CN108319272A - One kind intelligently climbing vehicle control and method - Google Patents
One kind intelligently climbing vehicle control and method Download PDFInfo
- Publication number
- CN108319272A CN108319272A CN201810326705.0A CN201810326705A CN108319272A CN 108319272 A CN108319272 A CN 108319272A CN 201810326705 A CN201810326705 A CN 201810326705A CN 108319272 A CN108319272 A CN 108319272A
- Authority
- CN
- China
- Prior art keywords
- vehicle
- controller
- ground creeping
- ground
- control
- 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
Links
- 238000000034 method Methods 0.000 title claims abstract description 20
- 230000009194 climbing Effects 0.000 title claims abstract description 16
- 238000004891 communication Methods 0.000 claims abstract description 34
- 230000005540 biological transmission Effects 0.000 claims description 10
- 230000004888 barrier function Effects 0.000 claims description 5
- 238000003780 insertion Methods 0.000 claims 1
- 230000037431 insertion Effects 0.000 claims 1
- 230000008901 benefit Effects 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 3
- 230000033001 locomotion Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 238000009360 aquaculture Methods 0.000 description 1
- 244000144974 aquaculture Species 0.000 description 1
- 230000002457 bidirectional effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000004044 response 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, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
- G05D1/0263—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means using magnetic strips
-
- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Computer Networks & Wireless Communication (AREA)
- Electromagnetism (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses one kind intelligently climbing vehicle control and method, includes mainly host computer, wireless communication module, vehicle body, universal wheel, controller, power unit, energy unit, magnetic navigation sensor and obstacle sensor.One kind of the present invention intelligently climbing vehicle control and method, and Real-Time Scheduling, intelligent control and efficient advantage may be implemented.
Description
Technical field
The present invention relates to intelligent ground creeping vehicle fields, and in particular, to one kind intelligently climbing vehicle control and method.
Background technology
With factory automation, the gradually development of computer integrated manufacturing system technology and flexible manufacturing system, automatically
Change the extensive use of tiered warehouse facility, ground creeping vehicle is able to develop and apply.Ground creeping vehicle is also referred to as electric flat carriage, is a kind of electric railcar
The vehicle that heavy material, workpiece are transported in factory has simple in structure, easy to use, easy maintenance, large carrying capacity, pollution few
The advantages that.
Currently, ground creeping vehicle has the drawback that when running, one section of rail-free region is had by track regions to loading dock,
Site operation personnel moves article to loading dock by tool.The workload for increasing worker is unfavorable for automating field control.
As shown in Figure 1, most of operations scene includes a track boot section and rail-free boot section, when ground creeping vehicle covers track guiding
Need manually to carry article behind area to loading dock.
The invention is suitable for the object of the various automated job lines such as aquaculture, logistics and machine-building and metallurgical works
It carries and the system of transmission controls.
The wireless automatic positioning control system of existing a kind of ground creeping vehicle of invention (patent No. 013100265239) uses wirelessly certainly
The mode that dynamic positioning and configuration monitoring are combined pushes kiln car process to control ground creeping vehicle.The shortcomings that prior art is to use
Traditional wired mode controls ground creeping vehicle.
Invention content
It is an object of the present invention in view of the above-mentioned problems, propose that one kind intelligently climbing vehicle control and method, to realize
Real-Time Scheduling, intelligent control and efficient advantage.
To achieve the above object, the technical solution adopted by the present invention is：One kind intelligently climbing vehicle control, includes mainly
Host computer, wireless communication module, vehicle body, universal wheel, controller, power unit, energy unit, magnetic navigation sensor and barrier
Sensor；
The host computer detects the operation of every ground creeping vehicle for receiving the real time information that the controller is sent
State, and command adapted thereto is sent to the controller of ground creeping vehicle according to the situation of ground creeping vehicle, control the operational mode of ground creeping vehicle；
The wireless communication module, as the information transmission between host computer and controller；
The vehicle body, as the chassis for climbing vehicle, carried and transported cargo；
The universal wheel is set to below vehicle body, is contacted with ground rail, advance for controlling ground creeping vehicle or falls
Head, i.e. adjustment direction；
The controller is located at body-side or upper surface, for controlling operation, speed, the stopping of ground creeping vehicle, and root
Path selection or branch road selection are carried out according to the transmission signal of magnetic navigation sensor and the obstacle sensor；
The power unit is set to middle part below the vehicle body and leans on front position, for driving the universal wheel to advance
Or it turns around；
The energy unit is set to vehicle body side or upper surface, and energy is provided for the operation of ground creeping vehicle；
The magnetic navigation sensor is set to the both sides of the power unit, in the region of not track, along landing ground
The magnetic stripe of laying advances or turns around to retreat；
The obstacle sensor is set to the body structure and rear end, automatically detect operation field pedestrian or
The barriers such as the cargo that person falls realize automatic stopping；When the obstacle sensor when not in use, be put into standby shape
State, when having external signal, the obstacle sensor that can be restored to working condition.
Further, each described ground creeping vehicle is there are four universal wheel, each two before and after vehicle body.
Further, there are two the wireless communication modules, one connect with host computer, another is located on vehicle body and control
Device processed is connected.
Further, the power unit includes two DC brushless motors and its management circuit.
Further, the controller uses embedded control machine, PLC or microcontroller.
Further, the control system also wirelessly controls climbing allly for operation field using host computer
The operation of vehicle, receives the information that intelligent ground creeping vehicle is sent, and Real-Time Scheduling and intelligent control are carried out according to field operation situation.
Further, the control system includes single driving and double drive two ways.
Further, the dual-driving-mode includes two power units, and four magnetic navigation sensors are located at two
The both sides of power unit.
Further, a kind of intelligent ground creeping vehicle control method, specifically includes：
Step 100：Ground creeping vehicle is run at operation scene along track, and controller sends to power unit and instructs, driving ten thousand
Advance to wheel along track；
Step 200：Terminate orbital region, in the region of not track, the magnetic navigation sensor of ground creeping vehicle once collects
The magnetic field of magnetic stripe, and controller is sent a signal to, operational mode is automatically switched by controller, and drive the motor of power unit
Group follows collected changes of magnetic field and moves, and continues that universal wheel is driven to run along the direction of magnetic stripe, at the same time, will advance
Signal module is sent to the wireless communication module of host computer by radio communication；
Step 300：Until reaching loading dock, ground creeping vehicle runs to loading dock and unloads；
Step 400：When ground creeping vehicle turns around to return in loading dock discharged needs, controller transmission turns around order to power
Unit simultaneously drives universal wheel to turn around, that is, rotates 180 degree or 360 degree, then the magnetic navigation sensor of ground creeping vehicle front-end and back-end
Operation before starting to repeat, moves on, and the operating condition of universal wheel is passed through the wireless communication on vehicle body along magnetic stripe
The wireless communication module that module hair work(is connected to host computer；
Step 500：After ground creeping vehicle, which leaves magnetic stripe region, enters the region for being laid with track, magnetic navigation sensor can't detect
The magnetic field of magnetic stripe, is stopped, and into dormant state, controller automatically switches operational mode, and sends and instruct to power unit,
Driving universal wheel advances along track, and operation information is sent to the wireless communication module of host computer connection.
Further, the step 200 further includes：
If ground creeping vehicle encounters bend when rail-free area is run, the controller can control the side of driving wheel differential
Method adjusts trolley direction, adjusts magnetic navigation sensor core position, keeps ground creeping vehicle operation unaffected.
The advantageous effects of the present invention：
1, host computer wirelessly controls the operations of all ground creeping vehicles in the present invention, can be according to field operation situation
Carry out Real-Time Scheduling and intelligent control；
2, the present invention is advanced using power unit driving universal wheel, rotates 180 degree or 360 degree and magnetic navigation sensor knot
It is combined, can advance along track and in the region of not track, the magnetic stripe being laid with along landing ground travels；
3, circuit installation of the present invention is simple, and flexibly and easily, route control is easy to operate, will not lose course line, and lifting capacity is big,
Efficient, the occupied ground area that fulfils assignment is small, and the automatic transporting for the article that can be used under a variety of environment and unloading completely dispense with
Personnel on site's operation and control.
