CN108303983A - A kind of car-mounted terminal of AGV trolleies - Google Patents
A kind of car-mounted terminal of AGV trolleies Download PDFInfo
- Publication number
- CN108303983A CN108303983A CN201810142290.1A CN201810142290A CN108303983A CN 108303983 A CN108303983 A CN 108303983A CN 201810142290 A CN201810142290 A CN 201810142290A CN 108303983 A CN108303983 A CN 108303983A
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- CN
- China
- Prior art keywords
- agv
- car
- connect
- mounted terminal
- agv trolleies
- 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.)
- Pending
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- 230000005611 electricity Effects 0.000 claims description 3
- 230000002411 adverse Effects 0.000 description 5
- 230000000694 effects Effects 0.000 description 5
- 230000004888 barrier function Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 208000032365 Electromagnetic interference Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 150000001875 compounds Chemical class 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005672 electromagnetic field Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
Classifications
-
- 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
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
-
- 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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
Abstract
The invention discloses a kind of car-mounted terminals of AGV trolleies, including onboard subsystem, the onboard subsystem includes video camera, arm processor, RFID card reader, wireless network module, distance measuring sensor, AGV general purpose controllers, Magnetic Sensor, AGV driving devices and power module；The arm processor is connect with video camera, RFID card reader and AGV general purpose controllers respectively, and the AGV general purpose controllers are connect with distance measuring sensor, Magnetic Sensor and AGV driving devices respectively；The arm processor is also connect by wireless network module with host computer, the image of camera acquisition is uploaded to host computer, or receive the control instruction of host computer.The present invention provides a kind of car-mounted terminals of AGV trolleies, increase adaptability of the AGV trolleies to external environment.
Description
Technical field
The present invention relates to AGV trolleies, more particularly to a kind of car-mounted terminal of AGV trolleies.
Background technology
Automatic guided vehicle (Automated Guided Vehicle, abbreviation AGV), also commonly referred to as AGV trolleies, refer to equipment
There is electricity magnetically or optically to wait homing guidances device, can be travelled along defined guide path, there is safeguard protection and various transfers
The transport vehicle of function, ACV trolleies do not need driver in commercial Application, using rechargeable storage battery as its power resources.
AGV trolleies compared with walking, are creeped or other non-wheeled mobile robots have that action is quick, work characterized by wheel type mobile
Make the advantages such as efficient, simple in structure, controllability is strong, safety is good, compared with common other equipment in material conveying, AGV
Zone of action without being laid with the fixing devices such as track, support saddle frame, do not limited by place, road and space；Therefore, automatic
In compound streaming system, its automaticity and flexibility can be fully embodied, realizes efficient, economic, flexible manless production.
AGV trolleies can be set up using electromagnetic path (electromagnetic path-following system)
Its travelling route, electromagnetic path are set on ground, AGV trolleies follow information caused by electromagnetic path carry out it is mobile with it is dynamic
Make, but under the scene of some strong electromagnetics, due to the influence of external electromagnetic field, the mode of electromagnetism guide rail can not accurately be led
Draw the driving path of AGV trolleies；Meanwhile in thunder and lightning weather or some type electrical equipments of process, the power supply of AGV trolleies can
Surge phenomenon can be generated by ectocine, seriously affect the normal transport work of AGV trolleies.
Invention content
It is an object of the invention to overcome the deficiencies of the prior art and provide a kind of car-mounted terminals of AGV trolleies, improve
Adaptability of the AGV trolleies to environment.
The purpose of the present invention is achieved through the following technical solutions：A kind of car-mounted terminal of AGV trolleies, including it is vehicle-mounted
Subsystem, the onboard subsystem include video camera, arm processor, RFID card reader, wireless network module, distance measuring sensor,
AGV general purpose controllers, Magnetic Sensor, AGV driving devices and power module；
The arm processor is connect with video camera, RFID card reader and AGV general purpose controllers respectively, the AGV general purpose controllers
Connect respectively with distance measuring sensor, Magnetic Sensor and AGV driving devices, the arm processor also by wireless network module with
Host computer connects.
Be provided with built-in image collection card in the video camera, video camera by built-in image collection card and ARM at
Manage device connection.The distance measuring sensor includes in ultrasonic range finder sensor, infrared distance sensor and laser range sensor
It is one or more.The AGV driving devices include motor and photoelectric encoder.
The car-mounted terminal further includes power subsystem, and the output end of the power subsystem is connect with onboard subsystem,
Realize the power supply of entire onboard subsystem.The power subsystem includes power supply and anti-surge circuit, the power supply
Output end connect with anti-surge circuit, the output end of anti-surge circuit is connect with onboard subsystem.
Wherein, the anti-surge circuit includes resistance R1, TVS pipe, the first varistor MOV1, the second varistor
MOV2 and gas-discharge tube D1；The first end of the resistance R1 is connect as the input terminal of anti-surge circuit with power supply；Electricity
The second end of resistance R1 is connect as the output end of anti-surge circuit with onboard subsystem；The first end of resistance R1 is connect by TVS pipe
Ground；The second end of resistance R1 passes sequentially through the first varistor MOV1, the second varistor MOV2 ground connection；Gas-discharge tube D1 is simultaneously
Connection is arranged at the both ends of the second varistor MOV2.
The beneficial effects of the invention are as follows：The invention enables AGV trolleies, and haulagman can be carried out under the guiding of electromagnetism guide rail
Make, can detect barrier to avoid collision by distance measuring sensor in transportational process, improve AGV trolleies to external environment
Adaptability；Meanwhile power supply is again powered onboard subsystem after anti-surge circuit, avoid surge voltage to
The adverse effect that onboard subsystem is brought ensure that the normal transport of AGV trolleies.
Description of the drawings
Fig. 1 is the principle of the present invention block diagram；
Fig. 2 is the principle schematic of anti-surge circuit.
Specific implementation mode
Technical scheme of the present invention is described in further detail below in conjunction with the accompanying drawings, but protection scope of the present invention is not limited to
It is as described below.
As shown in Figure 1, a kind of car-mounted terminal of AGV trolleies, including onboard subsystem, the onboard subsystem include camera shooting
Machine, arm processor, RFID card reader, wireless network module, distance measuring sensor, AGV general purpose controllers, Magnetic Sensor, AGV drive
Dynamic device and power module；
The arm processor is connect with video camera, RFID card reader and AGV general purpose controllers respectively, the AGV general purpose controllers
Connect respectively with distance measuring sensor, Magnetic Sensor and AGV driving devices, the arm processor also by wireless network module with
Host computer connects.
Be provided with built-in image collection card in the video camera, video camera by built-in image collection card and ARM at
Manage device connection.The distance measuring sensor includes in ultrasonic range finder sensor, infrared distance sensor and laser range sensor
It is one or more.The AGV driving devices include motor and photoelectric encoder.
The car-mounted terminal further includes power subsystem, and the output end of the power subsystem is connect with onboard subsystem,
Realize the power supply of entire onboard subsystem.The power subsystem includes power supply and anti-surge circuit, the power supply
Output end connect with anti-surge circuit, the output end of anti-surge circuit is connect with onboard subsystem.
As shown in Fig. 2, the anti-surge circuit include resistance R1, it is TVS pipe, the first varistor MOV1, second pressure-sensitive
Resistance MOV2 and gas-discharge tube D1；The first end of the resistance R1 connects as the input terminal of anti-surge circuit with power supply
It connects；The second end of resistance R1 is connect as the output end of anti-surge circuit with onboard subsystem；The first end of resistance R1 passes through TVS
Pipe is grounded；The second end of resistance R1 passes sequentially through the first varistor MOV1, the second varistor MOV2 ground connection；Gas-discharge tube
D1 is arranged in parallel at the both ends of the second varistor MOV2.
Working principle of the present invention is as follows：Due to the presence of Magnetic Sensor, AGV general purpose controllers can be according to electromagnetic path
The guidance information of (sticking in floor), control AGV trolleies follow the guiding of electromagnetic path to be moved and acted, arm processor
The real-time the image collected information of video camera is transferred to host computer for real time monitoring by wireless network module；Pass through ranging
Sensor（Ultrasonic, infrared or laser ranging）Barrier can be detected, is effectively avoided collision, improves AGV trolleies to extraneous ring
The adaptability in border；In the more serious region of some electromagnetic interferences, some RFID for carrying location information mark need to be only set
Label, the RFID tag that the RFID card reader in vehicle control syetem scans, you can determine self-position, be convenient for AGV trolleies
Advance in electromagnetic interference region.Meanwhile power supply is again powered onboard subsystem after anti-surge circuit, avoids wave
The adverse effect that voltage is brought to onboard subsystem is gushed, the normal transport of AGV trolleies is ensure that, further improves AGV
Adaptability of the trolley to external environment；Specifically, when surge voltage inputs, the first varistor MOV1 and the second varistor
MOV2 shared protective effects, while resistance R1 and TVS pipe inhibit the residual amount of energy of surge voltage, prevent surge electric
Press the adverse effect brought to onboard subsystem；And surge voltage is excessive, impulsive discharge electric current is excessive, and residual voltage is more than due guarantor
Shield is horizontal, and simultaneously short circuit the first varistor MOV2 can be connected in gas-discharge tube D1 at this time, while gas-discharge tube discharges energy
To the earth, residual voltage reduces the earth；At this moment, the residual amount of energy of surge voltage is inhibited by resistance R1 and TVS pipe；Cause
The anti-surge circuit of this application can either avoid the adverse effect brought to onboard subsystem to smaller surge voltage, also can
The adverse effect for enough avoiding larger surge voltage from being brought to onboard subsystem.
Claims (7)
1. a kind of car-mounted terminal of AGV trolleies, it is characterised in that：Including onboard subsystem, the onboard subsystem includes camera shooting
Machine, arm processor, RFID card reader, wireless network module, distance measuring sensor, AGV general purpose controllers, Magnetic Sensor, AGV drive
Dynamic device and power module；
The arm processor is connect with video camera, RFID card reader and AGV general purpose controllers respectively, the AGV general purpose controllers
It is connect respectively with distance measuring sensor, Magnetic Sensor and AGV driving devices；The arm processor also by wireless network module with
Host computer connects, and the image of camera acquisition is uploaded to host computer, or receive the control instruction of host computer.
2. a kind of car-mounted terminal of AGV trolleies according to claim 1, it is characterised in that：It is provided in the video camera
Built-in image collection card, video camera are connect by built-in image collection card with arm processor.
3. a kind of car-mounted terminal of AGV trolleies according to claim 1, it is characterised in that：The distance measuring sensor includes
It is one or more in ultrasonic range finder sensor, infrared distance sensor and laser range sensor.
4. a kind of car-mounted terminal of AGV trolleies according to claim 1, it is characterised in that：The AGV driving devices include
Motor and photoelectric encoder.
5. a kind of car-mounted terminal of AGV trolleies according to claim 1, it is characterised in that：The car-mounted terminal further includes
The output end of power subsystem, the power subsystem is connect with onboard subsystem, realizes the power supply of entire onboard subsystem.
6. a kind of car-mounted terminal of AGV trolleies according to claim 5, it is characterised in that：The power subsystem includes
The output end of power supply and anti-surge circuit, the power supply is connect with anti-surge circuit, the output end of anti-surge circuit
It is connect with onboard subsystem.
7. a kind of car-mounted terminal of AGV trolleies according to claim 5, it is characterised in that：The anti-surge circuit packet
Include resistance R1, TVS pipe, the first varistor MOV1, the second varistor MOV2 and gas-discharge tube D1；The of the resistance R1
One end is connect as the input terminal of anti-surge circuit with power supply；Output end of the second end of resistance R1 as anti-surge circuit
It is connect with onboard subsystem；The first end of resistance R1 is grounded by TVS pipe；The second end of resistance R1 passes sequentially through the first pressure-sensitive electricity
Hinder MOV1, the second varistor MOV2 ground connection；Gas-discharge tube D1 is arranged in parallel at the both ends of the second varistor MOV2.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810142290.1A CN108303983A (en) | 2018-02-11 | 2018-02-11 | A kind of car-mounted terminal of AGV trolleies |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810142290.1A CN108303983A (en) | 2018-02-11 | 2018-02-11 | A kind of car-mounted terminal of AGV trolleies |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108303983A true CN108303983A (en) | 2018-07-20 |
Family
ID=62865478
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810142290.1A Pending CN108303983A (en) | 2018-02-11 | 2018-02-11 | A kind of car-mounted terminal of AGV trolleies |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108303983A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0956523A1 (en) * | 1997-02-10 | 1999-11-17 | Fmc Corporation | Navigation system for automatic guided vehicle |
| CN104298235A (en) * | 2014-08-25 | 2015-01-21 | 洛阳理工学院 | Mobile robot system based on wireless video transmission and PID compound control |
| CN104833356A (en) * | 2015-04-30 | 2015-08-12 | 王英英 | Anti-interference type robot guiding magnetic stripe track convenient to lay |
| CN105844886A (en) * | 2016-05-18 | 2016-08-10 | 成都福兰特电子技术股份有限公司 | Data collection system applied to ground jamming signal monitoring and positioning |
| CN205540268U (en) * | 2016-01-29 | 2016-08-31 | 武汉理工大学 | Automatically, keep away barrier tracking dolly based on magnetic navigation |
| CN207817529U (en) * | 2018-02-11 | 2018-09-04 | 成都兴联宜科技有限公司 | A kind of car-mounted terminal of AGV trolleies |
-
2018
- 2018-02-11 CN CN201810142290.1A patent/CN108303983A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0956523A1 (en) * | 1997-02-10 | 1999-11-17 | Fmc Corporation | Navigation system for automatic guided vehicle |
| CN104298235A (en) * | 2014-08-25 | 2015-01-21 | 洛阳理工学院 | Mobile robot system based on wireless video transmission and PID compound control |
| CN104833356A (en) * | 2015-04-30 | 2015-08-12 | 王英英 | Anti-interference type robot guiding magnetic stripe track convenient to lay |
| CN205540268U (en) * | 2016-01-29 | 2016-08-31 | 武汉理工大学 | Automatically, keep away barrier tracking dolly based on magnetic navigation |
| CN105844886A (en) * | 2016-05-18 | 2016-08-10 | 成都福兰特电子技术股份有限公司 | Data collection system applied to ground jamming signal monitoring and positioning |
| CN207817529U (en) * | 2018-02-11 | 2018-09-04 | 成都兴联宜科技有限公司 | A kind of car-mounted terminal of AGV trolleies |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180720 |