CN108502814A - The carrying of AGV trolleies and lifting method and system - Google Patents
The carrying of AGV trolleies and lifting method and system Download PDFInfo
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- CN108502814A CN108502814A CN201810495178.6A CN201810495178A CN108502814A CN 108502814 A CN108502814 A CN 108502814A CN 201810495178 A CN201810495178 A CN 201810495178A CN 108502814 A CN108502814 A CN 108502814A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/0755—Position control; Position detectors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/12—Platforms; Forks; Other load supporting or gripping members
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Structural Engineering (AREA)
- Civil Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Mechanical Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a kind of carryings of AGV trolleies and lifting method and system, method to include：After AGV trolleies drive to the place for needing to transport goods, control AGV yokes detect signal according to yoke terrain clearance or cargo is raised to scheduled height by yoke pressure sensitive signal automatically；After AGV yokes are lifted automatically, cargo is carried to by AGV trolleies by specified position.System includes auto lifting rising mould block and transfer module.The present invention is based on the Intelligent liftings that yoke terrain clearance detection signal or yoke pressure sensitive signal realize cargo, are not necessarily to artificial participation, realize the full-automation that AGV trolleies carry storage process, intelligence degree is high, handling efficiency higher.It the composite can be widely applied to means of transport field of intelligent control.
Description
Technical field
The present invention relates to means of transport field of intelligent control, especially a kind of AGV trolleies are carried and lifting method and system.
Background technology
With the fast development of B2C electric business industries, logistic storage becomes the bottleneck factor of every profession and trade expansion.As domestic big
A lower huge sum of money researches and develops a new generation's modernization warehouse to type electric business invariably, but the capital fund of most of storage sector is all spent whole
It picks up, shunt etc. in links.In the zero of most influence warehouse efficiency picks up process, still user moves the motionless traditional manpower side of goods
Formula, therefore the AGV trolleies with free path guiding are precisely to solve the problems, such as this effective ways.AGV is automatic guided vehicle
The english abbreviation of (Automated Guided Vehicle) refers to magnetically or optically waiting homing guidances device equipped with electricity, can
It is travelled along defined guide path, the transport vehicle with safeguard protection and various transfer functions.
Current AGV trolleies are carried storage process and are generally：AGV trolleies travel the place transported goods to needs, then
Cargo is brought up into AGV trolleies by artificial mode, then cargo is transported to specified storage position again and is put in storage by AGV trolleies.
Due to needing that cargo is brought up to AGV trolleies by artificial mode, which is unable to reach the full-automation for carrying storage process,
Intelligence degree is low, and handling efficiency is not high.
Invention content
In order to solve the above technical problems, it is an object of the invention to：A kind of intelligence degree height and efficient AGV are provided
Trolley carrying and lifting method and system.
The first technical solution for being taken of the present invention is：
AGV trolleies are carried and lifting method, include the following steps：
After AGV trolleies drive to the place for needing to transport goods, control AGV yokes are detected according to yoke terrain clearance to be believed
Number or yoke pressure sensitive signal cargo is raised to scheduled height automatically；
After AGV yokes are lifted automatically, cargo is carried to by AGV trolleies by specified position.
Further, described after AGV trolleies drive to and need the place transported goods, control AGV yokes according to yoke from
The step for cargo is raised to scheduled height by ground height detection signal or yoke pressure sensitive signal automatically, specifically includes：
The place postfixed point parking preset time for needing to transport goods is driven in AGV trolleies；
The Vehicle Controller of AGV trolleies is sent to motor driver rotates forward instruction, and driving motor drives the lifting of AGV yokes；
Vehicle Controller calculates the height of AGV yokes lifting according to the pulse that incremental encoder on motor is sent；
Vehicle Controller is according to the distance measuring signals of AGV yoke infrared distance measurement modules or AGV yoke pressure sensor modules
Pressure sensitive signal is adjusted the height of AGV yokes, to which AGV yokes are raised to scheduled height.