Other features and advantages of the present invention will be illustrated in the following description, also, partly becomes from specification
It obtains it is clear that understand through the implementation of the invention.
Below by drawings and examples, technical scheme of the present invention will be described in further detail.
Description of the drawings
Attached drawing is used to provide further understanding of the present invention, and a part for constitution instruction, the reality with the present invention
It applies example to be used to explain the present invention together, not be construed as limiting the invention.In the accompanying drawings：
Fig. 1 is a kind of operation field ground creeping vehicle running route schematic diagram for intelligently climbing vehicle control and method；
Fig. 2 is a kind of single driving control system schematic diagram for intelligently climbing vehicle control and method；
Fig. 3 is a kind of double drive control system schematic diagram for intelligently climbing vehicle control and method.
Specific implementation mode
Hereinafter, preferred embodiments of the present invention will be described with reference to the accompanying drawings, it should be understood that preferred reality described herein
Apply example only for the purpose of illustrating and explaining the present invention and is not intended to limit the present invention.
One kind intelligently climbing vehicle control, includes mainly host computer, wireless communication module, vehicle body, universal wheel, control
Device, power unit, energy unit, magnetic navigation sensor and obstacle sensor；Host computer module by radio communication
Send an instruction to the controller on the vehicle body.The controller can also be sent by the wireless communication module to be believed
It ceases to host computer.
The host computer detects the operation of every ground creeping vehicle for receiving the real time information that the controller is sent
State, and command adapted thereto is sent to the controller of ground creeping vehicle according to the situation of ground creeping vehicle, control the operational mode of ground creeping vehicle；
The wireless communication module, as the information transmission between host computer and controller；The wireless communication module has
Two, one connect with host computer, another is located on vehicle body and is connected with controller.Wireless communication module can any be had
The wireless electronic device of communication function.Wireless communication module is using state-of-the-art technical grade ad Hoc wireless network communication protocol
The working frequency that can avoid other wireless networks avoids internetwork interfere with each other.
The vehicle body, as the chassis for climbing vehicle, carried and transported cargo；
The universal wheel is set to below vehicle body, is contacted with ground rail, advance for controlling ground creeping vehicle or falls
Head, i.e. adjustment direction；Each described ground creeping vehicle is there are four universal wheel, each two before and after vehicle body.
The controller is located at body-side or upper surface, for controlling operation, speed, the stopping of ground creeping vehicle, and root
Path selection or branch road selection are carried out according to the transmission signal of magnetic navigation sensor and the obstacle sensor；The controller
Using embedded control machine, PLC or microcontroller.
The power unit is set to middle part below the vehicle body and leans on front position, for driving the universal wheel to advance
Or it turns around；The power unit includes two DC brushless motors and its management circuit.
The energy unit is set to vehicle body side or upper surface, and energy is provided for the operation of ground creeping vehicle；Energy unit can
To include accumulator and response circuit.
The magnetic navigation sensor is set to the both sides of the power unit, in the region of not track, along landing ground
The magnetic stripe of laying advances or turns around to retreat；It is combined together with the universal wheel on ground creeping vehicle, be free to run at the scene.
The obstacle sensor is set to the body structure and rear end, automatically detect operation field pedestrian or
The barriers such as the cargo that person falls realize automatic stopping, prevent unexpected generation, securely and reliably；When the obstacle sensor
When not in use, it is put into standby mode, when having external signal, the obstacle sensor that can be restored to working condition.
The control system also wirelessly controls the operation of all ground creeping vehicles of operation field using host computer,
The information that intelligent ground creeping vehicle is sent is received, Real-Time Scheduling and intelligent control are carried out according to field operation situation.
The control system includes single driving and double drive two ways.The dual-driving-mode includes two power lists
Member, four magnetic navigation sensors are located at the both sides of two power units.
It is operation field ground creeping vehicle running route schematic diagram as shown in Figure 1, wherein trolley marches to loading dock along track.
List as shown in Figure 2 drivingly climbs vehicle control schematic diagram, and host computer is sent out by the wireless communication module of connection
After sending instruction, the wireless communication module on vehicle body to receive instruction, controller is sent to.Controller is according to the instruction control received
Brake force unit, driving universal wheel operation.Wherein, there are two magnetic navigation sensors, it is located at the front and back end of power unit.
The process of ground creeping vehicle operation is divided into three parts.
First, ground creeping vehicle can be run at operation scene along track, and controller sends to power unit and instructs, driving ten thousand
Advance to wheel along track.
Secondly, in the region of not track, the magnetic navigation sensor of ground creeping vehicle once collects the magnetic field of magnetic stripe, and will letter
Number it is sent to controller, operational mode is automatically switched by controller, and the motor group of power unit is driven to follow collected magnetic
Field changes and moves, and continues that universal wheel is driven to run along the direction of magnetic stripe, at the same time, the signal of advance is passed through channel radio
Letter module is sent to the wireless communication module of host computer.If ground creeping vehicle encounters bend, the control when rail-free area is run
Device processed can control the method adjustment trolley direction of driving wheel differential, adjust magnetic navigation sensor core position, ground creeping vehicle is made to transport
Row is unaffected.
Finally, when ground creeping vehicle turns around to return in loading dock discharged needs, controller sends order of turning around and gives power list
Member simultaneously drives universal wheel to turn around, that is, rotates 180 degree or 360 degree, and then the magnetic navigation sensor of ground creeping vehicle front-end and back-end is opened
Operation before starting weight is multiple, moves on, and the operating condition of universal wheel is passed through the radio communication mold on vehicle body along magnetic stripe
The wireless communication module that block hair work(is connected to host computer.After ground creeping vehicle, which leaves magnetic stripe region, enters the region for being laid with track, magnetic
Navigation sensor can't detect the magnetic field of magnetic stripe, be stopped, and into dormant state, controller automatically switches operational mode, and
It sends and instructs to power unit, driving universal wheel advances along track, and operation information is sent to the wireless of host computer connection
Communication module.
Double drive ground creeping vehicle control system schematic diagram as shown in Figure 3, module sends instruction to host computer by radio communication,
After wireless communication module on vehicle body receives instruction, controller is sent to.Controller controls power according to the instruction received
Unit, driving universal wheel operation.Wherein, there are two power units for vehicle body, and there are four magnetic navigation sensors, are located at two and move
The both sides of power unit.
The process of ground creeping vehicle operation is divided into three parts.
First, ground creeping vehicle can be run at operation scene along track, and power unit transmission of the controller on vehicle body refers to
It enables, two forward direction universal wheels of driving advance along track.
Secondly, in the region of not track, two magnetic navigation sensors of the power unit both sides of ground creeping vehicle once acquire
To the magnetic field of magnetic stripe, starts to work and send a signal to controller, controller automatically switches operational mode, sends instructions to driving
Power, the motor group in driving unit follow collected changes of magnetic field and move, side of the driving the first two universal wheel to magnetic stripe
To movement.
Finally, when ground creeping vehicle needs to return in loading dock discharged, controller automatically switches operating mode, sends instruction
It starts to work to the magnetic navigation sensor of rear end below vehicle body two, the two magnetic navigation sensors start the magnetic field signal of magnetic stripe
It is sent to controller, controller sends instructions to power unit, and driving two universal wheels of body rear end are former along the direction of magnetic stripe
Road returns to track regions.After ground creeping vehicle, which leaves magnetic stripe region, enters the region for being laid with track, magnetic navigation sensor can't detect
The magnetic field of magnetic stripe, is stopped, and into dormant state, controller automatically switches operational mode, and sends and instruct to power unit,
Continue that two universal wheels of rear end is driven along track to advance.
All operation informations of ground creeping vehicle are stored in host computer.Staff can require to send out by host computer according to control
It send the startup of the intelligent ground creeping vehicle of instruction control, stop.When have more ground creeping vehicles simultaneously when operation field is run, host computer
Real-Time Scheduling may be implemented.
During ground creeping vehicle whole service, if after body structure and the scanning to barrier of the obstacle sensor of rear end
Controller is sent a signal to immediately, and controller sends commands to power unit stopping action, and universal wheel stop motion, ground creeping vehicle stops
Only run.
When the magnetic navigation sensor on ground creeping vehicle do not detect magnetic field there are when, give controller send derailing signal,
Controller automatically switches operational mode, and sends instructions to power unit control universal wheel stop motion.
Key problem in technology point is how to utilize upper computer control system, using wireless mode, by the ground creeping vehicle track method of operation
Combine with magnetic navigation mode, controls intelligent ground creeping vehicle and automatically switch operation in track regions and rail-free area.
It is how to utilize upper computer control system to be intended to protect a little, using wireless mode, by the ground creeping vehicle track method of operation and
Magnetic navigation mode combines, and controls intelligent ground creeping vehicle and automatically switches operation in track regions and rail-free area.
Intelligent ground creeping vehicle in the present invention, regardless of headstock and parking stall, can be gone ahead by the way of automatic bidirectional navigation,
Can also wheel turn around rotation 180 degree or 360 degree, along the return of former route.Meanwhile, it is capable to run using track, it can also be in nothing
Track regions continue to travel using magnetic navigation, realize the carrying and unloading of article, after the discharged of destination, universal wheel is automatic
It turns to and is returned according to circuit before.
Following advantageous effect can at least be reached：
1, host computer wirelessly controls the operations of all ground creeping vehicles in the present invention, can be according to field operation situation
Carry out Real-Time Scheduling and intelligent control；
2, the present invention is advanced using power unit driving universal wheel, rotates 180 degree or 360 degree and magnetic navigation sensor knot
It is combined, can advance along track and in the region of not track, the magnetic stripe being laid with along landing ground travels；
3, circuit installation of the present invention is simple, and flexibly and easily, route control is easy to operate, will not lose course line, and lifting capacity is big,
Efficient, the occupied ground area that fulfils assignment is small, and the automatic transporting for the article that can be used under a variety of environment and unloading completely dispense with
Personnel on site's operation and control.
Finally it should be noted that：The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention,
Although the present invention is described in detail referring to the foregoing embodiments, for those skilled in the art, still may be used
With technical scheme described in the above embodiments is modified or equivalent replacement of some of the technical features.
All within the spirits and principles of the present invention, any modification, equivalent replacement, improvement and so on should be included in the present invention's
Within protection domain.
Claims (10)
1. one kind intelligently climbing vehicle control, which is characterized in that include mainly host computer, wireless communication module, vehicle body, universal
Wheel, controller, power unit, energy unit, magnetic navigation sensor and obstacle sensor；
The host computer detects the operating status of every ground creeping vehicle for receiving the real time information that the controller is sent,
And command adapted thereto is sent to the controller of ground creeping vehicle according to the situation of ground creeping vehicle, control the operational mode of ground creeping vehicle；
The wireless communication module, as the information transmission between host computer and controller；
The vehicle body, as the chassis for climbing vehicle, carried and transported cargo；
The universal wheel is set to below vehicle body, is contacted with ground rail, advance for controlling ground creeping vehicle or turns around,
That is adjustment direction；
The controller is located at body-side or upper surface, for controlling operation, speed, the stopping of ground creeping vehicle, and according to institute
The transmission signal of the magnetic navigation sensor and obstacle sensor stated carries out Path selection or branch road selection；
The power unit is set to middle part below the vehicle body and leans on front position, for driving the universal wheel to advance or
It turns around；
The energy unit is set to vehicle body side or upper surface, and energy is provided for the operation of ground creeping vehicle；
The magnetic navigation sensor is set to the both sides of the power unit, in the region of not track, is laid with along landing ground
Magnetic stripe advance or turn around to retreat；
The obstacle sensor is set to the body structure and rear end, automatically detects the pedestrian of operation field or falls
The barriers such as the cargo fallen realize automatic stopping；When the obstacle sensor when not in use, be put into standby mode, when
There are external signal, the obstacle sensor that can be restored to working condition.
2. one kind according to claim 1 intelligently climbs vehicle control, which is characterized in that each described ground creeping vehicle has four
A universal wheel, each two before and after vehicle body.
3. one kind according to claim 1 intelligently climbs vehicle control, which is characterized in that the wireless communication module has
Two, one connect with host computer, another is located on vehicle body and is connected with controller.
4. one kind according to claim 1 intelligently climbs vehicle control, which is characterized in that the power unit includes two
A DC brushless motor and its management circuit.
5. one kind according to claim 1 intelligently climbs vehicle control, which is characterized in that the controller is using insertion
Formula control machine, PLC or microcontroller.
6. one kind according to claim 1 intelligently climbs vehicle control, which is characterized in that the control system can also profit
The operation of all ground creeping vehicles of operation field is wirelessly controlled with host computer, receives the information that intelligent ground creeping vehicle is sent,
Real-Time Scheduling and intelligent control are carried out according to field operation situation.
7. one kind according to claim 1 intelligently climbs vehicle control, which is characterized in that the control system includes single
Driving and double drive two ways.
8. one kind according to claim 7 intelligently climbs vehicle control, which is characterized in that the dual-driving-mode includes
Two power units, four magnetic navigation sensors are located at the both sides of two power units.
9. a kind of intelligence ground creeping vehicle control method, which is characterized in that specifically include：
Step 100：Ground creeping vehicle is run at operation scene along track, and controller sends to power unit and instructs, and drives universal wheel
Advance along track；
Step 200：Terminate orbital region, in the region of not track, the magnetic navigation sensor of ground creeping vehicle once collects magnetic stripe
Magnetic field, and send a signal to controller, operational mode automatically switched by controller, and drive the motor group of power unit with
It is moved with collected changes of magnetic field, continues that universal wheel is driven to run along the direction of magnetic stripe, at the same time, by the letter of advance
Module is sent to the wireless communication module of host computer number by radio communication；
Step 300：Until reaching loading dock, ground creeping vehicle runs to loading dock and unloads；
Step 400：When ground creeping vehicle turns around to return in loading dock discharged needs, controller transmission turns around order to power unit
And universal wheel is driven to turn around, that is, 180 degree or 360 degree are rotated, then the magnetic navigation sensor of ground creeping vehicle front-end and back-end starts
Operation before repeating, moves on, and the operating condition of universal wheel is passed through the wireless communication module on vehicle body along magnetic stripe
The wireless communication module that hair work(is connected to host computer；
Step 500：After ground creeping vehicle, which leaves magnetic stripe region, enters the region for being laid with track, magnetic navigation sensor can't detect magnetic stripe
Magnetic field, be stopped, into dormant state, controller automatically switches operational mode, and sends and instruct to power unit, driving
Universal wheel advances along track, and operation information is sent to the wireless communication module of host computer connection.
10. a kind of control method of intelligent ground creeping vehicle according to claim 9, which is characterized in that the step 200 is also wrapped
It includes：
If ground creeping vehicle encounters bend when rail-free area is run, the controller can control the method tune of driving wheel differential
Whole trolley direction adjusts magnetic navigation sensor core position, keeps ground creeping vehicle operation unaffected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810326705.0A CN108319272A (en) | 2018-04-12 | 2018-04-12 | One kind intelligently climbing vehicle control and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810326705.0A CN108319272A (en) | 2018-04-12 | 2018-04-12 | One kind intelligently climbing vehicle control and method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108319272A true CN108319272A (en) | 2018-07-24 |
Family
ID=62897353
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810326705.0A Pending CN108319272A (en) | 2018-04-12 | 2018-04-12 | One kind intelligently climbing vehicle control and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108319272A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3536209A (en) * | 1966-04-18 | 1970-10-27 | Clark Equipment Co | Automatic material-unit storage and method |
| CN105045268A (en) * | 2015-08-25 | 2015-11-11 | 深圳力子机器人有限公司 | AGV laser tape hybrid navigation system |
| CN204883364U (en) * | 2015-08-04 | 2015-12-16 | 中辰环能技术（北京）有限公司 | Formula intelligence active transport car slips into |
| CN107797557A (en) * | 2017-11-02 | 2018-03-13 | 江苏集萃智能制造技术研究所有限公司 | It is a kind of using laser and the AGV dollies of tape hybrid navigation |
| CN208255718U (en) * | 2018-04-12 | 2018-12-18 | 南阳师范学院 | One kind intelligently climbing vehicle control |
-
2018
- 2018-04-12 CN CN201810326705.0A patent/CN108319272A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3536209A (en) * | 1966-04-18 | 1970-10-27 | Clark Equipment Co | Automatic material-unit storage and method |
| CN204883364U (en) * | 2015-08-04 | 2015-12-16 | 中辰环能技术（北京）有限公司 | Formula intelligence active transport car slips into |
| CN105045268A (en) * | 2015-08-25 | 2015-11-11 | 深圳力子机器人有限公司 | AGV laser tape hybrid navigation system |
| CN107797557A (en) * | 2017-11-02 | 2018-03-13 | 江苏集萃智能制造技术研究所有限公司 | It is a kind of using laser and the AGV dollies of tape hybrid navigation |
| CN208255718U (en) * | 2018-04-12 | 2018-12-18 | 南阳师范学院 | One kind intelligently climbing vehicle control |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11524374B2 (en) | Conveying system for simultaneously transporting workpieces and workers | |
| WO2018072712A1 (en) | Agv transport vehicle and control method therefor | |
| US9809234B2 (en) | Method for controlling a land transport vehicle, land transport vehicle, ground equipment and transport system | |
| WO2016197610A1 (en) | Agv comb-type transfer robot | |
| CN101603830A (en) | Self-navigation cart system and multi-task controlling method | |
| EP3187363B1 (en) | Method of docking an electric vehicle for charging | |
| TWI324130B (en) | ||
| CN111798657B (en) | Automatic rescue system and method for unmanned sweeper | |
| CN109070762B (en) | Drive system for electric railway vehicle and vehicle drive method | |
| CN104521434A (en) | Automatic rail changing walking chassis of facility leaf vegetable harvesting robot and rail changing method | |
| CN105239810A (en) | Piggy-back intelligent vehicle carrier and intelligent vehicle carrying system employing the same | |
| US10926819B2 (en) | Method and vehicle for conveying an electrically driven motor vehicle during assembly thereof | |
| CN208255718U (en) | One kind intelligently climbing vehicle control | |
| CN104895375A (en) | Automatic plane garage system based on wheel-type vehicle-carrying device | |
| JPH0899792A (en) | Running control method and device of unmanned vehicle in branch of unmanned conveyer system | |
| CN201494328U (en) | Automatic navigation trolley | |
| CN106274552A (en) | Automotive control system | |
| CN108319272A (en) | One kind intelligently climbing vehicle control and method | |
| CN209765333U (en) | AGV commodity circulation delivery system | |
| CN205100620U (en) | Backpack intelligence is carried car ware and is used its intelligence year car system | |
| CN208278195U (en) | A kind of intelligence ground creeping vehicle | |
| CN111056193A (en) | Garbage collection method for guiding carriage of transport vehicle and control system thereof | |
| CN111722631B (en) | Autonomous mobile chassis, multi-span greenhouse chassis rail-changing method and storage medium | |
| CN114604338A (en) | Intelligent flatcar with flexible platform | |
| CN104895366B (en) | A kind of load car device based on plane garage |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |