CN101231527A - Distributed observe and control device as well as parking position control method for automatic guidance vehicle - Google Patents
Distributed observe and control device as well as parking position control method for automatic guidance vehicle Download PDFInfo
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- CN101231527A CN101231527A CNA2008100594945A CN200810059494A CN101231527A CN 101231527 A CN101231527 A CN 101231527A CN A2008100594945 A CNA2008100594945 A CN A2008100594945A CN 200810059494 A CN200810059494 A CN 200810059494A CN 101231527 A CN101231527 A CN 101231527A
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- 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
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- Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
- Y02B20/00—Energy efficient lighting technologies, e.g. halogen lamps or gas discharge lamps
- Y02B20/40—Control techniques providing energy savings, e.g. smart controller or presence detection
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- 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
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- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
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Abstract
The invention discloses a distributed monitoring device based on multiple monitoring units for automatic guided vehicles and a control method for parking location. The device is based on RS232 communication wires and digital I/O channels, and has a distributed structure using an industrial computer as a control center and a plurality of monitoring units in independence arrangement. The industrial computer is arranged with a serial port expansion card through which the industrial computer is communicated with a drive controller, a steering controller, an obstacle avoidance/weighing controller, a wireless controller, an RFID controller and an operation control, wherein each controller works independently based on a SCM in charge of the relevant monitoring duty. Identification signs and electronic labels are arranged on the ground to realize the accurate parking location in combination with the RFID and the image recognition techniques. The invention has the advantages of definite function, high reliability and stability and good expandability, and can meet the real-time and safety requirements for running vehicles.
Description
Technical field
The present invention relates to the production logistics equipment technology field of discrete inside, manufacturing works workshop, relate in particular to distributed measure and control device of a kind of automatic guided vehicle and parking localization method.
Background technology
AGV (automatic guided vehicle) technology is an important embodiment of production logistics robotization advance.Because AGV is the complication system that is made of a plurality of subsystems; for targets such as the dynamic property that satisfies car load, security, economy; each parts needs cooperation, optimization of matching each other in the system; and the automatic guided vehicle that is used in the workshop should be able to be dealt with all kinds of fortuitous events; as safeguard protection; keep away barrier or the like, AGV also has requirements such as bearing accuracy in addition, and these tasks need be finished by TT﹠C system.Adopt distributed observing and controlling structure, by one is that the control module of core is finished a more independently function with the single-chip microcomputer, and by high performance industrial computer uniform dispatching, be to make numerous subsystems realize collaborative effective way, therefore design reasonably, be the effective way that improves the automatic guided vehicle ratio of performance to price based on the automatic guided vehicle of distributed control.
Summary of the invention
The purpose of this invention is to provide distributed measure and control device of a kind of automatic guided vehicle and parking localization method.
The distributed measure and control device of automatic guided vehicle comprises car body, the car body bottom is provided with first angle sheave, second angle sheave, first driving wheel, second driving wheel, be provided with drive motor in the car body, direct-drive motor and electrodeless variable-speed case, drive motor controller is connected, it is characterized in that in car body, being provided with industrial computer, be provided with image pick-up card and serial port expanding module in the industrial computer, image pick-up card is connected with colourful CCD video camera by vision cable, serial port expanding module by RS232 multiple-limb stube cable respectively with car body in driving governor, steering controller, keep away barrier/weighing controller, wireless controller, the RFID controller is connected with operation control, is connected by 5 two-way data I/O lines between each controller; Driving governor is connected with speed control, rotary encoder, and speed control links to each other with direct-drive motor; Steering controller is connected with corner steady arm, first side marker light, second side marker light, controllor for step-by-step motor, controllor for step-by-step motor is connected with stepper motor, stepper motor is connected with transmission gear by universal driving shaft, transmission gear drives the guide gear dish, the guide gear dish is connected with the angle sheave connecting link, and the angle sheave connecting link is connected with first angle sheave, second angle sheave; Keep away that barrier/weighing controller and first sonac, second sonac, first survey that barrier device, second surveys that barrier device, the 3rd is surveyed the barrier device, recede first photoelectric sensor, second photoelectric sensor, first LOAD CELLS, second LOAD CELLS, the 3rd LOAD CELLS, the 4th LOAD CELLS of installing, keep away barrier alarm lamp, the first skew lamp, the second skew lamp, the 3rd skew lamp, the 4th skew lamp and be connected with driving governor; The RFID controller is connected with rfid interrogator; Operation control and driving governor, keep away barrier/weighing controller, RFID controller, first loudspeaker, second loudspeaker, daylight lamp, infrared remote receiver, manually button is connected.
