CN105468001A - Insert AGV (Automatic Guided Vehicle) navigation vehicle and control method thereof - Google Patents
Insert AGV (Automatic Guided Vehicle) navigation vehicle and control method thereof Download PDFInfo
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- CN105468001A CN105468001A CN201511029664.1A CN201511029664A CN105468001A CN 105468001 A CN105468001 A CN 105468001A CN 201511029664 A CN201511029664 A CN 201511029664A CN 105468001 A CN105468001 A CN 105468001A
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- 238000000034 method Methods 0.000 title claims abstract description 25
- 230000009977 dual effect Effects 0.000 claims abstract description 8
- 230000003028 elevating effect Effects 0.000 claims description 27
- 230000001681 protective effect Effects 0.000 claims description 17
- 239000002390 adhesive tape Substances 0.000 claims description 14
- 238000010009 beating Methods 0.000 claims description 8
- 230000004888 barrier function Effects 0.000 claims description 6
- 230000008569 process Effects 0.000 claims description 5
- 238000004458 analytical method Methods 0.000 claims description 3
- 238000004891 communication Methods 0.000 claims description 3
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- 230000003993 interaction Effects 0.000 claims description 3
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- 238000012544 monitoring process Methods 0.000 claims description 3
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- 230000001105 regulatory effect Effects 0.000 claims description 3
- 238000003860 storage Methods 0.000 claims description 2
- 239000002184 metal Substances 0.000 abstract description 2
- 238000003466 welding Methods 0.000 abstract 2
- 239000000853 adhesive Substances 0.000 abstract 1
- 230000001070 adhesive effect Effects 0.000 abstract 1
- 230000008901 benefit Effects 0.000 description 4
- 230000004807 localization Effects 0.000 description 4
- 230000001276 controlling effect Effects 0.000 description 3
- 238000011161 development Methods 0.000 description 3
- 239000000463 material Substances 0.000 description 3
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- 150000001875 compounds Chemical class 0.000 description 2
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- 238000009826 distribution Methods 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 239000007769 metal material Substances 0.000 description 1
- 238000007500 overflow downdraw method Methods 0.000 description 1
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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
- G05D1/028—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using a RF signal
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- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
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Abstract
The invention discloses an insert AGV (Automatic Guided Vehicle) navigation vehicle, which comprises a vehicle body welding structure, a shell, an alarming anti-collision protection device, a lifting positioning locking device, a driving unit, a control unit, a navigation positioning device, universal driven wheels and directional wheels, wherein the vehicle body welding structure fixes each unit and each device of the AGV; the alarming anti-collision protection device comprises an obstacle recognition sensor, an anti-collision adhesive strip, an acoustic-optic sensor, a display screen, an emergency stop switch and a front cover; the lifting positioning locking device comprises a lifting rod, a lifting motor, a lifting rod sleeve, a spring limiting plate, a pin shaft baffle and a fixing sheet metal; a ground wheel driving device is provided with a left wheel and a right wheel which are symmetrical in the middle of the vehicle body, and a differential speed driving mode is adopted; and the control unit uses a control system based on an ARM dual processor and comprises a control plate, a motor driver, a driver fixing plate, an ARM processor, a battery, and a battery bearing seat. The invention also provides an insert AGV navigation vehicle control method. the navigation positioning precision is improved, and the product cost and the use cost are reduced.
Description
Technical field
The present invention relates to automatic material flow transport field, particularly a kind of submersible AGV navigation dolly and control method thereof.
Background technology
AGV (AutomatedGuidedVehicle, automatic guided vehicle) is the key equipment of automatic material flow transportation system and flexible manufacturing system, has the function of automatic Pilot in non-structured environment.The research of AGV starts from the U.S. of the 1950's in the world, and through the development of decades, AGV realizes commercialization, and in electric mechanical manufacture, logistics, the every field such as automated warehouse are widely used.Along with the development of economic technology, the enterprise of China also progressively starts to apply AGV.
AGV vehicle can be classified by delivery classification, carrying quality, driving pattern, guide mode, transfer mode.Such as have by guide mode classification: magnetic guidance, las er-guidance, us guide, Light-Echo detection, inertial navigation, image recognition and coordinate identification etc.; Classify by transfer mode and have: submersible, side roll-type, towed, across saddle, bilateral push-pull type, balanced type, bilateral V shape, three-dimensional V shape, low V shape, two lifting type, planer-type, backpack etc.
AGV control system is core, and the action of AGV dolly realizes controlling by Vehicle Controller.At present, generally using PLC as controller, there is cost higher in traditional AGV, and extensibility is not strong, and computing power is not strong, not easily realizes the problem that high precision controls.
The now general air navigation aid of AGV has the guiding of electromagnetic guide, striations, tape guiding, inertial navigation, localization by ultrasonic guiding, laser reflection orientation direction, laser scanning orientation direction, vision guide, RFID compound orientation direction, GPS navigation.In different working environments, need to use different air navigation aids.At present, the navigation and localization method that AGV is common is: tape navigation, RFID location navigation.Tape navigation is used in road surface pastes tape and substitutes and bury metal wire underground at subsurface, guiding is realized by magnetic induction signal, its dirigibility is relatively good, change or extended route are easier to, tape is laid simple, but this guide mode is subject to the interference of loop surrounding metal material, and tape is easily mechanically damaged, therefore the reliability guided is comparatively large by ectocine, generally open up in indoor can not be subject to mechanical damage and without magnetic interference region carry out tape guiding.Wherein, traditional tape navigation adopts the method such as PID, fuzzy control, although do not need accurate model just can realize, exists and is subject to object structure and parametric variations, the problem that control accuracy is not high.RFID location navigation is the one navigation supplementary mode occurred along with the development of wireless radio-frequency.The RFID be attached on road surface by the rfid interrogator identification on AGV is indicated, and by the RFID position prestored, makes AGV can obtain the absolute position in path.The guidance mode compound use of the non-locating such as its general and tape navigation, thus absolute position can be obtained by the some points on path.Advantage is that cost is lower, and mounting complexity is lower, but positioning precision is not very high.
Summary of the invention
In order to the deficiency that the control accuracy overcoming existing navigation dolly is lower, the invention provides a kind of submersible AGV to navigate dolly and control method thereof, utilize two to take turns differential and drive, and respectively with two universal wheels and two directional wheels as support, make AGV radius of turn less, load-bearing capacity is stronger.The preposition anti-collision adhesive tape of car body and obstacle recognition sensor, can protect AGV dolly better; Car body intermediate lift fixing and locking device, realizes location and the locking of goods carrier.Meanwhile, the mode that the navigation of application tape and RFID location navigation combine, tape navigation uses Active Disturbance Rejection Control (ADRC) method, improves navigation and positioning accuracy, reduces product and use cost thereof.
For realizing above-mentioned technical matters, the present invention realizes as follows:
A kind of submersible AGV navigation dolly, comprise car body welded structure, alarming anticollision protective device, lifting fixing and locking device, driver element, control module, navigation positional device, universal engaged wheel and directional wheel, described car body welded structure is installed alarming anticollision protective device, lifting fixing and locking device, driver element, control module and navigation positional device; Described alarming anticollision protective device is arranged on car body welded structure front end; Described lifting fixing and locking device and driver element distribute up and down respectively and are arranged in the middle of car body welded structure; Described control module is arranged at car body rear end; Described navigation positional device is arranged at the centre position below car body welded structure front end; Described universal engaged wheel is arranged at both sides below car body welded structure front end; Described directional wheel is arranged at below car body welded structure rear end; Described control module and alarming anticollision protective device, be elevated fixing and locking device, driver element, control module, navigation positional device form and be electrically connected.
Further, described alarming anticollision protective device comprises obstacle recognition sensor holder, obstacle recognition sensor, anti-collision adhesive tape, audible-visual annunciator, display screen, emergency stop switch and protecgulum, described obstacle recognition sensor holder is arranged at middle, car body welded structure front end, described obstacle recognition sensor holder fixed obstacle identification sensor; Described anti-collision adhesive tape is arranged at below the positive front end of car body welded structure; Described protecgulum is arranged at above car body welded structure front end; Described audible-visual annunciator, display screen, emergency stop switch are arranged on protecgulum, and described audible-visual annunciator, emergency stop switch are distributed in around display screen.
Further again, described lifting fixing and locking device comprises elevating lever, elevating lever cover, fixing panel beating, spring limiting board, pin shaft baffle and lifting motor; Described elevating lever is arranged at elevating mechanism middle; Described elevating lever cover entangles elevating lever; Described pin shaft baffle embeds elevating lever cover; Described fixing panel beating fixes elevating lever cover, lifting motor; Described spring limiting board is arranged at bottom pin shaft baffle.
Described driver element comprise left and right sidesing driving wheel, wheel drive shaft, DC servo motor and shell; Described ground wheel drive shaft is arranged at middle, front end; Described left and right sidesing driving wheel is arranged at wheel drive shaft two ends, ground; Described DC servo motor is fixed on ground wheel drive shaft; Described shell is wheel drive shaft and DC servo motor regularly.
Described control module is the control system of the two process based on ARM, comprises dual processor control panel, motor driver, driver fixed head, arm processor, accumulator and battery load bearing seat; Described driver fixed head is arranged at above car body welded structure rear end; Described control panel is arranged at middle, driver fixed head front end, is provided with charging socket and warning lamp; Described motor drives and is arranged at middle, driver fixed head rear end; Described left and right drive motor is arranged at driver fixed head rear end the right and left respectively; Described accumulator is arranged at immediately below driver fixed head; Described battery load bearing seat is arranged at bottom of storage battery, and accumulator is positioned in load bearing seat, and surrounding is battery load bearing seat baffle plate, and is screwed driver fixed head.
Described navigation positional device comprises magnetic navigation inductor, magnetic navigation installing plate, terrestrial reference inductor and RFID Card Reader parts; Described magnetic navigation installing plate is arranged at driver element case nose middle; Described magnetic navigation inductor is arranged on magnetic navigation installing plate; Described terrestrial reference inductor is arranged at immediately below obstacle recognition sensor, middle, anti-collision adhesive tape rear; Described RFID Card Reader parts are arranged on magnetic navigation installing plate.
Described universal engaged wheel comprises left and right universal engaged wheel, is arranged at both sides below car body front end respectively, and universal engaged wheel front is provided with anti-collision adhesive tape, and described directional wheel comprises left and right directional wheel, is arranged at both sides below car body rear end respectively.
A control method for submersible AGV navigation dolly, described control method comprises the steps:
1) Active Disturbance Rejection Control (ADRC) control method is adopted to navigate to magnetic navigation inductor and RFID positions, ground, place arranges path track that magnetic stripe and RFID label tag advance respectively as dolly and distributed points is located in position running, utilize magnetic navigation sensor to identify magnetic stripe track, analyze judge car body and magnetic stripe track depart from situation; RFID label tag Real-Time Monitoring car body is utilized to arrive at the destination apart from situation;
2) by magnetic navigation sensor and RFID Card Reader parts, identifying processing RFID label tag data, embedded with RFID label again on the walking destination in place and the magnetic stripe track in major control region, magnetic navigation sensor and RFID Card Reader parts are used to read data, and data are passed to control module to resolve, and motor is controlled;
3) be equipped with obstacle recognition sensor in the front and back of submersible AGV navigation dolly, the barrier situation in its front can be delivered to control module by obstacle recognition sensor, controls submersible AGV navigation dolly slow down or stop when running into barrier;
4) control module adopts the control system of ARM dual processor, a processor controls DC servo motor, regulate the rotating speed of servomotor and moment of torsion by regulating electric current and voltage thus walking is controlled, also need the road information provided according to obstacle recognition sensor, magnetic navigation sensor and RFID Card Reader parts to analyze, adjust its controling parameters to DC servo motor; Another controller is estimated for the fusion of navigation information, and controls human-computer interaction module and wireless communication module.
Described step 2) in, classify to pasted RFID label tag, classification has: destination-address code, rests in destination accurately for making submersible AGV navigation dolly; Destination is near alarm codes, and for making submersible AGV navigation dolly obtain alarm signal when near destination, thus pre-decelerating reduces inertia effects; Cross road instruction code, carries out integration analysis for road ahead information being passed to processor before point cross road.
The invention has the beneficial effects as follows:
1. there is the advantage of good stability.Submersible AGV navigation dolly uses car body welded structure, and body construction is compact, the setting of car body and universal wheel, and good supporting role is played in directional wheel cooperation, and ensures its good stability.
2. radius of turn is little, the advantage that dirigibility is high.The submersible AGV dolly that navigates arranges left and right two and takes turns and be symmetrical in the middle of car body, adopts differential type of drive, can realize its track turn radius little, possess stronger dirigibility.
3. there is goods carrier position and lock function.Submersible AGV navigation dolly arranges lifting fixing and locking device, is embedded with groove, can agrees with elevating lever in the middle of bottom goods carrier, easily can realize goods carrier and goods position and lock and realize movement requirement, the number of times of freight handling can be reduced, save transport power, reduce human cost.
4. control system cost is low, and extensibility is strong, can meet different application requirement.Use the control system based on ARM dual processor, cost is low, structure-rich, and dirigibility is good, and more traditional controller is as strong in PLC arithmetic capability; Double-layer control structure, can be separated controlling in real time with non real-time control, can meet different application requirements, such as realizing the needs that the multiple navigate modes such as laser navigation, vision guided navigation and motor encoder navigation merge.
5. navigation and localization precision is high.Submersible AGV navigation dolly possesses the configuration of multisensor, uses information fusion method, realizes tape navigation and locates with RFID, tape navigation uses Active Disturbance Rejection Control (ADRC) method, there is parameter easy adjusting, the advantages such as self-adaptation is strong, and significantly improve its navigation and localization precision.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention.
Fig. 2 is car body welded structure schematic diagram of the present invention.
Fig. 3 is submersible AGV of the present invention navigation dolly critical piece distribution plan.
Fig. 4 is structural base schematic diagram of the present invention.
Fig. 5 is that Lu Jingyu RFID label tag position figure arranged by the tape of submersible AGV of the present invention navigation dolly driving process, wherein, 1 obstacle recognition sensor holder, 2 obstacle recognition sensors, 3 anti-collision adhesive tapes, 4 audible-visual annunciators, 5 display screens, 6 emergency stop switchs, 7 protecgulums, 8 elevating levers, 9 elevating lever covers, 10 fixing panel beatings, 11 lifting motors, 12 pin shaft baffles, 13 spring limiting boards, 14 driving wheels, 15 driving shafts, 16 cover of drivers, 17 DC servo motor, 18 driver fixed heads, 19 motor drivers, 20 control panels, 21ARM processor, 22 accumulators, 23 battery load bearing seats, 24 directional wheels, 25 universal engaged wheels, 26 car body welded structure and shells, 27 terrestrial reference inductors, 28 magnetic navigation inductors, 29 magnetic navigation installing plates and 30RFID Card Reader parts.
Embodiment
Below in conjunction with the drawings and specific embodiments, the present invention is further detailed explanation.
With reference to Fig. 1 ~ Fig. 5, a kind of submersible AGV navigation dolly, comprise car body welded structure, alarming anticollision protective device, lifting fixing and locking device, driver element, control module, navigation positional device, universal engaged wheel and directional wheel, described car body welded structure is installed alarming anticollision protective device, lifting fixing and locking device, driver element, control module and navigation positional device; Described alarming anticollision protective device is arranged on car body welded structure front end; Described lifting fixing and locking device and driver element distribute up and down respectively and are arranged in the middle of car body welded structure; Described control module is arranged at car body rear end; Described navigation positional device is arranged at the centre position below car body welded structure front end; Described universal engaged wheel is arranged at both sides below car body welded structure front end; Described directional wheel is arranged at below car body welded structure rear end; Described control module and alarming anticollision protective device, be elevated fixing and locking device, driver element, control module, navigation positional device form and be electrically connected.
Described alarming anticollision protective device comprises obstacle recognition sensor holder (1), obstacle recognition sensor (2), anti-collision adhesive tape (3), audible-visual annunciator (4), display screen (5), emergency stop switch (6), protecgulum (7).Described obstacle recognition sensor holder (1) is arranged at middle, car body front end, fixed obstacle identification sensor (2); Described anti-collision adhesive tape (3) is arranged at below the positive front end of car body; Described protecgulum (7) is arranged at above car body front end; Described audible-visual annunciator (4), display screen (5), emergency stop switch (6) are arranged on protecgulum (7), and audible-visual annunciator (4), emergency stop switch (6) are distributed in display screen (5) around.
Described lifting fixing and locking device comprises elevating lever (8), elevating lever cover (9), fixing panel beating (10), spring limiting board (13), pin shaft baffle (12), lifting motor (11); Described elevating lever (8) is arranged at elevating mechanism middle; Described elevating lever cover (9) entangles elevating lever (8); Described pin shaft baffle (12) embeds elevating lever cover (9); Described fixing panel beating (10) fixes elevating lever cover (9), lifting motor (11); Described spring limiting board (13) is arranged at pin shaft baffle (12) bottom.
Described driver element comprises driving wheel (14), driving shaft (15), DC servo motor (17), cover of driver (16); Described driving shaft (15) is arranged at middle, front end; Described driving wheel (14) is arranged at driving shaft (15) two ends; Described DC servo motor (17) is fixed on driving shaft (15); Described cover of driver (16) fixed drive axle (15) and DC servo motor (17).The setting that distributes up and down between lifting fixing and locking device and driver element is connected and fixed realization by fixing panel beating (10) and cover of driver (16).
Described control module uses the control system based on the two process of ARM, comprises dual processor control panel (20), motor driver (19), driver fixed head (18), arm processor (21), accumulator (22), battery load bearing seat (23); Described driver fixed head (18) is arranged at above car body rear end; Described control panel (20) is arranged at driver fixed head (18) middle, front end; Described motor driver (19) is arranged at driver fixed head (18) middle, rear end; Described accumulator (22) is arranged at immediately below driver fixed head (18); Described battery load bearing seat (23) is arranged at accumulator (22) bottom, accumulator (22) is positioned in battery load bearing seat (23), surrounding is battery load bearing seat (23) baffle plate, and is screwed driver fixed head (18).
Described navigation positional device comprises magnetic navigation inductor (28), magnetic navigation installing plate (29), terrestrial reference inductor (27), RFID Card Reader parts (30); Described magnetic navigation installing plate (29) is arranged at cover of driver (16) middle, front end; Described magnetic navigation inductor (28) is arranged on magnetic navigation installing plate (29); Described terrestrial reference inductor (27) is arranged at immediately below obstacle recognition sensor (2), anti-collision adhesive tape (3) middle, rear; Described RFID Card Reader parts (30) are arranged on magnetic navigation installing plate (29).
Described car body welded structure fixes alarming anticollision protective device, lifting fixing and locking device, driver element, control module, navigation positional device, universal engaged wheel (25), directional wheel (24).Described universal engaged wheel comprises left and right universal engaged wheel, is arranged at both sides below car body front end respectively, and universal engaged wheel (25) front is provided with anti-collision adhesive tape.Described directional wheel (24) comprises left and right directional wheel, is arranged at both sides below car body rear end respectively.
Described control module and alarming anticollision protective device, be elevated fixing and locking device, driver element, control module, navigation positional device form and be electrically connected.
Principle of work of the present invention: as shown in Figure 5, when vehicle is at the end of straight way, will recognize RFID label tag (1), thus deceleration enters bend; After getting back to straight way, identification label (3) accelerates; At a point prong, by identifying that RFID (2) label can make the decision that bifurcated is selected in correct left and right; Before getting back to main road, by identifying RFID label tag (4,5), whether have vehicle, if had, carry out decision-making by task priority if first can detect other routes; When close to parking stall, by identifying RFID label tag (6), can slow down, thus accurately identify that tape label is accurately located.Positioning Precision Control is within 10mm.Different operations can be carried out, as material loading, blanking by RFID label tag location before different equipment.
A control method for submersible AGV navigation dolly, control procedure comprises the steps:
1) Active Disturbance Rejection Control (ADRC) control method is adopted to navigate to magnetic navigation inductor and RFID positions, ground, place arranges path track that magnetic stripe and RFID label tag advance respectively as dolly and distributed points is located in position running, utilize magnetic navigation sensor to identify magnetic stripe track, analyze judge car body and magnetic stripe track depart from situation, and this feedback data is passed to CortexA8 processor, carry out comprehensive computing; RFID label tag Real-Time Monitoring car body is utilized to arrive at the destination apart from situation, and this feedback data is passed to CortexA8 processor, operation control object information is transferred to CortexM4 process, wherein magnetic navigation adopts Active Disturbance Rejection Control (ADRC) method simultaneously;
2) by magnetic navigation sensor and RFID Card Reader parts, identifying processing RFID label tag data, embedded with RFID label again on the walking destination in place and the magnetic stripe track in major control region, magnetic navigation sensor and RFID Card Reader parts just can be used to read data, and data are passed to CortexA8 processor to resolve, send steering order again to CortexM4, and motor is controlled; Classify to pasted RFID label tag, can reach different control objects, its classification has: destination-address code, rests in destination accurately for making submersible AGV navigation dolly; Destination is near alarm codes, and for making submersible AGV navigation dolly obtain alarm signal when near destination, thus pre-decelerating reduces inertia effects; Cross road instruction code, carries out integration analysis for road ahead information being passed to CortexA8 processor before point cross road;
3) obstacle recognition sensor is equipped with in the front and back of submersible AGV navigation dolly, the barrier situation in its front can be delivered to CortexA8 processor by obstacle recognition sensor, is slowed down or stops controlling submersible AGV navigation dolly when running into barrier by CortexM4 processor;
4) in the control system of ARM dual processor, CortexM4 controls DC servo motor, regulate the rotating speed of servomotor and moment of torsion by regulating electric current and voltage thus walking is controlled, also need the road information provided according to obstacle recognition sensor, magnetic navigation sensor and RFID Card Reader parts to analyze, adjust its controling parameters to DC servo motor.CortexA8 controller, the fusion for navigation information is estimated, it is high but in the functional module that computing is higher to control other requirement of real-times such as man-machine interaction, wireless communication module.
Above-described embodiment only represents one embodiment of the present invention, can not be interpreted as limitation of the scope of the invention.It should be noted that one skilled in the relevant art, without departing from the inventive concept of the premise, can also make several deformation design, these all belong to protection scope of the present invention.
Claims (9)
1. a submersible AGV navigation dolly, it is characterized in that: comprise car body welded structure, alarming anticollision protective device, lifting fixing and locking device, driver element, control module, navigation positional device, universal engaged wheel and directional wheel, described car body welded structure is installed alarming anticollision protective device, lifting fixing and locking device, driver element, control module and navigation positional device; Described alarming anticollision protective device is arranged on car body welded structure front end; Described lifting fixing and locking device and driver element distribute up and down respectively and are arranged in the middle of car body welded structure; Described control module is arranged at car body rear end; Described navigation positional device is arranged at the centre position below car body welded structure front end; Described universal engaged wheel is arranged at both sides below car body welded structure front end; Described directional wheel is arranged at below car body welded structure rear end; Described control module and alarming anticollision protective device, be elevated fixing and locking device, driver element, control module, navigation positional device form and be electrically connected.
2. submersible AGV navigation dolly according to claim 1, it is characterized in that: described alarming anticollision protective device comprises obstacle recognition sensor holder, obstacle recognition sensor, anti-collision adhesive tape, audible-visual annunciator, display screen, emergency stop switch and protecgulum, described obstacle recognition sensor holder is arranged at middle, car body welded structure front end, described obstacle recognition sensor holder fixed obstacle identification sensor; Described anti-collision adhesive tape is arranged at below the positive front end of car body welded structure; Described protecgulum is arranged at above car body welded structure front end; Described audible-visual annunciator, display screen, emergency stop switch are arranged on protecgulum, and described audible-visual annunciator, emergency stop switch are distributed in around display screen.
3. submersible AGV navigation dolly according to claim 1 and 2, is characterized in that: described lifting fixing and locking device comprises elevating lever, elevating lever cover, fixing panel beating, spring limiting board, pin shaft baffle and lifting motor; Described elevating lever is arranged at elevating mechanism middle; Described elevating lever cover entangles elevating lever; Described pin shaft baffle embeds elevating lever cover; Described fixing panel beating fixes elevating lever cover, lifting motor; Described spring limiting board is arranged at bottom pin shaft baffle.
4. submersible AGV according to claim 1 and 2 navigates dolly, it is characterized in that: described driver element comprise left and right sidesing driving wheel, wheel drive shaft, DC servo motor and shell; Described ground wheel drive shaft is arranged at middle, front end; Described left and right sidesing driving wheel is arranged at wheel drive shaft two ends, ground; Described DC servo motor is fixed on ground wheel drive shaft; Described shell is wheel drive shaft and DC servo motor regularly.
5. submersible AGV navigation dolly according to claim 1 and 2, it is characterized in that: described control module is the control system of the two process based on ARM, comprises dual processor control panel, motor driver, driver fixed head, arm processor, accumulator and battery load bearing seat; Described driver fixed head is arranged at above car body welded structure rear end; Described control panel is arranged at middle, driver fixed head front end, is provided with charging socket and warning lamp; Described motor drives and is arranged at middle, driver fixed head rear end; Described left and right drive motor is arranged at driver fixed head rear end the right and left respectively; Described accumulator is arranged at immediately below driver fixed head; Described battery load bearing seat is arranged at bottom of storage battery, and accumulator is positioned in load bearing seat, and surrounding is battery load bearing seat baffle plate, and is screwed driver fixed head.
6. submersible AGV navigation dolly according to claim 1 and 2, is characterized in that: described navigation positional device comprises magnetic navigation inductor, magnetic navigation installing plate, terrestrial reference inductor and RFID Card Reader parts; Described magnetic navigation installing plate is arranged at driver element case nose middle; Described magnetic navigation inductor is arranged on magnetic navigation installing plate; Described terrestrial reference inductor is arranged at immediately below obstacle recognition sensor, middle, anti-collision adhesive tape rear; Described RFID Card Reader parts are arranged on magnetic navigation installing plate.
7. submersible AGV navigation dolly according to claim 1 and 2, it is characterized in that: described universal engaged wheel comprises left and right universal engaged wheel, be arranged at both sides below car body front end respectively, universal engaged wheel front is provided with anti-collision adhesive tape, described directional wheel comprises left and right directional wheel, is arranged at both sides below car body rear end respectively.
8. a control method for submersible AGV navigation dolly as claimed in claim 1, is characterized in that: described control method comprises the steps:
1) Active Disturbance Rejection Control control method is adopted to navigate to magnetic navigation inductor and RFID positions, ground, place arranges path track that magnetic stripe and RFID label tag advance respectively as dolly and distributed points is located in position running, utilize magnetic navigation sensor to identify magnetic stripe track, analyze judge car body and magnetic stripe track depart from situation; RFID label tag Real-Time Monitoring car body is utilized to arrive at the destination apart from situation;
2) by magnetic navigation sensor and RFID Card Reader parts, identifying processing RFID label tag data, embedded with RFID label again on the walking destination in place and the magnetic stripe track in major control region, magnetic navigation sensor and RFID Card Reader parts are used to read data, and data are passed to control module to resolve, and motor is controlled;
3) be equipped with obstacle recognition sensor in the front and back of submersible AGV navigation dolly, the barrier situation in its front can be delivered to control module by obstacle recognition sensor, controls submersible AGV navigation dolly slow down or stop when running into barrier;
4) control module adopts the control system of ARM dual processor, a processor controls DC servo motor, regulate the rotating speed of servomotor and moment of torsion by regulating electric current and voltage thus walking is controlled, also need the road information provided according to obstacle recognition sensor, magnetic navigation sensor and RFID Card Reader parts to analyze, adjust its controling parameters to DC servo motor; Another controller is estimated for the fusion of navigation information, and controls human-computer interaction module and wireless communication module.
9. the control method of submersible AGV navigation dolly as claimed in claim 8, it is characterized in that: described step 2) in, classify to pasted RFID label tag, classification has: destination-address code, rests in destination accurately for making submersible AGV navigation dolly; Destination is near alarm codes, and for making submersible AGV navigation dolly obtain alarm signal when near destination, thus pre-decelerating reduces inertia effects; Cross road instruction code, carries out integration analysis for road ahead information being passed to processor before point cross road.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201511029664.1A CN105468001B (en) | 2015-12-31 | 2015-12-31 | A kind of submersible AGV navigation dollies and its control method |
Applications Claiming Priority (1)
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| CN105836669A (en) * | 2016-05-16 | 2016-08-10 | 厦门思尔特机器人系统股份公司 | Heavy-load automated guided vehicle |
| CN105867388A (en) * | 2016-06-15 | 2016-08-17 | 天津通广集团专用设备有限公司 | Magnetic navigation AGV (Automated Guided Vehicle) control system and method |
| CN105882785A (en) * | 2016-06-24 | 2016-08-24 | 宋习 | Wheel set carrying robot |
| CN107839784A (en) * | 2016-09-20 | 2018-03-27 | 珠海迈超智能装备有限公司 | A kind of intelligent mobile instrument of compact |
| CN106494811A (en) * | 2016-09-22 | 2017-03-15 | 南京理工大学 | A kind of can comprehensive steering energy-conservation shuttle |
| CN106494811B (en) * | 2016-09-22 | 2019-06-25 | 南京理工大学 | It is a kind of can comprehensive steering energy saving shuttle |
| CN106392980A (en) * | 2016-10-21 | 2017-02-15 | 芜湖安普机器人产业技术研究院有限公司 | Multifunctional trolley used for production line assembly |
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| CN106532529B (en) * | 2016-11-29 | 2018-05-18 | 北京特种机械研究所 | Power distribution cabinet intelligence Handling device |
| CN106647753A (en) * | 2016-12-19 | 2017-05-10 | 钦州市晶通科技有限公司 | Electronic device based on ultrasonic automatic positioning |
| CN106697109A (en) * | 2017-02-15 | 2017-05-24 | 上海工程技术大学 | Submerged AGV trailing device |
| CN106774349A (en) * | 2017-03-14 | 2017-05-31 | 广州市井源机电设备有限公司 | A kind of safety detection device of AGV |
| CN107193281A (en) * | 2017-06-02 | 2017-09-22 | 吉林大学珠海学院 | A kind of intelligent vehicle-carried label A GV control systems and its control method |
| CN107132847A (en) * | 2017-06-22 | 2017-09-05 | 福州大学 | A kind of AGV embedded control systems navigated based on tape and control method |
| CN107472783A (en) * | 2017-06-23 | 2017-12-15 | 南京冠帝仓储设备有限公司 | A kind of shuttle |
| CN107450532A (en) * | 2017-07-06 | 2017-12-08 | 杭叉集团股份有限公司 | It is a kind of based on PLC tiered warehouse facility AGV cars |
| CN107487739A (en) * | 2017-08-03 | 2017-12-19 | 河北工业大学 | A kind of AGV vehicle structures with jacking system based on Mecanum wheels |
| CN107450554A (en) * | 2017-08-30 | 2017-12-08 | 上海艾逻思智能设备有限公司 | A kind of submarine AGV and runtime |
| CN107621825A (en) * | 2017-09-22 | 2018-01-23 | 苏州华天视航智能装备技术有限公司 | A kind of AGV controlling equipments, scheduling system and paths planning method |
| CN108196545A (en) * | 2018-01-03 | 2018-06-22 | 浙江同筑科技有限公司 | Using the AGV magnetic navigation control methods of Auto Disturbances Rejection Control Technique |
| CN108196545B (en) * | 2018-01-03 | 2021-06-25 | 浙江同筑科技有限公司 | AGV magnetic navigation control method adopting active disturbance rejection control technology |
| CN108100591A (en) * | 2018-01-19 | 2018-06-01 | 上海德辉物流有限公司 | A kind of unmanned method of feeding of brown sugar |
| CN108790854A (en) * | 2018-03-27 | 2018-11-13 | 安吉汽车物流股份有限公司 | Complete vehicle logistics warehousing system |
| CN108423089A (en) * | 2018-04-12 | 2018-08-21 | 南阳师范学院 | A kind of intelligence ground creeping vehicle and control method |
| CN108437833A (en) * | 2018-04-13 | 2018-08-24 | 山东时风（集团）有限责任公司 | A kind of special storage from turn truck and control method |
| CN109270928A (en) * | 2018-05-02 | 2019-01-25 | 江苏冠宇机械设备制造有限公司 | Intelligent homing guidance AGV trolley |
| CN108858128A (en) * | 2018-07-27 | 2018-11-23 | 深圳市施罗德工业测控设备有限公司 | A kind of robot track |
| CN109278895A (en) * | 2018-09-21 | 2019-01-29 | 东莞市开胜电子有限公司 | Submarine heavy duty AGV |
| CN109177941A (en) * | 2018-10-05 | 2019-01-11 | 青岛大学 | A kind of AGV trolley automatic crash-proof device |
| CN109177941B (en) * | 2018-10-05 | 2023-10-10 | 青岛大学 | Automatic buffer stop of AGV dolly |
| CN109255854A (en) * | 2018-10-26 | 2019-01-22 | 同人拓丰（北京）科技有限公司 | A kind of intelligent patrol detection device |
| CN109508009A (en) * | 2018-12-13 | 2019-03-22 | 合肥工业大学 | A kind of miniature vehicle of intelligence with vehicle vehicle communication function |
| CN109570945A (en) * | 2018-12-18 | 2019-04-05 | 苏州工业园区格比机电有限公司 | Product of production line handling device |
| CN109655074A (en) * | 2018-12-28 | 2019-04-19 | 石家庄铁道大学 | A kind of the AGV method for path navigation and AGV chassis structure of mechanical structure auxiliary |
| CN109878406A (en) * | 2019-03-22 | 2019-06-14 | 合肥市春华起重机械有限公司 | A kind of AGV trolley that can adjust plummer size |
| CN110141673A (en) * | 2019-05-06 | 2019-08-20 | 江苏耀群工业技术有限公司 | A kind of movable sterilizing system and control method |
| CN110304175A (en) * | 2019-08-08 | 2019-10-08 | 福建宏泰智能工业互联网有限公司 | A kind of automatic AGV trolley |
| CN110588768A (en) * | 2019-10-22 | 2019-12-20 | 杭州精是智能科技有限公司 | Vehicle capable of automatically controlling running |
| CN112318502A (en) * | 2020-10-23 | 2021-02-05 | 合肥德纳达信息科技有限公司 | Directional movement anti-collision industrial robot device based on RFID path detection type |
| CN112167079A (en) * | 2020-11-09 | 2021-01-05 | 李美瑜 | Full-automatic livestock breeding feeding device and method |
| CN112590915A (en) * | 2020-12-01 | 2021-04-02 | 董为民 | Automatic drive spills skip |
| CN112590915B (en) * | 2020-12-01 | 2023-02-17 | 董为民 | Automatic drive spills skip |
| CN112904860A (en) * | 2021-01-26 | 2021-06-04 | 广东省嗒上车物联科技有限公司 | Agv system for communication of forklift controllers |
| CN112945947A (en) * | 2021-01-28 | 2021-06-11 | 南通水木清华装饰设计工程有限公司 | VR-based indoor intelligent decoration environment-friendly equipment and use method thereof |
| CN112578800A (en) * | 2021-02-25 | 2021-03-30 | 湖南擎谱数字科技有限公司 | Indoor automatic positioning system and method for mobile robot |
| CN114590747A (en) * | 2022-03-07 | 2022-06-07 | 湖南利美防爆装备制造股份有限公司 | Single-differential type negative-back type automatic navigation vehicle |
| CN114620433A (en) * | 2022-03-07 | 2022-06-14 | 威海魏桥科技工业园有限公司 | Intelligent cop transport device, system and transport method based on AGV |
| CN115402443A (en) * | 2022-09-22 | 2022-11-29 | 北京电子科技职业学院 | Automobile assembly line part dispatching system and control method |
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