CN108725514B - Guide rail, rail vehicle control device, rail vehicle and transportation system - Google Patents
Guide rail, rail vehicle control device, rail vehicle and transportation system Download PDFInfo
- Publication number
- CN108725514B CN108725514B CN201810810247.8A CN201810810247A CN108725514B CN 108725514 B CN108725514 B CN 108725514B CN 201810810247 A CN201810810247 A CN 201810810247A CN 108725514 B CN108725514 B CN 108725514B
- Authority
- CN
- China
- Prior art keywords
- guide rail
- feedback
- sound wave
- beacon
- acoustic
- 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.)
- Active
Links
- 230000007246 mechanism Effects 0.000 claims abstract description 33
- 238000010521 absorption reaction Methods 0.000 claims description 12
- 239000012790 adhesive layer Substances 0.000 claims description 12
- 238000001179 sorption measurement Methods 0.000 claims description 7
- 238000001514 detection method Methods 0.000 claims description 6
- 239000004698 Polyethylene Substances 0.000 claims description 5
- 239000006260 foam Substances 0.000 claims description 5
- -1 polyethylene Polymers 0.000 claims description 5
- 229920000573 polyethylene Polymers 0.000 claims description 5
- 230000009471 action Effects 0.000 claims description 3
- 238000009434 installation Methods 0.000 abstract description 9
- 230000008901 benefit Effects 0.000 abstract description 7
- 230000000694 effects Effects 0.000 description 13
- 239000000463 material Substances 0.000 description 12
- 238000010586 diagram Methods 0.000 description 10
- 230000001681 protective effect Effects 0.000 description 5
- 238000010276 construction Methods 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000003287 optical effect Effects 0.000 description 2
- 229920000298 Cellophane Polymers 0.000 description 1
- 229920000742 Cotton Polymers 0.000 description 1
- 238000005299 abrasion Methods 0.000 description 1
- 239000004568 cement Substances 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 210000005069 ears Anatomy 0.000 description 1
- 230000005674 electromagnetic induction Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 230000005294 ferromagnetic effect Effects 0.000 description 1
- 238000009408 flooring Methods 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000002955 isolation Methods 0.000 description 1
- 239000010985 leather Substances 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L1/00—Devices along the route controlled by interaction with the vehicle or vehicle train, e.g. pedals
- B61L1/02—Electric devices associated with track, e.g. rail contacts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61D—BODY DETAILS OR KINDS OF RAILWAY VEHICLES
- B61D15/00—Other railway vehicles, e.g. scaffold cars; Adaptations of vehicles for use on railways
Abstract
The invention provides a guide rail for automatic guidance, a railway vehicle control device, a railway vehicle and a railway transportation system. Wherein, the guide rail includes: the guide rail belt comprises an acoustic wave feedback part and a beacon, wherein the acoustic wave feedback part is used for feeding back acoustic waves emitted by a railway vehicle, and the feedback is different from the feedback of the guide rail fixing mechanism on the acoustic waves; the beacon is used for transmitting beacon information to the railway vehicle so that the railway vehicle can move according to the feedback of the acoustic feedback part and the beacon information. The sound waves, particularly infrasonic waves or ultrasonic waves, are not easily affected by the environment, and have no difference in indoor or outdoor use, so that the guide rail provided by the invention can be used in both indoor and outdoor occasions and has stronger stability; in addition, the guide rail provided by the invention has the advantages of simple structure, low cost and convenience in installation.
Description
Technical Field
The invention relates to the technical field of automatic guiding transportation vehicles, in particular to a guide rail for automatic guiding, a rail vehicle control device, a rail vehicle and a rail transportation system.
Background
An automatic guided vehicle (Automated Guided Vehicle, abbreviated as AGV), which is also commonly referred to as an AGV car, is a vehicle equipped with an automatic guiding device such as electromagnetic or optical, capable of traveling along a predetermined guiding path, having safety protection and various transfer functions, and is a vehicle that does not require a driver in industrial applications, and typically uses a rechargeable battery as its power source. The travel route and behavior of the vehicle can be controlled by a computer, or the travel route can be established by using an electromagnetic track (electromagnetic path-running system), the electromagnetic track is stuck on the floor, and the unmanned carrier moves and acts by means of information brought by the electromagnetic track.
In the prior art, the guide rail used by the AGV and the problems existing in the guide rail are as follows:
1. electromagnetic induction guide type guide rail: the adjustment and the variation are troublesome, and the sensitivity of the induction coil to ferromagnetic objects around the guide rail is strong;
2. optical guide rail: is easily affected by the pollution and abrasion of the color ribbon, has higher environmental requirements, and is limited by ground conditions in guiding reliability;
3. laser type guide rail: the cost is high, the installation of the sensor and the transmitting or reflecting device is complex, and the sensor and the transmitting or reflecting device are not suitable for outdoor occasions;
4. GPS guide rail: when the method is applied indoors, the problems that the signal is poor, the GPS signal cannot be tracked, positioning cannot be achieved and the like exist.
In view of the above, it is desirable to provide a guide rail that can be used both in indoor and outdoor situations, has high stability, is low in cost, and is convenient to install.
