CN105739494A - Energy-saving automated guided vehicle based on modular structure - Google Patents
Energy-saving automated guided vehicle based on modular structure Download PDFInfo
- Publication number
- CN105739494A CN105739494A CN201610036560.1A CN201610036560A CN105739494A CN 105739494 A CN105739494 A CN 105739494A CN 201610036560 A CN201610036560 A CN 201610036560A CN 105739494 A CN105739494 A CN 105739494A
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- module
- energy
- automatic guide
- energy recovery
- guide vehicle
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- 238000011084 recovery Methods 0.000 claims abstract description 23
- 238000004891 communication Methods 0.000 claims abstract description 11
- 238000012544 monitoring process Methods 0.000 claims abstract description 6
- 230000008929 regeneration Effects 0.000 claims description 9
- 238000011069 regeneration method Methods 0.000 claims description 9
- 238000007689 inspection Methods 0.000 claims description 6
- 238000005516 engineering process Methods 0.000 claims description 5
- 230000005540 biological transmission Effects 0.000 abstract description 4
- 238000005265 energy consumption Methods 0.000 abstract description 4
- 239000003990 capacitor Substances 0.000 description 4
- 238000001514 detection method Methods 0.000 description 4
- 230000007423 decrease Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000036461 convulsion Effects 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 230000004899 motility Effects 0.000 description 2
- 230000018109 developmental process Effects 0.000 description 1
- 239000000463 material Substances 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
- G05D1/0227—Control of position or course in two dimensions specially adapted to land vehicles using mechanical sensing means, e.g. for sensing treated area
Abstract
The invention discloses an energy-saving automated guided vehicle based on a modular structure. The energy-saving automated guided vehicle is characterized by comprising a control module, a motor drive module, a working condition monitoring module, a power management module, an energy recovery module, a guide module, a security module, a communication module, and an execution module. The motor drive module adopts a drive scheme of four-wheel wheel side driven steering, and the four wheels are independently controllable, so the steering function is powerful. As a transmission system is removed, the mass of the whole vehicle is reduced, the energy consumption is reduced, and the utilization rate of energy is improved due to the lack of an energy transmission link. The energy recovery module consists of a brake energy recovery module and a vibration energy recovery module. When the vehicle body brakes or runs downhill, the brake energy recovery module is started. When the vehicle body vibrates, the vibration energy recovery module is started. An energy-saving automatic guided vehicle is achieved, the driving range is improved effectively, and the applicability of the vehicle is increased because of the modular design.
Description
Technical field
The present invention relates to a kind of material transport equipment, particularly relate to a kind of energy-saving automatic guide vehicle based on structural module.
Background technology
Automatic guide vehicle is the unmanned haulage equipment of a kind of automatization, has the feature such as motility, intellectuality, has been widely used in logistics field at present.Current automatic guide vehicle is generally using battery as power, and yet with the limitation of battery technology, automatic guide vehicle is accomplished by charging pile charging every one period of working time, has had a strong impact on its work efficiency.Additionally, existing a lot of automatic guide vehicle product function is single, bad adaptability, it is impossible to by customization product, this also counteracts that the development of automatic guide vehicle.
Summary of the invention
The technical problem that present invention mainly solves is to provide a kind of energy-saving automatic guide vehicle based on structural module, new energy source is provided while reducing self-energy consumption, it is effectively improved continual mileage, and modularized design adds its suitability and motility, there is significant society and economic worth.
For solving above-mentioned technical problem, the present invention by the following technical solutions:
A kind of energy-saving automatic guide vehicle based on structural module, including controlling module, motor drive module, work condition inspection module, power management module, energy recovery module, guiding module, security module, communication module and performing module.Described control module includes vehicle control syetem and upper-level control system；Described motor drive module selects motor to be that power is to drive automatic guide vehicle to travel；The operating modes such as the described vibration of work condition inspection module monitors car body, brake, downhill running also send a signal to control module；Its function of described power management module includes battery status monitoring and charge and discharge management；Its function of described energy recovery module includes capacitance state monitoring and charge and discharge management.Described guiding module adopts vision guide mode；Described security module includes electronic security(ELSEC) module and physical security module；Described communication module selects wireless local area network technology as communication mode；Described execution module is selected according to the purposes of automatic guide vehicle, it is possible to select fork-lift type, hand type etc.；
Preferably, described control module, its vehicle control syetem and upper-level control system are connected by wireless communication module.
Preferably, its drive scheme of described motor drive module adopts four-wheel Direct wheel drives to turn to, and wheel and wheel motor are installed together composition driving wheel, and owing to four-wheel is all individually controllable, therefore this type of drive has more powerful turning function；Simultaneously because this driving wheel decreases drive system, thus alleviate complete vehicle quality, reduce energy consumption, and capacity usage ratio also improves because of the minimizing of the transmission link of energy.
Preferably, described energy recovery module includes Brake energy recovery module and vibration energy regeneration module.Brake energy recovery module is additional on the drive wheel, when operating mode detection module monitor car body be in skidding or downhill running time, Brake energy recovery module starts, by feeding back electricity generation system, the excess energy discharged in braking or coast is reclaimed, charge and discharge control system and control to store to super capacitor or accumulator.Vibration energy regeneration module is attached on car body, when vehicle condition detection module monitor car body be in up-down vibration time, vibration energy regeneration module starts, by piezo-electric device, commutator and DC/DC changer by vibration energy regeneration, charge and discharge control system and control to store to super capacitor or accumulator.
Preferably, in described security module, electronic security(ELSEC) module is selected and is installed diastimeter (laser or ultrasonic range finder) in automatic guide vehicle front, if objects in front has exceeded alarm line scope, automatic guide vehicle can send alarm, if beyond jerk scope, automatic guide vehicle can stop in emergency；Physical security module is selected before automatic guide vehicle and side installs safety screen.
Feature and the advantage of the present invention are in that: 1. add energy-recuperation system, and efficient recovery also stores the energy that automatic guide vehicle brakes, slides, produces when vibrating, and increases the flying power of automatic guide vehicle；2. adopt four-wheel-type a11wheel drive to turn to type of drive, decrease drive system, alleviate complete vehicle quality, save the energy expenditure in traveling；3. adopting modularized design, each module can be replaced by other module that mechanical/electrical sub-interface is identical, convenient, flexible, strong adaptability.
Accompanying drawing explanation
Fig. 1 is the system architecture diagram of the present invention；
Fig. 2 is type of drive schematic diagram；
Fig. 3 is energy recovery module block diagram.
Detailed description of the invention
Below in conjunction with drawings and Examples, the invention will be further described.
As shown in Figure 1, the energy-saving automatic guide vehicle based on structural module of the present invention, including controlling module 1, motor drive module 2, work condition inspection module 3, power management module 4, energy recovery module 5, guiding module 6, security module 7, communication module 8 and perform module 9.Described control module 1 includes vehicle control syetem 1.1 and upper-level control system 1.2；Described motor drive module 2 selects motor to be that power is to drive automatic guide vehicle to travel；Described work condition inspection module 3 is monitored the operating modes such as the vibration of car body, brake, downhill running and sends a signal to control module；Described its function of power management module 4 includes battery status monitoring and charge and discharge management；Described its function of energy recovery module 5 includes capacitance state monitoring and charge and discharge management；Described guiding module 6 adopts vision guide mode；Described security module 7 includes electronic security(ELSEC) module and physical security module, electronic security(ELSEC) module is selected and is installed diastimeter (laser or ultrasonic range finder) in automatic guide vehicle front, if objects in front has exceeded alarm line scope, automatic guide vehicle can send alarm, if beyond jerk scope, automatic guide vehicle can stop in emergency；Physical security module is selected before automatic guide vehicle and side installs safety screen；Described communication module 8 selects wireless local area network technology as communication mode, it is achieved the wireless telecommunications between vehicle control syetem and upper-level control system；Described execution module 9 is selected according to the purposes of automatic guide vehicle, it is possible to select fork-lift type, hand type etc..
As shown in Figure 2, its drive scheme of motor drive module 2 of the present invention adopts four-wheel Direct wheel drives to turn to, wheel 11.1 and wheel motor 11.2 are installed together composition driving wheel 11, and owing to four-wheel is all individually controllable, therefore this type of drive has more powerful turning function；Simultaneously because this driving wheel decreases drive system, thus alleviate the complete vehicle quality of automatic guide vehicle 10, reduce energy consumption, and capacity usage ratio also improves because of the minimizing of the transmission link of energy.
As it is shown on figure 3, the energy recovery module 5 of the present invention includes Brake energy recovery module 5.1 and vibration energy regeneration module 5.2.Brake energy recovery module 5.1 is attached on driving wheel 11, when operating mode detection module 3 monitor car body be in skidding or downhill running time, Brake energy recovery module 5.1 starts, by feeding back electricity generation system 12, the excess energy discharged in braking or coast is reclaimed, charge and discharge control system 16 and control to store to super capacitor 17 or accumulator 18.Vibration energy regeneration module 5.2 is attached on the car body of automatic guide vehicle 10, when vehicle condition detection module 3 monitor car body be in up-down vibration time, vibration energy regeneration module 5.2 starts, by piezo-electric device 13, commutator 14 and DC/DC changer 15 by vibration energy regeneration, charge and discharge control system 16 and control to store to super capacitor 17 or accumulator 18.
Embodiment described above is highly preferred embodiment of the present invention, but and is not used to the restriction present invention.When without departing substantially from the principle of the invention, those of ordinary skill in the art can make various corresponding change and deformation according to the present invention, but these change accordingly and deformation all should belong within the right belonging to the present invention.
Claims (7)
1. based on an energy-saving automatic guide vehicle for structural module, including controlling module, motor drive module, work condition inspection module, power management module, energy recovery module, guiding module, security module, communication module and performing module.
2. the energy-saving automatic guide vehicle based on structural module according to claim 1, it is characterised in that: described control module is made up of vehicle control syetem and upper-level control system.
3. the energy-saving automatic guide vehicle based on structural module according to claim 1, it is characterised in that: its drive scheme of described motor drive module adopts four-wheel Direct wheel drives to turn to, and four-wheel is all individually controllable.
4. the energy-saving automatic guide vehicle based on structural module according to claim 1, it is characterised in that: described work condition inspection module is used for monitoring the operating modes such as the vibration of car body, brake, downhill running and sending a signal to control module.
5. the energy-saving automatic guide vehicle based on structural module according to claim 1, it is characterised in that: described energy recovery module includes Brake energy recovery module and vibration energy regeneration module.
6. the energy-saving automatic guide vehicle based on structural module according to claim 1, it is characterised in that: described security module includes electronic security(ELSEC) module and physical security module.
7. the energy-saving automatic guide vehicle based on structural module according to claim 1, it is characterised in that: described communication module adopts wireless local area network technology as communication modes, it is achieved the wireless telecommunications between vehicle control syetem and upper-level control system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610036560.1A CN105739494A (en) | 2016-01-11 | 2016-01-11 | Energy-saving automated guided vehicle based on modular structure |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610036560.1A CN105739494A (en) | 2016-01-11 | 2016-01-11 | Energy-saving automated guided vehicle based on modular structure |
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| CN105739494A true CN105739494A (en) | 2016-07-06 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610036560.1A Pending CN105739494A (en) | 2016-01-11 | 2016-01-11 | Energy-saving automated guided vehicle based on modular structure |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111413932A (en) * | 2020-03-29 | 2020-07-14 | 河南工程学院 | Information management and scheduling system and method for unmanned electric cleaning vehicle |
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| CN202322726U (en) * | 2011-10-27 | 2012-07-11 | 青岛科技大学 | Energy feedback type intelligent control system for coke quenching vehicle |
| CN102616102A (en) * | 2012-04-12 | 2012-08-01 | 江苏大学 | System and method for recovering automobile braking energy and suspension vibration energy |
| CN102785647A (en) * | 2011-12-08 | 2012-11-21 | 同济大学 | Brake judder damping control system and method for four-wheel wheel side driven electric automobile |
| WO2014024708A1 (en) * | 2012-08-07 | 2014-02-13 | 住友電気工業株式会社 | Industrial vehicle and power source device thereof |
| CN204557218U (en) * | 2015-05-15 | 2015-08-12 | 山东省计算中心（国家超级计算济南中心） | Based on the electric automobile automated driving system of Beidou navigation |
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2016
- 2016-01-11 CN CN201610036560.1A patent/CN105739494A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102133882A (en) * | 2011-01-21 | 2011-07-27 | 深圳市德塔电动汽车科技有限公司 | Vehicle management system for explosion-proof pure electric command vehicles |
| CN202322726U (en) * | 2011-10-27 | 2012-07-11 | 青岛科技大学 | Energy feedback type intelligent control system for coke quenching vehicle |
| CN102785647A (en) * | 2011-12-08 | 2012-11-21 | 同济大学 | Brake judder damping control system and method for four-wheel wheel side driven electric automobile |
| CN102616102A (en) * | 2012-04-12 | 2012-08-01 | 江苏大学 | System and method for recovering automobile braking energy and suspension vibration energy |
| WO2014024708A1 (en) * | 2012-08-07 | 2014-02-13 | 住友電気工業株式会社 | Industrial vehicle and power source device thereof |
| CN204557218U (en) * | 2015-05-15 | 2015-08-12 | 山东省计算中心（国家超级计算济南中心） | Based on the electric automobile automated driving system of Beidou navigation |
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| CN111413932A (en) * | 2020-03-29 | 2020-07-14 | 河南工程学院 | Information management and scheduling system and method for unmanned electric cleaning vehicle |
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Application publication date: 20160706 |