Further, the Vehicle Controller calculates the lifting of AGV yokes according to the pulse that incremental encoder on motor is sent
Height the step for, specifically include：
Incremental encoder sends the pulse to Vehicle Controller；
Vehicle Controller calculates the angle of motor rotation according to the pulse of transmission；
The height for the angle calculation AGV yokes lifting that Vehicle Controller is rotated according to motor；
Vehicle Controller determines whether cargo has been lifted according to the liftoff height of AGV yokes.
Further, the Vehicle Controller according to the distance measuring signals of AGV yoke infrared distance measurement modules to the height of AGV yokes
It is adjusted, so that the step for AGV yokes are raised to scheduled height, specifically includes：
Distance measuring signal is fed back to Vehicle Controller by AGV yoke infrared distance measurement modules；
Vehicle Controller is adjusted the height of AGV yokes using pid algorithm according to the distance measuring signal of feedback, described
Pid algorithm when being adjusted to the height of AGV yokes used formula be：
PID=KP* [E (k)-E (k-1)]+KI*E (k)+KD* [E (k) -2E (k-1)+E (k-2)]
Wherein, PID is the motor speed that motor driver drives AGV yokes, and KP is proportionality coefficient, and KI is integral constant,
KD is derivative constant, the distance that E (k)=scheduled height-AGV yoke infrared distance measurement modules currently measure, E (k-1)=predetermined
The distance that measures of the preceding AGV yoke infrared distance measurement modules of height-, the preceding 2 AGV yokes of E (k-2)=scheduled height-are red
The distance that outer range finder module measures.
Further, the Vehicle Controller according to the pressure sensitive signal of AGV yoke pressure sensor modules to AGV yokes
Height be adjusted, to AGV yokes are raised to scheduled height the step for, specifically include：
The pressure sensitive signal of AGV yokes is fed back to Vehicle Controller by AGV yokes pressure sensor module；
Vehicle Controller is adjusted the height of AGV yokes according to the pressure sensitive signal of feedback, until the pressure of feedback
Power inductive signal meets the pressure sensitive semaphore request of scheduled height.
Further, described after AGV yokes are lifted automatically, cargo is carried to by AGV trolleies by specified position
The step for, it specifically includes：
A kind of transport mode as AGV trolleies is selected from drawing cargo transport mode and normal transport mode；
Cargo is carried to specified position according to the transport mode of selection：If selection drawing cargo transport mode, into
Enter to pull cargo transport mode to pull cargo to specified position；Conversely, then cargo is carried into normal transport mode
Specified position.
Further, if the selection pull cargo transport mode, enter drawing cargo transport mode by cargo pull to
It the step for specified position, specifically includes：
Vehicle Controller control towing pin is promoted to upper limit；
Truck equipped with cargo is stuck on towing pin；
After truck card is good, AGV trolleies drawing truck moves to specified position；
Vehicle Controller control towing pin drops to lower limit so that truck is detached with towing pin.
The second technical solution for being taken of the present invention is：
AGV trolleies are carried and hoisting system, including：
Auto lifting rising mould block, for after AGV trolleies drive to and need the place transported goods, control AGV yokes according to
Yoke terrain clearance detects signal or cargo is raised to scheduled height by yoke pressure sensitive signal automatically；
Transfer module, for after AGV yokes are lifted automatically, cargo to be carried to specified position by AGV trolleies
It sets.
Further, the auto lifting rising mould block specifically includes：
Stopping a train at a target point unit, for driving to the place postfixed point parking preset time for needing to transport goods in AGV trolleies；
AGV yoke driving units rotate forward instruction for being sent to motor driver, and driving motor drives the lifting of AGV yokes；
The height calculation unit of AGV yokes lifting, the pulse for being sent according to incremental encoder on motor calculate AGV
The height of yoke lifting；
Yoke height adjustment unit, for being passed according to the distance measuring signal or AGV yoke pressure of AGV yoke infrared distance measurement modules
The pressure sensitive signal of sensor module is adjusted the height of AGV yokes, to which AGV yokes are raised to scheduled height.
The third technical solution taken of the present invention is：
AGV trolleies are carried and hoisting system, including：
Memory, for storing program；
Processor, for loading described program to execute the carrying of AGV trolleies and the lifting side as described in the first technical solution
Method.
The beneficial effects of the invention are as follows：AGV trolleies carrying of the present invention and lifting method and system, drive in AGV trolleies
After needing the place transported goods, control AGV yokes detect signal according to yoke terrain clearance or yoke pressure sensitive signal will
Cargo is raised to scheduled height automatically, and detecting signal or yoke pressure sensitive signal based on yoke terrain clearance realizes cargo
Intelligent lifting, be not necessarily to artificial participation, realize the full-automation that AGV trolleies carry storage process, intelligence degree is high, removes
It transports more efficient.
Description of the drawings
Fig. 1 is the step flow chart of AGV trolleies of the present invention carrying and lifting method；
Fig. 2 is the realization principle schematic diagram that cargo is raised to scheduled this process of height by AGV trolleies of the present invention automatically.
Specific implementation mode
The present invention is further explained and is illustrated with specific embodiment with reference to the accompanying drawings of the specification.
As shown in Figure 1, AGV trolleies of the present invention are carried and lifting method, include the following steps：
After AGV trolleies drive to the place for needing to transport goods, control AGV yokes are detected according to yoke terrain clearance to be believed
Number or yoke pressure sensitive signal cargo is raised to scheduled height automatically；
After AGV yokes are lifted automatically, cargo is carried to by AGV trolleies by specified position.
Wherein, the terrain clearance detection signal of AGV yokes can be the pulse letter of the incremental encoder transmission of AGV yoke motors
Number or AGV yoke infrared distance measurement modules distance measuring signal, for user flexibility select.
It is further used as preferred embodiment, described after AGV trolleies drive to the place for needing to transport goods, control
AGV yokes according to yoke terrain clearance detect signal or yoke pressure sensitive signal cargo is raised to automatically scheduled height this
One step, specifically includes：
The place postfixed point parking preset time for needing to transport goods is driven in AGV trolleies；
The Vehicle Controller of AGV trolleies is sent to motor driver rotates forward instruction, and driving motor drives the lifting of AGV yokes；
Vehicle Controller calculates the height of AGV yokes lifting according to the pulse that incremental encoder on motor is sent；
Vehicle Controller is according to the distance measuring signals of AGV yoke infrared distance measurement modules or AGV yoke pressure sensor modules
Pressure sensitive signal is adjusted the height of AGV yokes, to which AGV yokes are raised to scheduled height.
Wherein, preset time can be flexibly arranged according to actual needs by user, such as preset time is 2s.
Vehicle Controller calculates the height of AGV yokes lifting, mesh according to the pulse that incremental encoder on motor is sent
Be to determine whether cargo has been lifted according to liftoff height.
Infrared distance measurement principle is utilized to measure the liftoff height of yoke in AGV yoke infrared distance measurement modules, can be used existing
Infrared distance sensor realize.
This different principle of pressure of different height AGV yokes is utilized to lead in AGV yoke pressure sensor modules
Excess pressure detects to measure the liftoff height of yoke, and existing pressure sensor can be selected to realize.
It is further used as preferred embodiment, the pulse that the Vehicle Controller is sent according to incremental encoder on motor
The step for calculating the height of AGV yokes lifting, specifically includes：
Incremental encoder sends the pulse to Vehicle Controller；
Vehicle Controller calculates the angle of motor rotation according to the pulse of transmission；
The height for the angle calculation AGV yokes lifting that Vehicle Controller is rotated according to motor；
Vehicle Controller determines whether cargo has been lifted according to the liftoff height of AGV yokes.
It is further used as preferred embodiment, the Vehicle Controller is according to the rangings of AGV yoke infrared distance measurement modules
Signal is adjusted the height of AGV yokes, so that the step for AGV yokes are raised to scheduled height, specifically includes：
Distance measuring signal is fed back to Vehicle Controller by AGV yoke infrared distance measurement modules；
Vehicle Controller is adjusted the height of AGV yokes using pid algorithm according to the distance measuring signal of feedback, described
Pid algorithm when being adjusted to the height of AGV yokes used formula be：
PID=KP* [E (k)-E (k-1)]+KI*E (k)+KD* [E (k) -2E (k-1)+E (k-2)]
Wherein, PID is the motor speed that motor driver drives AGV yokes, and KP is proportionality coefficient, and KI is integral constant,
KD is derivative constant, the distance that E (k)=scheduled height-AGV yoke infrared distance measurement modules currently measure, E (k-1)=predetermined
The distance that measures of the preceding AGV yoke infrared distance measurement modules of height-, the preceding 2 AGV yokes of E (k-2)=scheduled height-are red
The distance that outer range finder module measures.
In the present embodiment, k is represented currently, and k-1 represents the preceding primary of k, and k-2 represents the preceding primary of k-1.
It is further used as preferred embodiment, the Vehicle Controller is according to the pressures of AGV yoke pressure sensor modules
Power inductive signal is adjusted the height of AGV yokes, thus the step for AGV yokes are raised to scheduled height, specifically
Including：
The pressure sensitive signal of AGV yokes is fed back to Vehicle Controller by AGV yokes pressure sensor module；
Vehicle Controller is adjusted the height of AGV yokes according to the pressure sensitive signal of feedback, until the pressure of feedback
Power inductive signal meets the pressure sensitive semaphore request of scheduled height.
It is further used as preferred embodiment, it is described after AGV yokes are lifted automatically, by AGV trolleies by goods
Object is carried to the step for specified position, specifically includes：
A kind of transport mode as AGV trolleies is selected from drawing cargo transport mode and normal transport mode；
Cargo is carried to specified position according to the transport mode of selection：If selection drawing cargo transport mode, into
Enter to pull cargo transport mode to pull cargo to specified position；Conversely, then cargo is carried into normal transport mode
Specified position.Wherein, the cargo of normal transport mode is placed on AGV trolleies, is introduced with background technology part identical.
It is further used as preferred embodiment, if the selection pulls cargo transport mode, enters drawing cargo and removes
The step for mlc mode pulls cargo to specified position, specifically includes：
Vehicle Controller control towing pin is promoted to upper limit；
Truck equipped with cargo is stuck on towing pin；
After truck card is good, AGV trolleies drawing truck moves to specified position；
Vehicle Controller control towing pin drops to lower limit so that truck is detached with towing pin.
Wherein, the MCU of Vehicle Controller can make towing pin rise or fall by sending high level, send low level
To make towing pin stop motion.The quantity of truck can be a section or more piece, that is to say, that behind the truck of towing pin clamping
More piece truck can be also mounted, one is formed and drags more trailer systems.
Corresponding with the method for Fig. 1, AGV trolleies of the present invention are carried and hoisting system, including：
Auto lifting rising mould block, for after AGV trolleies drive to and need the place transported goods, control AGV yokes according to
Yoke terrain clearance detects signal or cargo is raised to scheduled height by yoke pressure sensitive signal automatically；
Transfer module, for after AGV yokes are lifted automatically, cargo to be carried to specified position by AGV trolleies
It sets.
It is further used as preferred embodiment, the auto lifting rising mould block specifically includes：
Stopping a train at a target point unit, for driving to the place postfixed point parking preset time for needing to transport goods in AGV trolleies；
AGV yoke driving units rotate forward instruction for being sent to motor driver, and driving motor drives the lifting of AGV yokes；
The height calculation unit of AGV yokes lifting, the pulse for being sent according to incremental encoder on motor calculate AGV
The height of yoke lifting；
Yoke height adjustment unit, for being passed according to the distance measuring signal or AGV yoke pressure of AGV yoke infrared distance measurement modules
The pressure sensitive signal of sensor module is adjusted the height of AGV yokes, to which AGV yokes are raised to scheduled height.
Corresponding with the method for Fig. 1, AGV trolleies of the present invention are carried and hoisting system, including：
Memory, for storing program；
Processor, for loading described program to execute AGV trolleies carrying of the present invention and lifting method.
The AGV trolleies of the present invention are carried and Integral Lifting Scheme includes mainly following two processes：
(1) lifting process of AGV trolleies
The present invention is equipped with the driver of motor in AGV trolleies, and incremental encoder is equipped on motor.
When AGV carriage walkings are to the website for needing to transport goods, stopping a train at a target point preset time (such as 2s), AGV trolleies
Vehicle Controller MCU is sent to motor driver by CANBUS buses and rotates forward order, and motor rotates forward, and arm fork lifting, increment is compiled
Code device transmission pulse (such as motor has rotated 1 circle, incremental encoder will send 1000 pulses, and motor has rotated half-turn,
Incremental encoder will send 500 pulses) detect the angle of motor rotation to Vehicle Controller MCU, and then calculate arm
Pitch the height of lifting.The terrain clearance pitched according to arm is assured that whether cargo has been lifted.
In order to realize that the intelligence lifting of cargo, the present invention are also additionally arranged the detection of yoke terrain clearance and yoke pressure sensitive work(
Can, as shown in Figure 2.
Wherein, the cargo lifting process with yoke terrain clearance detection function specifically includes：
1) distance measuring signal is fed back to Vehicle Controller MCU by AGV yokes infrared distance measurement module；
2) Vehicle Controller is adjusted the height of AGV yokes using pid algorithm according to the distance measuring signal of feedback, described
Pid algorithm when being adjusted to the height of AGV yokes used formula be：
PID=KP* [E (k)-E (k-1)]+KI*E (k)+KD* [E (k) -2E (k-1)+E (k-2)]
In above formula：The distance that E (k)=scheduled height-AGV yoke infrared distance measurement modules currently measure；
The distance that the preceding AGV yoke infrared distance measurement modules of E (k-1)=scheduled height-measure；
The distance that the preceding 2 AGV yoke infrared distance measurement modules of E (k-2)=scheduled height-measure；
KP=proportionality coefficients；
KI=integral constants；
KD=derivative constants；
PID=motor drivers drive the motor speed of AGV yokes.
And the cargo lifting process with yoke pressure sensitive function specifically includes：
1) the pressure sensitive signal of AGV yokes is fed back to Vehicle Controller by AGV yokes pressure sensor module；
2) Vehicle Controller is adjusted the height of AGV yokes according to the pressure sensitive signal of feedback, until feedback
Pressure sensitive signal meets the pressure sensitive semaphore request of scheduled height.
(2) handling process of AGV trolleies
The present invention is equipped with draft gear --- towing pin on AGV trolleies, when needing to pull cargo, Vehicle Controller
MCU sends high level by GPIO mouthfuls to be made to draw pin promotion；When towing pin is promoted to upper limit, MCU retransmits low level, makes to lead
Draw pin stop motion.The draft gear needs that truck is coordinated to use, and truck is stuck on towing pin, allows truck with AGV trolleies
It walks and moves, more piece truck can be mounted behind truck, form the trailer system more than a support.When AGV trolleies need not pull goods
When object, Vehicle Controller sends high level again, and towing pin is made to drop to lower limit, and draft gear will be packed up.
In conclusion AGV trolleies carrying of the present invention and lifting method and system, drive in AGV trolleies and need to carry goods
Behind the place of object, control AGV yokes detect signal or yoke pressure sensitive signal by cargo auto lifting according to yoke terrain clearance
Scheduled height is risen to, the intelligence that cargo is realized based on yoke terrain clearance detection signal or yoke pressure sensitive signal is carried
It rises, is not necessarily to artificial participation, realize the full-automation that AGV trolleies carry storage process, intelligence degree is high, and handling efficiency is more
It is high.The solution of the present invention has broad application prospects in means of transport field of intelligent control.
It is to be illustrated to the preferable implementation of the present invention, but the present invention is not limited to the embodiment above, it is ripe
Various equivalent variations or replacement can also be made under the premise of without prejudice to spirit of that invention by knowing those skilled in the art, this
Equivalent deformation or replacement are all contained in the application claim limited range a bit.
Claims (10)
1.AGV trolleies are carried and lifting method, it is characterised in that：Include the following steps：
After AGV trolleies drive to and need the place transported goods, control AGV yokes according to yoke terrain clearance detect signal or
Cargo is raised to scheduled height by yoke pressure sensitive signal automatically；
After AGV yokes are lifted automatically, cargo is carried to by AGV trolleies by specified position.
2. AGV trolleies according to claim 1 are carried and lifting method, it is characterised in that：It is described to be driven in AGV trolleies
After needing the place transported goods, control AGV yokes detect signal according to yoke terrain clearance or yoke pressure sensitive signal will
Cargo is raised to the step for scheduled height automatically, specifically includes：
The place postfixed point parking preset time for needing to transport goods is driven in AGV trolleies；
The Vehicle Controller of AGV trolleies is sent to motor driver rotates forward instruction, and driving motor drives the lifting of AGV yokes；
Vehicle Controller calculates the height of AGV yokes lifting according to the pulse that incremental encoder on motor is sent；
Vehicle Controller is according to the distance measuring signal of AGV yoke infrared distance measurement modules or the pressure of AGV yoke pressure sensor modules
Inductive signal is adjusted the height of AGV yokes, to which AGV yokes are raised to scheduled height.
3. AGV trolleies according to claim 2 are carried and lifting method, it is characterised in that：The Vehicle Controller according to
The pulse that incremental encoder is sent on motor calculates the step for height of AGV yokes lifting, specifically includes：
Incremental encoder sends the pulse to Vehicle Controller；
Vehicle Controller calculates the angle of motor rotation according to the pulse of transmission；
The height for the angle calculation AGV yokes lifting that Vehicle Controller is rotated according to motor；
Vehicle Controller determines whether cargo has been lifted according to the liftoff height of AGV yokes.
4. AGV trolleies according to claim 2 are carried and lifting method, it is characterised in that：The Vehicle Controller according to
The distance measuring signal of AGV yoke infrared distance measurement modules is adjusted the height of AGV yokes, predetermined to which AGV yokes to be raised to
Height the step for, specifically include：
Distance measuring signal is fed back to Vehicle Controller by AGV yoke infrared distance measurement modules；
Vehicle Controller is adjusted the height of AGV yokes using pid algorithm according to the distance measuring signal of feedback, and the PID is calculated
Method when being adjusted to the height of AGV yokes used formula be：
PID=KP* [E (k)-E (k-1)]+KI*E (k)+KD* [E (k) -2E (k-1)+E (k-2)]
Wherein, PID is the motor speed that motor driver drives AGV yokes, and KP is proportionality coefficient, and KI is integral constant, and KD is
Derivative constant, the distance that E (k)=scheduled height-AGV yoke infrared distance measurement modules currently measure, E (k-1)=scheduled height
The distance that degree-preceding AGV yoke infrared distance measurement modules measure, the infrared survey of the preceding 2 AGV yokes of E (k-2)=scheduled height-
The distance measured away from module.
5. AGV trolleies according to claim 2 are carried and lifting method, it is characterised in that：The Vehicle Controller according to
The pressure sensitive signal of AGV yoke pressure sensor modules is adjusted the height of AGV yokes, to which AGV yokes to be lifted
It the step for scheduled height, specifically includes：
The pressure sensitive signal of AGV yokes is fed back to Vehicle Controller by AGV yokes pressure sensor module；
Vehicle Controller is adjusted the height of AGV yokes according to the pressure sensitive signal of feedback, until the feeling of stress of feedback
Induction signal meets the pressure sensitive semaphore request of scheduled height.
6. AGV trolleies according to claim 1 are carried and lifting method, it is characterised in that：It is described in AGV yoke auto liftings
After rising, the step for cargo is carried to by specified position by AGV trolleies, specifically include：
A kind of transport mode as AGV trolleies is selected from drawing cargo transport mode and normal transport mode；
Cargo is carried to specified position according to the transport mode of selection：If selection drawing cargo transport mode, enters and leads
Object transport mode of hauling goods pulls cargo to specified position；Conversely, then cargo is carried into normal transport mode specified
Position.
7. AGV trolleies according to claim 6 are carried and lifting method, it is characterised in that：If the selection pulls cargo
Transport mode specifically includes the step for then pulling cargo to specified position into drawing cargo transport mode：
Vehicle Controller control towing pin is promoted to upper limit；
Truck equipped with cargo is stuck on towing pin；
After truck card is good, AGV trolleies drawing truck moves to specified position；
Vehicle Controller control towing pin drops to lower limit so that truck is detached with towing pin.
8.AGV trolleies are carried and hoisting system, it is characterised in that：Including：
Auto lifting rising mould block, for after AGV trolleies drive to the place for needing to transport goods, control AGV yokes to be according to yoke
Terrain clearance detects signal or cargo is raised to scheduled height by yoke pressure sensitive signal automatically；
Transfer module, for after AGV yokes are lifted automatically, cargo to be carried to specified position by AGV trolleies.
9. AGV trolleies according to claim 8 are carried and hoisting system, it is characterised in that：The auto lifting rising mould block tool
Body includes：
Stopping a train at a target point unit, for driving to the place postfixed point parking preset time for needing to transport goods in AGV trolleies；
AGV yoke driving units rotate forward instruction for being sent to motor driver, and driving motor drives the lifting of AGV yokes；
The height calculation unit of AGV yokes lifting, the pulse for being sent according to incremental encoder on motor calculate AGV yokes
The height of lifting；
Yoke height adjustment unit, for the distance measuring signal or AGV yoke pressure sensors according to AGV yoke infrared distance measurement modules
The pressure sensitive signal of module is adjusted the height of AGV yokes, to which AGV yokes are raised to scheduled height.
10.AGV trolleies are carried and hoisting system, it is characterised in that：Including：
Memory, for storing program；
Processor, for loading described program to execute as claim 1-7 any one of them AGV trolleies are carried and lifting side
Method.
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| CN110244706A (en) * | 2019-05-09 | 2019-09-17 | 盐城品迅智能科技服务有限公司 | A kind of autonomous classification height and intelligent carrier and method for carrying with jacking function |
| CN110758966A (en) * | 2019-11-04 | 2020-02-07 | 明门(中国)幼童用品有限公司 | Automatic taking system and automatic taking method for butterfly cage |
| CN112035189A (en) * | 2020-09-29 | 2020-12-04 | 劢微机器人科技(深圳)有限公司 | AGV trolley fork arm control method, AGV trolley fork arm control equipment, storage medium and device |
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| CN109305253A (en) * | 2018-12-11 | 2019-02-05 | 无锡百禾工业机器人有限公司 | A kind of submarine AGV trolley |
| CN110244706A (en) * | 2019-05-09 | 2019-09-17 | 盐城品迅智能科技服务有限公司 | A kind of autonomous classification height and intelligent carrier and method for carrying with jacking function |
| CN110758966A (en) * | 2019-11-04 | 2020-02-07 | 明门(中国)幼童用品有限公司 | Automatic taking system and automatic taking method for butterfly cage |
| CN112147935A (en) * | 2020-09-25 | 2020-12-29 | 劢微机器人科技(深圳)有限公司 | Method, device and equipment for controlling fork arm of unmanned forklift and storage medium |
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| CN113895845A (en) * | 2021-10-27 | 2022-01-07 | 广东电网有限责任公司 | Automatic guided vehicle control method and system |
| CN114455508A (en) * | 2022-01-26 | 2022-05-10 | 上海诺力智能科技有限公司 | AGV lifting high-precision stopping device and control method thereof |
| CN114455508B (en) * | 2022-01-26 | 2023-12-15 | 上海诺力智能科技有限公司 | AGV lifting high-precision stopping device and control method thereof |
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