Disclosure of Invention
Aiming at the problems, the invention provides the guide rail which can be used for both indoor and outdoor occasions, has strong stability and low cost and is convenient to install and the transportation scheme thereof, and particularly comprises the guide rail for automatic guidance, the railway vehicle control device, the railway vehicle and the railway transportation system, which belong to the same inventive concept.
In a first aspect, the present invention provides a guide rail for automatic guidance, comprising: a guide rail belt and a beacon disposed along the guide rail belt;
the guide rail belt can be paved on the guide rail fixing mechanism;
the guide rail belt comprises an acoustic wave feedback part, wherein the acoustic wave feedback part is used for feeding back acoustic waves emitted by the railway vehicle, and the feedback is different from the feedback of the guide rail fixing mechanism on the acoustic waves;
the beacon is used for transmitting beacon information to the railway vehicle so that the railway vehicle can move according to the feedback of the acoustic feedback part and the beacon information.
Optionally, the acoustic feedback portion includes an acoustic absorbing portion and/or an acoustic reflecting portion.
Optionally, the acoustic feedback part comprises two parts which are arranged in parallel, and the two parts are an acoustic absorption part and an acoustic reflection part respectively; or,
the sound wave reflecting part comprises three parts which are arranged in parallel, wherein the three parts comprise a sound wave absorbing part arranged in the middle and sound wave reflecting parts arranged at two sides, or the three parts comprise a sound wave reflecting part arranged in the middle and sound wave absorbing parts arranged at two sides.
Optionally, the beacon includes: at least one of an electronic tag, an electronic tag reader, an information transmitting/receiving device with a directional antenna, a proximity sensor, and a proximity sensor detection body.
Optionally, a self-adhesive layer is arranged on one surface of the guide rail belt, and the self-adhesive layer is used for adhering the guide rail belt to the guide rail fixing mechanism; or alternatively
One surface of the guide rail belt is provided with an adsorption device which is used for adsorbing the guide rail belt to the guide rail fixing mechanism; or alternatively
The guide rail belt can be fixed on the guide rail fixing mechanism through screws or bolts.
Optionally, the sound wave includes an infrasonic wave or an ultrasonic wave; the acoustic feedback section includes an subsonic feedback section or an ultrasonic feedback section corresponding to the acoustic wave.
Optionally, the material of the acoustic wave feedback part is polyethylene foam cotton.
In a second aspect, the present invention provides a railway vehicle control apparatus comprising: the system comprises an acoustic wave transmitter, an acoustic wave receiver, a beacon sensing module and a central control module;
the sound wave transmitter, the sound wave receiver and the beacon sensing module are all connected with the central control module;
the sound wave transmitter is used for transmitting sound waves to the guide rail under the control of the central control module;
the sound wave receiver is used for collecting reflected waves formed after sound waves emitted by the sound wave emitter are subjected to feedback action of the guide rail, and sending collected reflected wave data to the central control module;
the beacon sensing module is used for sensing beacon information of a beacon arranged on the guide rail and sending the beacon information to the central control module;
the central control module is also used for controlling the movement of the railway vehicle according to the reflected wave data and the beacon information.
Optionally, the beacon sensing module includes: at least one of an electronic tag, an electronic tag reader, an information transmitting/receiving device with a directional antenna, a proximity sensor, and a proximity sensor detection body.
In a third aspect, the present invention provides a rail vehicle on which the rail vehicle control device provided by the present invention is arranged, the rail vehicle moving along the guide rail under the control of the rail vehicle control device.
Optionally, the rail vehicle comprises an automated guided vehicle.
In a fourth aspect, the present invention provides a rail transportation system comprising: the guide rail for automatic guidance provided by the invention and the railway vehicle provided by the invention;
the guide rail is used for feeding back sound waves emitted by the railway vehicle and transmitting beacon information to the railway vehicle;
and the rail vehicle determines a navigation path according to the feedback of the guide rail to the sound waves and the beacon information, and moves along the guide rail according to the navigation path.
According to a first aspect of the invention, the guide rail for automatic guidance comprises: the guide rail belt comprises an acoustic wave feedback part and a beacon, wherein the acoustic wave feedback part is used for feeding back acoustic waves emitted by a railway vehicle, and the feedback is different from the feedback of the guide rail fixing mechanism on the acoustic waves; the beacon is used for transmitting beacon information to the railway vehicle so that the railway vehicle can move according to the feedback of the acoustic feedback part and the beacon information. The sound waves, particularly the infrasonic waves or the ultrasonic waves, are not easily influenced by the environment and have no difference in indoor or outdoor use, so that the guide rail provided by the first aspect of the invention can be used in both indoor and outdoor occasions and has stronger stability; in addition, the guide rail provided by the first aspect of the invention has the advantages of simple structure, low cost and convenience in installation.
The rail vehicle control device provided in the second aspect of the present invention, the rail vehicle provided in the third aspect of the present invention, and the rail transport system provided in the fourth aspect of the present invention have the same advantageous effects as the above-described guide rail for automatic guidance based on the same inventive concept.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. Like elements or portions are generally identified by like reference numerals throughout the several figures. In the drawings, elements or portions thereof are not necessarily drawn to scale.
Fig. 1 shows a schematic structural diagram of a guide rail for automatic guidance according to an embodiment of the present invention;
FIG. 2 is a schematic view of a rail transportation system according to an embodiment of the present invention
FIGS. 3 (a) - (e) are schematic diagrams showing the structure of an acoustic feedback section provided by an embodiment of the present invention;
fig. 4 is a schematic diagram of setting a beacon according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of another beacon arrangement according to an embodiment of the present invention;
fig. 6 shows a schematic diagram of setting up a beacon according to still another embodiment of the present invention;
FIG. 7 shows a schematic view of a rail mounted by a self-adhesive layer provided by an embodiment of the present invention;
fig. 8 is a schematic structural view of a guide rail provided with a self-adhesive layer according to an embodiment of the present invention;
FIG. 9 shows a schematic view of a rail mounted by an adsorption device according to an embodiment of the present invention;
FIG. 10 is a schematic view of a guide rail mounted by screws or bolts according to an embodiment of the present invention;
FIG. 11 shows a schematic diagram of a rail vehicle control apparatus provided by an embodiment of the present invention;
in the figure, 1 denotes a rail, 2 denotes a rail vehicle, and 3 denotes a rail fixing mechanism;
11 denotes a guideway belt, 12 denotes a beacon, and 21 denotes a railway vehicle control apparatus;
111 denotes an acoustic wave absorbing portion, 112 denotes an acoustic wave reflecting portion, 131 denotes a self-adhesive layer, 132 denotes a protective film, 133 denotes an adsorbing means, 134 denotes a screw or bolt,
121 denotes an electronic tag, 122 denotes an information transmitting/receiving device with a directional antenna, 123 denotes a proximity sensor detection body, 211 denotes an acoustic wave transmitter, 212 denotes an acoustic wave receiver, 213 denotes a beacon sensing module, and 214 denotes a central control module;
Detailed Description
Embodiments of the technical scheme of the present invention will be described in detail below with reference to the accompanying drawings. The following examples are only for more clearly illustrating the technical aspects of the present invention, and thus are merely examples, which should not be construed as limiting the scope of the present invention.
It is noted that unless otherwise indicated, technical or scientific terms used herein should be given the ordinary meaning as understood by one of ordinary skill in the art to which this invention belongs.
Referring to fig. 1 and 2, fig. 1 shows a schematic structural diagram of a guide rail for automatic guidance according to an embodiment of the present invention, fig. 2 shows a schematic diagram of a rail transportation system according to an embodiment of the present invention, and as shown in fig. 1 and 2, the guide rail 1 according to an embodiment of the present invention includes: a guide rail belt 11 and a beacon 12 provided along the guide rail belt 11;
the guide rail belt 11 can be paved on the guide rail fixing mechanism 3;
the guide rail belt 11 includes an acoustic wave feedback portion for feeding back an acoustic wave emitted from the rail vehicle 2, and the feedback is different from the feedback of the acoustic wave by the guide rail fixing mechanism 3; the beacon 12 is used to transmit beacon information to the rail vehicle 2 so that the rail vehicle 2 moves according to the feedback of the acoustic feedback section and the beacon information.
In the embodiment of the present invention, since the feedback of the acoustic wave by the acoustic wave feedback portion is different from the feedback of the acoustic wave by the rail fixing mechanism 3 around the rail belt 11, the rail vehicle 2 may determine the trend of the rail belt 11, that is, the direction information of the rail belt 11, according to the feedback of the acoustic wave by the acoustic wave feedback portion; in addition, the beacon information transmitted from the beacon 12 provided along the guideway 11 to the railway vehicle 2 may be position information, and the railway vehicle 2 may determine the current position according to the beacon information; in summary, the feedback of the sound wave by the sound wave feedback portion has a guiding function on the rail vehicle 2, and the beacon information transmitted by the beacon 12 has a position indicating function on the rail vehicle 2, so that the rail vehicle 2 can move according to the feedback of the sound wave feedback portion and the beacon information.
The sound waves, particularly the infrasonic waves or the ultrasonic waves, are not easily affected by the environment and have no difference in indoor or outdoor use, so that the guide rail 1 provided by the embodiment of the invention can be used in both indoor and outdoor occasions and has stronger stability; in addition, the guide rail 1 provided by the embodiment of the invention has the advantages of simple structure, low cost and convenience in installation.
In some embodiments, the acoustic feedback portion may include an acoustic absorbing portion 111 and/or an acoustic reflecting portion 112.
The sound wave absorbing portion 111 has a stronger absorption effect on the sound wave, for example, the absorption effect of the sound wave absorbing portion 111 is stronger than that of the sound wave absorbing portion 3 (which may be any fixing structure such as cement floor, tile floor, flooring, leather product floor, wooden floor, glass, etc.), so that the sound wave emitted by the rail vehicle 2 is reflected to the rail vehicle 2 after being absorbed by the sound wave absorbing portion 111, and is obviously weaker than the reflected sound wave of the rail fixing mechanism 3, so that the rail vehicle 2 can determine the position, shape and trend information of the rail belt 11 according to the difference of the reflected sound wave, and then move according to the determined position, shape and trend information of the rail belt 11.
The sound wave reflecting portion 112 has a stronger reflecting effect on sound waves, for example, the reflecting effect of the sound wave reflecting portion 112 on sound waves is stronger than the reflecting effect of the guide rail fixing mechanism 3 on sound waves, so that the reflected sound waves emitted by the railway vehicle 2 after being reflected by the sound wave reflecting portion 112 are obviously stronger than the reflected sound waves reflected by the guide rail fixing mechanism 3, and therefore the railway vehicle 2 can determine the position, shape and trend information of the guide rail belt 11 according to the difference of the intensity of the reflected sound waves, and further move according to the determined position, shape and trend information of the guide rail belt 11.
Referring to fig. 3 (a) - (e), schematic structural diagrams of an acoustic feedback portion provided by an embodiment of the present invention are shown, respectively, and the acoustic feedback portion may include only an acoustic absorption portion 111 as shown in fig. 3 (a), and may include only an acoustic reflection portion 112 as shown in fig. 3 (b).
In order to adapt to different environments, the effect of the guide rail fixing mechanism 3 made of different materials on the guiding direction of the guide rail 1 provided by the embodiment of the present invention is prevented from being affected by different reflection or absorption effects of the sound wave, as shown in fig. 3 (c), the sound wave feedback portion may further include two portions disposed in parallel, which are respectively the sound wave absorbing portion 111 and the sound wave reflecting portion 112, so that the position, the shape and the trend information of the guide rail belt 11 can be determined by the rail vehicle 2 only according to the difference of the intensity of the reflected sound wave reflected by the sound wave absorbing portion 111 and the sound wave reflecting portion 112, and interference of the difference of the materials of the guide rail fixing mechanism 3 on the guiding direction of the guide rail 1 is avoided, so that the guide rail 1 may be suitable for various environments, and compatibility of the guide rail 1 is improved.
Further, as shown in fig. 3 (d) and 3 (e), the acoustic wave reflecting portion 112 may also include three portions disposed in parallel, the three portions including an acoustic wave absorbing portion 111 disposed in the middle and acoustic wave reflecting portions 112 disposed at both sides, or the three portions including an acoustic wave reflecting portion 112 disposed in the middle and acoustic wave absorbing portions 111 disposed at both sides. By adopting the mode, the position, shape and trend information of the guide rail belt 11 can be more clearly and accurately determined by the railway vehicle 2, and the guiding direction effect of the railway is further improved.
In some embodiments, the beacon 12 may include: at least one of an electronic tag 121, an electronic tag reader, an information transmitting/receiving device 122 with a directional antenna, a proximity sensor, and a proximity sensor detection body 123. Accordingly, the rail vehicle 2 should be configured with a beacon sensing module 213 that matches with the beacon 12 in the rail vehicle 1, for example, as shown in fig. 4, if the beacon 12 is an electronic tag 121, the beacon sensing module 213 may include an electronic tag reader; as another example, as shown in fig. 5, if the beacon 12 is a directional antenna information transceiver 122, the beacon sensing module 213 should also include a corresponding directional antenna information transceiver; as another example, as shown in fig. 6, if the beacon 12 is a proximity sensor detector 123, the beacon sensing module 213 should also include a corresponding proximity sensor.
It will be readily appreciated that, based on the above description, the beacon 12 may be configured to transmit beacon information to the rail vehicle 2 either actively or passively by being detected by the rail vehicle 2, so as to transmit beacon information to the rail vehicle 2, for example, the beacon 12 may be electronic tags 121, each electronic tag 121 having its identification code, such as a0001, a0002, a0003 … …, etc., the location information or sequence of the identification codes being predetermined, and accordingly, the beacon sensing module 213 may include an electronic tag reader that may communicate with the beacon 12 in the vicinity of the rail vehicle 2 to determine the identification code (which may be one of the beacon information) of the beacon 12, thereby determining the current location of the rail vehicle 2, then based on predetermined movement path information or movement path information (which may be composed of a series of identification codes of the beacon 12), automatically determine the next-arriving position of the beacon 12, and then automatically feed back the location of the beacon 12 to the track 12, and so on the basis of the position of the track 12 may be automatically determined.
In this embodiment of the present invention, the sound wave may include an infrasonic wave, an ultrasonic wave, or a sound wave in an audible range of the human ear, and the sound wave feedback portion includes an infrasonic wave feedback portion, an ultrasonic wave feedback portion, or a feedback portion of a sound wave in an audible range of the human ear, corresponding to the sound wave. The ultrasonic wave is a sound wave with the frequency lower than 20Hz, the ultrasonic wave is a sound wave with the frequency higher than 20000Hz, the sound wave in the audible range of human ears is a sound wave with the frequency between 20Hz and 20000Hz, in order to avoid noise pollution caused by the sound wave, and experiments prove that the embodiment of the invention preferably adopts the ultrasonic wave, and correspondingly, the sound wave feedback part preferably comprises an ultrasonic wave feedback part, such as an ultrasonic wave absorption part and/or an ultrasonic wave reflection part, so that the noise pollution can be effectively avoided, and meanwhile, the more accurate direction guiding effect can be obtained based on the preferred embodiment.
In some embodiments, the acoustic wave reflecting portion 112 may be made of a material denser than that of the rail fixing mechanism 3, and the surface thereof may be smoother than that of the rail fixing mechanism 3, so as to obtain an acoustic wave reflecting effect more enhanced than that of the rail fixing mechanism 3; the sound wave absorbing portion 111 may be made of a material that is more loose than the material of the rail fixing mechanism 3, and the surface thereof may be rougher than the surface of the rail fixing mechanism 3, thereby obtaining a sound wave absorbing effect that is more enhanced than the rail fixing mechanism 3; if the acoustic wave feedback portion includes two, three or more portions composed of the acoustic wave absorbing portion 111 and the acoustic wave reflecting portion 112, the material of the acoustic wave reflecting portion 112 should be denser than that of the acoustic wave absorbing portion 111, and the surface of the acoustic wave reflecting portion 112 should be smoother than that of the acoustic wave absorbing portion 111, so that the reflected acoustic waves of the acoustic wave by the acoustic wave reflecting portion 112 and the acoustic wave absorbing portion 111 may have a large difference in intensity.
In an embodiment of the present invention, the material of the acoustic feedback portion may be polyethylene foam, where the acoustic reflection portion 112 may be implemented by using polyethylene foam with smooth surface and compact structure, and the acoustic absorption portion 111 may be implemented by using polyethylene foam with rough surface and loose structure, for example, perforated, net-shaped, etc. Based on the above embodiments, the guide rail 1 has the advantages of low cost, light material, easy carrying, convenient installation, stable composition, long usable life, and the like.
The present embodiment also provides various mounting manners of the guide rail 1, for example, as shown in fig. 7, which shows a schematic view of mounting the guide rail by a self-adhesive layer, and in some embodiments, one side of the guide rail belt 11 is provided with a self-adhesive layer 131, and the self-adhesive layer 131 is used to adhere the guide rail belt 11 to the guide rail fixing mechanism 3. Through this embodiment, can realize through the mode of bonding fast the installation of guide rail 1 has construction convenience, quick advantage.
Based on the above embodiment, in some modified embodiments, before the guide rail 1 is installed, as shown in fig. 8, a protective film 132 may be further disposed on the other side of the self-adhesive layer 131, and the protective film 132 may be made of a material with smaller adhesion, for example, the protective film 132 may include cellophane, release paper, and the like, where the release paper may perform good isolation and protection effects on one hand, and is easy to tear off on the other hand, and may be more convenient for construction. Based on this embodiment, the self-adhesive layer 131 can be isolated and protected, and the construction of the guide rail 1 can be completed in a sticking manner by only tearing off the protective film 132 during construction, thereby being convenient and fast.
In other embodiments, as shown in fig. 9, which shows a schematic view of installing a guide rail by using an adsorption device according to an embodiment of the present invention, one surface of the guide rail belt 11 may be provided with an adsorption device 133, and the adsorption device 133 is used to adsorb the guide rail belt 11 to the guide rail fixing mechanism 3. Wherein, the adsorption device 133 can be a magnet, so that the guide rail 1 is fixed on the guide rail fixing mechanism 3 by the principle of heteropolar attraction of the magnet; the suction device 133 may also be a vacuum chuck, so that the fixing of the guide rail 1 to the guide rail fixing mechanism 3 is achieved by the principle of vacuum suction. Through this embodiment, can realize through the absorbing mode the installation of guide rail 1, fixed has the installation convenience, and convenient to detach, the advantage of reloading to can be more convenient, nimble carry out change, reschedule and installation to rail vehicle 2's travel path.
In other embodiments, as shown in fig. 10, which shows a schematic view of a guide rail mounted by screws or bolts according to an embodiment of the present invention, the guide rail belt 11 may be further fixed to the guide rail fixing mechanism 3 by screws or bolts 134. In this embodiment, the guide rail 1 can be more firmly fixed to the guide rail fixing mechanism 3, which has the advantage of stability and firmness.
The embodiment of the present invention further provides a rail vehicle control device 21 corresponding to the guide rail 1, as shown in fig. 11, which shows a schematic diagram of the rail vehicle control device provided by the embodiment of the present invention, where the rail vehicle control device 21 includes: an acoustic transmitter 211, an acoustic receiver 212, a beacon sensing module 213, and a central control module 214;
the sound wave transmitter 211, the sound wave receiver 212 and the beacon sensing module 213 are all connected with the central control module 214;
the sound wave transmitter 211 is used for transmitting sound waves to the guide rail 1 under the control of the central control module 214;
the acoustic wave receiver 212 is configured to collect reflected waves formed by the acoustic waves emitted by the acoustic wave emitter 211 after the acoustic waves are subjected to the feedback action of the guide rail 1, and send the collected reflected wave data to the central control module 214;
the beacon sensing module 213 is configured to sense beacon information of the beacon 12 set on the guideway 1, and send the beacon information to the central control module 214;
the central control module 214 is also configured to control movement of the rail vehicle 2 based on the reflected wave data and the beacon information.
In some embodiments, the beacon sensing module 213 may include: at least one of an electronic tag 121, an electronic tag reader, an information transmitting/receiving device 122 with a directional antenna, a proximity sensor, and a proximity sensor detection body 123.
The operation principle and the related structural description of the rail vehicle control device 21 provided by the embodiment of the present invention have been described in the foregoing embodiments related to the guide rail 1, which are not repeated herein, and the rail vehicle control device 21 is implemented in cooperation with the guide rail 1 provided by the embodiment of the present invention, and has the same beneficial effects.
The embodiment of the invention also provides a railway vehicle 2, the railway vehicle 2 is provided with the railway vehicle control device 21 provided by the invention, and the railway vehicle 2 moves under the control of the railway vehicle control device 21.
In some embodiments, the rail vehicle 2 comprises an automated guided vehicle.
The rail vehicle 2 provided by the embodiment of the invention is implemented in cooperation with the guide rail 1 provided by the embodiment of the invention, and has the same beneficial effects.
Referring to fig. 2, an embodiment of the present invention further provides a rail transportation system, including: the guide rail 1 for automatic guidance provided by the embodiment of the invention and the railway vehicle 2 provided by the embodiment of the invention;
the guide rail 1 is used for feeding back sound waves emitted by the railway vehicle 2 and transmitting beacon information to the railway vehicle 2;
the rail vehicle 2 determines a navigation path according to the feedback of the sound waves by the guide rail 1 and the beacon information, and moves along the guide rail 1 according to the navigation path.
The rail transportation system provided by the embodiment of the invention and the guide rail 1 provided by the embodiment of the invention belong to the same inventive concept, and have the same beneficial effects.
It is noted that unless otherwise indicated, technical or scientific terms used herein should be given the ordinary meaning as understood by one of ordinary skill in the art to which this invention belongs.
In the description of the present invention, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. In the description of the present invention, the meaning of "plurality" is two or more unless specifically defined otherwise.
In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
In the present invention, unless expressly stated or limited otherwise, a first feature "up" or "down" a second feature may be the first and second features in direct contact, or the first and second features in indirect contact via an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.
In the description of the present invention, numerous specific details are set forth. However, it is understood that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the invention, and are intended to be included within the scope of the appended claims and description.
Claims (9)
1. A guide rail for automated guidance, comprising: a guide rail belt and a beacon disposed along the guide rail belt;
the guide rail belt can be paved on the guide rail fixing mechanism;
the guide rail belt comprises an acoustic wave feedback part, wherein the acoustic wave feedback part is used for feeding back acoustic waves emitted by the railway vehicle, and the feedback is different from the feedback of the guide rail fixing mechanism on the acoustic waves; the beacon is used for transmitting beacon information to the railway vehicle so that the railway vehicle can move according to the feedback of the sound wave feedback part and the beacon information;
the sound wave feedback part comprises a sound wave absorption part and a sound wave reflection part which are arranged in parallel, so that the railway vehicle can determine the position and trend information of the guide rail belt according to the difference of the intensity of the reflected sound waves fed back by the sound wave absorption part and the sound wave reflection part.
2. The guide rail of claim 1, wherein the guide rail comprises a plurality of guide rails,
the sound wave feedback part comprises two parts which are arranged in parallel, and the two parts are a sound wave absorption part and a sound wave reflection part respectively;
or,
the sound wave reflecting part comprises three parts which are arranged in parallel, wherein the three parts comprise a sound wave absorbing part arranged in the middle and sound wave reflecting parts arranged at two sides, or the three parts comprise a sound wave reflecting part arranged in the middle and sound wave absorbing parts arranged at two sides.
3. The guideway of claim 1, wherein the beacon comprises: at least one of an electronic tag, an electronic tag reader, an information transmitting/receiving device with a directional antenna, a proximity sensor, and a proximity sensor detection body.
4. The guide rail of claim 1, wherein the guide rail comprises a plurality of guide rails,
one surface of the guide rail belt is provided with a self-adhesive layer, and the self-adhesive layer is used for adhering the guide rail belt to the guide rail fixing mechanism; or,
one surface of the guide rail belt is provided with an adsorption device which is used for adsorbing the guide rail belt to the guide rail fixing mechanism; or,
the guide rail belt can be fixed on the guide rail fixing mechanism through screws or bolts.
5. The guide rail of any one of claims 1 to 4, wherein the sound waves include infrasonic or ultrasonic waves; the acoustic feedback section includes an subsonic feedback section or an ultrasonic feedback section corresponding to the acoustic wave.
6. The guide rail of any one of claims 1 to 4, wherein the acoustic feedback portion is made of polyethylene foam.
7. A railway vehicle control apparatus, characterized by comprising: the system comprises an acoustic wave transmitter, an acoustic wave receiver, a beacon sensing module and a central control module;
the sound wave transmitter, the sound wave receiver and the beacon sensing module are all connected with the central control module;
the sound wave transmitter is used for transmitting sound waves to the guide rail under the control of the central control module;
the sound wave receiver is used for collecting reflected waves formed after sound waves emitted by the sound wave emitter are subjected to feedback action of the guide rail, and sending collected reflected wave data to the central control module;
the beacon sensing module is used for sensing beacon information of a beacon arranged on the guide rail and sending the beacon information to the central control module;
the central control module is further used for controlling the movement of the railway vehicle according to the reflected wave data and the beacon information, wherein the guide rail belt of the guide rail comprises an acoustic wave absorption part and an acoustic wave reflection part which are arranged in parallel, and the central control module is further used for determining the position and trend information of the guide rail belt according to the difference of the intensity of the reflected acoustic wave fed back by the acoustic wave absorption part and the acoustic wave reflection part.
8. A rail vehicle on which the rail vehicle control device of claim 7 is provided, the rail vehicle being movable along the guide rail under the control of the rail vehicle control device.
9. A rail transportation system, comprising: the guide rail for automatic guidance of any one of claims 1 to 6 and the rail vehicle of claim 8;
the guide rail is used for feeding back sound waves emitted by the railway vehicle and transmitting beacon information to the railway vehicle;
and the rail vehicle determines a navigation path according to the feedback of the guide rail to the sound waves and the beacon information, and moves along the guide rail according to the navigation path.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810810247.8A CN108725514B (en) | 2018-07-23 | 2018-07-23 | Guide rail, rail vehicle control device, rail vehicle and transportation system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810810247.8A CN108725514B (en) | 2018-07-23 | 2018-07-23 | Guide rail, rail vehicle control device, rail vehicle and transportation system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108725514A CN108725514A (en) | 2018-11-02 |
| CN108725514B true CN108725514B (en) | 2024-04-02 |
Family
ID=63927305
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810810247.8A Active CN108725514B (en) | 2018-07-23 | 2018-07-23 | Guide rail, rail vehicle control device, rail vehicle and transportation system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108725514B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020239264A1 (en) * | 2019-05-29 | 2020-12-03 | Sew-Eurodrive Gmbh & Co. Kg | Rail system with a rail and mobile parts movable along the rail |
Citations (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4123023A (en) * | 1977-10-03 | 1978-10-31 | General Motors Corporation | System for controlling vehicle movement over a fixed guideway |
| US4333147A (en) * | 1980-05-13 | 1982-06-01 | General Motors Corporation | Multiplexed inductive automated guidance for moving vehicles |
| US4361202A (en) * | 1979-06-15 | 1982-11-30 | Michael Minovitch | Automated road transportation system |
| US4703240A (en) * | 1985-03-07 | 1987-10-27 | Murata Kikai Kabushki Kaisha | System for guiding a driverless vehicle |
| US5066854A (en) * | 1989-02-16 | 1991-11-19 | Rieter Machine Works Ltd. | Method of and apparatus for guiding a self-steering vehicle along an optical guideway |
| US5684490A (en) * | 1995-03-01 | 1997-11-04 | The Ohio State University | Highway vehicle guidance system |
| JPH09325816A (en) * | 1996-06-07 | 1997-12-16 | Mitsubishi Electric Corp | Unmanned carrier system |
| BE1010581A7 (en) * | 1996-08-26 | 1998-10-06 | Cuvelier Michel | Multi-function safety device for a vehicle |
| JP2000029516A (en) * | 1998-07-10 | 2000-01-28 | Hokuyo Automatic Co | Guide sensor |
| CN1746801A (en) * | 2005-07-18 | 2006-03-15 | 李胜强 | Automatic driving system of vehicle |
| EP2284636A2 (en) * | 2009-08-14 | 2011-02-16 | The Automation Group Limited | Floor tile comprising guidance means for an automatic guided vehicle |
| CN103439980A (en) * | 2013-08-19 | 2013-12-11 | 向风帆 | Laser raster locating system for rail mobile device |
| CN203637861U (en) * | 2013-12-31 | 2014-06-11 | 中国中建设计集团有限公司 | Traveling crane laser deviation rectifying device |
| WO2015019703A1 (en) * | 2013-08-05 | 2015-02-12 | シャープ株式会社 | Autonomous mobile device and method for controlling same |
| CN105026240A (en) * | 2013-01-30 | 2015-11-04 | 泰利斯加拿大公司 | Guideway-guided vehicle detection based on RFID system |
| CN105676846A (en) * | 2016-03-06 | 2016-06-15 | 张敏 | Use method of automatic navigation unmanned electric car |
| CN106774304A (en) * | 2016-11-21 | 2017-05-31 | 河源职业技术学院 | A kind of AGV trolley path planning method and system based on directional aerial |
| CN107340496A (en) * | 2016-11-06 | 2017-11-10 | 杨国强 | One kind is based on guide rail positioning guidance system and method |
| CN207586745U (en) * | 2017-05-27 | 2018-07-06 | 杨国强 | A kind of ultrasonic wave navigation sensor |
| CN209159722U (en) * | 2018-07-23 | 2019-07-26 | 湖南云辙科技有限公司 | Guide rail, rail vehicle control device, rail vehicle and transportation system |
-
2018
- 2018-07-23 CN CN201810810247.8A patent/CN108725514B/en active Active
Patent Citations (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4123023A (en) * | 1977-10-03 | 1978-10-31 | General Motors Corporation | System for controlling vehicle movement over a fixed guideway |
| US4361202A (en) * | 1979-06-15 | 1982-11-30 | Michael Minovitch | Automated road transportation system |
| US4333147A (en) * | 1980-05-13 | 1982-06-01 | General Motors Corporation | Multiplexed inductive automated guidance for moving vehicles |
| US4703240A (en) * | 1985-03-07 | 1987-10-27 | Murata Kikai Kabushki Kaisha | System for guiding a driverless vehicle |
| US5066854A (en) * | 1989-02-16 | 1991-11-19 | Rieter Machine Works Ltd. | Method of and apparatus for guiding a self-steering vehicle along an optical guideway |
| US5684490A (en) * | 1995-03-01 | 1997-11-04 | The Ohio State University | Highway vehicle guidance system |
| JPH09325816A (en) * | 1996-06-07 | 1997-12-16 | Mitsubishi Electric Corp | Unmanned carrier system |
| BE1010581A7 (en) * | 1996-08-26 | 1998-10-06 | Cuvelier Michel | Multi-function safety device for a vehicle |
| JP2000029516A (en) * | 1998-07-10 | 2000-01-28 | Hokuyo Automatic Co | Guide sensor |
| CN1746801A (en) * | 2005-07-18 | 2006-03-15 | 李胜强 | Automatic driving system of vehicle |
| EP2284636A2 (en) * | 2009-08-14 | 2011-02-16 | The Automation Group Limited | Floor tile comprising guidance means for an automatic guided vehicle |
| CN105026240A (en) * | 2013-01-30 | 2015-11-04 | 泰利斯加拿大公司 | Guideway-guided vehicle detection based on RFID system |
| WO2015019703A1 (en) * | 2013-08-05 | 2015-02-12 | シャープ株式会社 | Autonomous mobile device and method for controlling same |
| CN103439980A (en) * | 2013-08-19 | 2013-12-11 | 向风帆 | Laser raster locating system for rail mobile device |
| CN203637861U (en) * | 2013-12-31 | 2014-06-11 | 中国中建设计集团有限公司 | Traveling crane laser deviation rectifying device |
| CN105676846A (en) * | 2016-03-06 | 2016-06-15 | 张敏 | Use method of automatic navigation unmanned electric car |
| CN107340496A (en) * | 2016-11-06 | 2017-11-10 | 杨国强 | One kind is based on guide rail positioning guidance system and method |
| CN106774304A (en) * | 2016-11-21 | 2017-05-31 | 河源职业技术学院 | A kind of AGV trolley path planning method and system based on directional aerial |
| CN207586745U (en) * | 2017-05-27 | 2018-07-06 | 杨国强 | A kind of ultrasonic wave navigation sensor |
| CN209159722U (en) * | 2018-07-23 | 2019-07-26 | 湖南云辙科技有限公司 | Guide rail, rail vehicle control device, rail vehicle and transportation system |
Non-Patent Citations (2)
| Title |
|---|
| RFID定位技术在自动引导小车(AGV)中的应用;熊超;唐伟;许兆荣;蒋一琦;;中国科技信息(第17期);全文 * |
| 医院AGV物流传输系统的技术特点与构成;沈崇德;;医疗卫生装备(第11期);全文 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108725514A (en) | 2018-11-02 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11669101B1 (en) | Light steering device with an array of oscillating reflective slats | |
| US9280158B2 (en) | System and method for guiding a robot cleaner along a path | |
| US5987374A (en) | Vehicle traveling guidance system | |
| US20160028265A1 (en) | Ultrasonic and infrared object detection for wireless charging of electric vehicles | |
| US11173799B2 (en) | Method for guiding a motor vehicle into a charging position at an inductive charging station, and control device and motor vehicle | |
| CN108725514B (en) | Guide rail, rail vehicle control device, rail vehicle and transportation system | |
| MX2011000903A (en) | Device for reducing the likelihood of damage to a trailing cable. | |
| JP2014236540A (en) | Power transmission device for non-contact charging | |
| CN106458081A (en) | Apparatus for absorbing force | |
| KR102453394B1 (en) | Wireless charging pad for vehicle | |
| US8810382B1 (en) | Method and apparatus for warning vehicle of low overpass height | |
| CN109205213B (en) | Guide rail, vehicle control device, rail vehicle, transport system and guidance method | |
| WO2018173142A1 (en) | On-board control apparatus and platform door control system | |
| CN110271828B (en) | Parking positioning device and parking positioning method of automatic guided vehicle | |
| CN209159722U (en) | Guide rail, rail vehicle control device, rail vehicle and transportation system | |
| CN105667505A (en) | Automatic parking system and method for electric automobile | |
| JP2007200021A (en) | Vehicle communication system, radio communication device, and vehicle communication method | |
| KR102653838B1 (en) | Method for operating an inductive transmission device | |
| CN107831759B (en) | Transport system with automatic binding function | |
| JP2003317163A (en) | Approach alarm device for carrier vehicle or train or the like | |
| KR102376535B1 (en) | Autonomous Mobile Apparatus | |
| JP3469012B2 (en) | Mounting structure of ultrasonic sensor for obstacle detection | |
| JP7065342B2 (en) | Mobile devices, mobile device control systems, object detection methods for mobile devices, and programs | |
| JP4288605B2 (en) | Lane information notification device | |
| CN110682819A (en) | Wireless charging device based on electric automobile |
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 | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20181127 Address after: 410005 Room A710, 7th Floor, 9th Building, Changsha Zhongdian Software Park Phase I, 39 Jianshan Road, Changsha High-tech Development Zone, Hunan Province Applicant after: Hunan Yunzhe Technology Co.,Ltd. Address before: 410007 No. 139 Guitang Road, Yuhua District, Changsha City, Hunan Province Applicant before: Yang Guoqiang |
|
| TA01 | Transfer of patent application right | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |