CN205540273U - Automatic guided vehicle - Google Patents
Automatic guided vehicle Download PDFInfo
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- CN205540273U CN205540273U CN201620199934.7U CN201620199934U CN205540273U CN 205540273 U CN205540273 U CN 205540273U CN 201620199934 U CN201620199934 U CN 201620199934U CN 205540273 U CN205540273 U CN 205540273U
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Abstract
The utility model discloses an automatic guided vehicle, include automobile body, differential controlling means, the controlling means that navigates, turn to controlling means, obstacle -avoiding device, liftable climbing mechanism, power supply unit and main controlling means. The utility model discloses well differential controlling means adopts the two -wheeled individual drive and comes control to turn to through the differential and turns to with the drive, and cooperation navigation controlling means prevents that the automobile body from walking askewly, electronic gyroscope through the steering control device gathers the position angle signal of automobile body to angle signal output handles for main control device with the position, the action of main control device output command control differential controlling means, can realize automobile body pirouette to, when the dolly is walked, set up to keep away and hit the distance, obstacle -avoiding device's distance measuring sensor can realize free distance's adjustable detection, has ensured traversing safety, the accurate position control that liftable climbing mechanism adopted step motor to realize elevating system has realized the gamut high precision regulation in the frock vehicle -hour of packing not co -altitude requirement.
Description
Technical field
This utility model relates to a kind of homing guidance conveying arrangement, particularly relates to a kind of automatic guided vehicle.
Background technology
Along with factory automation, the progressively development of computer integrated manufacturing system technology and flexible manufacturing system,
The extensive application of automatic stereowarehouse, automatic guided vehicle (AGV) is as contact and regulation discrete type logistics
System is so that the necessary automated handling handling means of its operation serialization, its range of application and technical merit
Obtain swift and violent development.But, current automatic guided vehicle there is also following deficiency: one, driving side
Formula is single, and track route deviation is big, it is impossible to reach accurately to control；Two, course changing control is dumb, it is impossible to real
Existing pivot stud；Three, safety is not good enough, and barrier avoiding function is poor；Four, in the frock packing differing heights requirement
During car, altitude mixture control is inconvenient.
Utility model content
The purpose of this utility model is, by a kind of automatic guided vehicle, to solve background section above
The problem mentioned.
For reaching this purpose, this utility model by the following technical solutions:
A kind of automatic guided vehicle, it includes car body, device for controlling differential speed, Navigation Control Unit, turns to control
Device processed, fault avoidnig device, liftable lifting body, supply unit and main control unit；Described differential control
Device include two driven pulleys, two independent driving wheels and with said two corresponding the driving of independence driving wheel
Galvanic electricity machine and motor driver, said two driven pulley is separately mounted to the front and rear of car body, and described two
Individual independent driving wheel parallel coaxial line is fixed in the middle part of car body, and described driving motor is connected solely by actuating device
Vertical driving wheel, one end of described motor driver connects driving motor, and the other end connects main control unit；Institute
State Navigation Control Unit and include anterior magnetic navigation sensor and rear portion magnetic navigation sensor, described anterior magnetic navigation
Sensor is arranged at the front portion of car body, and described rear portion magnetic navigation sensor is arranged at the rear portion of car body, described before
Portion's magnetic navigation sensor and rear portion magnetic navigation sensor electrical connection main control unit, and the magnetic navigation of collection is adopted
Collection dot information exports in real time to main control unit；Described steering control device includes electronic gyroscope and communication control
Device processed, described electronic gyroscope is arranged on car body, and one end of described communication controller connects electronic gyroscope,
The other end connects main control unit；Described fault avoidnig device includes distance measuring sensor, and described distance measuring sensor is arranged
It is connected on car body and with main control unit communication；Described liftable lifting body include lifting body body,
Motor and step-by-step controller, described motor connects lifting body body by actuating device, described
One end of step-by-step controller connects motor, and the other end connects main control unit；Described supply unit includes
Accumulator and power management chip, described accumulator connects power management chip, and described power management chip is even
Connect main control unit；Described main control unit includes touch display module and main control module, described main control
Module connects touch display module.
Especially, said two driven pulley is universal wheel.
Especially, described electronic gyroscope passes through RS485 signaling interface connecting communication controller.
Especially, described distance measuring sensor selects SICK sensor.
Especially, described supply unit also includes battery capacity indication lamp and low electricity alarm；Described battery capacity indication
Lamp, low electricity alarm electric connection of power supply managing chip.
In the automatic guided vehicle that the utility model proposes, device for controlling differential speed uses two-wheeled independently drive and pass through
Differential controls to turn to and driving turns to, and coordinates Navigation Control Unit to ensure that car body track route precision；Logical
The electronic gyroscope crossing steering control device gathers the orientation angles signal of car body, and by defeated for orientation angles signal
Going out and process to main control unit, main control unit output order controls device for controlling differential speed action, it is possible to achieve
Turning to of car body；When carriage walking, arranging collision avoidance distance, the distance measuring sensor of fault avoidnig device can realize certainly
Detected by the scalable of distance, it is ensured that the safety of dolly；Liftable lifting body uses motor to realize
The exact position regulation of elevating mechanism, when packing the fixture vehicle of differing heights requirement, can realize gamut high
The accurate regulation of degree.
Accompanying drawing explanation
The automatic guided vehicle structure chart that Fig. 1 provides for this utility model embodiment；
Installation position, device for controlling differential speed that Fig. 2 provides for this utility model embodiment, Navigation Control Unit local
Put figure；
Fig. 3 walks askew situation schematic diagram for the car body that this utility model embodiment provides.
Detailed description of the invention
For the ease of understanding this utility model, below with reference to relevant drawings, this utility model is carried out more comprehensively
Description.Accompanying drawing gives preferred embodiment of the present utility model.But, this utility model can be to be permitted
The most different forms realizes, however it is not limited to embodiment described herein.On the contrary, provide these to implement
The purpose of example be make disclosure of the present utility model is understood more thorough comprehensively.It should be noted that
When element is referred to as " being fixed on " another element, it can be directly on another element or can also
There is element placed in the middle.When an element is considered as " connection " another element, and it can be directly to connect
Receive another element or may be simultaneously present centering elements.Term as used herein " anterior ", " after
Portion ", " parallel " and similar statement for illustrative purposes only, being not offered as is unique enforcement
Mode.Unless otherwise defined, all of technology used herein and scientific terminology with belong to this utility model
The implication that is generally understood that of those skilled in the art identical.Herein in description of the present utility model
The term used is intended merely to describe the purpose of specific embodiment, it is not intended that in limiting this utility model.
Term as used herein " and/or " include the arbitrary and all of one or more relevant Listed Items
Combination.
Refer to shown in Fig. 1, the automatic guided vehicle structure chart that Fig. 1 provides for this utility model embodiment.
In the present embodiment, automatic guided vehicle specifically includes car body, device for controlling differential speed, Navigation Control Unit, turns to
Control device, fault avoidnig device, liftable lifting body, supply unit and main control unit.
Described device for controlling differential speed includes two driven pulleys, two independent driving wheels 101 and and said two
Driving motor 102 that independent driving wheel 101 is corresponding and motor driver 103, as in figure 2 it is shown, in figure
201 is car body 201, and 202 is driven pulley 202, and said two driven pulley 202 is separately mounted to car body 201
Front and rear, said two independence driving wheel 101 parallel coaxial line is fixed in the middle part of car body 201, institute
State driving motor 102 and connect independent driving wheel 101, one end of described motor driver 103 by actuating device
Connecting and drive motor 102, the other end connects the main control module 104 of main control unit.Institute in the present embodiment
State two driven pulleys 202 and be universal wheel.
Described Navigation Control Unit includes anterior magnetic navigation sensor 105 and rear portion magnetic navigation sensor 106, institute
State anterior magnetic navigation sensor 105 and be arranged at the front portion of car body 201, described rear portion magnetic navigation sensor 106
It is arranged at the rear portion of car body 201, described anterior magnetic navigation sensor 105 and rear portion magnetic navigation sensor 106
Electrical connection main control unit, and the magnetic navigation collection point information of collection is exported in real time to main control unit.?
Being equipped with magnetic stripe on the carriage walking path of preconsolidation stress, the able to programme of main control unit is patrolled in the present embodiment
Collecting controller (PLC) simulation input interface and gather magnetic navigation collection point information, signal accesses PLC, by PLC
Differentiate the deviation of car body 201, regulate the velocity amplitude of two independent driving wheels 101 according to deviation, it is achieved
Closed loop location is corrected.During specific design, main control unit uses the central processing unit (CPU) of Siemens ET200S,
Coordinating 6ES7 134-4FB01-0AB0 Analog input mModule, it is 0-10V signal that standard accesses signal.When
Magnetic stripe is when magnetic navigation sensor center, and magnetic navigation sensor one standard value 5V voltage signal of feedback arrives
PLC, when magnetic navigation sensor left-right deviation, feed back one less or greater than this standard value, at PLC
Inside is AD converted as digital quantity, the such a digital quantity of 0-10V signal correspondence 0-32767.
Described steering control device includes electronic gyroscope 107 and communication controller 108, described electronic gyroscope
107 are arranged on car body 201, and one end of described communication controller 108 connects electronic gyroscope 107, another
End connects main control unit.In order to preferably realize the controlling angle of car body 201, this utility model is by electronics
Gyroscope 107 configures into control system.Communication controller 108 selects PM160 communication control in the present embodiment
Device processed.Electronic gyroscope 107 is by RS485 signaling interface connecting communication controller 108, by communication controller
Modbus protocol conversion is become the discernible Profibus agreement of SIEMENS PLC in main control unit by 108, by
Siemens CPU receives the orientation angles signal of car body 201, turning point (RFID sets deceleration, stop)
Namely stop, wait that vehicle stops 1S completely, control revolver and one of them independent driving wheel 101 of right wheel
Reversely, target setting angle, calculate the difference of angle on target and actual angle, then control to turn to, be on duty
Value, close to zero, reduces wheel velocity, and when deviation reaches zero, wheel velocity is reduced to zero, starts and stops
Action.
Described fault avoidnig device includes that distance measuring sensor 109, described distance measuring sensor 109 are arranged on car body 201
And be connected with main control unit communication.The most described distance measuring sensor 109 selects SICK sensor.
SICK sensor i.e. west gram sensor.West gram sensor uses international advanced laser ranging technique, it is achieved from
Detected by the scalable of distance.By main control unit, collision avoidance distance and scope are set according to user's request, real
The comprehensive of existing dolly arranges safety range management.
Described liftable lifting body includes lifting body body 110, motor 111 and step-by-step controller
112, described motor 111 connects lifting body body 110, described step-by-step controller by actuating device
One end of 112 connects motor 111, and the other end connects main control unit.
Liftable lifting body uses motor 111 to realize the exact position regulation of elevating mechanism, is packing
During the fixture vehicle that differing heights requires, the accurate regulation of gamut height can be realized.When automatic guided vehicle is transported
The when that goods arriving target location, the radio frequency identification RFID being embedded in underground will be read signal by dolly, and dolly is certainly
When fixed unloading or feeding, step-by-step controller 112 receives rising pulses, or falling pulse, stepping control
The device 112 inner setting speed of service processed, acceleration, range ability, spacing i.e. halt when sensing.
Described supply unit includes that accumulator 113 and power management chip 114, described accumulator 113 connect electricity
Source control chip 114, described power management chip 114 connects main control unit.The most described electricity
Source apparatus also includes battery capacity indication lamp 115 and low electricity alarm 116；Described battery capacity indication lamp 115, low electricity
Amount alarm 116 electric connection of power supply managing chip 114.Described battery capacity indication lamp 115 is by color change instruction
Battery condition in accumulator 113.Described low electricity alarm 116 reaches pre-at the electricity of accumulator 113
If buzzing being reported to the police during warning value, prompting user charges to dolly in time.
Described main control unit, in addition to including main control module 104, also includes touch display module 117, described
Main control module 104 connects touch display module 117.Described touch display module 117 is for selecting for user
The running route of dolly, carry out dolly beginning, restart, function selecting, display dolly running status.
Below design of fuzzy control of the present utility model is explained the main points briefly.Tradition automatic guided vehicle all uses
PID controls, but so can produce a bigger overshoot, makes dolly ceaselessly vibrate, the most traditional control
Method processed is extremely difficult to accurately control. and use fuzzy control, then need not set up the accurate number of control process
Learning model, system is controlled by the foundation that can walk around mathematical models, is a kind of Based Intelligent Control, this
Utility model uses electronic gyroscope input, the dual input of magnetic navigation sensor input, single output speed difference
The fuzzy control of structure, is tracked set path. and input quantity is taken as car body longitudinal axis respectively relative to regarding
The position deviation of path centrage and the deviation of directivity in Chang, its value is respectively by magnetic navigation sensor and electronic gyroscope
Instrument gathers, and output is two independent driving wheels speed difference relative to car body longitudinal axis, it is achieved speed is adjusted
Whole, thus the route realizing dolly is regular.As for the kinematics model of automatic guided vehicle in this utility model:
Car body walk askew in the case of can produce a position deviation Δ λ, as it is shown on figure 3, dotted arrow table in figure
Showing the position should located when dolly is not walked askew, position when solid arrow represents to walk askew, 301 refer to deviation delta λ, model
Being trapped among 10-50mm, using speed to adjust formula has two kinds, P Δ λ+I1 Δ &1, Δ &1 when deviation increases
For increments during deviation increase tendency, this value is just；P Δ λ+I2 Δ &2, Δ when deviation becomes reducing
&2 is decrement during deviation reduction trend, and this value is negative.P parameter and I parameter test effect according to reality
Adjust mensuration, initial setting P=100, I1=50, I2=30, carry out difference in wheel velocity modulation whole.
The technical solution of the utility model uses two-wheeled independently to drive and controls to turn to and drive to turn by differential
To, coordinate Navigation Control Unit to ensure that car body track route precision；By the electronics top of steering control device
Spiral shell instrument gathers the orientation angles signal of car body, and is exported by orientation angles signal to main control unit process, main
Control device output order and control device for controlling differential speed action, it is possible to achieve turning to of car body；At carriage walking
Time, collision avoidance distance is set, the distance measuring sensor of fault avoidnig device can realize the scalable detection of free distance, protects
Demonstrate,prove the safety of dolly；Liftable lifting body uses motor to realize the exact position regulation of elevating mechanism,
When packing the fixture vehicle of differing heights requirement, the accurate regulation of gamut height can be realized.
Note, above are only preferred embodiment of the present utility model and institute's application technology principle.Art technology
Those skilled in the art, it will be appreciated that this utility model is not limited to specific embodiment described here, are come by personnel
Say and can carry out various obvious change, readjust and substitute without departing from protection model of the present utility model
Enclose.Therefore, although by above example, this utility model is described in further detail, but this
Utility model is not limited only to above example, in the case of conceiving without departing from this utility model, it is also possible to
Including other Equivalent embodiments more, and scope of the present utility model is determined by scope of the appended claims.
Claims (5)
1. an automatic guided vehicle, it is characterised in that include car body, device for controlling differential speed, Navigation Control
Device, steering control device, fault avoidnig device, liftable lifting body, supply unit and main control unit；
Described device for controlling differential speed includes two driven pulleys, two independent driving wheels and independently drives with said two
Take turns corresponding driving motor and motor driver, said two driven pulley be separately mounted to car body front portion and
Rear portion, said two independence driving wheel parallel coaxial line is fixed in the middle part of car body, and described driving motor is by passing
Dynamic device connects independent driving wheel, and one end of described motor driver connects driving motor, and the other end connects main
Control device；Described Navigation Control Unit includes anterior magnetic navigation sensor and rear portion magnetic navigation sensor, institute
Stating anterior magnetic navigation sensor and be arranged at the front portion of car body, described rear portion magnetic navigation sensor is arranged at car body
Rear portion, described anterior magnetic navigation sensor and rear portion magnetic navigation sensor electrical connection main control unit, and will adopt
The magnetic navigation collection point information of collection exports in real time to main control unit；Described steering control device includes electronics top
Spiral shell instrument and communication controller, described electronic gyroscope is arranged on car body, and one end of described communication controller is even
Connecing electronic gyroscope, the other end connects main control unit；Described fault avoidnig device includes distance measuring sensor, described
Distance measuring sensor is arranged on car body and is connected with main control unit communication；Described liftable lifting body includes
Lifting body body, motor and step-by-step controller, described motor connects jacking by actuating device
Mechanism body, one end of described step-by-step controller connects motor, and the other end connects main control unit；Institute
Stating supply unit and include accumulator and power management chip, described accumulator connects power management chip, described
Power management chip connects main control unit；Described main control unit includes touch display module and master control molding
Block, described main control module connects touch display module.
Automatic guided vehicle the most according to claim 1, it is characterised in that said two driven pulley is equal
For universal wheel.
Automatic guided vehicle the most according to claim 1, it is characterised in that described electronic gyroscope is led to
Cross RS485 signaling interface connecting communication controller.
Automatic guided vehicle the most according to claim 1, it is characterised in that described distance measuring sensor selects
Use SICK sensor.
5. according to the automatic guided vehicle one of Claims 1-4 Suo Shu, it is characterised in that described power supply
Device also includes battery capacity indication lamp and low electricity alarm；Described battery capacity indication lamp, low electricity alarm are electrically connected
Connect power management chip.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620199934.7U CN205540273U (en) | 2016-03-15 | 2016-03-15 | Automatic guided vehicle |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620199934.7U CN205540273U (en) | 2016-03-15 | 2016-03-15 | Automatic guided vehicle |
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| CN205540273U true CN205540273U (en) | 2016-08-31 |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105785995A (en) * | 2016-03-15 | 2016-07-20 | 无锡凯乐士科技有限公司 | Automatic guided vehicle |
| CN107380932A (en) * | 2017-06-29 | 2017-11-24 | 浙江工业大学 | A kind of intelligent track car control method and system |
| CN108709567A (en) * | 2018-05-11 | 2018-10-26 | 中国神华能源股份有限公司 | Unmanned trolley travelling adjusting method and device |
| CN109849645A (en) * | 2019-03-21 | 2019-06-07 | 浙江尤恩机器人科技有限公司 | 4 wheel driven trolley mobile controller and system |
| CN114721387A (en) * | 2022-04-08 | 2022-07-08 | 中国铁建重工集团股份有限公司 | Automatic navigation method, system, equipment and medium for agricultural machinery |
-
2016
- 2016-03-15 CN CN201620199934.7U patent/CN205540273U/en active Active
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105785995A (en) * | 2016-03-15 | 2016-07-20 | 无锡凯乐士科技有限公司 | Automatic guided vehicle |
| CN105785995B (en) * | 2016-03-15 | 2019-06-28 | 无锡凯乐士科技有限公司 | A kind of automatic guided vehicle |
| CN107380932A (en) * | 2017-06-29 | 2017-11-24 | 浙江工业大学 | A kind of intelligent track car control method and system |
| CN108709567A (en) * | 2018-05-11 | 2018-10-26 | 中国神华能源股份有限公司 | Unmanned trolley travelling adjusting method and device |
| CN109849645A (en) * | 2019-03-21 | 2019-06-07 | 浙江尤恩机器人科技有限公司 | 4 wheel driven trolley mobile controller and system |
| CN114721387A (en) * | 2022-04-08 | 2022-07-08 | 中国铁建重工集团股份有限公司 | Automatic navigation method, system, equipment and medium for agricultural machinery |
| CN114721387B (en) * | 2022-04-08 | 2024-11-01 | 中国铁建重工集团股份有限公司 | Automatic navigation method, system, equipment and medium for agricultural machinery |
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