CN105468001B - A kind of submersible AGV navigation dollies and its control method - Google Patents
A kind of submersible AGV navigation dollies and its control method Download PDFInfo
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- CN105468001B CN105468001B CN201511029664.1A CN201511029664A CN105468001B CN 105468001 B CN105468001 B CN 105468001B CN 201511029664 A CN201511029664 A CN 201511029664A CN 105468001 B CN105468001 B CN 105468001B
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- 238000000034 method Methods 0.000 title claims abstract description 22
- 238000003466 welding Methods 0.000 claims abstract description 33
- 230000003028 elevating effect Effects 0.000 claims abstract description 16
- 239000002390 adhesive tape Substances 0.000 claims abstract description 15
- 239000002184 metal Substances 0.000 claims abstract description 10
- 230000009977 dual effect Effects 0.000 claims abstract description 8
- 230000004888 barrier function Effects 0.000 claims description 7
- 238000004458 analytical method Methods 0.000 claims description 6
- 238000012545 processing Methods 0.000 claims description 6
- 238000009826 distribution Methods 0.000 claims description 5
- 230000004927 fusion Effects 0.000 claims description 4
- 230000000694 effects Effects 0.000 claims description 3
- 230000010354 integration Effects 0.000 claims description 3
- 230000003993 interaction Effects 0.000 claims description 3
- 230000007246 mechanism Effects 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims description 2
- 238000003780 insertion Methods 0.000 claims description 2
- 230000037431 insertion Effects 0.000 claims description 2
- 238000003860 storage Methods 0.000 claims description 2
- 230000008901 benefit Effects 0.000 description 4
- 238000011161 development Methods 0.000 description 3
- 230000002146 bilateral effect Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 150000001875 compounds Chemical class 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000004807 localization Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000000181 anti-adherent effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000007769 metal material Substances 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/028—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using a RF signal
Abstract
A kind of submersible AGV navigation dolly, including car body welding structure and shell, alarming anticollision protection device, lifting fixing and locking device, driver element, control unit, navigation positional device, universal driven pulley, directional wheel.Car body welding structure fixes AGV each units and device; alarming anticollision protection device includes obstacle identification inductor, anti-collision adhesive tape, acousto-optic inductor, display screen, emergency stop switch, protecgulum, and lifting fixing and locking device includes elevating lever, lifting motor, lifting rod set, spring limiting board, pin shaft baffle and fixed metal plate；Ground wheel drive unit sets the wheel of left and right two to be symmetrical among car body, using differential type of drive；Control unit uses the control system based on ARM dual processors, including the driving of control panel, motor, driver fixed plate, arm processor, battery, battery load bearing seat.And provide a kind of submersible AGV navigation dolly control method.The present invention improves navigation and positioning accuracy, reduces product and its use cost.
Description
Technical field
The present invention relates to automatic material flow transport field, particularly a kind of submersible AGV navigation dollies and its control method.
Background technology
AGV (Automated Guided Vehicle, automatic guided vehicle) is automatic material flow transportation system and flexibility
The key equipment of manufacture system, there is the function of automatic Pilot in non-structured environment.AGV research starts from 20 in the world
The U.S. of the fifties in century, by the continuous development of decades, AGV has been carried out commercialization, and is manufactured in electric mechanical, thing
The every field such as stream, automated warehouse are widely used.With the development of economic technology, the enterprise in China also progressively starts
Using AGV.
AGV vehicles can classify by delivery classification, carrying quality, driving pattern, guide mode, transfer mode.Such as by leading
The mode of drawing, which is classified, to be had：Magnetic guidance, las er-guidance, us guide, Light-Echo detection, inertial navigation, image recognition identify with coordinate
Deng；Classifying by transfer mode has：Submersible, side roller formula is towed, across saddle, bilateral push-pull type, and balanced type, bilateral V shape, three
To V shape, low V shape, double lifting types, planer-type, backpack etc..
AGV control systems are core, and the action of AGV dollies is to realize to control by Vehicle Controller.At present, traditional AGV
Typically using PLC as controller, there is that cost is higher, and scalability is not strong, computing capability is not strong, is not easy to realize high-precision control
The problem of.
Air navigation aid generally used now AGV has electromagnetic guide, striations guiding, tape guiding, inertial navigation, localization by ultrasonic
Guiding, laser reflection orientation direction, laser scanning orientation direction, vision guide, the compound orientation directions of RFID, GPS navigation.Not
, it is necessary to use different air navigation aids in same working environment.At present, navigation common AGV is with localization method：Tape is led
Boat, RFID location navigations.Tape navigation buries metal wire with tape replacement is pasted on road surface in subsurface, passes through magnetic strength induction signal
Guiding is realized, its flexibility is relatively good, changes or extended route is easier to, tape laying is simple and easy, but this guide mode is easy
Disturbed by loop surrounding metal material, tape is easily mechanically damaged, therefore the reliability guided is larger by ectocine, typically
Open up indoors will not be mechanically damaged and region without magnetic interference carry out tape guiding.Wherein, traditional tape is led
The methods of boat is using PID, fuzzy control, is achieved that although being not required to accurate model, is existed and is easily become by object structure and parameter
The problem of changing influences, and control accuracy is not high.RFID location navigations are that the one kind occurred with the development of wireless radio-frequency is led
Navigate supplementary mode.The RFID being attached to by the RFID reader identification on AGV on road surface is indicated, and passes through the RFID prestored
Position so that AGV can obtain the absolute position in path.Its guidance mode typically with the non-locating such as tape navigation compound makes
With if obtaining absolute position so as to doing on path.Advantage is that cost is relatively low, and mounting complexity is relatively low, but fixed
Position precision is not very high.
The content of the invention
In order to overcome the shortcomings of that the control accuracy of existing navigation dolly is relatively low, the present invention provides a kind of submersible AGV and led
Navigate dolly and its control method, using two wheel differentials drivings, and be respectively provided with two universal wheels and two directional wheels as support,
Make that AGV radiuss of turn are smaller, and bearing capacity is stronger.The preposition anti-collision adhesive tape of car body and obstacle recognition sensor, can preferably be protected
Protect AGV dollies；Car body intermediate lift fixing and locking device, realize the positioning and locking of goods carrier.Meanwhile using tape navigation and
The mode that RFID location navigations combine, tape navigation use Active Disturbance Rejection Control (ADRC) method, improve navigation and positioning accuracy, reduce
Product and its use cost.
To realize above-mentioned technical problem, the present invention realizes as follows：
A kind of submersible AGV navigation dolly, including car body welding structure, alarming anticollision protection device, lifting position and lock
Device, driver element, control unit, navigation positional device, universal driven pulley and directional wheel, install in the car body welding structure
Alarming anticollision protection device, lifting fixing and locking device, driver element, control unit and navigation positional device；The alarm is anti-
Hit protection device and be arranged on car body welding structure front end；Distribution is set the lifting fixing and locking device up and down respectively with driver element
Put among car body welding structure；Described control unit is arranged at body rear end；The navigation positional device is arranged at car body weldering
Connect the centre position below structure front end；The universal driven pulley is arranged at both sides below car body welding structure front end；It is described fixed
It is arranged to wheel below car body welding structure rear end；Described control unit and alarming anticollision protection device, lifting position and lock dress
Put, driver element, control unit, navigation positional device form electrical connection.
Further, the alarming anticollision protection device includes obstacle recognition sensor fixed seat, obstacle recognition senses
Device, anti-collision adhesive tape, audible-visual annunciator, display screen, emergency stop switch and protecgulum, the obstacle recognition sensor fixed seat are arranged at
Car body welding structure front end middle, the obstacle recognition sensor fixed seat fixed obstacle identification sensor；It is described anti-
Adhesive tape is hit to be arranged at below the positive front end of car body welding structure；The protecgulum is arranged above car body welding structure front end；The sound
Light crossing-signal, display screen, emergency stop switch are arranged on protecgulum, and the audible-visual annunciator, emergency stop switch are distributed in around display screen.
Further, the lifting fixing and locking device include elevating lever, lifting rod set, fixed metal plate, spring limiting board,
Pin shaft baffle and lifting motor；The elevating lever is arranged at elevating mechanism middle；The lifting rod set entangles elevating lever；It is described
Pin shaft baffle insertion lifting rod set；The fixed metal plate fixes lifting rod set, lifting motor；The spring limiting board is arranged at pin
Axle baffle bottom.
