CN109460034A - A kind of composite magnetic band electromagnetism AGV guidance system device and method - Google Patents
A kind of composite magnetic band electromagnetism AGV guidance system device and method Download PDFInfo
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- CN109460034A CN109460034A CN201811549071.1A CN201811549071A CN109460034A CN 109460034 A CN109460034 A CN 109460034A CN 201811549071 A CN201811549071 A CN 201811549071A CN 109460034 A CN109460034 A CN 109460034A
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- 230000007246 mechanism Effects 0.000 claims abstract description 66
- 238000004891 communication Methods 0.000 claims abstract description 32
- 230000005672 electromagnetic field Effects 0.000 claims abstract description 5
- 230000005674 electromagnetic induction Effects 0.000 claims description 6
- 238000012423 maintenance Methods 0.000 claims description 6
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
- G05D1/0263—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means using magnetic strips
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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Abstract
The present invention provides a kind of composite magnetic band electromagnetism AGV guidance system device and method, electromagnetism guide mechanism is connected with each other by communication bus and tape guidance mechanism；The present invention is by innovation formula by electromagnetism, two kinds of guide mode types of tape are compounded in same covering device, and mix the advanced algorithm control of intelligence, it is allowed to both be able to satisfy applied under electromagnetic field guided mode, it can also apply under the mode of tape magnetic field guiding, or in the environment of meeting and using two kinds of guided modes simultaneously, by corresponding guidance type during the pre-designed driving path of host computer, enable the trouble-free operation under more complex environment of AGV vehicle, under corresponding environment, select the guide mode of most aobvious advantage as first, strengthen the scope of application for complex environment, it has ensured under complex environment, the seamless and real-time handover function of different guide modes, it realizes more efficient, easy-to-use AGV vehicle dynamic guides.
Description
Technical field
The present invention relates to AGV guiding and positioning device technical field more particularly to a kind of composite magnetic band electromagnetism AGV guiding systems
System device and method.
Background technique
Electromagnetism guiding is a kind of more traditional AGV guide mode, by burying metal on the driving path of AGV in advance
Conducting wire, and the alternating current of specific frequency is loaded, make the alternating magnetic field that fixed frequency is generated around conducting wire.Electric magnetic guide sensor
Using electromagnetic induction principle, the alternation guide field intensity of specific frequency is detected, after processing as the guiding of AGV vehicle according to real
It is existing walk gesture stability.Guide wire is typically arranged in terrace hereinafter, being not easily susceptible to be stained, and has stronger anti-compression property, special
It is not suitable for the guiding of heavily loaded AGV.The shortcomings that electromagnetism guides is that change or extended route are more troublesome, and due to electromagnetic field
Energy is easy to by Metal absorption, therefore anti-metal is poor, is not appropriate for arranging under metal floor environment.
Tape guidance is a kind of more popular AGV guide mode, it is led by arranging on the driving path of AGV in advance
Draw magnetic stripe or other permanent magnetism media.Tape guidance sensor is guided as AGV according to realization by detecting constant magnetic field strength
Guiding.Although guiding tape is also required to arrange in advance, guided compared to electromagnetism, changes and extended route is relatively easy.Tape
It is simple and reliable to guide Sensor core device principle, produces low with maintenance cost.But tape crushing resistance is poor, and is not easy to arrange
In terrace hereinafter, being not suitable for the guiding of heavily loaded AGV.Tape is guided as passive magnetic medium, magnetic field strength can be slow at any time
Slowly it dies down, replacement needs certain cost.
Although the guide mode multiplicity of existing AGV, the scope of application for usually guiding sensor is relatively simple, can not be comprehensive
The advantage for effectively playing various guidings closed.And in existing guide mode, tape guidance technology and electromagnetism guidance technology compared with
To be close, and there is respective advantage in the respective scope of application.The present invention is in view of the above-mentioned problems, invented a kind of compound
Tape electromagnetism AGV guiding device, the device can seamless switching guide mode in real time, dynamically select to guide according to different demands
Mode is guided with the dynamic for realizing AGV vehicle.
Summary of the invention
In order to solve disadvantage and a kind of compound magnetic for limiting, and proposing present in traditional AGV guiding location technology
Band electromagnetism AGV guiding device makes AGV have path planning simple and convenient in guiding positioning, and system flexibility and reliability avoids complexity
Engineering construction problem.The present invention is implemented as follows: a kind of composite magnetic band electromagnetism AGV guidance system device, including electromagnetism are led
Draw mechanism (1), tape guidance mechanism (2), communication bus (3), the electromagnetism guide mechanism (1) passes through communication bus (3) and magnetic
Band guide mechanism (2) is connected with each other；
The electromagnetism guide mechanism (1) is for obtaining direct electromagnetic magnetic field signal, guiding AGV vehicle according to electromagnetic field signal
Running body, and selection can be instructed to carry out guided mode switching between electromagnetism guiding and tape guidance according to signal mode, lead to
It crosses communication bus (3) and calls the current guided mode of electromagnetism guide mechanism (1) or tape guidance mechanism (2) as AGV vehicle；
The tape guidance mechanism (2) guides AGV car body fortune for obtaining guide field signal, according to guide field signal
Row.
Further, the electromagnetism guide mechanism (1) includes:
Inductance coil module (11) for obtaining direct electromagnetic magnetic field signal, and is transmitted to host CPU module (12)；
Host CPU module (12), for handling direct electromagnetic magnetic field signal and controlling the guiding track route of AGV vehicle, and
Switch method of remote signal is carried out for connection signal selecting module (13)；
Signal selection module (13) is connected to host CPU module (12), for receiving and transmitting for switching, selecting to guide
The signal mode of mode instructs；
Signal output module (14) is connected to host CPU module (12), for by guidance side performed by current AGV vehicle
Formula and guiding track route information are transmitted to host computer；
State indicator module (15) is connected to host CPU module (12), for showing guiding performed by current AGV vehicle
Mode type；
Electromagnetism guides memory module (16), is connected to host CPU module (12), for storing the parameter and operation of electromagnetism guiding
Information；
First bus interface module (17) is connected to host CPU module (12) and communication bus (3), for realizing with tape
Communication connection between guide mechanism (2).
Further, the tape guidance mechanism (2) includes:
Hall device (21), for detecting constant magnetic field strength acquisition guide field signal and being delivered to time CPU module
(22)；
Secondary CPU module (22), for handling guide field signal and controlling the guiding track route of AGV vehicle；
Tape guidance memory module (23) is connected to time CPU module (22), the parameter and operation for storage tape guiding
Information；
Second bus interface module (24) connects time CPU module (22) and communication bus (3), leads for realizing with electromagnetism
Draw the communication connection between mechanism (1).
Further, the host CPU module (12) is also used to handle direct electromagnetic magnetic field signal is amplified and filtered
The guiding track route information, the guiding track route letter are the position parameter data of current AGV vehicle.
Further, the signal selection module (13), host CPU module (12) are also used to: when signal selection module (13)
When the signal mode instruction received is electromagnetic signal type, the signal mode instruction of electromagnetic signal type is transmitted to host CPU mould
Block (12) is used to control AGV vehicle for the electromagnetic guide data that direct electromagnetic magnetic field signal obtains are handled by host CPU module (12)
Guiding track route, and will guidance data be transmitted to signal output module (14), be sent to by signal output module (14)
Bit machine；
When the signal mode instruction that signal selection module (13) receives is tape signal type, host CPU module (12) is logical
It crosses communication bus and time CPU module (22) carries out real-time communication, operation control is carried out to AGV car body by secondary CPU, and will be through magnetic
With AGV vehicle shift location parameter is obtained in the tape guidance data after pilot data signal processing, by AGV vehicle shift position
Parameter is sent to host computer by signal output module (14).
Further, the electromagnetism guide mechanism (1) further include: power module, for host CPU module (12) and
Remaining module for power supply.
Further, tape guidance mechanism (2) further include: power module, for secondary CPU module (22) and
Remaining module for power supply.
Another aspect of the present invention provides a kind of composite magnetic band electromagnetism AGV guidance method, comprising the following steps:
S1, starting composite magnetic band electromagnetism AGV guidance system device, will be locating for current AGV vehicle as signal output module
Location information is transmitted to host computer；
S2, host computer obtain AGV vehicle present position information and judge corresponding to section locating for current AGV vehicle
The signal type of guide mode, and the instruction of signal mode corresponding to the signal type by the guide mode is transmitted to signal behavior
Module；
S3, signal selection module receive corresponding signal mode instruction, and transmit it to host CPU module, host CPU mould
Block carries out the control of signal switching or maintenance, selects electromagnetism guide mechanism or tape guidance mechanism as the control of current AGV vehicle
Mechanism processed, and current AGV vehicle present position information is uploaded into host computer in real time by signal output module；
S4, after host computer monitors AGV vehicle and enters the region of electromagnetism or tape guidance mode type, will be current
The instruction of signal mode corresponding to the signal type of guide mode corresponding to section locating for AGV vehicle is transmitted to signal behavior mould
Block.
Further, host CPU module described in step S3 carries out the control of signal switching or maintenance, selects electromagnetism guiding
The step of control mechanism as current AGV vehicle of mechanism or tape guidance mechanism, comprising:
When the signal mode instruction that host CPU module receives is electromagnetism steering signal type, pass through inductance coil module
Direct electromagnetic magnetic field signal is obtained, and returns host CPU module, AGV vehicle is controlled in electromagnetism sense according to direct electromagnetic magnetic field signal
It answers and is run under bootmode, track route by guidance mode performed by current AGV vehicle and is guided by signal output module
Information is transmitted to host computer；
When the signal mode instruction that host CPU module receives is tape guidance signal type, obtained by hall device
Guide field signal, and time CPU module is returned, AGV vehicle is controlled according to guide field signal and is incuded under bootmode in tape
Operation, and AGV vehicle shift location parameter documented by tape guidance data-signal is transmitted to host CPU mould by communication bus
Block, then be transmitted to guidance mode performed by current AGV vehicle and guiding track route information by signal output module
Bit machine.
The working principle of the invention and beneficial effect introduction: the present invention is guided electromagnetism, two kinds of tape by innovation formula
Mode type is compounded in same covering device, and mixes the advanced algorithm control of intelligence, is allowed to both be able to satisfy applied to electromagnetism magnetic
It under the guided mode of field, can also apply under the mode of tape magnetic field guiding, or meet while using the ring of two kinds of guided modes
Under border, by corresponding guidance type during the pre-designed driving path of host computer, it can both pass through host computer
The control of switching guidance type is made to the present invention, or so that it is directed to demand automatically by built-in program and made guidance type
Switching, enables the trouble-free operation under more complex environment of AGV vehicle, under the environment of Yu Xiangying, selects leading for most aobvious advantage
The mode of drawing is used as firstly, strengthen the scope of application for complex environment, has been ensured under complex environment, different guide modes
Seamless and real-time handover function realizes that more efficient, easy-to-use AGV vehicle dynamic guides.
Detailed description of the invention
Fig. 1 is composite magnetic band electromagnetism AGV guidance system device internal structure chart of the invention；
Fig. 2 is composite magnetic band electromagnetism AGV guidance system apparatus structure schematic diagram of the invention；
Fig. 3 is a kind of step flow chart of the composite magnetic with electromagnetism AGV guidance method of the present invention；
Wherein: 1 electromagnetism guide mechanism, 2 tape guidance mechanisms, 3 communication buses, 11 inductance coil modules, 12 host CPU moulds
Block, 13 signal selection modules, 14 signal output modules, 15 state indicator modules, 16 electromagnetism guide memory module, 17 first buses
Interface module, 21 hall devices, 22 CPU modules, 23 tape guidance memory modules, 24 second bus interface modules.
Specific embodiment
In order to make the objectives, technical solutions and advantages of the present invention clearer, With reference to embodiment and join
According to attached drawing, the present invention is described in more detail.It should be understood that these descriptions are merely illustrative, and it is not intended to limit this hair
Bright range.In addition, in the following description, descriptions of well-known structures and technologies are omitted, to avoid this is unnecessarily obscured
The concept of invention.
Heretofore described signal mode instruction is that common signal sends, receives mode, inductance coil mould in industry
Block, hall device etc. are existing component, and communications mode is the prior art, and the method for operation of AGV vehicle is also
Conventional means do not remake the prior art excessive description in the present embodiment, only to inventive concept part provided by the invention
Make description.
Embodiment 1: as shown in Figure 1 and Figure 2, a kind of composite magnetic band electromagnetism AGV guidance system device, including electromagnetism guide
Mechanism 1, tape guidance mechanism 2, communication bus 3, the electromagnetism guide mechanism 1 pass through 2 phase of communication bus 3 and tape guidance mechanism
It connects；The electromagnetism guide mechanism 1 is for obtaining direct electromagnetic magnetic field signal, guiding AGV car body according to electromagnetic field signal
Operation, and selection can be instructed to carry out guided mode switching between electromagnetism guiding and tape guidance according to signal mode, pass through
Communication bus 3 calls the current guided mode of electromagnetism guide mechanism 1 or tape guidance mechanism 2 as AGV vehicle；The tape is led
Draw mechanism 2 for obtaining guide field signal, the operation of AGV car body is guided according to guide field signal.Electromagnetism guide mechanism 1 wraps
Include: inductance coil module 11 for obtaining direct electromagnetic magnetic field signal, and is transmitted to host CPU module 12；Host CPU module 12 is used
In processing direct electromagnetic magnetic field signal and control the guiding track route of AGV vehicle, and for connection signal selecting module 13 into
Row switch method of remote signal；Signal selection module 13 is connected to host CPU module 12, for receiving and transmitting for switching, selecting to draw
Lead the signal mode instruction of mode；Signal output module 14 is connected to host CPU module 12, and being used for will be performed by current AGV vehicle
Guidance mode and guiding track route information be transmitted to host computer；State indicator module 15 is connected to host CPU module
12, for showing guide mode type performed by current AGV vehicle；Electromagnetism guides memory module 16, is connected to host CPU module
12, for storing the parameter and operation information of electromagnetism guiding；First bus interface module 17 is connected to host CPU module 12 and leads to
Bus 3 is interrogated, for realizing the communication connection between tape guidance mechanism 2；Tape guidance mechanism 2 includes: hall device 21, is used
Guide field signal is obtained in the constant magnetic field strength of detection and is delivered to time CPU module 22；Secondary CPU module 22, for handling
Guide field signal and the guiding track route for controlling AGV vehicle；Tape guidance memory module 23 is connected to time CPU module 22,
Parameter and operation information for storage tape guiding；Second bus interface module 24 connects time CPU module 22 and communication bus
3, for realizing the communication connection between electromagnetism guide mechanism 1.
In actual use, electromagnetism guide mechanism 1 is connected with each other by communication bus 3 and tape guidance mechanism 2, mutually can be with
Transmitting data information is mainly used for transmitting data from tape guidance mechanism 2 to electromagnetism guide mechanism 1；AVG vehicle is being needed to run
Path circumstances in preset the arrangement of guide mode type of hardware corresponding to each section, according to the path profile that designs in advance and
The guide mode type of selection is configured, and corresponding data are programmed in deposit host computer and carry out relevant configuration, when
AGV vehicle loading system and device of the invention on path when driving, host computer to its location parameter real-time reception, and
It is upper when AGV vehicle enters the section using electromagnetic induction as guide mode to the position real time monitoring where AGV vehicle
Computer sends immediately using the signal mode of electromagnetic induction as current guide mode type and instructs to signal selection module 13, letter
After number selecting module 13 receives signal, host CPU module 12 is selected using electromagnetism guide mechanism as current traveling executing agency,
At this point, obtaining direct electromagnetic magnetic field signal by inductance coil module 11, and it is transmitted to host CPU module 12 and handles direct electromagnetic magnetic field
Signal and the guiding track route for controlling AGV vehicle, and guidance data are transmitted to signal output module 14, it is exported by signal
Module 14 is sent to host computer；Should during, host CPU module 12 is handled direct electromagnetic magnetic field signal is amplified and filtered
The guiding track route information, the guiding track route letter are the position parameter data of current AGV vehicle.When AGV vehicle
Electromagnetic induction section is travelled, when into tape guidance path, host computer sends leading as working as using tape induction immediately
The signal mode for drawing mode type is instructed to signal selection module 13, after signal selection module 13 receives signal, host CPU module
12 select to obtain the data information of time CPU module 22 by communication bus, and using tape guidance mechanism 2 as current traveling
Executing agency obtains guide field signal and is delivered to time CPU module at this point, hall device 21 detects constant magnetic field strength
22, secondary CPU module 22 handles guide field signal and controls the guiding track route of AGV vehicle, by secondary CPU to AGV car body
Carry out operation control, and will be through obtaining AGV vehicle shift position in tape guidance data-signal treated tape guidance data
AGV vehicle shift location parameter is sent to host computer by signal output module 14, to complete guidance mode class by parameter
The switching of type, so that AGV vehicle continuously smooth continues to travel into tape guidance mode section.If AGV vehicle completes tape
Guide path repeats the above process when needing to enter electromagnetism guide path, switches to host CPU module 12, with electromagnetism guide mechanism
1 is current driving executing agency.Wherein, the coordinate position that position parameter data refers specifically to AGV vehicle where in preset path
Information, i.e., it is currently relative to the real-time position information where in path map.
Preferably, when AGV vehicle enters in compound guided mode region, i.e., existing electromagnetism guiding has tape guidance again
When section, the instruction that this system device can install host computer sending selects corresponding guided mode as current guiding
Type, or the guidance type-scheme defaulted is selected by information preset in this system device memory module, for example, working as AGV vehicle
When in into compound guided mode region, host CPU module 12 does not switch guided mode, keep current guidance type mode after
Reforwarding row.
Embodiment 2:
A kind of composite magnetic band electromagnetism AGV guidance method, as shown in Figure 3, comprising the following steps:
S1, starting composite magnetic band electromagnetism AGV guidance system device, will be locating for current AGV vehicle as signal output module
Location information is transmitted to host computer；
S2, host computer obtain AGV vehicle present position information and judge corresponding to section locating for current AGV vehicle
The signal type of guide mode, and the instruction of signal mode corresponding to the signal type by the guide mode is transmitted to signal behavior
Module；
S3, signal selection module receive corresponding signal mode instruction, and transmit it to host CPU module, host CPU mould
Block carries out the control of signal switching or maintenance, selects electromagnetism guide mechanism or tape guidance mechanism as the control of current AGV vehicle
Mechanism processed, and current AGV vehicle present position information is uploaded into host computer in real time by signal output module；
S4, after host computer monitors AGV vehicle and enters the region of electromagnetism or tape guidance mode type, will be current
The instruction of signal mode corresponding to the signal type of guide mode corresponding to section locating for AGV vehicle is transmitted to signal behavior mould
Block.
Preferably, host CPU module described in step S3 carries out the control of signal switching or maintenance, and electromagnetism is selected to guide machine
The step of control mechanism as current AGV vehicle of structure or tape guidance mechanism, comprising: when the signal that host CPU module receives
When mode instruction is electromagnetism steering signal type, direct electromagnetic magnetic field signal is obtained by inductance coil module, and return host CPU
Module controls AGV vehicle according to direct electromagnetic magnetic field signal and runs under electromagnetic induction bootmode, passes through signal output module
Guidance mode performed by current AGV vehicle and guiding track route information are transmitted to host computer；When host CPU module connects
When the signal mode instruction received is tape guidance signal type, guide field signal is obtained by hall device, and return secondary
CPU module controls AGV vehicle in the case where tape incudes bootmode according to guide field signal and runs, and by tape guidance data
AGV vehicle shift location parameter documented by signal is transmitted to host CPU module by communication bus, then passes through signal output module
Guidance mode performed by current AGV vehicle and guiding track route information are transmitted to host computer.
Host CPU module passes through signal by that must guide data after calculating, and by guidance data to direct electromagnetic magnetic field signal
Output module is sent to host computer, completes the scheduling and control of AGV vehicle, and guidance mode type is delivered to state instruction
Module；When the state of signal selection module is tape signal, host CPU module is carried out to secondary CPU module by communication bus
Real-time communication obtains AGV vehicle shift location parameter documented by tape guidance data-signal after treatment, and passes through letter
Number output module output control signal, and update the data type of state indicator module.State indicator module is LED light group, no
Same guided mode corresponds to the LED light of different colours, using light on and off as mark whether starting, operator is facilitated to accurately identify
Confirm its current guide mode type.
It should be understood that above-mentioned specific embodiment of the invention is used only for exemplary illustration or explains of the invention
Principle, but not to limit the present invention.Therefore, that is done without departing from the spirit and scope of the present invention is any
Modification, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.In addition, appended claims purport of the present invention
Covering the whole variations fallen into attached claim scope and boundary or this range and the equivalent form on boundary and is repairing
Change example.
Claims (9)
1. a kind of composite magnetic band electromagnetism AGV guidance system device, which is characterized in that including electromagnetism guide mechanism (1), tape is led
Draw mechanism (2), communication bus (3), the electromagnetism guide mechanism (1) is mutual by communication bus (3) and tape guidance mechanism (2)
Connection；
The electromagnetism guide mechanism (1) is for obtaining direct electromagnetic magnetic field signal, guiding AGV car body fortune according to electromagnetic field signal
Row, and selection can be instructed to carry out guided mode switching between electromagnetism guiding and tape guidance according to signal mode, by logical
It interrogates bus (3) and calls the current guided mode of electromagnetism guide mechanism (1) or tape guidance mechanism (2) as AGV vehicle；
The tape guidance mechanism (2) guides the operation of AGV car body for obtaining guide field signal, according to guide field signal.
2. composite magnetic band electromagnetism AGV guidance system device according to claim 1, which is characterized in that the electromagnetism is led
Drawing mechanism (1) includes:
Inductance coil module (11) for obtaining direct electromagnetic magnetic field signal, and is transmitted to host CPU module (12)；
Host CPU module (12) for handling direct electromagnetic magnetic field signal and controlling the guiding track route of AGV vehicle, and is used for
Connection signal selecting module (13) carries out switch method of remote signal；
Signal selection module (13) is connected to host CPU module (12), for receiving and transmitting for switching, selecting guidance mode
Signal mode instruction；
Signal output module (14) is connected to host CPU module (12), for by guidance mode performed by current AGV vehicle and
Guiding track route information is transmitted to host computer；
State indicator module (15) is connected to host CPU module (12), for showing guide mode performed by current AGV vehicle
Type；
Electromagnetism guides memory module (16), is connected to host CPU module (12), for storing the parameter and operation letter of electromagnetism guiding
Breath；
First bus interface module (17) is connected to host CPU module (12) and communication bus (3), for realizing with tape guidance
Communication connection between mechanism (2).
3. composite magnetic band electromagnetism AGV guidance system device according to claim 1, which is characterized in that the tape is led
Drawing mechanism (2) includes:
Hall device (21), for detecting constant magnetic field strength acquisition guide field signal and being delivered to time CPU module (22)；
Secondary CPU module (22), for handling guide field signal and controlling the guiding track route of AGV vehicle；
Tape guidance memory module (23) is connected to time CPU module (22), the parameter and operation letter for storage tape guiding
Breath；
Second bus interface module (24) connects time CPU module (22) and communication bus (3), guides machine for realizing with electromagnetism
Communication connection between structure (1).
4. composite magnetic band electromagnetism AGV guidance system device according to claim 2, which is characterized in that the host CPU mould
Block (12) is also used to handle to obtain the guiding track route information, the guiding for direct electromagnetic magnetic field signal is amplified and filtered
Track route letter is the position parameter data of current AGV vehicle.
5. composite magnetic band electromagnetism AGV guidance system device according to claim 2, which is characterized in that the signal choosing
Select module (13), host CPU module (12) is also used to: when the signal mode instruction that signal selection module (13) receives is electromagnetic signal
When type, the signal mode instruction of electromagnetic signal type is transmitted to host CPU module (12), will be handled by host CPU module (12)
The electromagnetic guide data that direct electromagnetic magnetic field signal obtains are used to control the guiding track route of AGV vehicle, and will guide data
Signal output module (14) are transmitted to, host computer is sent to by signal output module (14)；
When the signal mode instruction that signal selection module (13) receives is tape signal type, host CPU module (12) passes through logical
It interrogates bus and time CPU module (22) carries out real-time communication, operation control is carried out to AGV car body by secondary CPU, and will lead through tape
Draw data-signal treated in tape guidance data and obtain AGV vehicle shift location parameter, by AGV vehicle shift location parameter
Host computer is sent to by signal output module (14).
6. composite magnetic band electromagnetism AGV guidance system device according to claim 2, which is characterized in that the electricity
Magnetic guidance mechanism (1) further include: power module, for host CPU module (12) and remaining module for power supply.
7. composite magnetic band electromagnetism AGV guidance system device according to claim 3, which is characterized in that the magnetic
Band guide mechanism (2) further include: power module, for secondary CPU module (22) and remaining module for power supply.
8. a kind of composite magnetic band electromagnetism AGV guidance method, which comprises the following steps:
S1, starting composite magnetic band electromagnetism AGV guidance system device, by signal output module by current AGV vehicle present position
Information is transmitted to host computer；
S2, host computer obtain AGV vehicle present position information and judge guiding corresponding to section locating for current AGV vehicle
The signal type of mode, and the instruction of signal mode corresponding to the signal type by the guide mode is transmitted to signal behavior mould
Block；
S3, signal selection module receive the instruction of corresponding signal mode, and transmit it to host CPU module, host CPU module into
Control row signal switching or maintained, selects electromagnetism guide mechanism or tape guidance mechanism as the control machine of current AGV vehicle
Structure, and current AGV vehicle present position information is uploaded into host computer in real time by signal output module；
S4, after host computer monitors AGV vehicle and enters the region of electromagnetism or tape guidance mode type, by current AGV
The instruction of signal mode corresponding to the signal type of guide mode corresponding to section locating for vehicle is transmitted to signal selection module.
9. a kind of composite magnetic band electromagnetism AGV guidance method according to claim 8, which is characterized in that institute in step S3
The host CPU module stated carries out the control of signal switching or maintenance, selects electromagnetism guide mechanism or tape guidance mechanism as current
The step of control mechanism of AGV vehicle, comprising:
When the signal mode instruction that host CPU module receives is electromagnetism steering signal type, obtained by inductance coil module
Direct electromagnetic magnetic field signal, and host CPU module is returned, AGV vehicle is controlled according to direct electromagnetic magnetic field signal and is drawn in electromagnetic induction
It is run under waveguide mode, track route information by guidance mode performed by current AGV vehicle and is guided by signal output module
It is transmitted to host computer；
When the signal mode instruction that host CPU module receives is tape guidance signal type, is obtained and guided by hall device
Magnetic field signal, and time CPU module is returned, it is run according to guide field signal control AGV vehicle in the case where tape incudes bootmode,
And AGV vehicle shift location parameter documented by tape guidance data-signal is transmitted to host CPU module by communication bus, then
Guidance mode performed by current AGV vehicle and guiding track route information are transmitted to upper calculating by signal output module
Machine.
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