Described corner steady arm comprises angle orientation bar and upper strata photoelectric sensor group, lower floor's photoelectric sensor group, angle orientation bar vertically-guided toothed disc is placed, angle orientation bar one end is connected with backstay bracing frame end, and the backstay bracing frame is connected with the guide gear dish with two bolts by increasing pad; Ring support is connected with vehicle body hanger by the fixed orifice on the fixed support, ring support is provided with the photoelectric sensor group, the photoelectric sensor group is made up of 11 photoelectric sensors, be divided into upper strata photoelectric sensor group and photoelectric sensor group two rows of lower floor, be distributed in guide gear dish both sides up and down, upper strata photoelectric sensor group is inclined upwardly, and lower floor's photoelectric sensor group is downward-sloping, upper strata photoelectric sensor group is provided with six photoelectric sensors, and lower floor's photoelectric sensor group is provided with five photoelectric sensors.
The front end of described survey barrier device is a contact lever, on contact lever, vertically be provided with first push rod, second push rod, first push rod is provided with first and triggers bolt, first push rod is with first top stem casing outward, be provided with first spring in first top stem casing, be provided with first in the first top stem casing outside and survey barrier near switch, on first top stem casing, have with first and trigger the notch that bolt quite cooperates, be provided with first in the rear end of first top stem casing and regulate bolt, be provided with first fixed support, second fixed support in the side of first top stem casing; Second push rod is provided with second and triggers bolt, and second push rod is with second top stem casing outward, is provided with second spring in second top stem casing; Be provided with second in the second top stem casing outside and survey barrier near switch; On second top stem casing, have with second and trigger the bolt notch that matches; Be provided with second in the rear end of second top stem casing and regulate bolt, be provided with the 3rd fixed support, the 4th fixed support in the side of second top stem casing.
The parking position control method of the distributed measure and control device of automatic guided vehicle: by camera collection pavement image information, industrial computer carries out realtime graphic to be handled, utilize method with an automatic light meter to control vehicle-mounted light source, after laying parking symbol in ground appears in the place ahead, industrial computer sends the log-on message of RFID tag read write line, carry out the detection of RFID tag, send deceleration instruction simultaneously, vehicle slowly moves ahead, when the RFID tag read write line is read the required parking tag that in advance terrestrial information is write, the radio frequency identification marking sign controller is by I/O data line controlling and driving controller, vehicle slows down once more, and rotary encoder begins counting, when the output of rotary encoder reaches designated value, send halt instruction by driving governor, realize accurately stopping the location.
Described method with an automatic light meter: CCD camera collection image, calculate this gradation of image average G through industrial computer, if the gray average difference of current G value and last three two field pictures greater than certain value, shows that ambient brightness changes, be input with this average G so, be calculated as follows:
L＝a+b/(G+c)
A in the formula, b, c are adjustable parameter, L is output.Industrial computer is passed to operation control with L numerical value by RS232, PIC18F452 single-chip microcomputer in the operation control is finished the digital regulation resistance resistance and is regulated, thereby control makes the CCD images acquired reach suitable brightness by the electric current of daylight lamp, realizes the closed-loop control of illumination.
The beneficial effect that the present invention compared with prior art has:
1. the present invention adopts distributed one chip computer control structure, and definite functions is real-time, safe and reliable, safeguard and improve all to be more prone to that industrial computer can be absorbed in the operation of image algorithm and control algolithm, and function opposite independent between image identification system and the TT﹠C system, interface is simple.
2, on vehicle corner location, with the photoelectric sensor component is two groups up and down, dwindled the angular range of each locating area, cooperate the calculating of stepper motor umber of pulse again, can reach preferably angle sheave corner location, and fluctuation is little during this mode operation, reaction is fast, measure accurately,, avoid the automatic guided vehicle road phenomenon of losing in service so can improve the control effect of vehicle operating.
3, the technology that merges by image recognition and RFID tag, industrial computer, driving governor, the work of RFID controller coordinate realize the AGV location of stopping accurately.
The present invention has good adaptive capacity to environment and navigation and positioning accuracy in a word, and cost is lower, can be accepted by many medium-sized and small enterprises.
Description of drawings
Fig. 1 is the schematic top plan view of measure and control device in the automatic guided vehicle of the present invention;
Fig. 2 is the elevational schematic view of measure and control device in the automatic guided vehicle of the present invention;
Fig. 3 is the schematic top plan view of angle sheave corner corner steady arm of the present invention;
Fig. 4 is the elevational schematic view of angle sheave corner corner steady arm of the present invention;
Fig. 5 is the schematic top plan view that automatic guided vehicle mechanical type of the present invention is surveyed the barrier device;
Fig. 6 is the elevational schematic view that automatic guided vehicle mechanical type of the present invention is surveyed the barrier device;
Fig. 7 is that variable light source control system of the present invention connects block diagram.
Fig. 8 is that the many control modules of the present invention connect block diagram;
Fig. 9 is the automatic guided vehicle of the present invention positioning action flow process of accurately stopping;
Among the figure: 1. right turn indicator lamp, 2. daylight lamp, 3. right sonac, 4. left sonac, 5. antenna, 6. first angle sheave is to pilot lamp, 7, first angle sheave is surveyed the barrier device, 8. wireless controller, 9. colored CCD camera, 10.RFID read write line are surveyed barrier device, 11. first LOAD CELLS, 12. first angle sheave, 13. keep away barrier/weighing controller, 14. first loudspeaker, 15.RFID read write line, 16. LCD, 17. infrared remote receiver, 18. operation controls, 19. second loudspeaker, 20. first driving wheel, 21. second LOAD CELLS, 22. first photoelectric sensors, 23. direct current generators, 24. speed control, 25. industrial computer, 26. driving governors, 27. rotary encoders, 28. wheel box, 29. second photoelectric sensor, 30. the 3rd LOAD CELLS, 31. second driving wheels, 32. image pick-up card, 33. serial port expanding module, 34. steering controllers, 35. transmission gears, 36. controllor for step-by-step motor, 37. the corner steady arm, 38. guide gear dishes, 39.RFID controller, 40. angle sheave connecting link, 41. second angle sheave, 42. the 4th LOAD CELLS, 43. second angle sheaves are surveyed the barrier device, the lamp 44. gross weight transfinites, 45. the first skew lamp, 46. second skew lamps, 47. the 3rd skew lamps, 48. the 4th skew lamp, 49. meet the barrier alarm lamp, 50. loading notch boards, 51. power switch keys, 52. forward/backward setting key, 53. the vehicle launch key, 54. speed governing knobs, 55. velocity limit knobs, 56. switch for fluorescent lamp, 57. the backstay bracing frame, 58. increase pad, 59. angle orientation bars, 60. upper strata photoelectric sensor group, 61. lower floor's photoelectric sensor group, 62. ring supports, 63. fixed supports, 64. fixed orifice, 65. universal driving shaft, 66. stepper motors, 67. contact levers, 68. first push rod, 69. first top stem casing, 70. first trigger bolt, and 71. first survey barrier near switch, 72. first fixed support, 73. first spring, 74. first regulate bolt, 75. second fixed supports, 76. second push rod, 77. second top stem casing, 78. second trigger bolt, 79. the 3rd fixed supports, 80. second surveys barrier near switch, 81. the 4th fixed support, 82. second springs, 83. second regulate bolt.
Embodiment
As Fig. 1,2, shown in 8, the distributed measure and control device of automatic guided vehicle, comprise car body, the car body bottom is provided with first angle sheave 12, second angle sheave 41, first driving wheel 20, second driving wheel 31, be provided with drive motor 23 in the car body, direct-drive motor 23 and electrodeless variable-speed case 28, drive motor controller 26, it is characterized in that in car body, being provided with industrial computer 25, be provided with image pick-up card 32 and serial port expanding module 33 in the industrial computer 25, image pick-up card 32 is connected with colourful CCD video camera 9 by vision cable, serial port expanding module 33 by RS232 multiple-limb stube cable respectively with car body in driving governor 26, steering controller 34, keep away barrier/weighing controller 13, wireless controller 8, RFID controller 39 is connected with operation control 18, is connected by 5 two-way data I/O lines between each controller; Driving governor 26 is connected with speed control 24, rotary encoder 27, and speed control 24 links to each other with direct-drive motor 23; Steering controller 34 is connected with corner steady arm 37, first side marker light 6, second side marker light 1, controllor for step-by-step motor 36, controllor for step-by-step motor 36 is connected with stepper motor 66, stepper motor 66 is connected with transmission gear 35 by universal driving shaft 65, transmission gear 35 drives guide gear dish 38, guide gear dish 38 is connected with angle sheave connecting link 40, and angle sheave connecting link 40 is connected with first angle sheave 12, second angle sheave 41; Keep away the barrier/weighing controller 13 and first sonac 3, second sonac 4, first surveys barrier device 7, second surveys barrier device 10, the 3rd surveys barrier device 43, first photoelectric sensor 22 that recedes and install, second photoelectric sensor 29, first LOAD CELLS 11, second LOAD CELLS 21, the 3rd LOAD CELLS 30, the 4th LOAD CELLS 42, keep away barrier alarm lamp 49, the first skew lamp 45, the second skew lamp 46, the 3rd skew lamp 47, the 4th skew lamp 48 is connected with driving governor 26; RFID controller 39 is connected with rfid interrogator 15; Operation control 18 and driving governor 26, keep away barrier/weighing controller 13, RFID controller 39, first loudspeaker, 14, the second loudspeaker 19, daylight lamp, infrared remote receiver, manual button and be connected.
Driving governor is realized control of DC is finished operations such as vehicle start and stop, acceleration and deceleration, reversing, and utilized rotary encoder that speed is fed back by the direct current permanent magnet motor speed control.Steering controller is realized turning to Stepping Motor Control by controllor for step-by-step motor, finally realize turning to of front-wheel by gear transmission mode, steering controller disposes the zone location that the corner steady arm can be realized corner, and, realize the accurate location in the zonule by the strokes per minute of record deflection vein.Keep away and hinder/weigh control module and mainly finish weigh monitoring and safety of goods and survey the barrier function, can finish goods overload alarm, goods distribution abnormal alarm; Keep away the photoelectric sensor that hinders/weigh control module except utilizing sonac to detect objects in front, oblique layout and detect the obstacle of moveing backward; also utilize mechanical type to survey the obstacle object that the barrier device detects ground; the equipment of protection car body below; especially the rfid interrogator installed of low level; the obstacle height that the structure that the segmentation of survey barrier device is arranged makes the under-vehicle diverse location to pass through can be different, avoided unnecessary parking.Radio receiving transmitting module then is the communication by dispatching in realization of ISM wireless transceiver and the central control room.Operation control has then provided infrared remote-control operation and two kinds of patterns of manual operation, carries out the manual intervention of vehicle operating.
The distributed measure and control device of automatic guided vehicle connects as one industrial computer and independent distribution controller based on the RS232 order wire, realizes the one-to-many communication; Carry out signal exchange by 5 two-way data I/O lines between each controller, different instruction implications is being represented in the combination of five radical word line varying levels, is shown in Table 1.Each controller needs whether to detect data line earlier for idle condition before sending instruction, could send instruction then.
Table 1 I/O line implication table
| Sequence number | The IO line states | Transmit leg | The take over party | The instruction implication | |||||
| 1 | 2 | 3 | 4 | 5 | |||||
| 1 | 0 | 0 | 0 | 0 | 0 | Idle | |||
| 2 | 1 | 1 | 1 | 1 | 1 | Idle | |||
| 3 | 0 | 0 | 0 | 0 | 1 | Operation control | | Start | |
| 4 | 0 | 0 | 0 | 1 | 0 | Operation control | | Stop | |
| 5 | 0 | 0 | 0 | 1 | 1 | Operation control | Driving governor | Be set to forward |
|
| 6 | 0 | 0 | 1 | 0 | 0 | Operation control | Driving governor | Be set to fallback state | |
| 7 | 0 | 1 | X | X | X | Operation control | Driving governor | Speed governing is to specifying retaining | |
| 8 | 1 | 0 | 1 | X | X | Operation control | Driving governor | Transfer limit speed to specifying retaining | |
| 9 | 1 | 0 | 0 | 0 | 1 | Operation control | Driving governor | Speed downward modulation one retaining | |
| 10 | 1 | 0 | 0 | 1 | 0 | Operation control | Driving governor | Speed raises a retaining | |
| 11 | 1 | 0 | 0 | 1 | 1 | Driving governor | Operation control | Unusual 1, loudspeaker are reported to the police | |
| 12 | 1 | 1 | 0 | 0 | 0 | Driving governor | Operation control | Unusual 2, loudspeaker are reported to the police | |
| 13 | 1 | 1 | 0 | 0 | 1 | Keep away barrier/weighing controller | Driving governor | Overweight or goods displacement bias can not be driven | |
| 14 | 1 | 1 | 0 | 1 | 0 | Keep away barrier/weighing controller | Driving governor | Run into obstacle, require to stop |
| 15 | 1 | 1 | 0 | 1 | 1 | Keep away barrier/weighing controller | Driving governor | Run into obstacle, half meter of reversing earlier stopped again |
| 16 | 1 | 1 | 1 | 0 | 0 | The RFID controller | Driving governor | Detect the RFID label, slow down and delayed shutdown |
| 17 | 1 | 1 | 1 | 0 | 1 | The RFID controller | Driving governor | Detect the RFID label, stop immediately |
| 18 | 1 | 1 | 1 | 1 | 0 | Standby | ||
| 14 | 1 | 1 | 1 | 0 | 1 | Standby |
Annotate: the X representative can 0 or 1.
Shown in Fig. 3,4, corner steady arm 37 comprises angle orientation bar 59 and upper strata photoelectric sensor group 60, lower floor's photoelectric sensor group 61, angle orientation bar 59 vertically-guided toothed discs 38 are placed, angle orientation bar 59 1 ends are connected with backstay bracing frame 57 ends, and backstay bracing frame 57 is connected with guide gear dish 38 with two bolts by increasing pad 58; Ring support 62 is connected with vehicle body hanger by the fixed orifice on the fixed support 63 64, ring support 62 is provided with the photoelectric sensor group, the photoelectric sensor group is made up of 11 photoelectric sensors, be divided into upper strata photoelectric sensor group 60 and 61 liang of rows of lower floor's photoelectric sensor group, about in the of 38 both sides to be distributed in the guide gear dish, upper strata photoelectric sensor group is inclined upwardly, lower floor's photoelectric sensor group is downward-sloping, upper strata photoelectric sensor group 60 is provided with six photoelectric sensors, and lower floor's photoelectric sensor group 61 is provided with five photoelectric sensors.
When wheel, the angle orientation bar rotates with the transmission fluted disc, the photoelectric sensor group be fixed on the vehicle frame not with wheel, the photoelectric sensor that the angle orientation bar triggers in the two rows photoelectric sensor group reaches zone location, and steering controller 34 reaches accurate location by the pulse accumulation of record stepper motor again.
Shown in Fig. 5,6, the front end of surveying the barrier device is a contact lever 67, on contact lever 67, vertically be provided with first push rod 68, second push rod 76, first push rod 68 is provided with first and triggers bolt 70, first push rod is with first top stem casing 69 outward, be provided with first spring 73 in first top stem casing, be provided with first in the first top stem casing outside and survey barrier near switch 71, on first top stem casing, have with first and trigger the notch that bolt 70 quite cooperates, be provided with first in the rear end of first top stem casing and regulate bolt 74, be provided with first fixed support 72, second fixed support 75 in the side of first top stem casing; Second push rod is provided with the second triggering bolt, 78, the second push rods and is with second top stem casing 77 outward, is provided with second spring 82 in second top stem casing; Be provided with second in the second top stem casing outside and survey barrier near switch 80; On second top stem casing, have with second and trigger bolt 78 notch that matches; Be provided with second in the rear end of second top stem casing and regulate bolt 83, be provided with the 3rd fixed support 79, the 4th fixed support 81 in the side of second top stem casing.
In case run into barrier, contact lever 67 pressurized compression springs 73,82 cause triggering bolt 70,78 and are pushed into, and survey barrier near switch 80 thereby trigger the first survey barrier near switch 71 or second.
Parking position control method is to gather pavement image information by camera 9, industrial computer 25 carries out realtime graphic to be handled, utilize method with an automatic light meter to control vehicle-mounted light source, after laying parking symbol in ground appears in the place ahead, industrial computer sends the log-on message of RFID tag read write line 15, carry out the detection of RFID tag, send deceleration instruction simultaneously, vehicle slowly moves ahead, when the RFID tag read write line is read the required parking tag that in advance terrestrial information is write, the radio frequency identification marking sign controller is by I/O data line controlling and driving controller 26, vehicle slows down once more, and rotary encoder 27 begins counting, when the output of rotary encoder reaches designated value, send halt instruction by driving governor, realize accurately stopping the location.
After industrial computer determines that the parking symbol appears in the place ahead, utilize serial ports 4 to send desired RFID label numeral to the RFID controller, and start rfid interrogator and enter the detection phase, utilize serial ports 2 to send deceleration instruction simultaneously to driving governor, guarantee the RFID read-write promptly and accurately; In case rfid interrogator is read parking tag, the RFID controller makes five I/O data line level points be respectively 1,1,1,0,0, (1 is high level, and 0 is low level), driving governor sends instruction, make vehicle slow down once more, rotary encoder begins counting, when the output of rotary encoder reaches designated value, makes five I/O data line level points be respectively 1,1,1,0,1 by driving governor, speed control makes vehicle stop, and realizes accurately stopping the location.
Described method with an automatic light meter: CCD camera 9 images acquired, calculate this gradation of image average G through industrial computer, if the gray average difference of current G value and last three two field pictures greater than certain value, shows that ambient brightness changes, be input with this average G so, be calculated as follows:
L＝a+b/(G+c)
A in the formula, b, c are adjustable parameter, L is output.Industrial computer 25 is passed to operation control 18 with L numerical value by RS232, PIC18F452 single-chip microcomputer in the operation control is finished the digital regulation resistance resistance and is regulated, thereby control makes the CCD images acquired reach suitable brightness by the electric current of daylight lamp 2, realizes the closed-loop control of illumination.
Claims (5)
1. distributed measure and control device of automatic guided vehicle, comprise car body, the car body bottom is provided with first angle sheave (12), second angle sheave (41), first driving wheel (20), second driving wheel (31), be provided with drive motor (23) in the car body, direct-drive motor (23) and electrodeless variable-speed case (28), drive motor controller (26) is connected, it is characterized in that in car body, being provided with industrial computer (25), be provided with image pick-up card (32) and serial port expanding module (33) in the industrial computer (25), image pick-up card (32) is connected with colourful CCD video camera (9) by vision cable, serial port expanding module (33) by RS232 multiple-limb stube cable respectively with car body in driving governor (26), steering controller (34), keep away barrier/weighing controller (13), wireless controller (8), RFID controller (39) is connected with operation control (18), is connected by 5 two-way data I/O lines between each controller; Driving governor (26) is connected with speed control (24), rotary encoder (27), and speed control (24) links to each other with direct-drive motor (23); Steering controller (34) is connected with corner steady arm (37), first side marker light (6), second side marker light (1), controllor for step-by-step motor (36), controllor for step-by-step motor (36) is connected with stepper motor (66), stepper motor (66) is connected with transmission gear (35) by universal driving shaft (65), transmission gear (35) drives guide gear dish (38), guide gear dish (38) is connected with angle sheave connecting link (40), and angle sheave connecting link (40) is connected with first angle sheave (12), second angle sheave (41); Keep away barrier/weighing controller (13) and first sonac (3), second sonac (4), first surveys barrier device (7), second surveys barrier device (10), the 3rd surveys barrier device (43), first photoelectric sensor (22) that recedes and install, second photoelectric sensor (29), first LOAD CELLS (11), second LOAD CELLS (21), the 3rd LOAD CELLS (30), the 4th LOAD CELLS (42), keep away barrier alarm lamp (49), the first skew lamp (45), the second skew lamp (46), the 3rd skew lamp (47), the 4th skew lamp (48) is connected with driving governor (26); RFID controller (39) is connected with rfid interrogator (15); Operation control (18) and driving governor (26), keep away barrier/weighing controller (13), RFID controller (39), first loudspeaker (14), second loudspeaker (19), daylight lamp (2), infrared remote receiver, manual button are connected.
2. the distributed measure and control device of a kind of automatic guided vehicle according to claim 1, it is characterized in that described corner steady arm (37) comprises angle orientation bar (59) and upper strata photoelectric sensor group (60), lower floor's photoelectric sensor group (61), angle orientation bar (59) vertically-guided toothed disc (38) is placed, angle orientation bar (59) one ends are connected with backstay bracing frame (57) end, and backstay bracing frame (57) is connected with guide gear dish (38) with two bolts by increasing pad (58); Ring support (62) is connected with vehicle body hanger by the fixed orifice (64) on the fixed support (63), ring support (62) is provided with the photoelectric sensor group, the photoelectric sensor group is made up of 11 photoelectric sensors, be divided into upper strata photoelectric sensor group (60) and lower floor's photoelectric sensor group (61) two rows, be distributed in guide gear dish (38) both sides up and down, upper strata photoelectric sensor group is inclined upwardly, lower floor's photoelectric sensor group is downward-sloping, upper strata photoelectric sensor group (60) is provided with six photoelectric sensors, and lower floor's photoelectric sensor group (61) is provided with five photoelectric sensors.
3. the distributed measure and control device of a kind of automatic guided vehicle according to claim 1, the front end that it is characterized in that described survey barrier device is contact lever (67), on contact lever (67), vertically be provided with first push rod (68), second push rod (76), first push rod (68) is provided with first and triggers bolt (70), first push rod is with first top stem casing (69) outward, be provided with first spring (73) in first top stem casing, be provided with first in the first top stem casing outside and survey barrier near switch (71), on first top stem casing, have with first and trigger the notch that bolt (70) quite cooperates, be provided with first in the rear end of first top stem casing and regulate bolt (74), be provided with first fixed support (72) in the side of first top stem casing, second fixed support (75); Second push rod is provided with second and triggers bolt (78), and second push rod is with second top stem casing (77) outward, is provided with second spring (82) in second top stem casing; Be provided with second in the second top stem casing outside and survey barrier near switch (80); On second top stem casing, have with second and trigger bolt (78) notch that matches; Be provided with second in the rear end of second top stem casing and regulate bolt (83), be provided with the 3rd fixed support (79), the 4th fixed support (81) in the side of second top stem casing.
4. parking position control method that use is installed according to claim 1, it is characterized in that gathering pavement image information by camera (9), industrial computer (25) carries out realtime graphic to be handled, utilize method with an automatic light meter to control vehicle-mounted light source, after laying parking symbol in ground appears in the place ahead, industrial computer sends the log-on message of RFID tag read write line (15), carry out the detection of RFID tag, send deceleration instruction simultaneously, vehicle slowly moves ahead, when the RFID tag read write line was read the required parking tag that in advance terrestrial information is write, the radio frequency identification marking sign controller was by I/O data line controlling and driving controller (26), and vehicle slows down once more, rotary encoder (27) begins counting, when the output of rotary encoder reaches designated value, send halt instruction by driving governor, realize accurately stopping the location.
5. the parking position control method of the distributed measure and control device of a kind of automatic guided vehicle according to claim 4, it is characterized in that described method with an automatic light meter: CCD camera (9) images acquired, calculate this gradation of image average G through industrial computer, if the gray average difference of current G value and last three two field pictures is greater than certain value, show that ambient brightness changes, be input with this average G so, be calculated as follows:
L＝a+b/(G+c)
A in the formula, b, c are adjustable parameter, L is output.Industrial computer (25) is passed to operation control (18) with L numerical value by RS232, PIC18F452 single-chip microcomputer in the operation control is finished the digital regulation resistance resistance and is regulated, thereby control makes the CCD images acquired reach suitable brightness by the electric current of daylight lamp (2), realizes the closed-loop control of illumination.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2008100594945A CN100555142C (en) | 2008-01-24 | 2008-01-24 | Distributed measure and control device of automatic guided vehicle and parking position control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2008100594945A CN100555142C (en) | 2008-01-24 | 2008-01-24 | Distributed measure and control device of automatic guided vehicle and parking position control method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101231527A true CN101231527A (en) | 2008-07-30 |
| CN100555142C CN100555142C (en) | 2009-10-28 |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101708678B (en) * | 2009-12-08 | 2011-01-26 | 昆明理工大学 | Light-weight solar automobile automatic side-tipping device with shock absorption function |
| CN102005134A (en) * | 2010-12-24 | 2011-04-06 | 上海中交智能系统工程有限公司 | Side-mounted type wireless parking space status detector |
| CN102346483A (en) * | 2011-06-07 | 2012-02-08 | 南京航空航天大学 | AGV (Automatic Guided Vehicle) operation control method based on passive RFID (radio frequency identification) and aided visual |
| CN102411369A (en) * | 2011-09-28 | 2012-04-11 | 上海交通大学 | Automatic guided vehicle (AGV) setting device possessing wireless communication function |
| CN102555806A (en) * | 2012-03-14 | 2012-07-11 | 林德（中国）叉车有限公司 | Modeled switching device for traveling speed limit of forklift |
| CN102955476A (en) * | 2012-11-12 | 2013-03-06 | 宁波韵升股份有限公司 | Automatic guided vehicle (AGV) path planning method based on radio frequency identification (RFID) technology |
| CN102963698A (en) * | 2012-11-14 | 2013-03-13 | 湖北华昌达智能装备股份有限公司 | Method and system for control of operation of transitional machine |
| CN103645737A (en) * | 2009-08-18 | 2014-03-19 | 克朗设备公司 | Systems and methods of remotely controlling a materials handling vehicle |
| CN103821397A (en) * | 2014-03-13 | 2014-05-28 | 徐州工程学院 | Speed and positioning control system for hydraulic lifter in stereo parking lot |
| CN104442518A (en) * | 2014-12-05 | 2015-03-25 | 国家电网公司 | Automatic guided vehicle capable of being automatically butted with working table surfaces at different heights |
| CN104460361A (en) * | 2013-09-16 | 2015-03-25 | 迪尔公司 | Vehicle auto-motion control system |
| CN106144900A (en) * | 2015-04-10 | 2016-11-23 | 宝山钢铁股份有限公司 | Automatically Heave Here suspension hook state device and method is obtained in driving driver's cabin |
| CN106315100A (en) * | 2016-08-30 | 2017-01-11 | 北京建筑大学 | Intelligent control method of warehousing system |
| CN106315096A (en) * | 2016-08-30 | 2017-01-11 | 北京建筑大学 | Intelligent control device for warehousing system |
| CN106485198A (en) * | 2015-08-24 | 2017-03-08 | 福特全球技术公司 | System and method using the autonomous valet parking of plenoptic camera |
| CN106681321A (en) * | 2016-12-16 | 2017-05-17 | 盐城工学院 | RFID-based online scheduling control system of automatic guided vehicle |
| WO2017166519A1 (en) * | 2016-03-28 | 2017-10-05 | 田艺儿 | Three-dimensional conveying and sorting vehicle having radio frequency reading and writing functions |
| CN108082876A (en) * | 2018-01-02 | 2018-05-29 | 承德光大输送机有限公司 | Suspension conveyor system |
| CN108398946A (en) * | 2018-01-25 | 2018-08-14 | 成都图灵智控科技有限公司 | Intelligent tracking accurate positioning device and method |
| CN108549386A (en) * | 2018-05-22 | 2018-09-18 | 汇专科技集团股份有限公司 | AGV trolleies managing and control system and method |
| CN109643120A (en) * | 2016-08-18 | 2019-04-16 | 亚马逊技术股份有限公司 | AGV traffic control system |
| CN110377087A (en) * | 2019-05-24 | 2019-10-25 | 湖南银河电气有限公司 | A kind of amplitude regulation arrangement based on digital regulation resistance |
| CN111198543A (en) * | 2018-11-16 | 2020-05-26 | 齐齐哈尔四达铁路设备有限责任公司 | Automatic guide control system for railway vehicle |
| CN112522765A (en) * | 2020-03-26 | 2021-03-19 | 江苏世之高智能装备有限公司 | Automatic electroplating line car control system |
| CN112829852A (en) * | 2021-01-21 | 2021-05-25 | 中国矿业大学(北京) | Intelligent obstacle avoidance vehicle and control method thereof |
| CN114226463A (en) * | 2020-09-09 | 2022-03-25 | 上海梅山钢铁股份有限公司 | Device and method for accurately distributing slitter edges in hopper |
| CN115268347A (en) * | 2022-09-28 | 2022-11-01 | 山西航天清华装备有限责任公司 | Remote control transfer trolley and control system and method thereof |
| CN114226463B (en) * | 2020-09-09 | 2024-06-04 | 上海梅山钢铁股份有限公司 | Accurate material distribution device and material distribution method for slitter edges in hopper |
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2008
- 2008-01-24 CN CNB2008100594945A patent/CN100555142C/en not_active Expired - Fee Related
Cited By (35)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103645737A (en) * | 2009-08-18 | 2014-03-19 | 克朗设备公司 | Systems and methods of remotely controlling a materials handling vehicle |
| CN101708678B (en) * | 2009-12-08 | 2011-01-26 | 昆明理工大学 | Light-weight solar automobile automatic side-tipping device with shock absorption function |
| CN102005134A (en) * | 2010-12-24 | 2011-04-06 | 上海中交智能系统工程有限公司 | Side-mounted type wireless parking space status detector |
| CN102005134B (en) * | 2010-12-24 | 2013-02-27 | 上海中交智能系统工程有限公司 | Side-mounted type wireless parking space status detector |
| CN102346483A (en) * | 2011-06-07 | 2012-02-08 | 南京航空航天大学 | AGV (Automatic Guided Vehicle) operation control method based on passive RFID (radio frequency identification) and aided visual |
| CN102411369A (en) * | 2011-09-28 | 2012-04-11 | 上海交通大学 | Automatic guided vehicle (AGV) setting device possessing wireless communication function |
| CN102555806A (en) * | 2012-03-14 | 2012-07-11 | 林德（中国）叉车有限公司 | Modeled switching device for traveling speed limit of forklift |
| CN102955476A (en) * | 2012-11-12 | 2013-03-06 | 宁波韵升股份有限公司 | Automatic guided vehicle (AGV) path planning method based on radio frequency identification (RFID) technology |
| CN102963698A (en) * | 2012-11-14 | 2013-03-13 | 湖北华昌达智能装备股份有限公司 | Method and system for control of operation of transitional machine |
| CN102963698B (en) * | 2012-11-14 | 2015-04-22 | 湖北华昌达智能装备股份有限公司 | Method and system for control of operation of transitional machine |
| CN104460361A (en) * | 2013-09-16 | 2015-03-25 | 迪尔公司 | Vehicle auto-motion control system |
| CN104460361B (en) * | 2013-09-16 | 2020-06-05 | 迪尔公司 | Automatic motion control system for vehicle |
| CN103821397A (en) * | 2014-03-13 | 2014-05-28 | 徐州工程学院 | Speed and positioning control system for hydraulic lifter in stereo parking lot |
| CN104442518A (en) * | 2014-12-05 | 2015-03-25 | 国家电网公司 | Automatic guided vehicle capable of being automatically butted with working table surfaces at different heights |
| CN106144900A (en) * | 2015-04-10 | 2016-11-23 | 宝山钢铁股份有限公司 | Automatically Heave Here suspension hook state device and method is obtained in driving driver's cabin |
| CN106485198A (en) * | 2015-08-24 | 2017-03-08 | 福特全球技术公司 | System and method using the autonomous valet parking of plenoptic camera |
| CN106485198B (en) * | 2015-08-24 | 2022-09-20 | 福特全球技术公司 | System and method for autonomous valet parking using full-light camera |
| WO2017166519A1 (en) * | 2016-03-28 | 2017-10-05 | 田艺儿 | Three-dimensional conveying and sorting vehicle having radio frequency reading and writing functions |
| CN109643120A (en) * | 2016-08-18 | 2019-04-16 | 亚马逊技术股份有限公司 | AGV traffic control system |
| CN106315100A (en) * | 2016-08-30 | 2017-01-11 | 北京建筑大学 | Intelligent control method of warehousing system |
| CN106315096A (en) * | 2016-08-30 | 2017-01-11 | 北京建筑大学 | Intelligent control device for warehousing system |
| CN106681321B (en) * | 2016-12-16 | 2019-10-11 | 盐城工学院 | The on-line scheduling control system of unmanned carrying Intelligent navigating bogie based on RFID |
| CN106681321A (en) * | 2016-12-16 | 2017-05-17 | 盐城工学院 | RFID-based online scheduling control system of automatic guided vehicle |
| CN108082876A (en) * | 2018-01-02 | 2018-05-29 | 承德光大输送机有限公司 | Suspension conveyor system |
| CN108082876B (en) * | 2018-01-02 | 2024-01-19 | 承德光大输送机有限公司 | Suspension conveying device |
| CN108398946A (en) * | 2018-01-25 | 2018-08-14 | 成都图灵智控科技有限公司 | Intelligent tracking accurate positioning device and method |
| CN108398946B (en) * | 2018-01-25 | 2021-12-21 | 成都图灵时代科技有限公司 | Intelligent tracking accurate positioning device and method |
| CN108549386A (en) * | 2018-05-22 | 2018-09-18 | 汇专科技集团股份有限公司 | AGV trolleies managing and control system and method |
| CN111198543A (en) * | 2018-11-16 | 2020-05-26 | 齐齐哈尔四达铁路设备有限责任公司 | Automatic guide control system for railway vehicle |
| CN110377087A (en) * | 2019-05-24 | 2019-10-25 | 湖南银河电气有限公司 | A kind of amplitude regulation arrangement based on digital regulation resistance |
| CN112522765A (en) * | 2020-03-26 | 2021-03-19 | 江苏世之高智能装备有限公司 | Automatic electroplating line car control system |
| CN114226463A (en) * | 2020-09-09 | 2022-03-25 | 上海梅山钢铁股份有限公司 | Device and method for accurately distributing slitter edges in hopper |
| CN114226463B (en) * | 2020-09-09 | 2024-06-04 | 上海梅山钢铁股份有限公司 | Accurate material distribution device and material distribution method for slitter edges in hopper |
| CN112829852A (en) * | 2021-01-21 | 2021-05-25 | 中国矿业大学(北京) | Intelligent obstacle avoidance vehicle and control method thereof |
| CN115268347A (en) * | 2022-09-28 | 2022-11-01 | 山西航天清华装备有限责任公司 | Remote control transfer trolley and control system and method thereof |
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