The driver element include left and right sidesing driving wheel, wheel drive shaft, DC servo motor and shell；Described ground wheel drive
Axle is arranged at front end middle；The left and right sidesing driving wheel is arranged at ground wheel drive shaft both ends；The DC servo motor is fixed on
Ground wheel drive shaft；The shell regularly wheel drive shaft and DC servo motor.
Described control unit be double processing based on ARM control system, including dual processor control panel, motor drive
Device, driver fixed plate, arm processor, battery and battery load bearing seat；The driver fixed plate is arranged at car body welding knot
Above structure rear end；The control panel is arranged at driver and fixes front edge of board middle, is provided with charging socket and warning lamp；It is described
Motor driving is arranged at driver fixed plate rear end middle；After the left and right driving motor is respectively arranged at driver fixed plate
Hold the right and left；The battery is arranged at immediately below driver fixed plate；The battery load bearing seat is arranged at bottom of storage battery,
Battery is positioned in load bearing seat, and surrounding is battery load bearing seat baffle plate, and is screwed driver fixed plate.
The navigation positional device includes magnetic navigation inductor, magnetic navigation installing plate, terrestrial reference inductor and RFID card-reading parts
Part；The magnetic navigation installing plate is arranged at driver element case nose middle；The magnetic navigation inductor is arranged at magnetic navigation
On installing plate；The terrestrial reference inductor is arranged at immediately below obstacle recognition sensor, anti-collision adhesive tape rear middle；It is described
RFID Card Reader parts are arranged on magnetic navigation installing plate.
The universal driven pulley includes left and right universal driven pulley, is respectively arranged at both sides below car body front end, universal driven
Wheel front is provided with anti-collision adhesive tape, and the directional wheel includes left and right directional wheel, is respectively arranged at both sides below body rear end.
A kind of control method of submersible AGV navigation dolly, the control method comprise the following steps：
1) navigation is carried out to magnetic navigation inductor using Active Disturbance Rejection Control (ADRC) control method to position with RFID,
Magnetic stripe is set to position distributed point, profit respectively as the path track that dolly is advanced and position with RFID label tag on operation place ground
Judge the deviation situation of car body and magnetic stripe track with magnetic navigation sensor come recognize magnetic stripe track, analysis；It is real using RFID label tag
When monitoring car body arrive at the destination apart from situation；
2) magnetic navigation sensor and RFID Card Reader parts, identifying processing RFID tag data, the mesh in walking place are passed through
Ground and major control region magnetic stripe track on embedded with RFID label again, use magnetic navigation sensor to come with RFID Card Readers part
Data are read, and pass data to control unit to be parsed, and motor is controlled；
3) obstacle recognition sensor, obstacle recognition sensor meeting are equipped with before and after submersible AGV navigates dolly
Barrier situation in front of it is delivered to control unit, controlled when running into barrier submersible AGV navigation dolly slow down or
Stop；
4) control unit uses the control system of ARM dual processors, and a processor is controlled to DC servo motor,
The rotating speed of servomotor and moment of torsion are adjusted so as to be controlled to walking by adjusting electric current and voltage, it is also necessary to according to obstacle
The road information that thing identification sensor, magnetic navigation sensor and RFID Card Readers part provide is analyzed, to adjust it to direct current
The control parameter of servomotor；The fusion that another controller is used for navigation information is estimated, and controls human-computer interaction module and nothing
Line communication module.
In the step 2), the RFID label tag pasted is classified, classification has：Destination-address code, for making
Submersible AGV navigation dollies are accurately rested on destination；Destination is close to alarm codes, for making submersible AGV navigate
Dolly obtains alarm signal when close to destination, so as to which pre-decelerating reduces inertia effects；The cross road indicate code, for
Road ahead information transmission is subjected to integration analysis to processor before bifurcated road.
The beneficial effects of the invention are as follows：
1. there is the advantages of stability is good.Submersible AGV navigation dollies use car body welding structure, and body construction is compact,
The setting of car body and universal wheel, directional wheel, which coordinates, plays good supporting role, and ensures its good stability.
The advantages of 2. radius of turn is small, and flexibility is high.Submersible AGV navigation dollies set the wheel of left and right two to be symmetrical with car body
Between, using differential type of drive, its achievable track turn radius is small, possesses stronger flexibility.
3. there is goods carrier position and lock function.Submersible AGV navigation dollies set lifting fixing and locking device, goods carrier
Groove is embedded among bottom, elevating lever can be agreed with, goods carrier and goods position and lock can be easily realized and realize movement requirement, can
The number that goods is carried is reduced, transport power is saved, reduces human cost.
4. control system cost is low, scalability is strong, can meet different application requirement.Using based on ARM dual processors
Control system, cost is low, structure-rich, and flexibility is good, and more traditional controller such as PLC operational capabilities are strong；Double-layer control structure,
Real-time control can be separated with non real-time control, different application requirements can be met, for example realize that laser navigation, vision are led
Navigate the needs merged with a variety of navigation modes such as motor encoder navigation.
5. navigation is high with positioning precision.Submersible AGV navigation dollies possess the configuration of multisensor, use information fusion side
Method, realize that tape navigation positions with RFID, tape navigation uses Active Disturbance Rejection Control (ADRC) method, has parameter easy adjusting, adaptively
The advantages that strong, and significantly improve its navigation and positioning precision.
Brief description of the drawings
Fig. 1 is the structural representation of the present invention.
Fig. 2 is the car body welding structure schematic diagram of the present invention.
Fig. 3 is the submersible AGV navigation dolly critical piece distribution maps of the present invention.
Fig. 4 is the structural base schematic diagram of the present invention.
Fig. 5 is the tape arrangement Lu Jingyu RFID label tags position figure of the submersible AGV navigation dolly traveling processes of the present invention,
Wherein, 1 obstacle recognition sensor fixed seat, 2 obstacle recognition sensors, 3 anti-collision adhesive tapes, 4 audible-visual annunciators, 5 display screens,
Metal plate, 11 lifting motors, 12 pin shaft baffles, 13 spring retainers are fixed in 6 emergency stop switch, 7 protecgulums, 8 elevating levers, 9 lifting rod sets, 10
Plate, 14 driving wheels, 15 drive shafts, 16 cover of driver, 17 DC servo motors, 18 driver fixed plates, 19 motor drivers, 20
Control panel, 21ARM processors, 22 batteries, 23 battery load bearing seats, 24 directional wheels, 25 universal driven pulleys, 26 car body welding structures
And shell, 27 terrestrial reference inductors, 28 magnetic navigation inductors, 29 magnetic navigation installing plates and 30RFID Card Reader parts.
Embodiment
The present invention is further detailed explanation with reference to the accompanying drawings and detailed description.
Reference picture 1~Fig. 5, a kind of submersible AGV navigate dolly, including car body welding structure, alarming anticollision protection device,
Lift fixing and locking device, driver element, control unit, navigation positional device, universal driven pulley and directional wheel, the car body weldering
Alarming anticollision protection device, lifting fixing and locking device, driver element, control unit and navigator fix dress are installed on binding structure
Put；The alarming anticollision protection device is arranged on car body welding structure front end；The lifting fixing and locking device and driver element
Distribution is arranged among car body welding structure up and down respectively；Described control unit is arranged at body rear end；The navigator fix dress
Install the centre position being placed in below car body welding structure front end；The universal driven pulley is arranged under car body welding structure front end
Square both sides；The directional wheel is arranged at below car body welding structure rear end；Described control unit and alarming anticollision protection device, liter
Drop fixing and locking device, driver element, control unit, navigation positional device and form electrical connection.
The alarming anticollision protection device includes obstacle recognition sensor fixed seat (1), obstacle recognition sensor
(2), anti-collision adhesive tape (3), audible-visual annunciator (4), display screen (5), emergency stop switch (6), protecgulum (7).The obstacle recognition passes
Sensor fixed seat (1) is arranged at car body front end middle, fixed obstacle identification sensor (2)；The anti-collision adhesive tape (3) is set
Below the positive front end of car body；The protecgulum (7) is arranged above car body front end；The audible-visual annunciator (4), display screen (5), urgency
Guard's valve (6) is arranged on protecgulum (7), and audible-visual annunciator (4), emergency stop switch (6) are distributed in around display screen (5).
The lifting fixing and locking device includes elevating lever (8), lifting rod set (9), fixed metal plate (10), spring limiting board
(13), pin shaft baffle (12), lifting motor (11)；The elevating lever (8) is arranged at elevating mechanism middle；The lifting rod set
(9) elevating lever (8) is entangled；The embedded lifting rod set (9) of the pin shaft baffle (12)；The fixed lifting rod set of the fixed metal plate (10)
(9), lifting motor (11)；The spring limiting board (13) is arranged at pin shaft baffle (12) bottom.
The driver element includes driving wheel (14), drive shaft (15), DC servo motor (17), cover of driver (16)；
The drive shaft (15) is arranged at front end middle；The driving wheel (14) is arranged at drive shaft (15) both ends；The direct current is watched
Take motor (17) and be fixed on drive shaft (15)；Cover of driver (16) the fixed drive axle (15) and DC servo motor (17).
Distribution setting is by fixing metal plate (10) and cover of driver (16) even up and down between lifting fixing and locking device and driver element
Connect fixed realization.
Described control unit uses the control system based on the double processing of ARM, including dual processor control panel (20), motor to drive
Dynamic device (19), driver fixed plate (18), arm processor (21), battery (22), battery load bearing seat (23)；The driver
Fixed plate (18) is arranged above body rear end；The control panel (20) is arranged at driver fixed plate (18) front end middle；
The motor driver (19) is arranged at driver fixed plate (18) rear end middle；The battery (22) is arranged at driver
Immediately below fixed plate (18)；The battery load bearing seat (23) is arranged at battery (22) bottom, and battery (22) is positioned over battery
In load bearing seat (23), surrounding is battery load bearing seat (23) baffle plate, and is screwed driver fixed plate (18).
The navigation positional device include magnetic navigation inductor (28), magnetic navigation installing plate (29), terrestrial reference inductor (27),
RFID Card Readers part (30)；The magnetic navigation installing plate (29) is arranged at cover of driver (16) front end middle；The magnetic navigation
Inductor (28) is arranged on magnetic navigation installing plate (29)；The terrestrial reference inductor (27) is arranged at obstacle recognition sensor
(2) immediately below, anti-collision adhesive tape (3) rear middle；The RFID Card Readers part (30) is arranged on magnetic navigation installing plate (29).
The car body welding structure fixes alarming anticollision protection device, lifting fixing and locking device, driver element, control list
Member, navigation positional device, universal driven pulley (25), directional wheel (24).The universal driven pulley includes left and right universal driven pulley,
Both sides below car body front end are respectively arranged at, anti-collision adhesive tape is provided with front of universal driven pulley (25).Directional wheel (24) bag
Left and right directional wheel is included, is respectively arranged at both sides below body rear end.
Described control unit and alarming anticollision protection device, lifting fixing and locking device, driver element, control unit, lead
The positioner that navigates forms electrical connection.
The operation principle of the present invention：As shown in figure 5, when vehicle is in the end of straight way, RFID label tag (1) will be recognized, from
And slow down and enter bend；After straight way is returned to, identification label (3) is accelerated；In bifurcated mouth, by identifying RFID (2) label
The decision of correctly left and right selection bifurcated can be made；Before main road is returned to, by identifying RFID label tag (4,5), can first it examine
Survey whether other routes have vehicle, if then carrying out decision-making by task priority；When close to parking stall, knowledge can be passed through
Other RFID label tag (6), is slowed down, is accurately positioned so as to accurately identify tape label.Positioning Precision Control 10mm with
It is interior.It can be positioned before different equipment by RFID label tag and carry out different operations, such as feeding, blanking.
A kind of control method of submersible AGV navigation dolly, control process comprise the following steps：
1) navigation is carried out to magnetic navigation inductor using Active Disturbance Rejection Control (ADRC) control method to position with RFID,
Magnetic stripe is set to position distributed point, profit respectively as the path track that dolly is advanced and position with RFID label tag on operation place ground
With magnetic navigation sensor come recognize magnetic stripe track, analysis judges the deviation situation of car body and magnetic stripe track, and by the feedback data
Cortex A8 processors are passed to, carry out integrating computing；Car body is monitored in real time using RFID label tag to arrive at the destination apart from feelings
Condition, and the feedback data is passed into Cortex A8 processors, while operation control object information is transferred at Cortex M4
Reason, wherein magnetic navigation use Active Disturbance Rejection Control (ADRC) method；
2) magnetic navigation sensor and RFID Card Reader parts, identifying processing RFID tag data, the mesh in walking place are passed through
Ground and major control region magnetic stripe track on embedded with RFID label again, it is possible to use magnetic navigation sensor and RFID Card Readers
Part reads data, and passes data to Cortex A8 processors to be parsed, then sends control instruction extremely
Cortex M4, and motor is controlled；The RFID label tag pasted is classified, different control purposes can be reached,
Its classification has：Destination-address code, for making submersible AGV navigation dollies accurately rest in destination；Purpose
Ground is close to alarm codes, for making submersible AGV navigation dollies obtain alarm signal when close to destination, so as to pre-decelerating
To reduce inertia effects；The cross road indicates code, for giving road ahead information transmission to Cortex A8 processors before bifurcated road
Carry out integration analysis；
3) obstacle recognition sensor, obstacle recognition sensor meeting are equipped with before and after submersible AGV navigates dolly
Barrier situation in front of it is delivered to Cortex A8 processors, controlled when running into barrier by Cortex M4 processors
Submersible AGV navigation dolly processed slows down or stopped；
4) in the control system of ARM dual processors, Cortex M4 are controlled to DC servo motor, by adjusting electricity
Flow with voltage to adjust the rotating speed of servomotor and moment of torsion so as to be controlled to walking, it is also necessary to sensed according to obstacle recognition
The road information that device, magnetic navigation sensor and RFID Card Readers part provide is analyzed, to adjust it to DC servo motor
Control parameter.Cortex A8 controllers, for navigation information fusion estimation, control man-machine interaction, wireless communication module etc. its
In his requirement of real-time is not high but computing is higher functional module.
Above-described embodiment only represents one embodiment of the present invention, can not be interpreted as the limit to the scope of the invention
System.It should be noted that one skilled in the relevant art, without departing from the inventive concept of the premise, if can also make
Dry kind of deformation design, these belong to protection scope of the present invention.
Claims (6)
- The dolly 1. a kind of submersible AGV navigates, it is characterised in that：Including car body welding structure, alarming anticollision protection device, lifting Fixing and locking device, driver element, control unit, navigation positional device, universal driven pulley and directional wheel, the car body welding knot Alarming anticollision protection device, lifting fixing and locking device, driver element, control unit and navigation positional device are installed on structure；Institute State alarming anticollision protection device and be arranged on car body welding structure front end；Lifting fixing and locking device and the driver element respectively on Lower distribution is arranged among car body welding structure；Described control unit is arranged at body rear end；The navigation positional device is set Centre position below car body welding structure front end；The universal driven pulley is arranged at two below car body welding structure front end Side；The directional wheel is arranged at below car body welding structure rear end；Described control unit and alarming anticollision protection device, lifting are fixed Position locking device, driver element, control unit, navigation positional device form electrical connection；The alarming anticollision protection device includes Obstacle recognition sensor fixed seat, obstacle recognition sensor, anti-collision adhesive tape, audible-visual annunciator, display screen, emergency stop switch and Protecgulum, the obstacle recognition sensor fixed seat are arranged at car body welding structure front end middle, and the obstacle recognition passes Sensor fixed seat fixed obstacle identification sensor；The anti-collision adhesive tape is arranged at below the positive front end of car body welding structure；It is described Protecgulum is arranged above car body welding structure front end；The audible-visual annunciator, display screen, emergency stop switch are arranged on protecgulum, institute State audible-visual annunciator, emergency stop switch is distributed in around display screen；The lifting fixing and locking device includes elevating lever, elevating lever Set, fixed metal plate, spring limiting board, pin shaft baffle and lifting motor；The elevating lever is arranged at elevating mechanism middle；It is described Lifting rod set entangles elevating lever；The pin shaft baffle insertion lifting rod set；The fixed metal plate fixes lifting rod set, lifting electricity Machine；The spring limiting board is arranged at pin shaft baffle bottom；The navigation positional device includes magnetic navigation inductor, magnetic navigation is pacified Loading board, terrestrial reference inductor and RFID Card Reader parts；The magnetic navigation installing plate is arranged at driver element case nose middle；Institute Magnetic navigation inductor is stated to be arranged on magnetic navigation installing plate；Under the terrestrial reference inductor is arranged at obstacle recognition sensor just Side, anti-collision adhesive tape rear middle；The RFID Card Readers part is arranged on magnetic navigation installing plate.
- The dolly 2. submersible AGV according to claim 1 navigates, it is characterised in that：The driver element includes left and right and driven Driving wheel, wheel drive shaft, DC servo motor and shell；Described ground wheel drive shaft is arranged at front end middle；Drive the left and right Driving wheel is arranged at ground wheel drive shaft both ends；The DC servo motor is fixed on ground wheel drive shaft；The shell is fixed land wheel and driven Moving axis and DC servo motor.
- The dolly 3. submersible AGV according to claim 2 navigates, it is characterised in that：Described control unit is based on ARM's The control system of double processing, including dual processor control panel, motor driver, driver fixed plate, arm processor, battery With battery load bearing seat；The driver fixed plate is arranged above car body welding structure rear end；The control panel is arranged at driving Device fixes front edge of board middle, is provided with charging socket and warning lamp；The motor driving is arranged at driver fixed plate rear end Middle；Left and right driving motor is respectively arranged at driver fixed plate rear end the right and left；The battery is arranged at driver Immediately below fixed plate；The battery load bearing seat is arranged at bottom of storage battery, and battery is positioned in load bearing seat, and surrounding is held for battery Seat baffle plate is carried, and is screwed driver fixed plate.
- The dolly 4. submersible AGV according to claim 1 navigates, it is characterised in that：The universal driven pulley includes left and right Universal driven pulley, both sides below car body front end are respectively arranged at, anti-collision adhesive tape, the directional wheel are provided with front of universal driven pulley Including left and right directional wheel, both sides below body rear end are respectively arranged at.
- A kind of 5. control method of submersible AGV navigation dollies as claimed in claim 1, it is characterised in that：The controlling party Method comprises the following steps：1) navigation is carried out to magnetic navigation inductor using Active Disturbance Rejection Control control method to position with RFID, in operation place Set magnetic stripe to position distributed point respectively as the path track that dolly is advanced and position with RFID label tag on face, passed using magnetic navigation Sensor carrys out recognize magnetic stripe track, and analysis judges the deviation situation of car body and magnetic stripe track；Car body is monitored in real time using RFID label tag Arrive at the destination apart from situation；2) magnetic navigation sensor and RFID Card Reader parts, identifying processing RFID tag data, in the destination in walking place are passed through And embedded with RFID label again on the magnetic stripe track in major control region, read using magnetic navigation sensor with RFID Card Readers part Data, and control unit is passed data to be parsed, and motor is controlled；3) obstacle recognition sensor is equipped with before and after submersible AGV navigates dolly, obstacle recognition sensor can be by it The barrier situation in front is delivered to control unit, controls submersible AGV navigation dollies to slow down or stop when running into barrier；4) control unit uses the control system of ARM dual processors, and a processor is controlled to DC servo motor, passed through Electric current and voltage are adjusted to adjust the rotating speed of servomotor and moment of torsion so as to be controlled to walking, it is also necessary to know according to barrier The road information that individual sensor, magnetic navigation sensor and RFID Card Readers part provide is analyzed, to adjust it to DC servo The control parameter of motor；The fusion that another controller is used for navigation information is estimated, and controls human-computer interaction module and channel radio Interrogate module.
- 6. the control method of submersible AGV navigation dolly as claimed in claim 5, it is characterised in that：It is right in the step 2) The RFID label tag pasted is classified, and classification has：Destination-address code, for making submersible AGV navigation dollies accurate Rest on destination；Destination is close to alarm codes, for making submersible AGV navigation dollies be warned when close to destination Show signal, so as to which pre-decelerating reduces inertia effects；The cross road indicates code, for passing road ahead information before bifurcated road Pass processor and carry out integration analysis.
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