CN105480299B - Homing guidance can configure trackless launch train and progress control method - Google Patents

Homing guidance can configure trackless launch train and progress control method Download PDF

Info

Publication number
CN105480299B
CN105480299B CN201510870279.3A CN201510870279A CN105480299B CN 105480299 B CN105480299 B CN 105480299B CN 201510870279 A CN201510870279 A CN 201510870279A CN 105480299 B CN105480299 B CN 105480299B
Authority
CN
China
Prior art keywords
carrier loader
mrow
loading plate
homing guidance
controller
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN201510870279.3A
Other languages
Chinese (zh)
Other versions
CN105480299A (en
Inventor
武星
楼佩煌
王龙军
钱晓明
赵龙
孟凯
李斌
姚盛昕
朱云飞
张建鹏
张海瑞
张颖
金鹏
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Nanjing University of Aeronautics and Astronautics
Original Assignee
Nanjing University of Aeronautics and Astronautics
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Nanjing University of Aeronautics and Astronautics filed Critical Nanjing University of Aeronautics and Astronautics
Priority to CN201510870279.3A priority Critical patent/CN105480299B/en
Publication of CN105480299A publication Critical patent/CN105480299A/en
Application granted granted Critical
Publication of CN105480299B publication Critical patent/CN105480299B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D12/00—Steering specially adapted for vehicles operating in tandem or having pivotally connected frames
    • B62D12/02—Steering specially adapted for vehicles operating in tandem or having pivotally connected frames for vehicles operating in tandem
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D53/00—Tractor-trailer combinations; Road trains
    • 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

Abstract

Trackless launch train is can configure the invention discloses a kind of homing guidance, belongs to Automatic Conveying equipment field.Launch train is divided into homing guidance power carrier loader, power carrier loader and/or servo-actuated carrier loader, each column launch train comprises at least a section homing guidance power carrier loader, often it is connected between section carrier loader by three-dimensional independent degree push-pull arrangement, homing guidance power carrier loader traction permutation launch train is travelled along guide path.The present invention can strengthen the running orbit control ability of homing guidance train, improve the steering mobility of homing guidance train, it is to avoid occur mutually to collide in actual moving process, roll the phenomenon such as guide path or carrier loader generation inclination and overturning away from.The invention also discloses a kind of progress control method of above-mentioned launch train.

Description

Homing guidance can configure trackless launch train and progress control method
Technical field
It is especially that one kind is oriented to without mechanical tracks, transported the present invention relates to a kind of homing guidance train and control method The homing guidance trackless launch train and progress control method of carrier vehicle type flexibly configurable, belong to Automatic Conveying equipment neck Domain.
Background technology
There are automatic guided vehicle (Automated Guided Vehicle, AGV) a variety of load to convey and branch mode, bag AGV containing push-pull type, fork-lift type AGV, roller bed type AGV, back carried AGV, jacking type AGV and towed AGV etc..Different transfer modes Barycentre steadiness and it can be loaded and unloaded during with different operating feature, such as push-pull type AGV cargo handlings with the left and right sides, platform need not Power set are installed, but it is higher to AGV positioning requirements, and station platform roller-way needs highly identical with AGV roller-way.Fork truck Formula AGV can between difference in height very big platform and ground handling goods, using multi-layered storage rack or driving into formula tunnel Handling goods tool has great advantage in warehouse, but radius of turn is larger during fork-lift type AGV reversings.
Compared with other transfer modes, towed AGV is defeated more suitable for the logistics that monomer weight is little, total number is numerous Send.Towed AGV need not set shifting apparatus on AGV, tractive force only be provided, with electric trailer than relatively similar, after AGV Side or side set hook, and trailer is connected by hook with AGV, reaches the purpose pulled.Towed AGV is simple in construction, energy Consumption is small, and cost is low, can pull more piece trailer, and transport capacity is increased by more piece trailer.However, the running orbit of more piece trailer Control is relatively difficult, and towed AGV radius of turn is big compared with other types AGV, is running at high speed and can also go out in braking procedure The wild effects such as existing snakelike swing, folding and trailer whipping, add towed AGV and opposite direction or side by side equidirectional row The danger that the AGV vehicles sailed mutually are collided and the danger for rolling guide path away from, can also cause the side of more piece trailer when serious Incline and overturn.
The content of the invention
The technical problems to be solved by the invention are to overcome prior art defect to effectively improve load fortune there is provided one kind Movement Capabilities, enhancing trailer running orbit control ability and the configurable trackless delivery of homing guidance for improving transport task adaptability Train, and for the trackless launch train provide a kind of distribution it is leading-many carrier loader synthetic operation control methods for following.
In order to solve the above-mentioned technical problem, a kind of homing guidance that the present invention is provided can configure trackless launch train, at least It is located at launch train homing guidance power carrier loader foremost including a section and some sections is servo-actuated carrier loader and/or power fortune Carrier vehicle；It is connected between each carrier loader by three-dimensional independent degree push-pull arrangement；
Vehicle Controller, driving wheel apparatus, electronic compass, the driving wheel are installed on the homing guidance power carrier loader Guiding sensor is installed, the driving wheel apparatus, guiding sensor and electronic compass are electrically connected with Vehicle Controller on device； The guiding sensor is used to recognize guide path；
Vehicle Controller is installed on the servo-actuated carrier loader；
Vehicle Controller and driving wheel apparatus, the driving wheel apparatus of the power carrier loader are installed on the power carrier loader Electrically connect the Vehicle Controller of power carrier loader；
The three-dimensional independent degree push-pull arrangement includes the first push-pull arrangement and the being connected by horizontally moving device Two push-pull arrangements, first push-pull arrangement and the second push-pull arrangement connect two adjacent section carrier loaders respectively, and described first pushes away Draw device and the second push-pull arrangement measures the forward and backward rotational angle of connected carrier loader and is transferred to connected respectively In Vehicle Controller on carrier loader；Traction thrust between two adjacent sections carrier loader is transferred to adjacent by the horizontally moving device In two section carrier loaders in the Vehicle Controller of prosthomere carrier loader；
The Vehicle Controller composition control device net of the homing guidance power carrier loader, servo-actuated carrier loader and power carrier loader Network controls launch train overall operation.
In the present invention, the first push-pull arrangement and the second push-pull arrangement include in the three-dimensional independent degree push-pull arrangement Recommend bearing, recommend connecting rod, vertical axis and angular transducer, the vertical axis pass through recommend bearing upper lower cantalever and can be around it Axis is rotated；The connecting rod of recommending is connected with vertical axis, is rotated with vertical axis, and can be slided up and down along vertical axis axis；It is described The rotating shaft of angular transducer is connected with vertical axis, and the body of angular transducer is connected with recommending bearing；
The upper and lower end face for recommending connecting rod of first push-pull arrangement or the second push-pull arrangement and recommending is provided between bearing Vertical spring element；
The horizontally moving device include horizontal sliding sleeve and displacement transducer, one end of the horizontal sliding sleeve with Recommend connecting rod of the upper and lower end face provided with vertical spring element is connected, and other end perforate recommends dress for the first push-pull arrangement or second That puts recommends connecting rod insertion, and recommending connecting rod can slide and spacing in the horizontal direction relative to horizontal sliding sleeve；The displacement is passed Sensor is arranged in horizontal sliding sleeve, in the measurement horizontal sliding sleeve of insertion to recommend connecting rod relative with horizontal sliding sleeve Displacement；Horizontal resiliency element, one end of horizontal resiliency element and horizontal sliding sleeve inwall are provided with the horizontal sliding sleeve Connection, the other end is connected with recommending connecting rod；
Angular transducer on first push-pull arrangement and the second push-pull arrangement is distinguished on connected carrier loader Vehicle Controller is electrically connected；The Vehicle Controller of institute's displacement sensors and prosthomere carrier loader in two adjacent sections carrier loader is electrically connected Connect.
In the present invention, the driving wheel apparatus includes the lifting module, damping module, driving bottom being sequentially connected from top to bottom Disk and the pressure sensor for being arranged on lifting module top, the driving chassis are connected with damping module, and driving chassis can phase Rotated for damping module；The driving chassis includes support, angular transducer, rack-mount vertical axis, is arranged on Trunnion axis on support and the first driving wheel and the second driving wheel installed in trunnion axis two ends, first driving wheel and Independent drive device driving is respectively adopted in two driving wheels, and first driving wheel and the second driving wheel are respectively mounted revolution speed sensing Device, speed probe is electrically connected with Vehicle Controller；The rotating shaft of the angular transducer on the driving chassis with it is rack-mount Vertical axis be connected, drive body and the damping module of the angular transducer on chassis to be connected；The pressure sensor, lifting module Electrically connected with angular transducer with Vehicle Controller.
In the present invention, the lifting module includes upper loading plate, middle loading plate and is connected to loading plate and middle carrying The first height adjustment mechanism between plate；First height adjustment mechanism includes two pairs of connecting rods arranged in a crossed manner, electric pushrods, Both sides of the described two pairs connecting rod one end arranged in a crossed manner respectively with upper loading plate, middle loading plate are fixedly connected, and the other end leads to respectively The horizontal mounting hole that two waling stripes are crossed with upper loading plate, middle loading plate both sides is flexibly connected, upper loading plate and middle loading plate On horizontal kidney-shaped hole site correspondence；The electric pushrod connects any waling stripe, and electric pushrod controlled level connecting rod is in water Moved horizontally in flat mounting hole, the electric pushrod electrically connects Vehicle Controller.
In the present invention, the damping module includes lower loading plate, middle loading plate and is arranged on lower loading plate and middle carrying The second height adjustment mechanism and elastic buffering mechanism between plate；Second height adjustment mechanism include two pairs it is arranged in a crossed manner Connecting rod, both sides of the described two pairs connecting rod one end arranged in a crossed manner respectively with lower loading plate, middle loading plate are fixedly connected, the other end point It is not flexibly connected by two waling stripes with the horizontal mounting hole of lower loading plate, middle loading plate both sides, lower loading plate is held with Horizontal kidney-shaped hole site correspondence on support plate；The waling stripe can moving horizontally in horizontal mounting hole.
In the present invention, the elastic buffering mechanism includes the first guide stanchion being fixed on middle loading plate/lower loading plate With the second guide stanchion, buffer gap is provided between the first guide stanchion and the second guide stanchion and lower loading plate/middle loading plate, Be set with damping spring in first guide stanchion and the second guide stanchion, the upper and lower ends of the damping spring respectively with Middle loading plate, lower loading plate are connected.
In the present invention, first is respectively mounted on the homing guidance power carrier loader, servo-actuated carrier loader and/or power carrier loader Universal wheel, the second universal wheel, the first directional wheel and the second directional wheel；First universal wheel and the second universal wheel are located at carrier loader Front portion, the first directional wheel and the second directional wheel are located at the rear portion of carrier loader, first universal wheel and the second universal wheel, first The cross central line of directional wheel and the second fixed wheel on carrier loader is symmetrical；Homing guidance power carrier loader and the power delivery The driving wheel apparatus of car is fixedly mounted on the cross central line of carrier loader, between universal wheel and directional wheel.
In the present invention, the controller network includes homing guidance in several controller groups, each controller group and moved The Vehicle Controller of power carrier loader is main controller nodeOn power carrier loader and/or servo-actuated carrier loader Vehicle Controller be from controller nodeEach two master controller nodeWithBetween institute Have from controller nodeWith previous master controller nodeConstitute i-th of controller groupEach control The intercommunication of master controller node in device group；
In each controller group, each from controller nodeBy the preceding push-pull arrangement rotational angle measured by itPush-pull arrangement rotational angle afterwardsAnd deutomerite carrier loader traction thrust Fi i_jIt is sent to the master controller node of the groupMaster controller nodeRear push-pull arrangement rotational angle according to measured by itAnd deutomerite carrier loader traction thrustThe rotational angle in i-th of controller group between jth section carrier loader and the section carrier loader of jth+1 is calculated by formula (1) and (2)With traction thrust Fi J, j+1：
Fi j,j+1=Ft i_jJ=0,1,2 ..., k-1 (2)
In formula, k is the number from controller node in i-th of controller group；
Between the controller group, previous master controller nodeIt will be recommended in this group after final section carrier loader Device rotational angleAnd deutomerite carrier loader traction thrust Ft i_kIt is sent to master controller node in latter controller group Master controller node in latter control groupThe preceding push-pull arrangement rotational angle measured according to itBy formula (3) and (4) Calculate the rotational angle between i+1 section homing guidance power carrier loader and prosthomere carrier loaderAnd traction thrust
Between the controller group, the previous master controller nodeBy jth section carrier loader in the control group of place The rotational angle between carrier loader is saved with jth+1It is sent to latter master controller nodeLatter master controller nodeAccording to its rotational angle between previous section carrier loaderThe delivery of i+1 section homing guidance power is calculated by formula (5) The rotational angle of car and the i-th section homing guidance power carrier loader
Present invention also offers the progress control method that above-mentioned homing guidance can configure trackless launch train, the delivery row The master controller node of Section 1 homing guidance power carrier loader in carControl the fortune of Section 1 homing guidance power carrier loader Scanning frequency degreeIt is used as the reference velocity of permutation launch train；
Guiding sensor on i-th section homing guidance power carrier loader measures its posture angular displacement relative to guide pathAngular transducer measures driving chassis in driving wheel apparatus and the angle of rotation of carrier loader isThen other homing guidance power The speed of service of carrier loaderMeet the object function of minimum formula (6)：
In formula,For input vector to be asked, η1And η2For weight coefficient,It is automatic for the i-th section Guide the traction thrust between power carrier loader and prosthomere carrier loader；
Electronic compass measures the azimuth of the i-th section homing guidance power carrier loaderIn i-th of controller group, delivery Average rotation angle between carFor：
In i-th of controller group, the average traction thrust between carrier loaderFor：
In i-th of controller group, the speed of service of power carrier loaderMeet the object function of minimum formula (9)；
In formula,For input vector to be asked, η3、η4And η5For weight coefficient；For Rotational angle in i controller group between the section carrier loader of jth -1 and jth section carrier loader；Fi j-1,jFor in i-th of controller group Jth -1 saves the traction thrust between carrier loader and jth section carrier loader；
In permutation launch train, to jth section homing guidance power carrier loader or power carrier loader, if its quality of loads is Mj, acceleration is aj, acceleration of gravity is g, and it saves the traction thrust F between servo-actuated carrier loader with the continuous b in fronti j-b,jFor thrustIt saves the traction thrust F between servo-actuated carrier loader with the continuous c in reari j,j-cFor pulling forceThen the homing guidance of jth section is moved Total driving force needed for power carrier loader or power carrier loader is：
If the coefficient of friction lower limit on driving wheel and ground is μ1, higher limit is μ2, it is automatic that pressure sensor measures jth section The load that driving wheel apparatus is born in guiding power carrier loader or power carrier loader is Nj；
IfThen increase drives the thrust between wheel apparatus and ground；
IfThen reduce the thrust between driving wheel apparatus and ground.
The beneficial effects of the present invention are：(1), on the basis of towed AGV original structures, motor train unit train is used for reference The design feature of (tracked transportation vehicle) and truck combination (trackless transport vehicles), by recommending connection dress between adjacent train Put, the guiding sensor on homing guidance power carrier loader and drive device, the drive device on power carrier loader and each delivery The sensing and controlling system of Vehicle Controller composition on car, can strengthen the running orbit control ability to homing guidance train, carry The steering mobility (radius of turn, turning clearance width etc.) of high homing guidance train, it is to avoid occur in actual moving process Mutually collide, the phenomenon such as guide path or carrier loader generation inclination and overturning rolled away from, with highly important engineering application value； (2), the present invention in actual use can carry out homing guidance power carrier loader, servo-actuated carrier loader and power carrier loader each Combination is planted, to meet the transport needs of different work environment, the mobility of launch train is improved；(3), connect between each carrier loader Three-dimensional independent degree push-pull arrangement is connect, the amphicheirality for pushing away, drawing active force is realized, the power performance of launch train is improved；It has Have and do not coupled between the independence between multiple degrees of freedom, multi-dimensional movement, can accurately measure the straight-line displacement and angular displacement in delivery workshop, Feedback of the information is provided for closed-loop control, control accuracy and efficiency is improved.
Brief description of the drawings
Fig. 1 is the composition schematic diagram of the configurable trackless launch train of homing guidance in the present invention；
Fig. 2 is three-dimensional independent degree push-pull arrangement schematic diagram in the present invention：(a) it is overall structure diagram；(b) it is figure (a) A-A sectional views in；(c) it is dotted portion enlarged drawing in figure (a)；
Fig. 3 is the schematic three dimensional views of three-dimensional independent degree push-pull arrangement in the present invention；
Fig. 4 is the scheme of installation of driving wheel apparatus in the present invention；
Fig. 5 is the structural representation of driving wheel apparatus in the present invention；
Fig. 6 is the structural representation of lifting module and damping module in the present invention；
Fig. 7 is the structural representation on driving chassis in the present invention；
Fig. 8 is scheme of installation of the guiding sensor on driving wheel apparatus in the present invention；
Fig. 9 is the composition schematic diagram of carrier loader in the present invention；
Figure 10 is the input and output schematic diagram of launch train control system in the present invention；
Figure 11 is the composition schematic diagram of launch train controller network in the present invention；
Figure 12 is the principle schematic of launch train progress control method in the present invention；
In figure, 1- carrier loaders, 2- three-dimensional independent degree push-pull arrangements, 3- homing guidance power carrier loaders, 4- power fortune Carrier vehicle, 5- is servo-actuated carrier loader, and 6- Vehicle Controllers, 7- vehicle frames, 8- driving wheel apparatus, 9- guiding sensors, 201- recommends bearing A, 202- recommend the vertical spring element 1 of connecting rod A, 203- end vertical axle A, 204- vertically-guided key A, 205-, the vertical bullets of 206- Property element 2, the horizontal sliding sleeves of 207-, 208- horizontal resiliency elements, 209- sleeve end caps, 210- angular transducer A, 211- Displacement sensor, 2111- movement parts, 2112- static elements, 231- recommends bearing B, 232- and recommends connecting rod B, 233- end vertical axle B, 234- vertically-guided key B, 235- horizontally-guideds key 1,236- Horizontal limiting blocks, the universal wheel of 237- angular transducers B, 71- first, The universal wheels of 72- second, the directional wheels of 73- first, the directional wheels of 74- second, 81- lifting modules, 82- damping modules, 83- drivings bottom Loading plate in disk, the upper loading plates of 811-, 812-, the height adjustment mechanisms of 813- first, 814- electric pushrods, 815- pressure sensings Loading plate under device, 821-, the height adjustment mechanisms of 822- second, 823- elastic buffering mechanisms, 824- thrust bearings, 831- chassis branch Frame, 832- vertical axises, 833- angular transducers C, 834- trunnion axis, the driving wheels of 835- first, the driving wheels of 836- second, 837- One driving wheel motor, the driving wheel motors of 838- second, 91- turning arms.H01- first connecting rods；H02- second connecting rods；H03- the 3rd Connecting rod；H04- fourth links；H05- first level connecting rods；The waling stripes of H06- second；The waling stripes of H07- the 3rd；H08- the 4th Waling stripe；The waling stripes of H09- the 5th；H10- cross sliding clocks；The connecting rods of H21- the 5th；H22- six-bar linkages；H23- the 7th connects Bar；The connecting rods of H24- the 8th；The waling stripes of H25- the 6th；The waling stripes of H26- the 7th；The waling stripes of H27- the 8th；The water of H28- the 9th Flat connecting rod；The waling stripes of H29- the tenth；The guide stanchions of T01- first；The guide stanchions of T02- second；The damping springs of T03- first； The damping springs of T04- second.
Embodiment
The present invention is described in further detail below in conjunction with the accompanying drawings.
As shown in figure 1, the homing guidance of the present invention, which can configure trackless launch train, includes more piece carrier loader 1, often section delivery It is connected between car by three-dimensional independent degree push-pull arrangement 2.1 point of carrier loader is homing guidance power carrier loader 3, power Carrier loader 4 and servo-actuated carrier loader 5.Homing guidance power carrier loader 3 comprising vehicle frame 7 and Vehicle Controller 6 on vehicle frame, Drive wheel apparatus 8, guiding sensor 9, electronic compass and supply unit.Vehicle Controller 6 is sensed with driving wheel apparatus 8, guiding Device 9, electronic compass electrical connection, supply unit are used to power to driving wheel device 8, guiding sensor 9, electronic compass.Power is delivered Car 4 includes Vehicle Controller 6, vehicle frame 7, driving wheel apparatus 8 and supply unit, driving wheel apparatus 8, Vehicle Controller 6 and power supply Device is arranged on vehicle frame 7, and the driving electrical connection Vehicle Controller 6 of wheel apparatus 8, supply unit is used for driving wheel apparatus 8, vehicle-mounted Controller 6 is powered.Servo-actuated carrier loader 5 includes installing Vehicle Controller 6 on vehicle frame 7, vehicle frame 7.
The operating path of launch train of the present invention is not defined by installation mechanical tracks on the ground, only need to be on ground Face upper berth setting tool has the guide path of certain characteristic signal, and the identification of guiding sensor 9 on homing guidance power carrier loader 3 is led Lead the way footpath, traction permutation launch train is travelled along guide path.In the present invention, launch train by homing guidance power carrier loader 3, Power carrier loader 4, servo-actuated carrier loader 5 arbitrarily composition are formed, and each column launch train is homing guidance power carrier loader foremost 3, power carrier loader 4 and/or servo-actuated carrier loader 5 are connected behind, it is contemplated that the stability in running, generally in servo-actuated fortune Homing guidance power carrier loader 3 or power carrier loader 4 are arranged at intervals between carrier vehicle 5, to improve the resolution and power in path Supply, prevents launch train to be short of power in the process of running, snakelike swing or the deflection path and whipping when turning.
As shown in Figures 2 and 3, three-dimensional independent degree push-pull arrangement 2 of the invention is recommended sub-device, Type B comprising A types and pushed away Draw sub-device and connection A types recommend the horizontally moving device that sub-device, Type B recommend sub-device.A types recommend sub-device comprising recommending Bearing A 201, recommend connecting rod A 202, it is end vertical axle A 203, vertically-guided key A 204, vertical spring element 205, vertical Flexible member 206, horizontal sliding sleeve 207, horizontal resiliency element 208, sleeve end cap 209, angular transducer A 210 and displacement Sensor 211.Recommend bearing A 201, recommend connecting rod A 202, end vertical axle A 203, vertically-guided key A 204, vertical bullet Property element 1 205, vertical spring element 2 206 and angular transducer A 210 constitute the vertical revolute pair of A groups.Recommend bearing A 201 It is fixed on carrier loader, recommending bearing A 201 upper cantilever end and lower cantalever end has coaxial upright opening, recommends connecting rod A 202 one end has upright opening, and the other end is fixedly connected with horizontal sliding sleeve 207.End vertical axle A 203 is passed through and is recommended branch The seat upright openings of A 201, are connected, recommending connecting rod A 202 can by vertically-guided key A 204 with recommending connecting rod A 202 upright opening It is rotated about axis, and can be slided up and down relative to end vertical axle A 203 along axis with end vertical axle A 203.Vertically Flexible member 1 205 passes through end vertical axle A 203, is fixedly installed in and recommends bearing A 201 upper cantilever end and recommend connecting rod A Between 202 upper surface；Vertical spring element 2 206 passes through end vertical axle A 203, is fixedly installed in and recommends connecting rod A 202 Lower surface and recommend bearing A 201 lower cantalever end between.Angular transducer A 210 rotating shaft 2101 and end vertical axle A 203 are fixedly connected, and angular transducer A 210 body 2102 is fixedly connected with recommending bearing A 201, angular transducer A 210 Rotating shaft 2101 and body 2102 between can relatively rotate.
Type B recommends sub-device comprising recommending bearing B 231, recommend connecting rod B 232, end vertical axle B 233, vertically-guided Key B 234, horizontally-guided key 235, Horizontal limiting block 236 and angular transducer B237.Recommend bearing B 231, recommend connecting rod B 232nd, end vertical axle B 233, vertically-guided key B 234 and angular transducer B 237 constitute the vertical revolute pair of B groups.Recommend branch Seat B 231 is fixed on carrier loader, and recommending bearing B 231 upper cantilever end and lower cantalever end has coaxial upright opening, recommends Connecting rod B 232 one end has upright opening, and the other end is installed in horizontal sliding sleeve 207.End vertical axle B 233 is passed through and pushed away The upright openings of bearing B 231 are drawn, are connected by vertically-guided key B 234 with recommending connecting rod B 232 upright opening, connecting rod B is recommended 232 can be rotated about axis with end vertical axle B 233, and can be slided up and down relative to end vertical axle B 233 along axis. Angular transducer B 237 rotating shaft 2371 is fixedly connected with end vertical axle B 233, angular transducer B 237 body 2372 It is fixedly connected, can be relatively rotated between angular transducer B 237 rotating shaft 2371 and body 2372 with recommending bearing B 231.
Moving horizontally secondary level includes sliding sleeve 207, horizontal resiliency element 208, sleeve end cap 209, displacement transducer 211st, horizontally-guided key 235 and Horizontal limiting block 236.Horizontal one end of sliding sleeve 207 is fixedly connected with recommending connecting rod A 202, The other end of horizontal sliding sleeve 207 has lateral aperture, recommends connecting rod B232 and passes through horizontally-guided key 1 235 and horizontal slip cap The lateral aperture connection of cylinder 207.Horizontal resiliency element 208, which is fixedly installed in, recommends the interior of connecting rod B232 and horizontal sliding sleeve 207 Between wall.The movement parts 2111 of displacement transducer 211 are fixedly connected with recommending connecting rod B232, the static element of displacement transducer 211 2112 are fixedly connected with horizontal sliding sleeve 207.The lateral aperture of horizontal sliding sleeve 207 is sealed by sleeve end cap 209, the company of recommending Horizontal limiting block 236 is installed on bar B232.
The rear center that bearing A201 is fixedly installed in prosthomere carrier loader is recommended, bearing B231 is recommended and is fixedly installed in deutomerite The stem center of carrier loader, when initially installing, vertical spring element 1 205 and vertical spring element 2 206 are all in compression shape State, both pressure differentials can be used for the gravity and inertia force of equilibrium level prismatic pair.In the vertical revolute pair of A groups, end vertical Axle A 203 can be rotated in the upright opening for recommending bearing A 201, recommend connecting rod A 202 can with end vertical axle A 203 around Axis is rotated, and the rotational angle can be measured by angular transducer A 210, is as recommended connecting rod A 202 and is delivered workshop with prosthomere Angle of rotation.In the vertical revolute pair of B groups, end vertical axle B 233 can be rotated in the upright opening for recommending bearing B 231, be recommended Connecting rod B 232 can be rotated about axis with end vertical axle B 233, and the rotational angle can be measured by angular transducer B 237, As recommend the angle of rotation that connecting rod B 232 delivers workshop with deutomerite.
In pair is moved horizontally, recommending connecting rod B 232 can in the horizontal direction slide relative to horizontal sliding sleeve 207, and two Person's relative displacement can be measured by displacement transducer 211.Recommend the extreme position that connecting rod B 232 is slided in the horizontal direction, one end by The inwall of horizontal sliding sleeve 207 for installing horizontal resiliency element 208 determined, when recommending the exposure levels of connecting rod B 232 It is spacing to recommending connecting rod B232 progress during the inwall of sliding sleeve 207；The other end is determined by Horizontal limiting block 236, works as level It is spacing to recommending connecting rod B232 progress during 236 contact sleeve end cap 209 of limited block.Displacement transducer 211 electrically connects vehicle-mounted control Device 6, Vehicle Controller 6 calculates the traction thrust between push-pull arrangement and carrier loader according to the stiffness coefficient of horizontal resiliency element.
When the ground out-of-flatness residing for prosthomere carrier loader and deutomerite carrier loader, recommend bearing A 201 and recommend bearing B 231 there may be larger difference in height.Recommending connecting rod A 202 can be along end vertical axle A under vertically-guided key A 204 guiding 203 axis are slided, and recommending connecting rod B 232 can slide under vertically-guided key B 234 guiding along the axis of end vertical axle B 233 It is dynamic, and recommend connecting rod A 202 and recommend connecting rod B 232 and keep synchronous slide in vertical direction, move horizontally pair and remain Horizontal level.
Compared with the coupling hitch of draw bar trailer, three-dimensional independent degree push-pull arrangement of the invention has three Significant advantage：(1), the amphicheirality of active force.For the push-pull arrangement of the present invention, connecting rod B and horizontal sliding sleeve are recommended Horizontal resiliency element between inwall both can be at stretching and can also be in compressive state.Therefore, both there is the pulling of prosthomere carrier loader The situation of deutomerite carrier loader, there is also the situation that deutomerite carrier loader promotes prosthomere carrier loader.And for draw bar trailer, typically all It is that tractor pulls trailer.(2), the independence between multiple degrees of freedom.For the present invention push-pull arrangement, vertical revolute pair it is vertical Rotate, move horizontally and secondary moved along the connecting rod B that vertically moves and recommend of end vertical axle relative to the level of horizontal sliding sleeve Dynamic is all independent, is not coupled between multi-dimensional movement, the measurement of straight-line displacement and angular displacement is fairly simple, the displacement to different dimensional The motion control of amount is also fairly simple.And for draw bar trailer, the typically no free degree moved horizontally of coupling hitch, Horizontal swing is also what is coupled with vertical oscillation.(3), the measurability of amount of exercise.The push-pull arrangement of the present invention, vertical revolute pair Vertical rotational displacement and to recommend connecting rod B relative to the straight-line displacement that moves horizontally of horizontal sliding sleeve be all accurate measurable , provide feedback of the information for closed-loop control, and existing draw bar trailer, the typically no feedback measurement member of coupling hitch Part.
As shown in Figures 4 and 5, the driving wheel apparatus 8 in the present invention includes lifting module 81, damping module 82 and driving chassis 83.Driving wheel apparatus 8 is connected by lifting the upper loading plate 811 of module 81 with vehicle frame 7, and is bolted.In upper carrying Pressure sensor 814 is installed, the connection Vehicle Controller 6 of pressure sensor 814 is used between the contact surface of plate 811 and vehicle frame 7 Detection vehicle frame 7 acts on the load of driving wheel apparatus 8.The load first passes through loading plate 811 and acts on lifting module 81, then leads to Cross middle loading plate 812 and act on damping module 82, after by lower loading plate 821 act on driving chassis 83, and with driving wheel institute Balanced each other by the support force on ground.
As shown in Fig. 4,5 and 6, lifting module 81 of the invention includes upper loading plate 811, middle loading plate 812 and connection The first height adjustment mechanism between upper loading plate 811 and middle loading plate 812.First height adjustment mechanism includes first and connected Bar H01, second connecting rod H02, third connecting rod H03, fourth link H04, first level connecting rod H05, the second waling stripe H06, Three waling stripe H07, the 4th waling stripe H08, the 5th waling stripe H0, electric pushrod 8139 and cross sliding clock H10.Above-mentioned four The two ends and centre of root connecting rod are formed with circular hole, and the both sides of upper one end of loading plate 811 are symmetrically formed with circular hole, first level connecting rod H05 sequentially passes through the circular hole of first connecting rod H01 one end, the one end of upper loading plate 811 and third connecting rod H03 one end, by above-mentioned two Connecting rod is fixedly connected with upper loading plate 811.The middle upper strata of loading plate 812 is also symmetrically formed with circular hole, the second water with the both sides of one end Flat connecting rod H06 sequentially passes through the same one end of second connecting rod H02, the upper strata of middle loading plate 812 with one end and fourth link H04 with one end Circular hole, above-mentioned two connecting rods are fixedly connected with the middle upper strata of loading plate 812.Symmetrically make the both sides of the upper other end of loading plate 811 There is horizontal mounting hole, the 3rd waling stripe H07 sequentially passes through the circular hole of the second connecting rod H02 other ends, the other end of upper loading plate 811 Horizontal mounting hole and the fourth link H04 other ends circular hole, above-mentioned two connecting rods are fixedly connected, and can be along upper loading plate Moved horizontally in 811 horizontal mounting hole.The middle upper strata of loading plate 812 is also symmetrically formed with horizontal mounting hole with the both sides of one end, Corresponding with the horizontal kidney-shaped hole site on upper loading plate 811, it is same that the 4th waling stripe H08 sequentially passes through first connecting rod H01 The circular hole at end, the upper strata of middle loading plate 812 with one end horizontal mounting hole and third connecting rod H03 with one end circular hole, by above-mentioned two Root connecting rod is fixedly connected, and can be moved horizontally along along the horizontal mounting hole on the middle upper strata of loading plate 812.First connecting rod H01 and second Connecting rod H02, third connecting rod H03 and fourth link H04 be crossed to form respectively two pairs intersection connecting rods, the 5th waling stripe H09 according to It is secondary to pass through second connecting rod H02, first connecting rod H01, third connecting rod H03, fourth link H04 middle circular hole, by above-mentioned four companies Bar is fixedly connected, it is ensured that the center of four connecting rods has identical movement locus.Electric pushrod 814 is installed on middle loading plate 812 Top surface, the output end of electric pushrod 814 is fixedly connected by cross sliding clock H10 with the 4th waling stripe H08.Electric pushrod 814 electrically connect with the Vehicle Controller 6 of installed launch train, under the driving of electric pushrod 814, can actively adjust the 4th water Flat connecting rod H08's moves horizontally position in horizontal mounting hole.When the ground residing for launch train has larger difference in height When, the load that each section carrier loader is born has larger difference, can be connected the second level by the active control of electric pushrod 814 The level of bar and the 4th waling stripe in horizontal mounting hole is slided, and is converted into middle loading plate 812 relative to upper loading plate 811 Vertical displacement movement so that there is identical contact between the driving wheel of each section carrier loader and ground, it is ensured that respectively save carrier loader Bear than more uniform load.
As shown in Fig. 4,5 and 6, damping module 82 of the invention includes lower loading plate 821 and is arranged on lower loading plate 821 The second height adjustment mechanism 822 and elastic buffering mechanism between middle loading plate 812.Separately there is a thrust bearing 822 by axle Socket end lid is installed on the bottom center of lower loading plate 821.Second height adjustment mechanism 822 includes the 5th connecting rod H21, six-bar linkage H22, seven-link assembly H23, the 8th connecting rod H24, the 6th waling stripe H25, the 7th waling stripe H26, the 8th waling stripe H27, 9th waling stripe H28, the tenth waling stripe H29.The two ends and centre of above-mentioned four connecting rods are formed with circular hole, middle loading plate 812 The both sides of lower floor one end are symmetrically formed with circular hole, and the 6th waling stripe H25 sequentially passes through the 5th connecting rod H21 one end, middle loading plate 812 lower floor one end and the circular hole of seven-link assembly H23 one end, above-mentioned two connecting rods are fixedly connected with the middle lower floor of loading plate 812.Under Loading plate 821 is also symmetrically formed with circular hole with the both sides of one end, the 7th waling stripe H26 sequentially pass through six-bar linkage H22 one end, Above-mentioned two connecting rods are fixedly connected by lower loading plate 821 with the circular hole of one end and the 8th connecting rod H24 one end with lower loading plate 821. The both sides of the middle lower floor's other end of loading plate 812 are symmetrically formed with horizontal mounting hole, and the 8th waling stripe H27 sequentially passes through the 6th company The circular hole of the circular holes of the bar H22 other ends, the horizontal mounting hole of the lower floor's other end of middle loading plate 812 and the 8th connecting rod H24 other ends, Above-mentioned two connecting rods are fixedly connected, and can be moved horizontally along along the horizontal mounting hole of the middle lower floor of loading plate 812.Lower loading plate 821 are also symmetrically formed with horizontal mounting hole with the both sides of one end, corresponding with the horizontal kidney-shaped hole site on middle loading plate 812, 9th waling stripe H28 sequentially pass through the 5th connecting rod H21 with the circular hole of one end, lower loading plate 821 with one end horizontal mounting hole With circular holes of the seven-link assembly H23 with one end, above-mentioned two connecting rods are fixedly connected, and can along lower loading plate 821 horizontal kidney-shaped Moved horizontally in hole.Tenth waling stripe H29 sequentially passes through six-bar linkage H22, the 5th connecting rod H21, seven-link assembly H23, the 8th Connecting rod H24 middle circular hole, above-mentioned four connecting rods are fixedly connected, it is ensured that there is identical to move rail at the center of four connecting rods Mark.When the 8th waling stripe H27 or the 9th waling stripe H28 are moved horizontally in horizontal mounting hole, the second height is driven to adjust Mechanism is saved to move in vertical direction.
Elastic buffering mechanism 823 include the first guide stanchion T01, the second guide stanchion T02, the first damping spring T03 and Second damping spring T04.First guide stanchion T01 and the second guide stanchion T02 is symmetrical relative to vertical axis 832, two guiding The bottom of pillar is fixedly installed in the upper surface of lower loading plate 821, and top and the lower surface of middle loading plate 812 are buffered with certain Distance.First damping spring T03 and the second damping spring T04 are respectively fitted over the first guide stanchion T01 and the second guide stanchion T02 On, the upper and lower end face of this two damping springs lower surface respectively with middle loading plate 812, the upper surface of lower loading plate 821 connect Connect, and be in compressive state all the time.When the ground out-of-flatness residing for carrier loader, in the effect of this two damping spring pressure Under, promote height adjustment mechanism to change vertical range of the lower loading plate 821 relative to middle loading plate 812.If ground is raised, subtract Shake spring pressure and become big, lower loading plate 821 shortens relative to the vertical range of middle loading plate 812, connecing between driving wheel and ground Touch pressure becomes big.If ground is recessed, damping spring pressure diminishes, lower loading plate 821 relative to middle loading plate 812 it is vertical away from From elongated, the contact between driving wheel and ground diminishes.However, when the driving wheel pressure of certain section carrier loader is significantly greater than averagely Value, vertical range of the loading plate 812 relative to upper loading plate 811 in actively being reduced by lifting module 81.When certain section carrier loader Driving wheel pressure be significantly less than average value, loading plate 812 is relative to upper loading plate 811 in actively being increased by lifting module 81 Vertical range.
As best shown in figures 5 and 7, driving chassis 83 of the invention includes chassis overhang 831, vertical axis 832, angular transducer C 833rd, trunnion axis 834 and the first driving wheel 835 and the second driving wheel 836 installed in the two ends of trunnion axis 834.Vertical axis 832 Lower end is fixed on the center of chassis overhang 831, and upper end is installed on the inner ring of the thrust bearing 822 of the lower bottom surface of loading plate 821, thrust The outer ring of bearing 822 is installed on lower loading plate 821 by bearing (ball) cover, and chassis overhang 831 can be relative to lower loading plate 821 along hanging down The axis of d-axis 832 is rotated, that is, drives chassis 83 can be relative to axis rotation of the driving wheel apparatus 8 along vertical axis 832.Trunnion axis 834 are each passed through the hole in the arranged on left and right sides face of chassis overhang 831, and are fixed with chassis overhang 831.First driving wheel 835 passes through rolling Dynamic bearing is installed on the left side external part of trunnion axis 834, the wheel hub end face of the first driving wheel 835 and the end face knot of the first big sprocket wheel Merge and fix, the endoporus of the first big sprocket wheel passes through the left side external part of trunnion axis 834 and do not contacted.First driving wheel motor 837 The left end face of chassis overhang 831 is fixed on, the first minor sprocket is installed on the output shaft of the first driving wheel motor 837 by key On, the first minor sprocket is connected with the first big sprocket wheel by chain.Second driving wheel 836 is installed on trunnion axis by rolling bearing 834 right side external part, the wheel hub end face of the second driving wheel 836 is combined and fixed with the end face of the second big sprocket wheel, second largest chain The endoporus of wheel passes through the left side external part of trunnion axis 834 and not contacted.Second driving wheel motor 838 is fixed on chassis overhang 831 Its right end face, the second minor sprocket is installed on by key on the output shaft of the second driving wheel motor 838, the second minor sprocket and second Big sprocket wheel is connected by chain.Speed probe, revolution speed sensing are respectively mounted on first driving wheel 837 and the second driving wheel 836 Device is electrically connected with Vehicle Controller 6, and speed probe measures the velocity of rotation of two driving wheels, and the velocity of rotation is transferred to In Vehicle Controller 6.
As shown in Fig. 1, Fig. 4 and Fig. 8, driving wheel apparatus 8 of the invention is connected by upper loading plate 811 with vehicle frame 7, guiding Sensor 9 can be fixedly installed in the front end face on driving chassis 83 by turning arm 91.Because driving chassis 83 can be relative to driving Axis of the wheel apparatus 8 along vertical axis 832 is rotated, then guiding sensor 9 can rotate around the axis of vertical axis 832, turntable driving wheel Guide path around device 8.Guiding sensor 9 can recognize that the characteristic signal of guide path, can measure homing guidance by it and move Lateral attitude deviation of the power carrier loader 3 relative to guide path and posture angular displacement.
As shown in figure 9, the present invention vehicle frame 7 on be provided with front portion the first universal wheel 71, the second universal wheel 72 and after First directional wheel 73, second directional wheel 74 in portion.The cross central line of first universal wheel 71 and the second universal wheel 72 on vehicle frame 7 Symmetrically, the first directional wheel 73 and the second directional wheel 74 are symmetrical on the cross central line of vehicle frame 7.Servo-actuated carrier loader 5 is comprising vehicle-mounted Controller 6 and vehicle frame 7, power carrier loader 4 include Vehicle Controller 6, vehicle frame 7, driving wheel apparatus 8 and supply unit, lead automatically Priming power carrier loader 3 includes Vehicle Controller 6, vehicle frame 7, driving wheel apparatus 8, guiding sensor 9, electronic compass and power supply dress Put.For homing guidance power carrier loader 3 and power carrier loader 4, driving wheel apparatus 8 is fixedly installed in the transverse center of vehicle frame 7 On line, and positioned between universal wheel and directional wheel.
As shown in Figure 10, the Vehicle Controller composition control network in the present invention on each section carrier loader controls launch train Overall operation, is installed on angular transducer and displacement transducer in push-pull arrangement, and the pressure being installed in driving wheel apparatus 8 is passed Sensor, angular transducer and guiding sensor and electric pushrod and motor, be installed on electronic compass in vehicle frame 7 with Vehicle Controller electrical connection on its carrier loader installed.In Fig. 10, left pane be each sensor and electronic compass, in Between square be controller, right pane for driving wheel apparatus in motor and electric pushrod.Wherein, the biography in push-pull arrangement Sensor is respectively mounted on homing guidance power carrier loader 3, power carrier loader 4 and servo-actuated carrier loader 5；Drive the sensing in wheel apparatus Device is installed on homing guidance power carrier loader 3 and power carrier loader 4, and guiding sensor and electronic compass are in homing guidance power Installed on carrier loader 3.As seen from the figure, it is vehicle-mounted for homing guidance power carrier loader 3, power carrier loader 4 and servo-actuated carrier loader 5 The input of controller 6 is recommended angular transducer B237 in sub-device with the section carrier loader stem Type B and electrically connected, and measures section fortune Carrier vehicle and the rotational angle of preceding push-pull arrangementThe input of Vehicle Controller 6 is recommended in sub-device with the carrier loader afterbody A types Angular transducer A210 is electrically connected, and measures the rotational angle of the section carrier loader and rear push-pull arrangementThe input of Vehicle Controller 6 End is recommended displacement transducer 211 in sub-device with the section carrier loader afterbody A types and electrically connected, and measures the section carrier loader and is delivered with deutomerite The traction thrust F in workshopt.For homing guidance power carrier loader 3 and power carrier loader 4, the input of Vehicle Controller 6 and driving Pressure sensor 814 is electrically connected in wheel apparatus 8, the service load N that measurement driving wheel apparatus 8 is bornp；Vehicle Controller 6 Input is electrically connected with angular transducer C 833 in driving wheel apparatus 8, and measurement driving chassis 83 is relative to driving wheel apparatus 8 Rotational angleThe output end of Vehicle Controller 6 is electrically connected with the driver of electric pushrod 813 in driving wheel apparatus 8, and control rises The lifting travel height H of module 81 dropsp；The output end of Vehicle Controller 6 and the first driving wheel motor 837 in driving wheel apparatus 8, The driver electrical connection of second driving wheel motor 838, controls the linear velocity v of the first driving wheel 836LWith the second driving wheel motor 838 linear velocity vR.For homing guidance power carrier loader 3, the input of Vehicle Controller 6 is electrically connected with guiding sensor 9, Measure lateral attitude deviation L of the homing guidance power carrier loader 3 relative to guide patheWith posture angular displacement θe；Vehicle Controller 6 input is electrically connected with electronic compass, the azimuth ψ of measurement homing guidance power carrier loader 3.
The Vehicle Controller on homing guidance power carrier loader 3, power carrier loader 4 and servo-actuated carrier loader 5 in the present invention Utilize existing communication medium composition control device network.The Vehicle Controller of homing guidance power carrier loader 3 is main controller nodeVehicle Controller on power carrier loader 4 and servo-actuated carrier loader 5 is from controller node From the master controller node of Section 1 homing guidance power carrier loaderStart, each two master controller nodeWithBetween it is all from controller nodeWith previous master controller nodeConstitute i-th of controller groupThe intercommunication of master controller in each controller group.Wherein, subscript m represents master controller, subscript s tables Show from controller；Subscript i be controller group #, i=1,2,3 ..., l, l be controller group number；Subscript j is control in group Device is numbered, j=0,1,2 ..., k, and 0 is master controller, for from controller, k is the number in group from controller node since 1.
In same controller group, each from controller nodeBy measured preceding push-pull arrangement rotational angle Push-pull arrangement rotational angle afterwardsAnd deutomerite carrier loader traction thrust Ft i_jIt is sent to the master controller node in this controller groupThe master controller nodeAccording to its rear push-pull arrangement rotational angle for measuringAnd deutomerite carrier loader is recommended Power Ft i_0, the angle of rotation in i-th of controller group between jth section carrier loader and the section carrier loader of jth+1 is calculated by formula (1) and (2) DegreeWith traction thrust Fi j,j+1。
In formula, k is the number from controller node in i-th of controller group.
As shown in figure 11, in the 1st controller group, Section of 0 rotational angle between carrier loader and Section 1 carrier loader is
In the 1st controller group, Section of 0 traction thrust between carrier loader and Section 1 carrier loader is
F1 0,1=Ft 1_0
Between controller group, previous master controller nodeThe rear push-pull arrangement of final section carrier loader in group is turned Dynamic angleAnd deutomerite carrier loader traction thrust Ft i_kIt is sent to latter master controller nodeLatter master controller nodeAccording to its preceding push-pull arrangement rotational angle for measuringI+1 section homing guidance power is calculated by formula (3) and (4) Rotational angle between carrier loader and prosthomere carrier loaderAnd traction thrust
As shown in figure 11, the master controller node of the 1st controller groupIt will be recommended in group after final section carrier loader Device rotational angleAnd deutomerite carrier loader traction thrust Ft 1_2It is sent to the master controller node of the 2nd controller group Calculating the rotational angle between Section 2 homing guidance power carrier loader and prosthomere carrier loader by it is
Traction thrust between Section 2 homing guidance power carrier loader and prosthomere carrier loader is
Previous master controller nodeJth section carrier loader in group and jth+1 are also saved to the rotational angle between carrier loaderIt is sent to latter master controller nodeLatter master controller nodeAccording to it between prosthomere carrier loader Rotational angleTurn of i+1 section homing guidance power carrier loader and the i-th section homing guidance power carrier loader is calculated by formula (5) Dynamic angle
As shown in figure 11, the master controller node of the 1st controller groupAlso by jth section carrier loader in group and jth+1 (j=0,1) rotational angle between section carrier loaderIt is sent to the master controller node of the 2nd controller group According to its rotational angle between prosthomere carrier loaderSection 2 homing guidance power carrier loader and Section 1 homing guidance power The rotational angle of carrier loader is
As shown in figure 12, the progress control method of the configurable trackless launch train of homing guidance of the invention is divided into two layers It is secondary.Distributed AC servo system is used between multiple controller groups, the synthetic operation between more piece homing guidance power carrier loader is carried out Control.
First master controller nodeInstructed according to system task, path complex situations, traffic congestion etc. because Element, decides the speed of service of Section 1 homing guidance power carrier loader in its sole discretionAnd the speed is used as the reference of permutation launch train Speed.
Guiding sensor measures posture angular displacement of the i-th section homing guidance power carrier loader relative to guide pathDrive Angular transducer measures driving chassis in driving wheel device and the angle of rotation of carrier loader isThen other homing guidance power carrier loaders The speed of serviceMeet the object function of minimum formula (6).
Wherein,For input vector to be asked, η1And η2For weight coefficient.The object function is many Input, single output problem, can use a variety of conventional Optimization Methods, will not be described here.For the i-th section homing guidance power Traction thrust between carrier loader and prosthomere carrier loader.
In i-th of controller group, the average rotation angle between carrier loaderCalculated by formula (7), between carrier loader Average traction thrustCalculated by formula (8)：
Electronic compass measures the azimuth of the i-th section homing guidance power carrier loaderThe angle is without respect to guiding road The posture angular displacement in footpath, but relative to the absolute azimuth of ground static coordinate system.In i-th of device group processed, institute is dynamic The speed of service of carrier loaderMeet the object function of minimum formula (9).
Wherein,For input vector to be asked, η3、η4And η5For weight coefficient.The target letter Number is multi input, single output problem, can use a variety of conventional Optimization Methods.For jth -1 in i-th of controller group Save the rotational angle between carrier loader and jth section carrier loader；Fi j-1,jFor the section carrier loader of jth -1 and jth in i-th of controller group Save the traction thrust between carrier loader.
In permutation launch train, to jth section homing guidance power carrier loader or power carrier loader, it is assumed that its quality of loads For Mj, acceleration is aj, acceleration of gravity is g, and it saves the traction thrust F between servo-actuated carrier loader with the continuous b in fronti j-b,jFor thrustIt saves the traction thrust F between servo-actuated carrier loader with the continuous c in reari j,j-cFor pulling forceThen the homing guidance of jth section is moved Total driving force needed for power carrier loader or power carrier loader is：
Assuming that the coefficient of friction lower limit on driving wheel and ground is μ1, higher limit is μ2, pressure sensor measurement jth section is certainly The load that driving wheel apparatus is born in dynamic guiding power carrier loader or power carrier loader is Nj。
IfThen drive driving chassis to move downward by lifting module, increase driving wheel apparatus and ground it Between thrust；
IfThen drive driving chassis to move upwards by lifting module, reduce driving wheel apparatus and ground it Between thrust.
Described above is only the preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art For member, some improvement can also be made under the premise without departing from the principles of the invention, and these improvement also should be regarded as the present invention's Protection domain.

Claims (9)

1. a kind of homing guidance can configure trackless launch train, it is characterised in that：Before being at least located at launch train most including a section The homing guidance power carrier loader and some sections at end are servo-actuated carrier loader and/or power carrier loader；Lead between each carrier loader Three-dimensional independent degree push-pull arrangement is crossed to be connected；
Vehicle Controller, driving wheel apparatus, electronic compass, the driving wheel apparatus are installed on the homing guidance power carrier loader Upper to install guiding sensor, the driving wheel apparatus, guiding sensor and electronic compass are electrically connected with Vehicle Controller；It is described Guiding sensor is used to recognize guide path；
Vehicle Controller is installed on the servo-actuated carrier loader；
Vehicle Controller and driving wheel apparatus are installed, the driving wheel apparatus of the power carrier loader is electrically connected on the power carrier loader Connect the Vehicle Controller of power carrier loader；
The three-dimensional independent degree push-pull arrangement includes pushing away by the first push-pull arrangement and second that horizontally moving device is connected Device is drawn, first push-pull arrangement and the second push-pull arrangement connect two adjacent section carrier loaders respectively, and described first recommends dress Put and measure the forward and backward rotational angle of connected carrier loader respectively with the second push-pull arrangement and be transferred to connected delivery In Vehicle Controller on car；Traction thrust between two adjacent sections carrier loader is transferred to two adjacent sections by the horizontally moving device In carrier loader in the Vehicle Controller of prosthomere carrier loader；
The Vehicle Controller composition control device network control of the homing guidance power carrier loader, servo-actuated carrier loader and power carrier loader Launch train overall operation processed.
2. homing guidance according to claim 1 can configure trackless launch train, it is characterised in that：The three-dimensional is independent certainly The first push-pull arrangement and the second push-pull arrangement include recommending bearing, recommending connecting rod, vertical axis and angle in degree push-pull arrangement Sensor, the vertical axis pass through recommend bearing upper lower cantalever and can be rotatable around its axis；It is described to recommend connecting rod and vertical axis Connection, is rotated, and can be slided up and down along vertical axis axis with vertical axis；The rotating shaft of the angular transducer is connected with vertical axis, The body of angular transducer is connected with recommending bearing；
The upper and lower end face for recommending connecting rod of first push-pull arrangement or the second push-pull arrangement is with recommending between bearing provided with vertical Flexible member；
The horizontally moving device include horizontal sliding sleeve and displacement transducer, one end of the horizontal sliding sleeve with it is upper, Recommend connecting rod of the lower surface provided with vertical spring element is connected, other end perforate, for the first push-pull arrangement or the second push-pull arrangement Recommend connecting rod insertion, recommending connecting rod can slide and spacing in the horizontal direction relative to horizontal sliding sleeve；The displacement sensing Device is arranged in horizontal sliding sleeve, the relative position for recommending connecting rod and horizontal sliding sleeve in the measurement horizontal sliding sleeve of insertion Move；Horizontal resiliency element is provided with the horizontal sliding sleeve, one end of horizontal resiliency element connects with horizontal sliding sleeve inwall Connect, the other end is connected with recommending connecting rod；
Angular transducer on first push-pull arrangement and the second push-pull arrangement distinguishes vehicle-mounted on connected carrier loader Controller is electrically connected；Institute's displacement sensors are electrically connected with the Vehicle Controller of prosthomere carrier loader in two adjacent sections carrier loader.
3. homing guidance according to claim 1 or 2 can configure trackless launch train, it is characterised in that：The driving wheel Device is including the lifting module being sequentially connected from top to bottom, damping module, driving chassis and is arranged on lifting module top Pressure sensor, the driving chassis is connected with damping module, and driving chassis can be rotated relative to damping module；The driving bottom Disk includes support, angular transducer, rack-mount vertical axis, rack-mount trunnion axis and installed in level Independent driving dress is respectively adopted in first driving wheel and the second driving wheel at axle two ends, first driving wheel and the second driving wheel Driving is put, first driving wheel and the second driving wheel are respectively mounted speed probe, and speed probe is electrically connected with Vehicle Controller Connect；The rotating shaft of the angular transducer on the driving chassis is connected with rack-mount vertical axis, and the angle on driving chassis is passed The body of sensor is connected with damping module；The pressure sensor, lifting module and drive chassis angular transducer with it is vehicle-mounted Controller is electrically connected.
4. homing guidance according to claim 3 can configure trackless launch train, it is characterised in that：The lifting module bag Include loading plate, middle loading plate and the first height adjustment mechanism being connected between loading plate and middle loading plate；Described One height adjustment mechanism includes two pairs of connecting rods arranged in a crossed manner, electric pushrods, described two pairs connecting rod one end difference arranged in a crossed manner It is fixedly connected with the both sides of upper loading plate, middle loading plate, the other end passes through two waling stripes and upper loading plate, middle carrying respectively The horizontal mounting hole of plate both sides is flexibly connected, and upper loading plate is corresponding with the horizontal kidney-shaped hole site on middle loading plate；It is described electronic Push rod connects any waling stripe, and electric pushrod controlled level connecting rod is moved horizontally in horizontal mounting hole, the electric pushrod Electrically connect Vehicle Controller.
5. homing guidance according to claim 3 can configure trackless launch train, it is characterised in that：The damping module bag Include lower loading plate, middle loading plate and the second height adjustment mechanism and elasticity that are arranged between lower loading plate and middle loading plate are slow Punch mechanism；Second height adjustment mechanism includes two pairs of connecting rods arranged in a crossed manner, described two pairs connecting rod one end arranged in a crossed manner The both sides with lower loading plate, middle loading plate are fixedly connected respectively, the other end respectively by two waling stripes and lower loading plate, in The horizontal mounting hole of loading plate both sides is flexibly connected, and lower loading plate is corresponding with the horizontal kidney-shaped hole site on middle loading plate；It is described Waling stripe can moving horizontally in horizontal mounting hole.
6. homing guidance according to claim 5 can configure trackless launch train, it is characterised in that：The elastic buffer machine Structure includes being fixed on the first guide stanchion and the second guide stanchion on middle loading plate/lower loading plate, the first guide stanchion and the Buffer gap, first guide stanchion and the second guide stanchion are provided between two guide stanchions and lower loading plate/middle loading plate On be set with damping spring, the upper and lower ends of the damping spring are connected with middle loading plate, lower loading plate respectively.
7. homing guidance according to claim 1 or 2 can configure trackless launch train, it is characterised in that：It is described to lead automatically The first universal wheel, the second universal wheel, the first orientation are respectively mounted on priming power carrier loader, servo-actuated carrier loader and/or power carrier loader Wheel and the second directional wheel；First universal wheel and the second universal wheel are located at the front portion of carrier loader, and the first directional wheel and second are determined To wheel positioned at the rear portion of carrier loader, first universal wheel and the second universal wheel, the first directional wheel and the second fixed wheel are on fortune The cross central line of carrier vehicle is symmetrical；The driving wheel apparatus of the homing guidance power carrier loader and power carrier loader is fixedly mounted on On the cross central line of carrier loader, between universal wheel and directional wheel.
8. homing guidance according to claim 1 or 2 can configure trackless launch train, it is characterised in that：The controller The Vehicle Controller that network includes homing guidance power carrier loader in several controller groups, each controller group is main control Device nodeVehicle Controller on power carrier loader and/or servo-actuated carrier loader is from controller nodeEach two master controller nodeWithBetween it is all from controller nodeWith it is previous Master controller nodeConstitute i-th of controller groupPhase between master controller node in each controller group Mutual communication；
In each controller group, each from controller nodeBy the preceding push-pull arrangement rotational angle measured by itAfterwards Push-pull arrangement rotational angleAnd deutomerite carrier loader traction thrustIt is sent to the master controller node of the groupMaster control Device node processedRear push-pull arrangement rotational angle according to measured by itAnd deutomerite carrier loader traction thrustBy formula (1) and in i-th of controller group of (2) calculating jth section carrier loader and jth+1 save the rotational angle between carrier loaderWith recommend Power
<mrow> <msubsup> <mi>F</mi> <mi>i</mi> <mrow> <mi>j</mi> <mo>,</mo> <mi>j</mi> <mo>+</mo> <mn>1</mn> </mrow> </msubsup> <mo>=</mo> <msubsup> <mi>F</mi> <mi>i</mi> <mrow> <mi>i</mi> <mo>_</mo> <mi>j</mi> </mrow> </msubsup> <mo>,</mo> <mi>j</mi> <mo>=</mo> <mn>0</mn> <mo>,</mo> <mn>1</mn> <mo>,</mo> <mn>2</mn> <mo>...</mo> <mo>,</mo> <mi>k</mi> <mo>-</mo> <mn>1</mn> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>2</mn> <mo>)</mo> </mrow> </mrow> 2
In formula, k is the number from controller node in i-th of controller group；
Between the controller group, previous master controller nodeBy the rear push-pull arrangement of final section carrier loader in this group Rotational angleAnd deutomerite carrier loader traction thrustIt is sent to master controller node in latter controller groupIt is latter Master controller node in control groupThe preceding push-pull arrangement rotational angle measured according to itCalculated by formula (3) and (4) Rotational angle between i+1 section homing guidance power carrier loader and prosthomere carrier loaderAnd traction thrust
<mrow> <msubsup> <mi>F</mi> <mi>m</mi> <mrow> <mi>i</mi> <mo>+</mo> <mn>1</mn> </mrow> </msubsup> <mo>=</mo> <msubsup> <mi>F</mi> <mi>t</mi> <mrow> <mi>i</mi> <mo>_</mo> <mi>k</mi> </mrow> </msubsup> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>4</mn> <mo>)</mo> </mrow> </mrow>
Between the controller group, the previous master controller nodeBy jth section carrier loader in the control group of place and jth+ Rotational angle between 1 section carrier loaderIt is sent to latter master controller nodeLatter master controller nodeRoot According to its rotational angle between previous section carrier loaderI+1 section homing guidance power carrier loader and i-th is calculated by formula (5) Save the rotational angle of homing guidance power carrier loader
9. homing guidance according to claim 8 can configure the progress control method of trackless launch train, it is characterised in that： The master controller node of Section 1 homing guidance power carrier loader in the launch trainControl Section 1 homing guidance power The speed of service of carrier loaderIt is used as the reference velocity of permutation launch train；
Guiding sensor on i-th section homing guidance power carrier loader measures its posture angular displacement relative to guide path Angular transducer measures driving chassis in driving wheel apparatus and the angle of rotation of carrier loader isThen other homing guidance power are delivered The speed of service of carMeet the object function of minimum formula (6)：
<mrow> <mi>Y</mi> <mrow> <mo>(</mo> <msubsup> <mi>v</mi> <mi>m</mi> <mi>i</mi> </msubsup> <mo>)</mo> </mrow> <mo>=</mo> <msub> <mi>&amp;eta;</mi> <mn>1</mn> </msub> <munderover> <mo>&amp;Sigma;</mo> <mrow> <mi>i</mi> <mo>=</mo> <mn>2</mn> </mrow> <mi>l</mi> </munderover> <msup> <mrow> <mo>(</mo> <msubsup> <mi>v</mi> <mi>m</mi> <mi>i</mi> </msubsup> <mi>c</mi> <mi>o</mi> <mi>s</mi> <mo>(</mo> <mrow> <msubsup> <mi>&amp;theta;</mi> <mi>e</mi> <mrow> <mi>m</mi> <mi>i</mi> </mrow> </msubsup> <mo>+</mo> <msubsup> <mi>&amp;phi;</mi> <mi>m</mi> <mi>i</mi> </msubsup> </mrow> <mo>)</mo> <mo>-</mo> <msubsup> <mi>v</mi> <mi>m</mi> <mn>1</mn> </msubsup> <mi>c</mi> <mi>o</mi> <mi>s</mi> <mo>(</mo> <mrow> <msubsup> <mi>&amp;theta;</mi> <mi>e</mi> <mrow> <mi>m</mi> <mn>1</mn> </mrow> </msubsup> <mo>+</mo> <msubsup> <mi>&amp;phi;</mi> <mi>m</mi> <mn>1</mn> </msubsup> </mrow> <mo>)</mo> <mo>)</mo> </mrow> <mn>2</mn> </msup> <mo>+</mo> <msub> <mi>&amp;eta;</mi> <mn>2</mn> </msub> <munderover> <mo>&amp;Sigma;</mo> <mrow> <mi>i</mi> <mo>=</mo> <mn>2</mn> </mrow> <mi>l</mi> </munderover> <msup> <mrow> <mo>(</mo> <msubsup> <mi>F</mi> <mi>m</mi> <mi>i</mi> </msubsup> <mo>)</mo> </mrow> <mn>2</mn> </msup> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>6</mn> <mo>)</mo> </mrow> </mrow>
In formula,For input vector to be asked, η1And η2For weight coefficient,For the i-th section homing guidance Traction thrust between power carrier loader and prosthomere carrier loader；
Electronic compass measures the azimuth of the i-th section homing guidance power carrier loaderIn i-th of controller group, carrier loader it Between average rotation angleFor：
In i-th of controller group, the average traction thrust between carrier loaderFor：
<mrow> <mover> <msub> <mi>F</mi> <mi>i</mi> </msub> <mo>&amp;OverBar;</mo> </mover> <mo>=</mo> <mrow> <mo>(</mo> <munderover> <mo>&amp;Sigma;</mo> <mrow> <mi>j</mi> <mo>=</mo> <mn>0</mn> </mrow> <mrow> <mi>k</mi> <mo>-</mo> <mn>1</mn> </mrow> </munderover> <msubsup> <mi>F</mi> <mi>i</mi> <mrow> <mi>j</mi> <mo>,</mo> <mi>j</mi> <mo>+</mo> <mn>1</mn> </mrow> </msubsup> <mo>)</mo> </mrow> <mo>/</mo> <mi>k</mi> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>8</mn> <mo>)</mo> </mrow> </mrow>
In i-th of controller group, the speed of service of power carrier loaderMeet the object function of minimum formula (9)；
In formula,For input vector to be asked, η3、η4And η5For weight coefficient；For i-th Rotational angle in controller group between the section carrier loader of jth -1 and jth section carrier loader；For jth -1 in i-th of controller group Save the traction thrust between carrier loader and jth section carrier loader；
In permutation launch train, to jth section homing guidance power carrier loader or power carrier loader, if its quality of loads is Mj, plus Speed is aj, acceleration of gravity is g, and it saves the traction thrust between servo-actuated carrier loader with the continuous b in frontFor thrust It saves the traction thrust between servo-actuated carrier loader with the continuous c in rearFor pulling forceThen jth section homing guidance power is delivered Total driving force needed for car or power carrier loader is：
If the coefficient of friction lower limit on driving wheel and ground is μ1, higher limit is μ2, pressure sensor measurement jth section homing guidance The load for driving wheel apparatus to be born in power carrier loader or power carrier loader is Nj；
IfThen increase drives the thrust between wheel apparatus and ground；
IfThen reduce the thrust between driving wheel apparatus and ground.
CN201510870279.3A 2015-12-01 2015-12-01 Homing guidance can configure trackless launch train and progress control method Active CN105480299B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201510870279.3A CN105480299B (en) 2015-12-01 2015-12-01 Homing guidance can configure trackless launch train and progress control method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201510870279.3A CN105480299B (en) 2015-12-01 2015-12-01 Homing guidance can configure trackless launch train and progress control method

Publications (2)

Publication Number Publication Date
CN105480299A CN105480299A (en) 2016-04-13
CN105480299B true CN105480299B (en) 2017-10-31

Family

ID=55667666

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201510870279.3A Active CN105480299B (en) 2015-12-01 2015-12-01 Homing guidance can configure trackless launch train and progress control method

Country Status (1)

Country Link
CN (1) CN105480299B (en)

Families Citing this family (22)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106004478B (en) * 2016-05-24 2018-01-26 西北师范大学 A kind of towed electric flatbed tricycle that can be followed automatically
CN106005001A (en) * 2016-06-02 2016-10-12 芜湖智久机器人有限公司 AGV turning mechanism
CN106218716B (en) * 2016-08-25 2018-07-20 湖北华舟重工应急装备股份有限公司 A kind of electric-controlled type semitrailer follow-up steering angle detection device
CN108263471B (en) * 2017-01-03 2020-08-28 中车株洲电力机车研究所有限公司 Articulated power bogie for rubber-tyred electric car, electric car and steering control method
CN107357288B (en) * 2017-06-23 2020-07-31 东南大学 Device and method for double-vehicle cooperative motion of Mecanum wheel robot
CN107336759B (en) * 2017-06-30 2019-04-02 清华大学 A kind of route tracking and controlling method of semi-trailer truck combination
CN107499410A (en) * 2017-08-28 2017-12-22 广州铁路职业技术学院 Express delivery transfer cart and intelligent logistics system can be combined
CN107628134B (en) * 2017-09-20 2020-06-02 大连理工大学 Compound drive type spring coupling type active hinged towing robot
CN107963094B (en) * 2017-12-15 2024-04-09 北京市交大路通科技有限公司 Hook abnormity alarm device for cargo train tail host
EP3733487A4 (en) * 2017-12-25 2021-09-22 Kubota Corporation Work vehicle
CN108163481B (en) * 2017-12-30 2019-11-19 芜湖哈特机器人产业技术研究院有限公司 A kind of damping type automated guided vehicle
CN108248718A (en) * 2018-01-21 2018-07-06 天地科技股份有限公司 A kind of all-around mobile job platform
CN110316525A (en) * 2018-03-28 2019-10-11 杨新 For transmitting the system and method for object
CN108609048A (en) * 2018-06-07 2018-10-02 张家港江苏科技大学产业技术研究院 A kind of multi-track walking mechanism
CN108759764B (en) * 2018-08-31 2021-03-16 京东方科技集团股份有限公司 Track straightness accuracy determining device
CN109501890A (en) * 2018-12-28 2019-03-22 泰州鑫驱自动化装备有限公司 A kind of synchronous hydraulic lift cart system
CN110329130A (en) * 2019-06-12 2019-10-15 中仪英斯泰克进出口有限公司 A kind of high-definition digital signal retransmission vehicle with shock-absorbing function
CN110333655B (en) * 2019-07-02 2020-06-09 北京交通大学 Multi-power-unit distributed control method for high-speed train
US11745552B2 (en) * 2021-02-19 2023-09-05 Caterpillar Inc. System for detecting failure of an articulated steering mechanism
CN113370894B (en) * 2021-07-21 2023-04-07 贵州詹阳动力重工有限公司 Tractor body positioning system
CN114263385B (en) * 2022-01-28 2023-05-30 天津大学 Vertical shock insulation support capable of bearing large horizontal force and layered shock insulation pivot structure
CN114906239B (en) * 2022-04-27 2024-03-29 苏州码卓智能科技有限公司 Intelligent trackless train, ultra-long cargo transport vehicle, forward and reverse control method

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2985960B2 (en) * 1993-09-21 1999-12-06 株式会社ダイフク Mobile vehicle operation control equipment
JPH10240343A (en) * 1997-02-27 1998-09-11 Minolta Co Ltd Autonomously traveling vehicle
JP3553784B2 (en) * 1998-02-27 2004-08-11 日産ディーゼル工業株式会社 Centralized control system for automatic guided vehicles
JP4943212B2 (en) * 2007-04-05 2012-05-30 新日本製鐵株式会社 Control device for automatic guided vehicle and control method for automatic guided vehicle
JP2010152426A (en) * 2008-12-24 2010-07-08 Central Motor Co Ltd Automated guided vehicle and automated guided vehicle operation system using the automated guided vehicle
CN104555308B (en) * 2014-12-03 2017-02-01 南京航空航天大学 Rail transporting car, rail and control method

Also Published As

Publication number Publication date
CN105480299A (en) 2016-04-13

Similar Documents

Publication Publication Date Title
CN105480299B (en) Homing guidance can configure trackless launch train and progress control method
CN104176145B (en) A kind of asymmetric wheel leg type Omni-mobile chassis
US10246130B2 (en) Trackless tugger train and method for steering a trackless tugger train
CN104590414A (en) All-around wheeled mobile robot with relative posture detection function
CN104890752B (en) A kind of planet gear type barrier-surpassing robot
US20100300837A1 (en) Object moving apparatus
US11235666B2 (en) Vehicle for travelling along a linear route guideway
CN110949554B (en) Leveling device of crawler carrier
CN101133305A (en) Arrangement for weighing transport vehicle load
WO2014195577A1 (en) Arrangement and method for enabling rotation movement between tandem or caterpillar axle and body of vehicle
CN107074248B (en) Railway carrier and cable car device
CN102653254B (en) Heavy truck used for transporting super-long construction member
CN105564505A (en) Steering control for vehicle trains
CN205768620U (en) Homing guidance formula Handling device
CN102656033B (en) Vehicle control device
CN103273977A (en) Passive self-adaption deformable continuous track type mobile robot platform
US20210168989A1 (en) Agricultural machine with system for calculating a terrain relief and method for operating an agricultural machine
CN206654052U (en) Articulated vehicle with transversely movable articulated elements
US20220111735A1 (en) Vehicle for travelling along a linear route guideway
CN109677312B (en) AGV (automatic guided vehicle) with double-layer conveying two-dimension code navigation and control method
Wu et al. An automated guided mechatronic tractor for path tracking of heavy-duty robotic vehicles
CN109591915A (en) A kind of intelligence AGV carrier
CN206394627U (en) Suspension type transportation system
CN100443318C (en) Determining a relative movement of a chassis and a body of a wheeled vehicle
CN209479815U (en) A kind of AGV based on indoor microwave base station navigation

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
C10 Entry into substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant