CN111880547A - AGV platform on water and AGV on water - Google Patents
AGV platform on water and AGV on water Download PDFInfo
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- 238000004891 communication Methods 0.000 claims abstract description 12
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- 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
- G05D1/0206—Control of position or course in two dimensions specially adapted to water vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
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Abstract
The invention discloses an overwater AGV platform and an overwater AGV, and relates to the technical field of AGVs. This AGV platform on water includes load-bearing platform, driving piece on water, inclination sensor and focus guiding mechanism, load-bearing platform can float in the surface of water, and has the loading end, the loading end is used for bearing the weight of the goods, driving piece on water sets up in load-bearing platform, for being used for driving load-bearing platform in the surface of water motion, inclination sensor and focus guiding mechanism all set up in load-bearing platform, and inclination sensor and focus guiding mechanism communication are connected, inclination sensor is used for detecting the inclination of loading end, and generate inclination data, focus guiding mechanism can move according to inclination data, thereby adjust load-bearing platform's focus and remove to the opposite direction of loading end incline direction. This AGV platform on water and AGV on water have and can accomplish the transport operation on water, and the better characteristics of stability.
Description
Technical Field
The invention relates to the technical field of AGV, in particular to an overwater AGV platform and an overwater AGV.
Background
With the vigorous development and wide application of the transfer robot technology, more and more agvs (automated Guided vehicles) for transferring goods and the use scenarios are also expanded from land, air and sea; the traditional water fixed platform is not convenient and fast to move, such as a drilling platform and the like; and the platform of convenient removal does not possess stability on water very much again, like boats and ships etc. and is not very suitable for AGV's on water application.
In view of this, it is very important to develop and design an above-water AGV platform and an above-water AGV that can solve the above technical problems.
Disclosure of Invention
The invention aims to provide an overwater AGV platform which has the characteristics of capability of completing overwater carrying operation and good stability.
Another object of the present invention is to provide an AGV capable of performing an overwater transport operation and having a good stability.
The invention provides a technical scheme that:
in a first aspect, an embodiment of the present invention provides an overwater AGV platform, including a bearing platform, an overwater driving member, an inclination sensor and a gravity center adjusting mechanism; the bearing platform can float on the water surface and is provided with a bearing surface, and the bearing surface is used for bearing cargoes; the water driving piece is arranged on the bearing platform and used for driving the bearing platform to move on the water surface; the dip angle sensor with focus guiding mechanism all set up in load-bearing platform, just the dip angle sensor with focus guiding mechanism communication is connected, the dip angle sensor is used for detecting the inclination of loading end generates the inclination data, focus guiding mechanism can be according to the inclination data action, thereby the adjustment load-bearing platform's focus to the opposite direction of loading end incline direction removes.
With reference to the first aspect, in a first implementation manner of the first aspect, the inclination data includes a first inclination, and the first inclination represents: the intersection line of the bearing surface and the vertical plane of the straight line where the first direction is located forms an included angle with the horizontal plane; the first direction is a direction extending along the bearing surface; the gravity center adjusting mechanism comprises a first gravity center adjusting assembly, the first gravity center adjusting assembly comprises a first adjusting driving piece and a first balance weight which are connected with each other, the first adjusting driving piece can drive the first balance weight to move along the first direction or a third direction opposite to the first direction when the first inclination angle is larger than zero or smaller than zero, and therefore the inclination degree of the bearing platform is reduced.
With reference to the first aspect and the foregoing implementation manner, in a second implementation manner of the first aspect, the inclination data further includes first inclination change data, and the first adjusting driving element can drive the first counterweight to move along a straight line where the first direction is located according to the first inclination change data and/or the first inclination.
With reference to the first aspect and the foregoing implementation manner of the first aspect, in a third implementation manner of the first aspect, the inclination data includes a second inclination, and the second inclination represents: the intersection line of the bearing surface and the vertical plane of the straight line in the second direction forms an included angle with the horizontal plane; the second direction is a direction which extends along the bearing surface and is vertical to the first direction; the gravity center adjusting mechanism comprises a second gravity center adjusting assembly, the second gravity center adjusting assembly comprises a second adjusting driving piece and a second balance weight which are connected with each other, and the second adjusting driving piece can drive the second balance weight to move along the second direction or a fourth direction opposite to the second direction when the second inclination angle is larger than zero or smaller than zero, so that the inclination degree of the bearing platform is reduced.
With reference to the first aspect and the foregoing implementation manner, in a fourth implementation manner of the first aspect, an accommodating protrusion is convexly disposed at the bottom of the bearing platform, an accommodating space is disposed in the accommodating protrusion, and the first gravity center adjusting assembly is disposed in the accommodating space.
With reference to the first aspect and the foregoing implementation manner, in a fifth implementation manner of the first aspect, the number of the water driving pieces is multiple, and the water driving pieces are all disposed at the bottom of the bearing platform and are disposed around the accommodating protrusion.
With reference to the first aspect and the foregoing implementation manner, in a sixth implementation manner of the first aspect, the aquatic driving element includes a rotation driving portion and a horizontal driving portion, which are sequentially connected to each other, the rotation driving portion is connected to the bearing platform, and the rotation driving portion can drive the horizontal driving portion to rotate, so as to change a driving direction of the horizontal driving portion.
With reference to the first aspect and the foregoing implementation manner, in a seventh implementation manner of the first aspect, the above-water AGV platform further includes a positioning mechanism and a main controller, and the main controller is respectively in communication connection with the above-water driving piece and the positioning mechanism; the positioning mechanism is used for detecting the position of the bearing platform and generating position data, and the main controller can control the water driving piece to work according to the position data so as to drive the bearing platform to move to a preset position through the water driving piece.
With reference to the first aspect and the foregoing implementation manner, in an eighth implementation manner of the first aspect, the above-water AGV platform further includes an electronic compass and a main controller, and the main controller is respectively in communication connection with the above-water driving piece and the electronic compass; the electronic compass is used for detecting the deflection angle of the bearing platform, and the main controller can control the water driving piece to work according to the deflection angle so as to drive the bearing platform to reversely rotate by the deflection angle through the water driving piece.
In a second aspect, an embodiment of the present invention further provides an aquatic AGV including the above-mentioned AGV platform. The water AGV platform comprises a bearing platform, a water driving piece, an inclination angle sensor and a gravity center adjusting mechanism; the bearing platform can float on the water surface and is provided with a bearing surface, and the bearing surface is used for bearing cargoes; the water driving piece is arranged on the bearing platform and used for driving the bearing platform to move on the water surface; the dip angle sensor with focus guiding mechanism all set up in load-bearing platform, just the dip angle sensor with focus guiding mechanism communication is connected, the dip angle sensor is used for detecting the inclination of loading end generates the inclination data, focus guiding mechanism can be according to the inclination data action, thereby the adjustment load-bearing platform's focus to the opposite direction of loading end incline direction removes.
Compared with the prior art, the water AGV platform provided by the embodiment of the invention has the beneficial effects that compared with the prior art, the water AGV platform comprises the following components:
the bearing platform can float on the water surface and is provided with a bearing surface so as to bear cargoes through the bearing surface. The waterborne driving piece is arranged on the bearing platform and used for driving the bearing platform to move on the water surface, so that waterborne carrying operation can be completed by the waterborne AGV platform. And inclination sensor and focus guiding mechanism all set up in load-bearing platform, and inclination sensor and focus guiding mechanism communication are connected, this inclination sensor is used for detecting the inclination of loading end, and generate inclination data, focus guiding mechanism can act according to inclination data, thereby adjust load-bearing platform's focus and remove to the opposite direction of loading end slope direction, with the focus position through focus guiding mechanism adjustment load-bearing platform, make load-bearing platform's focus shift to one side of the load-bearing platform perk of slope, with pushing down load-bearing platform, thereby reduce load-bearing platform's degree of inclination, with the better characteristics of stability that improves AGV platform on water.
Compared with the prior art, the beneficial effects of the water AGV provided by the embodiment of the invention are the same as the beneficial effects of the water AGV platform compared with the prior art, and the detailed description is omitted.
In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required to be used in the embodiments will be briefly described below. It is appreciated that the following drawings depict only certain embodiments of the invention and are therefore not to be considered limiting of its scope. For a person skilled in the art, it is possible to derive other relevant figures from these figures without inventive effort.
FIG. 1 is a schematic structural view of an aquatic AGV platform according to an embodiment of the present invention.
FIG. 2 is a schematic illustration of an embodiment of the present invention showing an AGV platform without a platform cover.
FIG. 3 is a schematic illustration of an example of an arrangement of an aquatic AGV platform according to an embodiment of the present invention from another perspective.
FIG. 4 is a schematic structural view of the bottom of an aquatic AGV platform according to an embodiment of the present invention.
FIG. 5 is a schematic structural view of a control portion of an aquatic AGV platform according to an embodiment of the present invention.
Icon: 10-an above-water AGV platform; 11-a load-bearing platform; 111-platform cover; 1112-a carrying surface; 112-accommodating the projection; 113-a containing space; 12-a marine drive; 121-a rotation drive; 122-horizontal drive section; 13-a tilt sensor; 15-a center of gravity adjustment mechanism; 151-first center of gravity adjustment assembly; 1511-first adjusting drive; 1512-a first counterweight; 152-a second centering assembly; 1521-second adjustment drive; 1522-two counterweights; 153-fixed weight; 16-a main controller; 17-a positioning mechanism; 18-an electronic compass; a-a first direction; b-a second direction; c-a third direction; d-the fourth direction.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. The terms "upper", "lower", "inner", "outer", "left", "right", and the like, refer to an orientation or positional relationship as shown in the drawings, or as would be conventionally found in use of the inventive product, or as would be conventionally understood by one skilled in the art, and are used merely to facilitate the description and simplify the description, but do not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be construed as limiting the present invention. The terms "first," "second," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance. The terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
It is also to be understood that, unless expressly stated or limited otherwise, the terms "disposed," "connected," and the like are intended to be open-ended, and mean "connected," i.e., fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; the connection may be direct or indirect via an intermediate medium, and may be a communication between the two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
The following detailed description of embodiments of the invention refers to the accompanying drawings.
Example (b):
referring to FIG. 1, FIG. 1 is a schematic diagram of an embodiment of an aqueous AGV platform 10 according to the present invention.
The embodiment of the invention provides an overwater AGV platform 10, wherein the overwater AGV platform 10 is used for transporting goods on water and has the characteristic of good stability. The AGV platform 10 on water can be applied to logistics devices or systems such as AGVs on water, and of course, the AGV platform 10 on water can also be used independently.
When the AGV platform 10 on water is applied to AGV on water, AGV on water still can include the control end, and this control end and AGV platform 10 on water communication connection to mutual transmission data, for example, the control end acquires data such as operating condition of AGV platform 10 on water, and AGV platform 10 on water receives information such as instruction that the control end sent. It can be understood that the control end may be a mobile phone end, a computer, a server, etc., and the connection mode between the control end and the AGV platform 10 on water is not limited to network connection, bluetooth connection, WIFI (action hot spot) connection, etc. Because the waterborne AGV adopts the waterborne AGV platform 10 provided by the embodiment of the invention, the waterborne AGV also has the characteristics of capability of completing waterborne carrying operation and good stability.
The structural composition, operating principles and benefits of the AGV platform 10 according to the present invention will be described in greater detail below.
Referring to FIG. 2, FIG. 2 is a schematic illustration of the present invention with the platform cover 111 removed from the AGV platform 10.
The waterborne AGV platform 10 comprises a bearing platform 11, a waterborne driving piece 12, an inclination angle sensor 13 and a gravity center adjusting mechanism 15. The load-bearing platform 11 can float on the water surface and has a load-bearing surface 1112, so as to bear the cargo through the load-bearing surface 1112. The waterborne driving member 12 is disposed on the bearing platform 11 and is used for driving the bearing platform 11 to move on the water surface, so that the waterborne AGV platform 10 can complete the waterborne carrying operation. The tilt sensor 13 and the gravity center adjusting mechanism 15 are both disposed on the supporting platform 11, and the tilt sensor 13 is in communication connection with the gravity center adjusting mechanism 15, the tilt sensor 13 is used to detect the tilt angle of the supporting surface 1112 and generate tilt angle data, the gravity center adjusting mechanism 15 can act according to the tilt angle data to adjust the gravity center of the supporting platform 11 to move in the direction opposite to the tilt direction of the supporting surface 1112, in other words, when the supporting platform 11 tilts, such as sea waves arrive, the tilt sensor 13 will detect the tilt of the supporting surface 1112 and generate tilt angle data, the gravity center adjusting mechanism 15 can adjust the gravity center position of the supporting platform 11 according to the tilt angle data and make the gravity center of the supporting platform 11 move in the direction opposite to the tilt direction of the supporting surface 1112, that is, the gravity center adjusting mechanism 15 acts to shift the gravity center of the supporting platform 11 to the tilted side of the, so as to press the load-bearing platform 11 and thereby reduce the inclination of the load-bearing platform 11, so as to improve the stability of the AGV platform 10 on water.
It should be noted that the tilt sensor 13 and the center of gravity adjusting mechanism 15 are disposed in the supporting platform 11, the platform cover 111 covers the supporting platform 11, and the supporting surface 1112 is a top surface of the platform cover 111.
Referring to fig. 2, in fig. 2, the direction indicated by the arrow a is the first direction a, the direction indicated by the arrow B is the second direction B, the direction indicated by the arrow C is the third direction C, and the direction indicated by the arrow D is the fourth direction D.
The tilt angle data may include a first tilt angle, the first tilt angle characterizing: the intersection line of the bearing surface 1112 and the vertical plane of the straight line in the first direction A forms an included angle with the horizontal plane; wherein, the first direction a is a direction extending along the carrying surface 1112; in other words, the inclination sensor 13 can measure the inclination of the carrying surface 1112 in the first direction a, and the inclination is a first inclination.
And the center of gravity adjusting mechanism 15 may include a first center of gravity adjusting assembly 151, where the first center of gravity adjusting assembly 151 includes a first adjusting driving member 1511 and a first counterweight 1512 connected to each other, the first adjusting driving member 1511 may drive the first counterweight 1512 along the first direction a when the first inclination angle is greater than zero, so that the center of gravity of the supporting platform 11 moves along the first direction a to reduce the inclination degree of the supporting platform 11, or when the first inclination angle is less than zero, the first adjusting driving member 1511 drives the first counterweight 1512 to move along a third direction C opposite to the first direction a, so that the center of gravity of the supporting platform 11 moves along the third direction C to reduce the inclination degree of the supporting platform 11.
It should be noted that, in this embodiment, the first adjusting driving component 1511 is a moving mechanism composed of a motor, a screw rod and a slider, the first counterweight 1512 is installed on the slider, and the motor drives the screw rod to rotate, so as to drive the slider to move along the first direction a or the third direction C through the screw rod. In other embodiments, the first adjusting driving member 1511 can be other types of moving mechanisms, and the embodiment is not limited to the specific structure.
In addition, the first adjusting driving part 1511 can drive the first counterweight 1512 to move linearly along the first direction a according to the first inclination angle, for example, when the first inclination angle is greater than zero and the value is small, the distance that the first adjusting driving part 1511 drives the first counterweight 1512 to move along the first direction a is small, and when the first inclination angle is greater than zero and the value is large, the distance that the first adjusting driving part 1511 drives the first counterweight 1512 to move along the first direction a is large, so as to improve the effect of the gravity center adjusting mechanism 15 in stabilizing the supporting platform 11.
The inclination data may further include first inclination variation data, and the first adjustment driving component 1511 may further drive the first counterweight 1512 to move along the straight line in the first direction a according to the first inclination variation data. For example, when the first inclination angle change data is large, the first adjustment driving component 1511 drives the first counterweight 1512 to move linearly along the first direction a for a large distance, and when the first inclination angle change data is small, the first adjustment driving component 1511 drives the first counterweight 1512 to move linearly along the first direction a for a small distance, so that the gravity center adjustment mechanism 15 can make corresponding reactions to the inclination of the supporting platform 11 at different speeds, and the effect of the gravity center adjustment mechanism 15 in stabilizing the supporting platform 11 is further improved.
Of course, the first adjusting driving member 1511 can drive the first counterweight 1512 to move linearly along the first direction a according to the first inclination angle variation data and the first inclination angle. The first inclination angle change data represents the change rate of the first inclination angle value. For example, when the first inclination angle is greater than zero and the value is smaller, the first adjustment driving component 1511 drives the first counterweight 1512 to move for a smaller distance along the first direction a, when the first inclination angle is greater than zero and the value is larger, the first adjustment driving component 1511 drives the first counterweight 1512 to move for a larger distance along the first direction a, when the first inclination angle change data is larger, the first adjustment driving component 1511 drives the first counterweight 1512 to move for a greater distance along the straight line of the first direction a, when the first inclination angle change data is smaller, the first adjustment driving component 1511 drives the first counterweight 1512 to move for a smaller distance along the straight line of the first direction a, and the effect of the gravity center adjustment mechanism 15 on stabilizing the bearing platform 11 is further improved.
Further, the tilt angle data may include a second tilt angle, the second tilt angle characterizing: the intersection line of the bearing surface 1112 and the vertical plane of the straight line in the second direction B forms an included angle with the horizontal plane; the second direction B is a direction extending along the carrying surface 1112; in other words, the inclination sensor 13 can measure the inclination of the bearing surface 1112 in the second direction B, and the inclination is the second inclination.
The gravity center adjusting mechanism 15 may include a second gravity center adjusting assembly 152, the second gravity center adjusting assembly 152 includes a second adjusting driving member 1521 and a second counterweight 1522, which are connected to each other, the second adjusting driving member 1521 can drive the second counterweight 1522 along the second direction B when the second inclination angle is greater than zero, so that the gravity center of the load-bearing platform 11 moves along the second direction B to reduce the inclination degree of the load-bearing platform 11, or when the second inclination angle is less than zero, the second adjusting driving member 1521 drives the second counterweight 1522 to move along a fourth direction D opposite to the second direction B, so that the gravity center of the load-bearing platform 11 moves along the fourth direction D to reduce the inclination degree of the load-bearing platform 11.
It should be noted that, in this embodiment, the second adjusting driving element 1521 may also be a moving mechanism composed of a motor, a screw rod and a slider, the second counterweight 1522 is installed on the slider, and the motor drives the screw rod to rotate, so as to drive the slider to move along the second direction B or the fourth direction D. In other embodiments, the second adjusting driving element 1521 can be other types of moving mechanisms, and the embodiment is not limited to the specific structure thereof. In addition, the tilt data may further include second tilt change data, the first tilt change data characterizing a rate of change of the first tilt value. The second adjusting driving member 1521 can drive the second counterweight 1522 to move linearly along the second direction B according to the second inclination angle change data and/or the second inclination angle, which is similar to the control manner of the first adjusting driving member 1511 driving the first counterweight 1512 to move linearly along the first direction a by the corresponding distance according to the first inclination angle change data and the first inclination angle, and is not described herein again.
It should be noted that, in this embodiment, the number of the tilt sensors 13 is two, and the two tilt sensors 13 are symmetrically disposed about the central point of the bearing platform 11, in other embodiments, the number of the tilt sensors 13 may also be other numbers, and this embodiment does not limit the number.
With continued reference to FIG. 2, and FIGS. 3 and 4, FIG. 3 is a schematic illustration of an embodiment of the present invention showing an example of an aqueous AGV platform 10 from another perspective. FIG. 4 is a schematic structural view of the bottom of an aqueous AGV platform 10 according to an embodiment of the present invention.
The bottom of the supporting platform 11 may be protruded with a receiving protrusion 112, a receiving space 113 is disposed in the receiving protrusion 112, and the first center of gravity adjusting assembly 151 is disposed in the receiving space 113. So as to lower the center of gravity of the platform 11 and improve the efficiency of the first center of gravity adjustment assembly 151 in adjusting the center of gravity of the platform 11. Of course, in other embodiments, the second centering assembly 152 may also be disposed in the accommodating space 113. Further improving the efficiency of the gravity center adjusting mechanism 15 in adjusting the gravity center of the bearing platform 11.
It should be noted that the center of gravity adjusting mechanism 15 may further include a fixed weight 153, and the fixed weight 153 is disposed in the accommodating space 113. So as to lower the center of gravity of the load-bearing platform 11 and improve the stability of the load-bearing platform 11.
Further, the number of the water driving members 12 may be multiple, and the multiple water driving members 12 are all disposed at the bottom of the bearing platform 11 and around the accommodating protrusion 112. So, through setting up highly roughly the waterborne driving piece 12 that is equivalent with the centre of gravity height of load-bearing platform 11 to reduce waterborne driving piece 12 during operation, to the influence of load-bearing platform 11 stability, and a plurality of waterborne driving pieces 12 drive load-bearing platform 11 motion jointly, its stability is higher, and is less to load-bearing platform 11's stability influence.
It should be noted that the aquatic driving member 12 may include a rotation driving portion 121 and a horizontal driving portion 122 connected in sequence, the rotation driving portion 121 is connected to the supporting platform 11, and the rotation driving portion 121 can drive the horizontal driving portion 122 to rotate, so as to change the driving direction of the horizontal driving portion 122. The horizontal driving unit 122 may be a driving member in the form of a propeller.
In use, as shown in fig. 4, the horizontal driving portions 122 of two adjacent water driving members 12 work to provide a thrust force in one direction to the carrying platform 11 together, and of course, the horizontal driving portions 122 of the other two water driving members 12 can also work to provide a pulling force in the above-mentioned direction to the carrying platform 11 together, so as to drive the carrying platform to move together. In addition, the four horizontal driving portions 122 in fig. 4 can also be driven by the corresponding rotating driving portions 121 to rotate, so that the directions of the four horizontal driving portions 122 are tangent to the outer circumference of the accommodating protrusion 112, and the bearing platform 11 is driven to rotate by part or all of the horizontal driving portions 122.
With continuing reference to fig. 4 and 5, fig. 5 is a schematic diagram of the control portion of the AGV platform 10 according to an embodiment of the present invention.
The water AGV platform 10 may further include a positioning mechanism 17 and a main controller 16, the main controller 16 is respectively in communication connection with the water driving element 12 and the positioning mechanism 17, the positioning mechanism 17 is used to detect the position of the bearing platform 11, and generate position data, the main controller 16 can control the operation of the water driving element 12 according to the position data, so as to drive the bearing platform 11 to move to a preset position through the water driving element 12, so as to complete the work of transporting goods, of course, when the position is finely adjusted, the operation of the water driving element 12 can be controlled according to the position data, for example, when the position of the bearing platform 11 deviates from the preset position due to factors such as sea waves, the main controller 16 can control part or all of the water driving element 12 to work, so as to finely adjust the position of the bearing platform 11, so as to maintain the.
It is understood that the positioning mechanism 17 is a positioning device such as a GPS. The main controller 16 may be a general-purpose processor, including a Central Processing Unit (CPU), a Network Processor (NP), a voice processor, a video processor, and the like; but may also be a digital signal processor, an application specific integrated circuit, a field programmable gate array or other programmable logic device, discrete gate or transistor logic, discrete hardware components. The main Controller 16 may also be any conventional processor, such as a Programmable Logic Controller (PLC), a single chip computer, etc. Of course, the main controller 16 may also be a relay contactor control system, which uses a combination of switches, relays, buttons, and other control devices to receive signals and perform functions such as switching, and adjusting circuits.
Further, the waterborne AGV platform 10 may also include an electronic compass 18, and the main controller 16 may be communicatively coupled to the electronic compass 18. The electronic compass 18 is used for detecting the deflection angle of the bearing platform 11, and the main controller 16 can control the operation of the waterborne driving piece 12 according to the deflection angle, so as to drive the bearing platform 11 to rotate reversely by the deflection angle through the waterborne driving piece 12. For example, the main controller 16 may control the four horizontal driving portions 122 in fig. 4 to rotate under the driving of the corresponding rotation driving portions 121, so that the four horizontal driving portions 122 are oriented to be tangential to the outer circumference of the accommodating protrusion 112, and the bearing platform 11 is driven to rotate by part or all of the horizontal driving portions 122.
When the deflection angle of the bearing platform is finely adjusted, the main controller 16 may also control the four horizontal driving portions 122 in fig. 4 to rotate under the driving of the corresponding rotation driving portions 121, so that the orientations of the four horizontal driving portions 122 are tangent to the periphery of the accommodating protrusion 112, and then part of the horizontal driving portions 122 drive the bearing platform 11 to rotate along one direction, and the other horizontal driving portions 122 drive the bearing portion to rotate along the other direction, so as to prevent the bearing platform 11 from rotating, and stabilize the deflection angle of the bearing platform 11 within a smaller range.
The operational principle of the above-water AGV platform 10 provided by the embodiment of the invention is as follows:
the load-bearing platform 11 can float on the water surface and has a load-bearing surface 1112, so as to bear the cargo through the load-bearing surface 1112. The waterborne driving member 12 is disposed on the bearing platform 11 and is used for driving the bearing platform 11 to move on the water surface, so that the waterborne AGV platform 10 can complete the waterborne carrying operation. And tilt sensor 13 and focus adjustment mechanism 15 all set up in load-bearing platform 11, and tilt sensor 13 is connected with focus adjustment mechanism 15 communication, this tilt sensor 13 is used for detecting the inclination of loading surface 1112, and generate inclination data, focus adjustment mechanism 15 can move according to inclination data, thereby adjust load-bearing platform 11's focus and move to the opposite direction of loading surface 1112 inclination direction, with the barycenter position through focus adjustment mechanism 15 adjustment load-bearing platform 11, make load-bearing platform 11's focus shift to one side of the tilting load-bearing platform 11 perk of slope, with push down load-bearing platform 11, thereby reduce load-bearing platform 11's degree of inclination, with the better characteristics of stability of improvement AGV platform 10 on water.
In summary, the following steps:
the embodiment of the invention provides an overwater AGV platform 10 which has the characteristics of being capable of completing overwater carrying operation and good in stability.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and it is obvious to those skilled in the art that the features in the above embodiments may be combined with each other and the present invention may be variously modified and changed without conflict. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention. The present embodiments are to be considered as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Claims (10)
1. An overwater AGV platform is characterized by comprising a bearing platform (11), an overwater driving piece (12), an inclination angle sensor (13) and a gravity center adjusting mechanism (15);
the bearing platform (11) can float on the water surface and is provided with a bearing surface (1112), and the bearing surface (1112) is used for bearing cargos;
the water driving piece (12) is arranged on the bearing platform (11) and is used for driving the bearing platform (11) to move on the water surface;
inclination sensor (13) with focus guiding mechanism (15) all set up in load-bearing platform (11), just inclination sensor (13) with focus guiding mechanism (15) communication is connected, inclination sensor (13) are used for detecting the inclination of loading surface (1112) generates the inclination data, focus guiding mechanism (15) can be according to the inclination data action, thereby the adjustment the focus of load-bearing platform (11) to the opposite direction of loading surface (1112) tilt direction removes.
2. The aquatic AGV platform of claim 1 wherein the inclination data includes a first inclination representing: the intersection line of the bearing surface (1112) and the vertical plane of the straight line in the first direction (A) forms an included angle with the horizontal plane; wherein the first direction (A) is a direction extending along the bearing surface (1112);
the gravity center adjusting mechanism (15) comprises a first gravity center adjusting assembly (151), the first gravity center adjusting assembly (151) comprises a first adjusting driving piece (1511) and a first balance weight (1512) which are connected with each other, and the first adjusting driving piece (1511) can drive the first balance weight (1512) to move along the first direction (A) or a third direction (C) opposite to the first direction (A) when the first inclination angle is larger than zero or smaller than zero, so that the inclination degree of the bearing platform (11) is reduced.
3. The aquatic AGV platform of claim 2, wherein the tilt data further comprises first tilt variation data, and the first adjustment drive (1511) is configured to drive the first counterweight (1512) along the first direction (A) based on the first tilt variation data and/or a first tilt distance.
4. The aquatic AGV platform of claim 2 wherein the inclination data includes a second inclination indicative of: the intersection line of the bearing surface (1112) and the vertical plane of the straight line in the second direction (B) forms an included angle with the horizontal plane; wherein the second direction (B) is a direction extending along the bearing surface (1112) and perpendicular to the first direction (A);
the gravity center adjusting mechanism (15) comprises a second gravity center adjusting assembly (152), the second gravity center adjusting assembly (152) comprises a second adjusting driving part (1521) and a second counterweight (1522) which are connected with each other, and the second adjusting driving part (1521) can drive the second counterweight (1522) to move along the second direction (B) or a fourth direction (D) opposite to the second direction (B) when the second inclination angle is larger than zero or smaller than zero, so that the inclination degree of the bearing platform (11) is reduced.
5. The AGV platform of claim 2, wherein the load-bearing platform (11) has a receiving protrusion (112) protruding from the bottom thereof, a receiving space (113) is provided in the receiving protrusion (112), and the first center of gravity adjusting assembly (151) is disposed in the receiving space (113).
6. An aquatic AGV platform according to claim 5, wherein said aquatic drives (12) are plural in number and wherein said aquatic drives (12) are all disposed at the bottom of said load-bearing platform (11) and are disposed around said receiving protrusions (112).
7. An aquatic AGV platform according to any one of claims 1 to 6, wherein the aquatic drive member (12) comprises a rotary drive portion (121) and a horizontal drive portion (122) connected in series, the rotary drive portion (121) is connected to the loading platform (11), and the rotary drive portion (121) can drive the horizontal drive portion (122) to rotate so as to change the driving direction of the horizontal drive portion (122).
8. The waterborne AGV platform of any of claims 1 to 6, wherein the waterborne AGV platform (10) further comprises a positioning mechanism (17) and a main controller (16), the main controller (16) being communicatively coupled to the waterborne drive (12) and the positioning mechanism (17), respectively;
the positioning mechanism (17) is used for detecting the position of the bearing platform (11) and generating position data, and the main controller (16) can control the water driving piece (12) to work according to the position data so as to drive the bearing platform (11) to move to a preset position through the water driving piece (12).
9. The water AGV platform of any one of claims 1 to 6, wherein the water AGV platform (10) further comprises an electronic compass (18) and a master controller (16), the master controller (16) being communicatively coupled to the water drive (12) and the electronic compass (18), respectively;
the electronic compass (18) is used for detecting the deflection angle of the bearing platform (11), and the main controller (16) can control the water driving piece (12) to work according to the deflection angle so as to drive the bearing platform (11) to reversely rotate by the deflection angle through the water driving piece (12).
10. An aquatic AGV comprising an aquatic AGV platform (10) according to any one of claims 1 to 9.
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| CN202010824084.6A CN111880547B (en) | 2020-08-17 | 2020-08-17 | Aquatic AGV platform and aquatic AGV |
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| CN202010824084.6A CN111880547B (en) | 2020-08-17 | 2020-08-17 | Aquatic AGV platform and aquatic AGV |
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Cited By (1)
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| CN111880547B (en) | 2024-04-23 |
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