CN107934426A - Turning magnetic stripe track, turning method and the system of a kind of AGV - Google Patents
Turning magnetic stripe track, turning method and the system of a kind of AGV Download PDFInfo
- Publication number
- CN107934426A CN107934426A CN201711347239.6A CN201711347239A CN107934426A CN 107934426 A CN107934426 A CN 107934426A CN 201711347239 A CN201711347239 A CN 201711347239A CN 107934426 A CN107934426 A CN 107934426A
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- China
- Prior art keywords
- agv
- magnetic stripe
- magnetic
- turning
- track
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- 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.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G35/00—Mechanical conveyors not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/04—Detection means
- B65G2203/042—Sensors
- B65G2203/043—Magnetic
Abstract
The present invention provides a kind of turning magnetic stripe track of AGV, it is characterised in that includes：First magnetic stripe and the second magnetic stripe；First magnetic stripe intersects with second magnetic stripe at turning to be set up；The first magnetic stripe end is unilateral inclined-plane acute angle；The second magnetic stripe end is unilateral inclined-plane acute angle.The present invention also provides a kind of turning method and system based on this turning magnetic stripe track.Set up by the way that two magnetic stripe tracks are carried out intersection at turning, reduce the space shared by magnetic stripe track；Guide AGV to turn by the end set acute angle of the inner side edge in two magnetic stripes, solve the problems, such as easily to plunge off the tracks because unstable during AGV turnings；The judgement that magnetic conductance signal strength is added on turning method ensure that the stability of AGV operations.
Description
Technical field
The present invention relates to a kind of track of AGV, turning magnetic stripe track, turning method and the system of more particularly to a kind of AGV.
Background technology
AGV (unmanned floor truck), refers to one kind and homing device is housed, and can be carried out along pre-set track
Traveling, there is the transport vehicle of safeguard protection and various transplantings.It can automatic loading and unloading cargo, without human intervention and
The optimal solution instrument that the features such as programmable automation degree is high, safe, flexible is current domestic logistics dispatching and material is carried
One of.
AGV tracks are used as track using the magnetic stripe that lays is set, and circular arc is generally used at turning as turning track, and
Problems with there are using circular arc turning track：Space using the circular arc turning orbit occupancy of large radius is larger, and use is small
The circular arc turning track of radius is easy to cause AGV fluctuations of service and easily plunges off the tracks.
The content of the invention
The present invention is intended to provide the turning magnetic stripe track of AGV a kind of with solve existing magnetic stripe orbit occupancy space it is larger and
The problem of AGV fluctuations of service easily plunge off the tracks.
In order to realize above technology mesh, technical solution and technique effect, the present invention provides a kind of turning magnetic stripe rail of AGV
Road, it is characterised in that include：First magnetic stripe and the second magnetic stripe；First magnetic stripe intersects with second magnetic stripe at turning
Set up；The first magnetic stripe end is unilateral inclined-plane acute angle；The second magnetic stripe end is unilateral inclined-plane acute angle.
Further, the turning magnetic stripe track of a kind of AGV of the present invention, it is characterised in that when AGV is along the first magnetic stripe
When turning left to the second magnetic stripe, the first magnetic stripe end left side is in inclined-plane acute angle, and the second magnetic stripe end lower side is in inclined-plane
Acute angle.
Further, the turning magnetic stripe track of a kind of AGV of the present invention, it is characterised in that when AGV is along the first magnetic stripe
When turning right to the second magnetic stripe, the first magnetic stripe end right edge is in inclined-plane acute angle, and the second magnetic stripe end lower side is in inclined-plane
Acute angle.
Further, the turning magnetic stripe track of a kind of AGV of the present invention, it is characterised in that first magnetic stripe and
Second magnetic stripe fixes on the ground.
Further, the turning magnetic stripe track of a kind of AGV of the present invention, it is characterised in that first magnetic stripe and
The bottom of second magnetic stripe is both provided with double faced adhesive tape.
