle to be carried is obtained, and the adjustment distance between the first vehicle body and the second vehicle body is determined; Based on the laser navigation module, the current coordinate position of the AGV is obtained; The current coordinate position of the AGV is compared with the map coordinate position in the AGV map module, and a first offset is output based on the deviation between the current coordinate position and the map coordinate position; Based on the first offset, the movement speed and the movement angle of the AGV are adjusted to control the AGV to move to a front station.

8. The control method of the clamp-type vehicle handling AGV according to claim 7, characterized by, After the AGV moves to the front station, the control method further comprises: Based on the laser navigation module and the magnetic nail inertial navigation module, the current coordinate position of the AGV is obtained again; The current coordinate position of the AGV is compared with the map coordinate position, and a second offset is output based on the deviation between the current coordinate position and the map coordinate position; Based on the second offset, the movement speed and the movement angle of the AGV are adjusted to control the AGV to move to the parking entrance point.

9. The control method of the clamp-type vehicle handling AGV according to claim 6, characterized by, An automatic charging module is further included, which is electrically connected with the AGV controller and is used to control the AGV to automatically charge according to an automatic charging instruction generated by the AGV controller; The control method further comprises: An current power value of the AGV is obtained; In response to the current power value being lower than a preset power threshold, an automatic charging instruction is generated based on the AGV controller; The AGV is controlled to move to a target charging area based on the automatic charging instruction; In response to the AGV moving to the target charging area, the AGV controller controls the automatic charging module to be docked with a charging contact piece, so that the AGV automatically charges.

10. The control method of the clamp-type vehicle handling AGV according to claim 6, characterized by, The differential drive module comprises differential drive units (40) respectively located on the first vehicle body (10) and the second vehicle body (20); the differential drive unit (40) comprises a first moving assembly (41), a second moving assembly (42) and an absolute value encoder (43), the first moving assembly (41) and the second moving assembly (42) are used for controlling the movement of the first vehicle body (10) and the second vehicle body (20), and the absolute value encoder (43) is used for acquiring the angle of the differential drive unit; The differential drive module is based on the AGV adjusting the movement speed and the movement angle, comprising: Based on the movement of the first moving assembly and the second moving assembly, the movement speed of the AGV is adjusted; Based on the absolute value encoder acquiring the angle of the differential drive unit; Based on the angle of the differential drive unit, the movement speed of the first moving assembly and the second moving assembly is adjusted respectively to adjust the movement angle of the AGV.

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