CN106184431A - A kind of self-navigation pulling equipment - Google Patents
A kind of self-navigation pulling equipment Download PDFInfo
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- CN106184431A CN106184431A CN201610587224.6A CN201610587224A CN106184431A CN 106184431 A CN106184431 A CN 106184431A CN 201610587224 A CN201610587224 A CN 201610587224A CN 106184431 A CN106184431 A CN 106184431A
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- Prior art keywords
- control unit
- cover plate
- navigation
- self
- car body
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D49/00—Tractors
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention provides a kind of self-navigation pulling equipment, including car body, it is arranged on the cover plate of car body upper surface, it is arranged on the PLC control system of vehicle body, drive system, central control system and electric power system and traction apparatus, cover plate includes the first cover plate, second cover plate and the 3rd cover plate, PLC control system is arranged on below the first cover plate, drive system is arranged on below the second cover plate, central control system is arranged on below the 3rd cover plate, electric power system is arranged on car body tail end, traction apparatus is connected with PLC control system and higher than cover plate, central control system and PLC control system, drive system, electric power system is all connected with traction apparatus.The present invention uses modularized design, designs centralized control system, and compact conformation is easy for installation, save space, shorten the set-up time, connect up the most regular rationally, closed-loop homing guidance and feedback system, form multilamellar closed loop, and the running precision of equipment is improved guarantee.
Description
Technical field
The present invention relates to the technical field of logistics tractor, particularly relate to a kind of self-navigation pulling equipment.
Background technology
Logistics Equipment and technology are instrument and the means of modern logistics, directly determine the efficiency of logistics activity, improve constantly
With improving logistics device, the development of modern logistics is significant.Pulling equipment belongs to requisite in modern logistics
Equipment, but in terms of structure, location positioning and automaticity, also lack high-caliber self-navigation tractor at present.This sets
Standby is one of key equipment in automatic Material Handling System, and it is with on-vehicle battery as motive power, utilizes noncontact guide device
With the unmanned carrying of automatization that alignment system completes object.Its principal character shows as having dolly programming, stopping selects dress
Put, safeguard protection and various transfer function, and can be under the monitoring of computer, by instruction autonomous driving, automatically along regulation
Guide path travel, arrive appointed place, complete a series of job task.Its systems technology and product have become as flexible raw
Produce line, Flexible assembling line, the visual plant of warehouse logistics automated system and technology.
Such as Application No.: the Chinese patent of 200610104667.1 discloses a kind of self-navigation tractor, including car body,
Front-wheel, two trailing wheels, towing hook and accumulator, front and the side, left and right of car body are respectively provided with ultrasonic sensor, on car body
Being additionally provided with numerical control device and gyroscope, front-wheel is the combined wheels driving and turning to unification, and compound front-wheel is by being arranged on driving wheel
Driving motor reducer Component driver in son, is arranged on the following gear wheel of combined wheels supporting and is connected, by pacifying with driving wheel
The steer motor reductor assembly being contained in compound front road support overlay drives driving wheel to turn to by gear pair.This patent is passed through
Ultrasonic sensor carries out self-navigation, and ultrasound wave transmission requires time for can not changing turning to of tractor in time, or causes leading
Draw the collision of car, there is certain potential safety hazard, and this tractor does not exist automatic charging function, the action distance of this tractor
Restricted.
And for example Application No.: the Chinese patent of 201010616342.8 discloses a kind of auto-navigation logistics tractor, including
Car body, front and back wheel carrier and controller, the top of wheel carrier is provided with vertical connecting shaft, and wheel carrier is hinged with car body by connecting shaft,
The lower end of wheel carrier is provided with two castors, and every castor is respectively connected with its actuating unit independently rotated of drive, actuating unit and
Controller electrically connects, and controller internal memory contains the running orbit data that four castors rotate, and uses four-wheel differentia method to adjust and leads
Draw the direct of travel of car, it is only necessary to pre-enter the running orbit data of four castors in a program, it is possible to realize auto-navigation.
This tractor is by pre-entering the running orbit data of four castors, and navigate tractor, but when the kinds of goods in logistics warehouse
After being moved, running orbit needs to remodify, and repeated work is more, wastes time and energy.
Summary of the invention
For overcoming the structure complexity not easy care of tractor present in prior art, simultaneously location positioning inaccuracy and from
The problem that dynamicization degree is low, the invention provides a kind of self-navigation pulling equipment.
Concrete technical scheme is as follows: a kind of self-navigation pulling equipment, including car body, the lid that is arranged on car body upper surface
Plate, it is arranged on the PLC control system of vehicle body, drive system, central control system and electric power system and traction apparatus, institute
State cover plate and include that the first cover plate, the second cover plate and the 3rd cover plate, described first cover plate, the second cover plate and the 3rd cover plate set gradually
At car body upper surface and be not in contact with each other, described PLC control system is arranged on below the first cover plate, and described drive system is arranged on
Below two cover plates, described central control system is arranged on below the 3rd cover plate, and described electric power system is arranged on car body tail end, described
Traction apparatus is connected with PLC control system and higher than cover plate, described central control system and PLC control system, drive system, confession
Electricity system is all connected with traction apparatus.
On this basis, described PLC control system includes PLC assembly and anti-collision controller, described PLC assembly and traction
Device is connected.
On this basis, described traction apparatus includes expansion link and hydraulic circuit jacking system, and described hydraulic circuit lifts
System is connected with expansion link.
On this basis, described drive system includes differential roller, reducing motor and stable direction system, and described differential rolls
Wheel is all connected with reducing motor and stable direction system, and described differential roller is provided with six altogether, and is arranged on two-by-two under car body
Front portion, middle part and the rear portion of side.
On this basis, described drive system also includes that driving wheel jacking system, described driving wheel jacking system include driving
Dynamic assembly support, described driving assembly support is telescope support.
On this basis, described electric power system includes regulated power supply, battery modules, battery fastening fast access device and frame,
Described regulated power supply, battery modules and battery fastening fast access device pass sequentially through frame and are fixed on car body tail end.
On this basis, described electric power system also includes that automatic charging system, described automatic charging system include optic communication
Equipment and automatic charging brush, described optical communication equipment is arranged on side, car body front end, described optical communication equipment and automatic charging
Brush is arranged on the same side, and described automatic charging brush is arranged on car body tail end.
On this basis, described central control system include PLC control unit, drive control unit, supply control unit,
Traction control unit and communication unit,
Described PLC control unit is for controlling the safety of navigation pulling equipment, including collision detection unit, avoidance obstacle list
Unit, security insurance unit and walking alarm unit；
Described driving control unit is used for adjusting drive system, including driving assembly control unit, angle positioning unit, stopping
Car control unit, navigation control unit, motion stabilization control unit, ground detection control unit and stable inertia control unit；
Described supply control unit is for the power supply of control system, including power control unit, charging controller unit；
Described traction control unit, for controlling the lifting of traction apparatus, controls single including jacking control unit and decline
Unit；
Described communication control unit for internal system and outside communication, including wireless communication unit, optical communication element,
Infrared communication unit and handheld terminal communication unit.
On this basis, described driving control unit also includes preengaging control unit, is used for preengaging drive system.
On this basis, described navigation control unit is mark sensor, for carrying out line according to the information of mark
Navigate in road.
Compared with prior art, the invention has the beneficial effects as follows:
1, the present invention include car body, the cover plate being arranged on car body upper surface, be arranged on vehicle body PLC control system,
Drive system, central control system and electric power system and traction apparatus, PLC control system is arranged on below the first cover plate, drives
Dynamic system is arranged on below the second cover plate, and central control system is arranged on below the 3rd cover plate, and electric power system is arranged on car body tail
End, traction apparatus is connected with PLC control system and higher than cover plate, central control system and PLC control system, drive system, confession
Electricity system is all connected with traction apparatus.The present invention is one of key equipment in automatic Material Handling System, and it is with on-vehicle battery
For motive power, noncontact guide device and alignment system is utilized to complete the unmanned carrying of automatization of object, central authorities' control of enhancing
System, additionally ground smoothness detecting system, stable inertia control unit, the introducing of angle positioning unit, solve current from
The fluctuation of service of dynamic navigation pulling equipment.
2, in the present invention, communication control unit includes wireless communication unit, optical communication element, infrared communication unit and hand-held
Terminal communication unit.Wireless communication unit, the introducing (being not limited to hand-held PDA, mobile phone etc.) of handheld terminal unit control system, carry
The off-line having risen self-navigation pulling equipment arranges ability, and conveniently parameter is arranged and path planning ability, improves whole
The operability of machine and motility.
3, in the present invention, central control system includes PLC control unit, drives control unit, supply control unit, traction
Control unit and communication unit, the present invention uses modularized design, designs centralized control system, and compact conformation is easy for installation,
Save space, shorten the set-up time, connect up the most regular rationally.
4, PLC control unit is for controlling the safety of navigation pulling equipment, including collision detection unit, avoidance obstacle list
Unit, security insurance unit and walking alarm unit；Control unit is driven to be used for adjusting drive system, single including driving assembly to control
Unit, angle positioning unit, brake control unit, navigation control unit, motion stabilization control unit, ground detection control unit and
Stable inertia control unit；Supply control unit is for the power supply of control system, including power control unit, charging controller
Unit.The present invention is closed-loop homing guidance forms multilamellar closed loop with feedback system, the running precision of equipment is improved
Ensure.Set up mark sensor can actively to find target location with positive location, solve single the asking of pulling equipment route
Topic.
Accompanying drawing explanation
Fig. 1 is the front view of the present invention a kind of self-navigation pulling equipment；
Fig. 2 is the sectional view of the present invention a kind of self-navigation pulling equipment；
Fig. 3 is the top view of anticollision sensor in the present invention a kind of self-navigation pulling equipment；
Fig. 4 is the top view of the present invention a kind of self-navigation pulling equipment；
Fig. 5 is the side view cutaway drawing of the present invention a kind of self-navigation pulling equipment；
Fig. 6 is the side view of the present invention a kind of self-navigation pulling equipment.
Detailed description of the invention
Below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that described herein
Specific embodiment only in order to explain the present invention, is not intended to limit the present invention.
The present invention discloses a kind of self-navigation pulling equipment, if Fig. 1 is to shown in 5, including car body 1, be arranged on car body 1
The cover plate on surface, be arranged on the PLC control system within car body 1, drive system 4, central control system 5 and electric power system 6 with
And traction apparatus, as shown in Figure 5,6, cover plate includes the first cover plate the 21, second cover plate 22 and the 3rd cover plate 23, the first cover plate 21,
Second cover plate 22 and the 3rd cover plate 23 are successively set on car body 1 upper surface and are not in contact with each other, it is preferable that the first cover plate 21, second
Cover plate 22 and the 3rd cover plate 23 are screwed in car body 1 upper surface, and PLC control system 3 is arranged on below the first cover plate 21,
Drive system 4 is arranged on below the second cover plate 22, and central control system 5 is arranged on below the 3rd cover plate 23, when inspection safeguarded by needs
Corresponding system is overhauled by the cover plate that can dismantle correspondence when repairing, and saves maintenance time, and maintenance and repair enhances simultaneously
Specific aim, it is easy to Check System problem, electric power system 6 is arranged on car body 1 tail end, it is preferable that electric power system 6 uses DC source
Power supply, battery case be designed with metal plate punching technique, strengthen the heat dissipation design of battery, safe design, easy-maintaining is dismantled.Traction
Device is connected with PLC control system 3 and higher than cover plate, central control system 5 and PLC control system, drive system 4, power supply system
System 6 is all connected with traction apparatus.
Preferably, as in figure 2 it is shown, PLC control system 3 is for controlling navigation and the safety of pulling equipment, PLC control system
3 include that PLC assembly 31 and anti-collision controller 12, and binding post, PLC control system 3 are used for and the docking of other equipment,
As PLC assembly 31 is connected with traction apparatus, PLC controls traction lowering or hoisting gear, when sensor detects that dolly arrives required station
Time signal to PLC, PLC and signal to draw lowering or hoisting gear, traction lowering or hoisting gear carries out the lifting of draw bar automatically.Wherein
Anti-collision controller 12 is duplicate protection system, and the respectively protection of safe touch side anti-collision beam and laser scanning avoidance sensor is kept away
Barrier protection, after front has object, laser scanning avoidance sensor object to be detected, system reduces speed now traveling, as collided peace
Self-navigation pulling equipment stop motion immediately during complete tactile limit crossbeam.Traction apparatus includes that expansion link and hydraulic circuit lifting are
System, hydraulic circuit jacking system is connected with expansion link.Preferably, hydraulic circuit jacking system is mini hydraulic circuit fast lifting
System, mini hydraulic circuit quick elevating system uses hydraulic circuit elevating mechanism, is different from motor control, and hydraulic circuit lifts
Organization volume is little, is swift in response, and the life-span is long.Preferably, as in figure 2 it is shown, drive system 4 includes differential roller 41, reducing motor
With stable direction system, stable direction system is mainly fed back by rotary coding sensor, vibrating sensor, obliquity sensor etc.
Signal forms, and system receives the data message of each sensor and carries out comprehensive descision, actively carries out the stability contorting moved.Difference
Speed roller 41 is all connected with reducing motor and stable direction system, and differential roller 41 is provided with six altogether, and is arranged on car two-by-two
Front portion, middle part and rear portion below body 1.Preferably, drive system 4 also includes driving wheel jacking system, driving wheel jacking system
Including driving assembly support, drive assembly support can be chosen as telescope support or liftable support etc..As artificial when needing
When promoting dolly, needing to realize the manual or automatic lifting of driving wheel, automatic hoisting mechanism uses voussoir, manual promotion to make driving
Wheel promotes.
Preferably, as in figure 2 it is shown, electric power system 6 includes that regulated power supply 61, battery modules 62, battery fasten fast access device
63 and frame 64, regulated power supply 61, battery modules 62 and battery fastening fast access device 63 pass sequentially through frame 64 and are fixed on car body 1
Tail end, electric power system 6 uses DC source to power, battery case be designed with metal plate punching technique, the heat radiation strengthening battery sets
Meter, safe design, easy-maintaining is dismantled.Battery modules 62 provides power for car load, and fastening fast access device 63 is overall by battery modules
Fix, and be drawing and pulling type.Electric power system 6 also includes automatic charging system, and automatic charging system includes optical communication equipment 65 He
Automatic charging brush 66, optical communication equipment 65 is arranged on side, car body 1 front end, and optical communication equipment 65 sets with automatic charging brush 66
Putting in the same side, automatic charging brush 66 is arranged on car body 1 tail end.Optical communication equipment 65 is for realizing essence with automatic charging equipment
Really docking, makes automatic charging brush 66 can achieve a butt joint with automatic charging equipment then, after completing charge function and docking
Information is transmitted.Wherein, automatic charging equipment is fixedly installed on self-navigation pulling equipment movement locus side, when self-navigation is led
Draw equipment walk this fixed position time, carry out automatic charging with automatic charging equipment after accurately docking, when the optic communication of dolly
After the optical communication equipment of equipment and fixing charger is aligned with each other, signal transmission can be carried out in the form of light, and
The position of self-navigation pulling equipment can be finely tuned voluntarily, is precisely accomplished brush contact and contacts with the docking of contact.
Concrete grammar is as follows: automatic charging brush 66 is arranged on the sets of contacts on automatic charging equipment for contact for triggering
Part, carries out connecting conduction.Contact assembly is concertina type contact assembly, and wherein contact assembly includes front end assemblies and aft-end assembly,
Aft-end assembly is fixedly installed on the middle of front end assemblies tail end.Front end assemblies includes fixed guide reservation and flexible contact, guides
Fixing seat is provided with in the middle of transverse concave groove, and transverse concave groove and is provided with port, and flexible contact is arranged in transverse concave groove and passes through
Port is oppositely arranged with aft-end assembly.Flexible contact includes contact and two spring a, and contact is for " T " font and is embedded in laterally
In groove, two spring a are respectively fixedly disposed on the dual-side that contact contacts with transverse concave groove, and the prominent guiding of flexible contact
Fixing seat.Aft-end assembly includes that wire, spring b, copper post and insulator mount, described wire, spring b and copper post are sequentially connected,
Insulator mount is coated on wire, spring b and the outside of copper post, and the height of copper post is more than the height of port so that contact 113
Contact area when contacting with copper post 122 is sufficiently large.This structure contacts the peace of contact 2 when ensure that charging process with non-charging
Entirely, prevent the generation of the situation such as electric leakage, short circuit, and this is simple and compact for structure, manufacture easily, it is easy to promote the use of.
Optical communication equipment 65 includes optical sensor transmitting terminal and optical sensor reflection end, and optical sensor transmitting terminal is arranged on tactile
The top of head assembly, optical sensor reflection end is arranged on the top of contact.Also include micromatic setting, positioner and micromatic setting
Being connected, micromatic setting is arranged on the lower section of contact assembly, and positioner is arranged on the top of contact assembly and contact.Micromatic setting
Major function be control contact assembly flexible, next to that according to the real-time position signal of optical sensor transmitting terminal feedback, no
Disconnected correction adjusts flexible contact or the position of contact, eventually through being accurately positioned, completes the docking of automatic charging interface, docking control
Contact 113 is docked real-time closed-loop and adjusts by system processed, improves the reliability of AGV dolly automatic charging docking operation.
When AGV dolly battery will exhaust, AGV dolly will sail charged area, now, idle automatic charging automatically into
The optical sensor transmitting terminal of equipment launches signal, and AGV dolly optical sensor reflection end receives signal and feeds back to optical sensor
Transmitting terminal, drives towards this charger simultaneously, and achieves a butt joint with contact assembly.During docking, optical sensor transmitting terminal
Constantly launching signal, micromatic setting constantly adjusts the position of contact assembly until optical sensor reflection end is received entirely transmitting letter
Feed back after number, after contact assembly realizes accurately docking with contact, prepare to start to charge up.Contact compression contacts, contact and then compression
It is connected with copper post after spring, it is achieved charging.After charging complete, AGV dolly rolls charged area away from, and contact does not contacts with contact, touches
Head and copper post, under the effect of spring a and spring b, actively separate, it is ensured that electrical safety.
Preferably, central control system 5 includes PLC control unit, drives control unit, supply control unit, traction control
Unit processed and communication unit,
PLC control unit for control navigate pulling equipment safety, including collision detection unit, avoidance obstacle unit,
Security insurance unit and walking alarm unit；
Control unit is driven to be used for adjusting drive system 4, including driving assembly control unit, angle positioning unit, brake
Control unit, navigation control unit, motion stabilization control unit, ground detection control unit and stable inertia control unit；Excellent
Selection of land, drives control unit also to include preengaging control unit, for preengaging startup time and the starting duration of drive system 4, excellent
Selection of land, navigation control unit is mark sensor, for carrying out turn-by-turn navigation according to the information of mark, such as flag bit with lead
Boat track stripe objects etc., are not limited to magnetic stripe.
Supply control unit is for the power supply of control system, including power control unit, charging controller unit；
Traction control unit is for controlling the lifting of traction apparatus, including jacking control unit and decline control unit；
Communication control unit is for internal system and outside communication, including wireless communication unit, optical communication element, infrared
Communication unit and handheld terminal communication unit.
The present invention is one of key equipment in automatic Material Handling System, and it is with on-vehicle battery as motive power, utilizes non-
Contact guide device and alignment system complete the unmanned carrying of automatization of object, and the central control system 5 of enhancing, additionally ground is put down
Stability detecting system, stable inertia control unit, the introducing of angle positioning unit, solve current self-navigation pulling equipment
Fluctuation of service.Wireless communication unit, the introducing (being not limited to hand-held PDA, mobile phone etc.) of handheld terminal unit control system, carry
The off-line having risen self-navigation pulling equipment arranges ability, and conveniently parameter is arranged and path planning ability, improves whole
The operability of machine and motility.The present invention uses modularized design, designs centralized control system, and compact conformation is easy for installation,
Save space, shorten the set-up time, connect up the most regular rationally.The present invention is formed many for closed-loop homing guidance and feedback system
Layer closed loop, improves guarantee to the running precision of equipment.Set up mark sensor and can actively find target with positive location
Location, solves the problem that pulling equipment route is single.
Described above illustrate and describes the preferred embodiments of the present invention, as previously mentioned, it should be understood that the present invention not office
Be limited to form disclosed herein, be not to be taken as the eliminating to other embodiments, and can be used for other combinations various, amendment and
Environment, and can be changed by above-mentioned teaching or the technology of association area or knowledge in invention contemplated scope described herein
Dynamic.And the change that those skilled in the art are carried out and change are without departing from the spirit and scope of the present invention, the most all should be appended by the present invention
In scope of the claims.
Claims (10)
1. a self-navigation pulling equipment, it is characterised in that: include car body (1), be arranged on car body (1) upper surface cover plate,
It is arranged on car body (1) internal PLC control system, drive system (4), central control system (5) and electric power system (6) and leads
Leading-in device, described cover plate includes the first cover plate (21), the second cover plate (22) and the 3rd cover plate (23), described first cover plate (21),
Second cover plate (22) and the 3rd cover plate (23) are successively set on car body (1) upper surface and are not in contact with each other, described PLC control system
(3) being arranged on the first cover plate (21) lower section, described drive system (4) is arranged on the second cover plate (22) lower section, and described central authorities control
System (5) is arranged on the 3rd cover plate (23) lower section, and described electric power system (6) is arranged on car body (1) tail end, described traction apparatus with
PLC control system (3) is connected and higher than cover plate, described central control system (5) and PLC control system, drive system (4), confession
Electricity system (6) is all connected with traction apparatus.
A kind of self-navigation pulling equipment the most according to claim 1 and 2, it is characterised in that: described PLC control system
(3) include that PLC assembly (31) and anti-collision controller (12), described PLC assembly (31) are connected with traction apparatus.
A kind of self-navigation pulling equipment the most according to claim 1, it is characterised in that: described traction apparatus includes stretching
Bar and hydraulic circuit jacking system, described hydraulic circuit jacking system is connected with expansion link.
A kind of self-navigation pulling equipment the most according to claim 1, it is characterised in that: described drive system (4) includes
Differential roller (41), reducing motor and stable direction system, described differential roller (41) and reducing motor and stable direction system
The most connected, described differential roller (41) is provided with six altogether, and is arranged on front portion, middle part and the rear portion of car body (1) lower section two-by-two.
A kind of self-navigation pulling equipment the most according to claim 4, it is characterised in that: described drive system (4) is also wrapped
Including driving wheel jacking system, described driving wheel jacking system includes driving assembly support, and described driving assembly support is flexible
Frame.
A kind of self-navigation pulling equipment the most according to claim 1, it is characterised in that: described electric power system (6) includes
Regulated power supply (61), battery modules (62), battery fastening fast access device (63) and frame (64), described regulated power supply (61), electricity
Pond module (62) and battery fastening fast access device (63) pass sequentially through frame (64) and are fixed on car body (1) tail end.
A kind of self-navigation pulling equipment the most according to claim 6, it is characterised in that: described electric power system (6) is also wrapped
Including automatic charging system, described automatic charging system includes optical communication equipment (65) and automatic charging brush (66), and described light leads to
Letter equipment (65) is arranged on car body (1) side, front end, and described optical communication equipment (65) and automatic charging brush (66) are arranged on same
Side, described automatic charging brush (66) is arranged on car body (1) tail end.
A kind of self-navigation pulling equipment the most according to claim 1, it is characterised in that: described central control system (5)
Including PLC control unit, drive control unit, supply control unit, traction control unit and communication unit,
Described PLC control unit for control navigate pulling equipment safety, including collision detection unit, avoidance obstacle unit,
Security insurance unit and walking alarm unit；
Described driving control unit is used for adjusting drive system (4), including driving assembly control unit, angle positioning unit, stopping
Car control unit, navigation control unit, motion stabilization control unit, ground detection control unit and stable inertia control unit；
Described supply control unit is for the power supply of control system, including power control unit, charging controller unit；
Described traction control unit is for controlling the lifting of traction apparatus, including jacking control unit and decline control unit；
Described communication control unit is for internal system and outside communication, including wireless communication unit, optical communication element, infrared
Communication unit and handheld terminal communication unit.
A kind of self-navigation pulling equipment the most according to claim 8, it is characterised in that: described driving control unit is also wrapped
Include reservation control unit, be used for preengaging drive system (4).
A kind of self-navigation pulling equipment the most according to claim 8, it is characterised in that: described navigation control unit is
Mark sensor, for carrying out turn-by-turn navigation according to the information of mark.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610587224.6A CN106184431A (en) | 2016-07-22 | 2016-07-22 | A kind of self-navigation pulling equipment |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610587224.6A CN106184431A (en) | 2016-07-22 | 2016-07-22 | A kind of self-navigation pulling equipment |
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| CN106184431A true CN106184431A (en) | 2016-12-07 |
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| CN201610587224.6A Pending CN106184431A (en) | 2016-07-22 | 2016-07-22 | A kind of self-navigation pulling equipment |
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Cited By (4)
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| CN106741261A (en) * | 2016-12-14 | 2017-05-31 | 安徽天柱绿色能源科技有限公司 | A kind of flexible guiding photovoltaic plant running gear of Based Intelligent Control |
| CN106882040A (en) * | 2017-01-16 | 2017-06-23 | 华南理工大学 | A kind of towed AGV dollies |
| CN108725311A (en) * | 2017-04-24 | 2018-11-02 | 通用汽车环球科技运作有限责任公司 | System and method for being directed to ship on trailer |
| CN111103873A (en) * | 2018-10-25 | 2020-05-05 | 比亚迪股份有限公司 | Automated guided vehicle and collision detection device and method thereof |
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| CN204650279U (en) * | 2015-06-12 | 2015-09-16 | 上海英集斯自动化技术有限公司 | Based on the AGV control system of PLC |
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