The present invention also provides a kind of turning method of AGV, it is characterised in that comprises the following steps：Magnetic inductive transducers obtain
Magnetic conductance signal on turning magnetic stripe track, moves ahead, the turning magnetic stripe track is two with single according to magnetic conductance signal guiding AGV
The magnetic stripe of skew back face acute angle, which intersects to set up, to be formed；Magnetic inductive transducers recognize on the turning magnetic stripe track power of magnetic conductance signal and
The direction of disappearance, and magnetic conductance signal strength and direction of extinction are passed into AGV；The driving device of AGV is according to reception magnetic conductance signal
Power and disappear direction controlling AGV advance, so as to fulfill AGV turning actions.
Further, a kind of turning method of AGV of the present invention, it is characterised in that the magnetic inductive transducers installation
In the AGV heads.
Further, the turning method of a kind of AGV of the present invention, it is characterised in that the driving device is according to connecing
Received magnetic conductance signal strength realizes turning action using Differential Control AGV.
The present invention also provides a kind of AGV turning systems, it is characterised in that including：Track element, for guiding AGV to advance
Direction, and produce magnetic conductance signal；Magnetic inductive transducers unit, magnetic conductance signal is received for recognizing, and magnetic conductance signal is passed to
AGV；Processing module, AGV is driven for identifying the power of magnetic conductance signal, and according to signal strength；Driving unit, for driving
AGV advances, and controls the direction of advance of AGV.
Further, a kind of AGV turning systems of the present invention, it is characterised in that the track element is with magnetic
Lead the magnetic stripe of signal.The processing module is CPU, and the driving unit is motor.
The turning magnetic stripe track of AGV of the present invention a kind of is taken by the way that two magnetic stripe tracks are carried out intersection at turning
If reduce the space shared by magnetic stripe track；AGV is guided to turn by the end set acute angle of the inner side edge in two magnetic stripes
It is curved, solve the problems, such as easily to plunge off the tracks because unstable during AGV turnings；The turning method of AGV of the present invention a kind of
Power by judging the magnetic conductance signal on magnetic stripe track makes the differential operations of AGV, and this makes it possible to ensure AGV on magnetic stripe track
Stable traveling；It can be good at ensureing the transmission of magnetic conductance signal by a kind of AGV turning systems of the present invention, avoid
The disorder of AGV travel routes, ensure that the stabilizations of AGV in the process of running, improves conevying efficiency.
Brief description of the drawings
Fig. 1 is a kind of AGV turnings magnetic stripe track structure schematic diagram of the present invention；
Fig. 2 is views of the AGV of the present invention before by 90 degree of bend magnetic stripe track operations；
Fig. 3 is views of the AGV of the present invention when by 90 degree of bend magnetic stripe track operations；
Fig. 4 passes through the operating status schematic diagram after 90 degree of bend magnetic stripe tracks for AGV of the present invention；
Fig. 5 is a kind of AGV turning methods flow chart of the present invention；
Fig. 6 is a kind of structure chart of AGV turning systems of the present invention.
Embodiment
In order to make the object, technical solutions and advantages of the present invention clearer, below in conjunction with the embodiment of the present invention
Attached drawing, is explicitly described the technical solution in the embodiment of the present invention, it is clear that described embodiment is the present invention one
Divide embodiment, rather than whole embodiments.Based on the embodiment of the present invention, this area general technical staff is not making creation
Property work under the premise of all other embodiments obtained belong to the scope of protection of the invention.
In order to solve the problems, such as that existing magnetic stripe orbit occupancy space is larger and AGV fluctuations of service easily plunge off the tracks.This
Invention provides the turning magnetic stripe track of AGV a kind of, comprising：First magnetic stripe and the second magnetic stripe, the first magnetic stripe and the second magnetic stripe exist
Turning, which intersects, sets up, and the first magnetic stripe end and the second magnetic stripe end are both provided with unilateral inclined-plane acute angle；When AGV is along the first magnetic stripe
When turning left to the second magnetic stripe, shown first magnetic stripe end left side is inclined-plane acute angle, and the second magnetic stripe end lower side is in inclined-plane
Acute angle；First magnetic stripe end right edge described in when AGV turns right along the first magnetic stripe to the second magnetic stripe is inclined-plane acute angle, the second magnetic
Bar end lower side is in inclined-plane acute angle.
It is as shown in Figure 1 a kind of embodiment of the present invention：A kind of turning magnetic stripe track 100 of AGV, comprising：First magnetic stripe
101 and second magnetic stripe 102.
In the present embodiment, the magnetic stripe track when AGV turns left along the first magnetic stripe 101 to the second magnetic stripe 102 is only listed
Structural implementation, i.e.,：First magnetic stripe, 101 end left side is inclined-plane acute angle；Further, while in the second magnetic stripe 102
End lower side is inclined-plane acute angle, so meets the demand that AGV turns along the second magnetic stripe 102 to 101 backhaul of the first magnetic stripe；
First magnetic stripe 101 and the second magnetic stripe 102 intersect in corner to be set up, in the present embodiment, using the first magnetic stripe 101
Intersect with the second magnetic stripe 102 in 90 degree of bent angle and set up.
First magnetic stripe 101 and the second magnetic stripe 102 fix, further, the first magnetic stripe 101 and the second magnetic stripe on the ground
102 bottom is both provided with double faced adhesive tape, and the first magnetic stripe 101 and the second magnetic stripe 102 are fixed on the ground by double faced adhesive tape.
It is illustrated in figure 2 views of the AGV before by 90 degree of bend magnetic stripe track operations in the present embodiment.
The bottom of AGV201 is provided with magnetic inductive transducers 202；AGV201 continual senses on magnetic stripe track by magnetic inductive transducers 202
The magnetic conductance signal of magnetic stripe track is answered to carry out navigation advance.
View for AGV when by 90 degree of bend magnetic stripe track operations as described in Figure 3.AGV201 run to turn
During crook, 101 end left side of the first magnetic stripe is inclined-plane acute angle, therefore the first magnetic stripe 101 gradually becomes in AGV201 directions of advance
Carefully, magnetic conductance signal also gradually dies down, and when AGV201 passes through bent angle, magnetic inductive transducers 202 guide AGV201 always along the first magnetic
Forward, at this moment since 101 end left side of the first magnetic stripe is inclined-plane acute angle, 101 right side magnetic conductance signal of the first magnetic stripe is gradual for bar 101
Die down, the magnetic conductance signal of magnetic stripe track is passed to AGV201 by magnetic inductive transducers 202, and AGV201 is according to the decrease side of magnetic conductance signal
To the differential of control driving wheel, AGV201 is set to be deviated to the stronger side of 101 magnetic conductance signal of the first magnetic stripe, so as to fulfill AGV201
Turning, until magnetic inductive transducers 202 experience the magnetic conductance signal of the second magnetic stripe 102, guiding AGV201 continues on the second magnetic
Bar 102 moves forwards；It is illustrated in figure 4 AGV201 and passes through the operating condition after 90 degree of bend magnetic stripe tracks.So far complete once
Turn, by the setting of 90 degree of bent angles, avoid the spatial area occupied by the radius of turn of orthodrome, it also avoid small arc-shaped
The AGV201 fluctuations of service brought of radius of turn and AGV201 the problem of easily going out magnetic stripe track.
If Fig. 5 is a kind of AGV turning methods 300 according to the present invention, it includes the step of have：
S301：Magnetic inductive transducers obtain the magnetic conductance signal on magnetic stripe track, move ahead according to magnetic conductance signal guiding AGV, described
Turning magnetic stripe track is that two magnetic stripes with unilateral inclined-plane acute angle intersect to set up and form；
Specifically, magnetic stripe track laying is on floor, and magnetic stripe track track as shown in Figure 1 is formed, and magnetic inductive transducers are set
Put on AGV hosts, and be arranged at the head of AGV, magnetic inductive transducers are guided by experiencing the magnetic conductance signal on magnetic stripe track
AGV moves ahead, and turning magnetic stripe track is that two magnetic stripes with unilateral inclined-plane acute angle intersect to set up and form, and in the present embodiment, is used
A kind of above-mentioned AGV turnings magnetic stripe track, which is set up, to be formed.
S302：The power of magnetic conductance signal and the direction to disappear on magnetic inductive transducers identification magnetic stripe track, and by magnetic conductance signal
Strong and weak and direction of extinction passes to AGV；
Specifically, magnetic inductive transducers can perceive and recognize the power of magnetic conductance signal and the direction to disappear, magnetic stripe on magnetic stripe
The direction that track sets the degree of strength of magnetic conductance signal according to traffic direction and disappears in advance, in the magnetic stripe with single side face acute angle
The continual sensing magnetic stripe signal of magnetic inductive transducers, magnetic conductance signal die down with magnetic stripe acute angle side on navigation track, opposite side
Fade away, the signal of the magnetic conductance signal weaker side received and disappearance side is passed to AGV by magnetic conductance signal transducer.
S303：The driving device of AGV is advanced according to the direction controlling AGV for receiving the power of magnetic conductance signal and disappearing, so that
Realize AGV turning actions
Specifically, AGV is behind the direction for receiving the power for the magnetic conductance signal that magnetic inductive transducers receive and disappearing, according to magnetic
The power for leading signal sends a signal to driving device, and driving device drives according to the signal weaker received and the direction of disappearance
AGV is rotated to the opposite direction of magnetic conductance blackout, so that the differential advances of AGV, realize turning function, after the completion of rotation,
The magnetic inductive transducers of AGV continue to advance in a manner of finding magnetic conductance signal.
The judgement of received magnetic conductance signal strength and direction of extinction is docked by magnetic inductive transducers, enables AGV according to magnetic
Lead the strong and weak differential advance of signal, ensure that the stability that AGV is run at turning, avoid turn when it is unstable caused by
AGV de-orbit traveling and caused by run-time error.
If Fig. 6 is a kind of AGV turning systems 400 according to the present invention, including：
Track element 401, magnetic inductive transducers unit 402, processing module 403 and driving unit 404.
Track element 401, for guiding AGV directions of advance, and produces magnetic conductance signal, at turning, track element is by two
A magnetic stripe, which is set up, to be formed, and has unilateral inclined-plane acute angle in the end set of magnetic stripe.
Magnetic inductive transducers unit 402, magnetic conductance signal is received for recognizing, and magnetic conductance signal is passed to place AGV；
Processing module 403, AGV is driven for identifying the power of magnetic conductance signal, and according to signal strength, in the present embodiment,
Processing module 403 is preferably CPU.
Driving unit 404, for driving AGV to advance, and controls the direction of advance of AGV, in the present embodiment, driving unit
403 be preferably motor.
Magnetic inductive transducers unit 402 recognizes AGV directions of advance, magnetic by receiving the magnetic conductance signal on track element 401
The magnetic conductance signal received is passed to AGV by derivative sensor unit 402, and the processing module 403 in AGV is according to the magnetic conductance received
Signal carrys out the power of identification signal, and the degree of strength of signal is passed to driving unit 404, and driving unit 404 is according to magnetic conductance
The power of signal drives the direction of advance of AGV, realizes differential advance；It is sharp because magnetic stripe track is arranged to unilateral inclined-plane at turning
Angle, magnetic inductive transducers unit 402 can receive the stronger magnetic conductance signal in side, this just guides driving wheel to compared with one lateral deviation of strong signal
Move, stablize so as to fulfill AGV at turning and move, avoid the AGV offset tracks caused by turning is unstable, improve AGV
Conevying efficiency.
Obviously, various changes and modifications can be made to the invention without departing from essence of the invention by this area volume technical staff
God and scope.In this way, if these modifications and changes of the present invention belongs to the scope of the claims in the present invention and its equivalent technologies
Within, then the present invention is also intended to comprising including these modification and variations.
Claims (10)
1. the turning magnetic stripe track of a kind of AGV, it is characterised in that include, the first magnetic stripe and the second magnetic stripe；
First magnetic stripe intersects with second magnetic stripe at turning to be set up；
The first magnetic stripe end is unilateral inclined-plane acute angle；
The second magnetic stripe end is unilateral inclined-plane acute angle.
2. the turning magnetic stripe track of a kind of AGV according to claim 1, it is characterised in that when AGV is along the first magnetic stripe to
When two magnetic stripes turn left, the first magnetic stripe end left side is in inclined-plane acute angle, and the second magnetic stripe end lower side is in inclined-plane acute angle.
3. the turning magnetic stripe track of a kind of AGV according to claim 1, it is characterised in that when AGV is along the first magnetic stripe to
When two magnetic stripes are turned right, the first magnetic stripe end right edge is in inclined-plane acute angle, and the second magnetic stripe end lower side is in inclined-plane acute angle.
A kind of 4. turning magnetic stripe track of AGV according to claim 1, it is characterised in that first magnetic stripe and described
Second magnetic stripe fixes on the ground.
A kind of 5. turning magnetic stripe track of AGV according to claim 1, it is characterised in that first magnetic stripe and described
The bottom of second magnetic stripe is both provided with double faced adhesive tape.
6. a kind of turning method of AGV, it is characterised in that comprise the following steps：
Magnetic inductive transducers obtain the magnetic conductance signal on turning magnetic stripe track, move ahead according to magnetic conductance signal guiding AGV, the turning magnetic
Bar track is that two magnetic stripes with unilateral inclined-plane acute angle intersect to set up and form；
Magnetic inductive transducers recognize the power of magnetic conductance signal and the direction to disappear on the turning magnetic stripe track, and magnetic conductance signal is strong
Weak and direction of extinction passes to AGV；
The driving device of AGV is advanced according to the direction controlling AGV for receiving the power of magnetic conductance signal and disappearing, and is turned so as to fulfill AGV
Curved action.
7. the turning method of a kind of AGV according to claim 5, it is characterised in that the magnetic inductive transducers are installed on institute
State AGV heads.
8. the turning method of a kind of AGV according to claim 5, it is characterised in that the driving device is according to receiving
Magnetic conductance signal strength turning action is realized using Differential Control AGV.
A kind of 9. AGV turning systems, it is characterised in that including：
Track element, for guiding AGV directions of advance, and produces magnetic conductance signal；
Magnetic inductive transducers unit, magnetic conductance signal is received for recognizing, and magnetic conductance signal is passed to AGV；
Processing module, AGV is driven for identifying the power of magnetic conductance signal, and according to signal strength；
Driving unit, for driving AGV to advance, and controls the direction of advance of AGV.
10. a kind of AGV turning systems according to claim 8, it is characterised in that the track element is to believe with magnetic conductance
Number magnetic stripe；The processing module is CPU, and the driving unit is motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711347239.6A CN107934426A (en) | 2017-12-15 | 2017-12-15 | Turning magnetic stripe track, turning method and the system of a kind of AGV |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711347239.6A CN107934426A (en) | 2017-12-15 | 2017-12-15 | Turning magnetic stripe track, turning method and the system of a kind of AGV |
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| Publication Number | Publication Date |
|---|---|
| CN107934426A true CN107934426A (en) | 2018-04-20 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711347239.6A Pending CN107934426A (en) | 2017-12-15 | 2017-12-15 | Turning magnetic stripe track, turning method and the system of a kind of AGV |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108910451A (en) * | 2018-06-29 | 2018-11-30 | 格林美（武汉）新能源汽车服务有限公司 | A kind of circulating feeding system of support plate |
| CN112173727A (en) * | 2020-08-28 | 2021-01-05 | 南京阿兹曼电子科技有限公司 | Automatic moving hanging rack for electronic part production and using method |
| FR3100535A1 (en) | 2019-09-05 | 2021-03-12 | Psa Automobiles Sa | MODULAR AUTOMATIC GUIDANCE CIRCUIT FOR AUTOMATIC GUIDING VEHICLES FOR INDUSTRIAL USE |
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| CN207943501U (en) * | 2017-12-15 | 2018-10-09 | 合肥中导机器人科技有限公司 | A kind of the turning magnetic stripe track and turning system of AGV |
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| EP0025124A1 (en) * | 1979-08-11 | 1981-03-18 | Helmut Dipl.-Ing. Kaiser | Arrangement for transport and/or control of parts movable along a path |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108910451A (en) * | 2018-06-29 | 2018-11-30 | 格林美（武汉）新能源汽车服务有限公司 | A kind of circulating feeding system of support plate |
| FR3100535A1 (en) | 2019-09-05 | 2021-03-12 | Psa Automobiles Sa | MODULAR AUTOMATIC GUIDANCE CIRCUIT FOR AUTOMATIC GUIDING VEHICLES FOR INDUSTRIAL USE |
| CN112173727A (en) * | 2020-08-28 | 2021-01-05 | 南京阿兹曼电子科技有限公司 | Automatic moving hanging rack for electronic part production and using method |
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