CN107472059A - A kind of flowing water line material is launched and uses AGV and its application method - Google Patents
A kind of flowing water line material is launched and uses AGV and its application method Download PDFInfo
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- CN107472059A CN107472059A CN201710639102.1A CN201710639102A CN107472059A CN 107472059 A CN107472059 A CN 107472059A CN 201710639102 A CN201710639102 A CN 201710639102A CN 107472059 A CN107472059 A CN 107472059A
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- 239000000463 material Substances 0.000 title claims abstract description 24
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 20
- 238000000034 method Methods 0.000 title claims abstract description 13
- 239000011521 glass Substances 0.000 claims abstract description 21
- 238000005286 illumination Methods 0.000 claims abstract description 8
- 230000005611 electricity Effects 0.000 claims abstract description 6
- 238000004026 adhesive bonding Methods 0.000 claims abstract description 4
- 230000000694 effects Effects 0.000 claims abstract description 4
- 230000005540 biological transmission Effects 0.000 claims description 15
- 238000012544 monitoring process Methods 0.000 claims description 10
- 238000009434 installation Methods 0.000 claims description 6
- 230000002265 prevention Effects 0.000 claims description 3
- 238000012545 processing Methods 0.000 claims description 3
- CNQCVBJFEGMYDW-UHFFFAOYSA-N lawrencium atom Chemical compound [Lr] CNQCVBJFEGMYDW-UHFFFAOYSA-N 0.000 description 3
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000009413 insulation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L58/00—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles
- B60L58/10—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries
- B60L58/12—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries responding to state of charge [SoC]
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L50/00—Electric propulsion with power supplied within the vehicle
- B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/05—Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/60—Electric or hybrid propulsion means for production processes
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Sustainable Energy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Sustainable Development (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Launched the invention discloses a kind of flowing water line material of automatical pilot transportation vehicle technical field and use AGV and its application method,Including objective table,The left lower of the objective table is provided with transparent glass cover and laser scanner,And laser scanner is located at the inner chamber of transparent glass cover,The surface of the transparent glass cover is connected with shadow shield by gluing neck activity,The bottom left of the objective table is provided with servo steering motor and universal wheel,System architecture is simple,Easily association's operation,AGV running status can be monitored in real time using mobile terminal simultaneously,And battery tension it is relatively low when can be reminded by alarm,Prevent the unexpected dead electricity of a certain AGV,Remaining AGV collides,Reduce the probability of damage,Increase the service life,It is practical,Simultaneously respectively by adjusting the position of shadow shield and transparent glass cover and height,Reduce influence of the different illumination intensity to laser scanner operating accuracy.
Description
Technical field
The present invention relates to automatical pilot transportation vehicle technical field, specially a kind of flowing water line material is launched with AGV and its made
Use method.
Background technology
AGV is the abbreviation of (Automated Guided Vehicle), implies that " automatical pilot transportation vehicle ", refers to be equipped with
Electricity magnetically or optically waits homing guidance device, and it can be travelled along defined guide path, have safeguard protection and various transfers
The transport vehicle of function, AGV characterized by wheel type mobile, than walking, creep or other non-wheeled mobile robots have row
The advantages such as quick, operating efficiency is high, simple in construction, controllability is strong, security is good are moved, the other equipment commonly used in being conveyed with material
Compare, therefore, in automatic Material Handling System, most can fully embody its automaticity and flexibility, realize efficient, economical, flexible
Manless production, but existing AGV system is very complicated, and the time grasped needed for its operation is longer, and based on this, the present invention is set
A kind of flowing water line material dispensing AGV and its application method are counted, to solve the above problems.
The content of the invention
Launched it is an object of the invention to provide a kind of flowing water line material and use AGV and its application method, to solve the above-mentioned back of the body
The existing AGV system proposed in scape technology is very complicated, grasp its operation needed for time it is longer the problem of.
To achieve the above object, the present invention provides following technical scheme：A kind of flowing water line material dispensing AGV, including carry
Thing platform, the left lower of the objective table is provided with transparent glass cover and laser scanner, and laser scanner is located at clear glass
The inner chamber of cover, the surface of the transparent glass cover are connected with shadow shield by gluing neck activity, and the bottom of the objective table is left
Side is provided with servo steering motor and universal wheel, and servo steering motor is connected by power transmission shaft and linkage with universal wheel, institute
The bottom right for stating objective table is provided with servo drive motor and movable pulley, and servo drive motor passes through power transmission shaft and linkage
It is connected with movable pulley, the bottom center of the objective table is provided with battery, voltage sensor and alarm, and voltage sensor position
Between battery and alarm, the battery respectively with laser scanner, servo steering motor, servo drive motor, electricity
Pressure sensor and alarm are electrically connected with；
The output end of the laser scanner is electrically connected with PLC input, and the output end of the PLC is electrically two-way respectively
Wireless telecommunication system and personal control are connected, the output end of the PLC is electrically connected with servo amplifier, the servo amplifier
Output end the input of servo drive motor and servo steering motor is electrically connected；
The output end of the voltage sensor is electrically connected with the input of data acquisition unit, the data acquisition unit
Output end is electrically connected with the input of SOC processors, and the output end of the SOC processors is electrically bi-directionally connected mathematical operation list
Member, the output end of the SOC processors are electrically connected with the input of driver element, and the output end of the driver element is electrically connected with
The input of alarm.
Preferably, the top at left and right sides of the objective table is equipped with collision prevention girders.
Preferably, the wireless telecommunication system includes information receiving unit, and the output end of described information receiving unit is electrical
The input of link information fidelity unit, the output end of described information fidelity unit are electrically connected with the input of microprocessor, institute
The output end for stating microprocessor is electrically connected with the input of radio receiving transmitting module, and the output end of the radio receiving transmitting module electrically connects
The input of mobile Internet is connect, the output end of the mobile Internet is electrically connected with the input of Cloud Server, the cloud clothes
The output end of business device is electrically connected with the input of core switch, and the output end of the core switch is electrically connected with LAN
Input, the output end of the LAN are electrically connected with the input of mobile terminal.
Preferably, between the power transmission shaft and servo drive motor and movable pulley between the servo steering motor and universal wheel
Power transmission shaft on electronic controlled transmission is provided with by shaft coupling.
Preferably, the surface of shell of the servo steering motor and servo drive motor is socketed with sponges cover.
A kind of flowing water line material, which is launched, uses AGV application methods, and the flowing water line material is launched and specifically included with AGV application methods
Following steps：
S1：Lay laser reflection plate：On plant area ground laser reflection plate is embedded by opening up shallow slot；Make laser reflection plate
Meet the sets requirement in real work path；
S2：Trial operation：Device is integrally placed on laser reflection plate, connect laser scanner, servo steering motor and
The power supply of servo drive motor, laser scanner receive the laser signal that laser reflection plate is sent, will using wireless telecommunication system
Signal passes to monitoring computer, and monitoring computer sends feedback signal and controls servo amplifier by PLC to drive servo
Steering motor and servo drive motor drive universal wheel and movable pulley to move respectively, move objective table installation provision path,
Under different illumination conditions, the height of transparent glass cover and the position of shadow shield are adjusted repeatedly, the speed of service of objective table is observed, seeks
Look under different illumination conditions, be adapted to the height of transparent glass cover and the position of shadow shield of laser scanner work；
S3：Controlled in wireless is run：Connect the power supply of laser scanner, servo steering motor and servo drive motor, laser
Scanner receives the laser signal that laser reflection plate is sent, and signal is passed into monitoring computer using wireless telecommunication system, supervises
Control computer sends feedback signal and controls servo amplifier by PLC to drive servo steering motor and servo drive motor point
Not Dai Dong universal wheel and movable pulley motion, move objective table installation provision path, voltage sensor is by the battery of collection
Voltage signal carries out contrast processing by SOC processors and mathematical operation unit, when magnitude of voltage is less than minimum setting value, driving
The power supply that unit connects alarm makes its work, sends pre-warning signal.
Compared with prior art, the beneficial effects of the invention are as follows：This hair compared with existing flowing water line material is launched with AGV
Bright system architecture is simple, easily association's operation, while can monitor AGV running status in real time using mobile terminal, and stores
Cell voltage can be reminded when relatively low by alarm, prevent the unexpected dead electricity of a certain AGV, and remaining AGV collides, and reduce damage
Probability, increase the service life, it is practical, while respectively by adjusting the position of shadow shield and transparent glass cover and height,
Reduce influence of the different illumination intensity to laser scanner operating accuracy.
Brief description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, used required for being described below to embodiment
Accompanying drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the present invention, for ability
For the those of ordinary skill of domain, on the premise of not paying creative work, it can also be obtained according to these accompanying drawings other attached
Figure.
Fig. 1 is schematic structural view of the invention；
Fig. 2 is laser scanner of the present invention, servo steering motor and servo drive motor control principle drawing.
Fig. 3 is alarm of the present invention and voltage sensor control principle drawing；
Fig. 4 is wireless telecommunication system theory diagram of the present invention；
Fig. 5 is application method flow chart of the present invention.
In accompanying drawing, the list of parts representated by each label is as follows：
1- objective tables, 2- transparent glass covers, 3- laser scanners, 4- shadow shields, 5- servo steering motors, 6- universal wheels,
7- movable pulleys, 8- servo drive motors, 9- batteries, 10- voltage sensors, 11- alarms, 100- data acquisition units,
101-SOC processors, 102- mathematical operation units, 103- driver elements, 300-PLC, 301- wireless telecommunication systems, 302- are manual
Controller, 303- servo amplifiers, 3010- information receiving units, 3011- information fidelity units, 3012- microprocessors, 3013-
Radio receiving transmitting module, 3014- mobile Internets, 3015- Cloud Servers, 3016- core switch, 3017- LANs, 3018-
Mobile terminal.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained all other under the premise of creative work is not made
Embodiment, belong to the scope of protection of the invention.
Fig. 1-5 are referred to, the present invention provides a kind of technical scheme：A kind of flowing water line material dispensing AGV, including objective table
1, the left lower of objective table 1 is provided with transparent glass cover 2 and laser scanner 3, and laser scanner 3 is located at transparent glass cover 2
Inner chamber, the surface of transparent glass cover 2 is connected with shadow shield 4 by gluing neck activity, and the bottom left of objective table 1, which is provided with, to be watched
Steering motor 5 and universal wheel 6 are taken, and servo steering motor 5 is connected by power transmission shaft and linkage with universal wheel 6, objective table 1
Bottom right be provided with servo drive motor 8 and movable pulley 7, and servo drive motor 8 passes through power transmission shaft and linkage and shifting
Driving wheel 7 connects, and the bottom center of objective table 1 is provided with battery 9, voltage sensor 10 and alarm 11, and voltage sensor 10
Between battery 9 and alarm 11, battery 9 respectively with laser scanner 3, servo steering motor 5, servo drive motor
8th, voltage sensor 10 and alarm 11 are electrically connected with；
The output end of laser scanner 3 is electrically connected with PLC 300 input, and PLC 300 output end is electrically double respectively
To connection wireless telecommunication system 301 and personal control 302, PLC300 output end is electrically connected with servo amplifier 303, servo
The input of servo drive motor 8 and servo steering motor 5 is electrically connected in the output end of amplifier 303；
The output end of voltage sensor 10 is electrically connected with the input of data acquisition unit 100, data acquisition unit 100
Output end is electrically connected with the input of SOC processors 101, and the output end of SOC processors 101 is electrically bi-directionally connected mathematical operation list
The output end of 102, SOC of member processors 101 is electrically connected with the input of driver element 103, and the output end of driver element 103 is electrical
Connect the input of alarm 11.
Wherein, the top of the left and right sides of objective table 1 is equipped with collision prevention girders, reduces infringement of the collision to device entirety, wirelessly
Communication system 301 includes information receiving unit 3010, and the output end of information receiving unit 3010 is electrically connected with information fidelity unit
3011 input, the output end of information fidelity unit 3011 are electrically connected with the input of microprocessor 3012, microprocessor
3012 output end is electrically connected with the input of radio receiving transmitting module 3013, and the output end of radio receiving transmitting module 3013 is electrically connected with
The input of mobile Internet 3014, the output end of mobile Internet 3014 are electrically connected with the input of Cloud Server 3015, cloud
The output end of server 3015 is electrically connected with the input of core switch 3016, and the output end of core switch 3016 electrically connects
The input of LAN 3017 is connect, the output end of LAN 3017 is electrically connected with the input of mobile terminal 3018, and information receives
Unit 3010 receives the laser reflection signal between the laser scanner 3 and laser reflection plate that PLC 300 is detected, information fidelity list
3011 pairs of signals of member carry out fidelity, and signal is delivered to mobile Internet by microprocessor 3012 by radio receiving transmitting module 3013
On 3014, Cloud Server 3015 can receive internet information, core switch 3016 by signal loading to LAN 3017,
LAN 3017 is connected by computer conveniently connection running situation to be easy to revise motion state, servo steering motor in time
It is provided with the power transmission shaft between power transmission shaft and servo drive motor 8 and movable pulley 7 between 5 and universal wheel 6 by shaft coupling
Electronic controlled transmission, reduction speed, raising moment of torsion, and then increase lifting capacity, servo steering motor 5 and servo drive motor 8
Surface of shell is socketed with sponges cover, using the network structure of sponge, sound insulation and does not influence its radiating.
A kind of flowing water line material, which is launched, uses AGV application methods, and the flowing water line material is launched and specifically included with AGV application methods
Following steps：
S1：Lay laser reflection plate：On plant area ground laser reflection plate is embedded by opening up shallow slot；Make laser reflection plate
Meet the sets requirement in real work path；
S2：Trial operation：Device is integrally placed on laser reflection plate, connects laser scanner 3, servo steering motor 5
With the power supply of servo drive motor 8, laser scanner 3 receives the laser signal that laser reflection plate is sent, utilizes wireless telecommunications system
Signal is passed to monitoring computer by system 301, and monitoring computer sends feedback signal and controls servo amplifier by PLC 300
303 and then drive servo steering motor 5 and servo drive motor 8 to drive universal wheel 6 and movable pulley 7 to move respectively, make objective table 1
Installation provision path is moved, and under different illumination conditions, is adjusted the height of transparent glass cover 2 and the position of shadow shield 4 repeatedly, is seen
The speed of service of objective table 1 is examined, is found under different illumination conditions, is adapted to the height of the transparent glass cover 2 of the work of laser scanner 3
With the position of shadow shield 4；
S3：Controlled in wireless is run：The power supply of laser scanner 3, servo steering motor 5 and servo drive motor 8 is connected, is swashed
Optical scanner 3 receives the laser signal that laser reflection plate is sent, and signal is passed into monitoring using wireless telecommunication system 301 calculates
Machine, monitoring computer send feedback signal and control servo amplifier 303 by PLC300 to drive servo steering motor 5 and watch
Take motor 8 drives universal wheel 6 and movable pulley 7 to move respectively, moves the installation provision path of objective table 1, voltage sensor
The voltage signal of the battery 9 of collection is carried out contrast processing by 10 by SOC processors 101 and mathematical operation unit 102, works as electricity
When pressure value is less than minimum setting value, the power supply that driver element 103 connects alarm 11 makes its work, sends pre-warning signal.
In the description of this specification, the description of reference term " one embodiment ", " example ", " specific example " etc. means
At least one implementation of the present invention is contained in reference to specific features, structure, material or the feature that the embodiment or example describe
In example or example.In this manual, identical embodiment or example are not necessarily referring to the schematic representation of above-mentioned term.
Moreover, specific features, structure, material or the feature of description can close in any one or more embodiments or example
Suitable mode combines.
Present invention disclosed above preferred embodiment is only intended to help and illustrates the present invention.Preferred embodiment is not detailed
All details are described, it is only described embodiment also not limit the invention.Obviously, according to the content of this specification,
It can make many modifications and variations.This specification is chosen and specifically describes these embodiments, is to preferably explain the present invention
Principle and practical application so that skilled artisan can be best understood by and utilize the present invention.The present invention is only
Limited by claims and its four corner and equivalent.
Claims (6)
1. a kind of flowing water line material dispensing AGV, including objective table (1), it is characterised in that：Under the left side of the objective table (1)
Portion is provided with transparent glass cover (2) and laser scanner (3), and laser scanner (3) is located at the inner chamber of transparent glass cover (2), institute
The surface for stating transparent glass cover (2) is connected with shadow shield (4), the bottom left of the objective table (1) by gluing neck activity
Provided with servo steering motor (5) and universal wheel (6), and servo steering motor (5) passes through power transmission shaft and linkage and universal wheel
(6) connect, the bottom right of the objective table (1) is provided with servo drive motor (8) and movable pulley (7), and servo drive motor
(8) be connected by power transmission shaft and linkage with movable pulley (7), the bottom center of the objective table (1) be provided with battery (9),
Voltage sensor (10) and alarm (11), and voltage sensor (10) is located between battery (9) and alarm (11), it is described
Battery (9) respectively with laser scanner (3), servo steering motor (5), servo drive motor (8), voltage sensor (10) and
Alarm (11) is electrically connected with；
The output end of the laser scanner (3) is electrically connected with PLC (300) input, the output end point of the PLC (300)
Wireless telecommunication system (301) and personal control (302) it are not bi-directionally connected electrically, the output end of the PLC (300) is electrically connected with
Servo drive motor (8) and servo is electrically connected in servo amplifier (303), the output end of the servo amplifier (303)
The input of steering motor (5)；
The output end of the voltage sensor (10) is electrically connected with the input of data acquisition unit (100), the data acquisition
The output end of unit (100) is electrically connected with the input of SOC processors (101), the output end electricity of the SOC processors (101)
Property be bi-directionally connected mathematical operation unit (102), the output end of the SOC processors (101) is electrically connected with driver element (103)
Input, the output end of the driver element (103) are electrically connected with the input of alarm (11).
A kind of 2. flowing water line material dispensing AGV according to claim 1, it is characterised in that：Objective table (1) left and right
The top of both sides is equipped with collision prevention girders.
A kind of 3. flowing water line material dispensing AGV according to claim 1, it is characterised in that：The wireless telecommunication system
(301) information receiving unit (3010) is included, the output end of described information receiving unit (3010) is electrically connected with information fidelity list
The input of first (3011), the output end of described information fidelity unit (3011) are electrically connected with the input of microprocessor (3012)
End, the output end of the microprocessor (3012) are electrically connected with the input of radio receiving transmitting module (3013), the wireless receiving and dispatching
The output end of module (3013) is electrically connected with the input of mobile Internet (3014), the output of the mobile Internet (3014)
End is electrically connected with the input of Cloud Server (3015), and the output end of the Cloud Server (3015) is electrically connected with core switch
(3016) input, the output end of the core switch (3016) is electrically connected with the input of LAN (3017), described
The output end of LAN (3017) is electrically connected with the input of mobile terminal (3018).
A kind of 4. flowing water line material dispensing AGV according to claim 1, it is characterised in that：The servo steering motor
(5) connection is passed through on the power transmission shaft between the power transmission shaft between universal wheel (6) and servo drive motor (8) and movable pulley (7)
Axle device is provided with electronic controlled transmission.
A kind of 5. flowing water line material dispensing AGV according to claim 1, it is characterised in that：The servo steering motor
(5) and the surface of shell of servo drive motor (8) is socketed with sponges cover.
6. a kind of flowing water line material is launched and uses AGV application methods, it is characterised in that：The flowing water line material is launched and uses AGV users
Method specifically includes following steps：
S1：Lay laser reflection plate：On plant area ground laser reflection plate is embedded by opening up shallow slot；Meet laser reflection plate
The sets requirement in real work path；
S2：Trial operation：Device is integrally placed on laser reflection plate, connects laser scanner (3), servo steering motor (5)
With the power supply of servo drive motor (8), laser scanner (3) receives the laser signal that laser reflection plate is sent, utilizes channel radio
Signal is passed to monitoring computer by news system (301), and monitoring computer sends feedback signal and controls servo by PLC (300)
Amplifier (303) so drive servo steering motor (5) and servo drive motor (8) drive universal wheel (6) and movable pulley respectively
(7) move, move objective table (1) installation provision path, under different illumination conditions, adjust transparent glass cover (2) repeatedly
The position of height and shadow shield (4), the speed of service of observation objective table (1), find under different illumination conditions, be adapted to laser scanning
The height of transparent glass cover (2) of device (3) work and the position of shadow shield (4)；
S3：Controlled in wireless is run：The power supply of laser scanner (3), servo steering motor (5) and servo drive motor (8) is connected,
Laser scanner (3) receives the laser signal that laser reflection plate is sent, and signal is passed into prison using wireless telecommunication system (301)
Computer is controlled, monitoring computer sends feedback signal and controls servo amplifier (303) by PLC (300) to drive servo to turn
Drive universal wheel (6) and movable pulley (7) to move respectively to motor (5) and servo drive motor (8), make objective table (1) installation rule
Determine path motion, the voltage signal of the battery (9) of collection is passed through SOC processors (101) and mathematics by voltage sensor (10)
Arithmetic element (102) carries out contrast processing, and when magnitude of voltage is less than minimum setting value, driver element (103) connects alarm
(11) power supply makes its work, sends pre-warning signal.
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| CN201710639102.1A CN107472059A (en) | 2017-07-31 | 2017-07-31 | A kind of flowing water line material is launched and uses AGV and its application method |
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| CN111538310A (en) * | 2020-04-21 | 2020-08-14 | 新石器慧通（北京）科技有限公司 | Voltage control method and device, unmanned vehicle, terminal equipment and storage medium |
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