CN112141585A - Synchronous AGV (automatic guided vehicle) carrying system with cooperative active sensing and carrying method thereof - Google Patents
Synchronous AGV (automatic guided vehicle) carrying system with cooperative active sensing and carrying method thereof Download PDFInfo
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- CN112141585A CN112141585A CN202011081480.0A CN202011081480A CN112141585A CN 112141585 A CN112141585 A CN 112141585A CN 202011081480 A CN202011081480 A CN 202011081480A CN 112141585 A CN112141585 A CN 112141585A
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- infrared sensor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
- B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/04—Detection means
- B65G2203/042—Sensors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/04—Detection means
- B65G2203/042—Sensors
- B65G2203/046—RFID
Abstract
The invention discloses a synchronous AGV (automatic guided vehicle) carrying system and a carrying method thereof in cooperation with active sensing. According to the invention, the robot is used for replacing a human to carry out auxiliary carrying, so that not only is the manpower saved, but also the carrying danger is avoided, the pressure sensor and the infrared sensor are used for ensuring the carrying capacity and the carrying height synchronization of two AGVs on the ground with different heights, the upper control system is used as an intelligent brain to send an instruction to the vehicle-mounted control system, the automatic synchronous carrying is controlled, the functions of path planning, navigation guidance, synchronous position control and active sensing of the surrounding environment are realized, the manpower is saved, the carrying efficiency is improved, and the carrying danger is reduced.
Description
Technical Field
The invention relates to the field of synchronous AGV (automatic guided vehicle) carrying systems, in particular to a synchronous AGV carrying system with cooperative active sensing and a carrying method thereof.
Background
When carrying large heavy objects in a warehouse, the traditional carrying work has great dependence on people, at least two people are needed, and certain requirements are provided for the cooperation of the two people, and if the cooperation of the two people is not good, the heavy objects can incline or fall off, so that the danger of injuring the people is possibly generated.
The prior art has trailer transport, it is exactly that the people uses the trailer to drag the heavy object and remove to and use single AGV transport, trailer transport has only carried out the labour's saving to the displacement work of carrying the heavy object, and still need the people to go to pulling in the handling, consequently still there are a great deal of inconveniences, single AGV has saved the manpower, but it can only carry less heavy object, to bigger heavy object, single AGV can not carry because the restriction of transport volume, and single AGV still can take place the heavy object in handling and drop, unexpected circumstances such as collision barrier or people.
In summary, the prior art has the following disadvantages:
1. the traditional heavy object trailer transportation still needs the help of people to carry out;
2. the traditional heavy object trailer only saves labor force for carrying the displacement work of heavy objects;
3. the traditional automatic conveying technology cannot realize the synchronization of conveying force, conveying height and displacement;
4. the danger that the heavy object inclines and even falls off still exists in the traditional AGV transportation process;
5. the conventional AGV cannot actively sense the surrounding conditions and perform corresponding processing;
6. conventional AGVs handle objects that are only capable of handling objects that are relatively small in size.
The scheme of the invention is to improve the existing AGV handling system aiming at the problems in the existing handling technology.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention provides a synchronous AGV carrying system with cooperative active sensing and a carrying method thereof.
In order to achieve the above purpose, the technical solution for solving the technical problem is as follows:
the invention discloses a synchronous AGV (automatic guided vehicle) carrying system with cooperative active sensing, which comprises a main AGV, a synchronous AGV and an auxiliary inclined plane, wherein the main AGV carries the AGV, the synchronous AGV carries the AGV, and the auxiliary inclined plane comprises:
the lower end of the main transporting AGV is connected with a plurality of first free travelling wheels which are used for the movement of the main transporting AGV, the front end of the main transporting AGV is provided with a first lifting plate, the upper end of the first lifting plate is internally provided with a pressure sensor, the pressure sensor adopts concave processing to prevent the pressure of the heavy object from influencing the detection of the pressure sensor on the lower surface, an infrared sensor transmitting device is arranged in the front end of the main transporting AGV, a first active sensing identification module is arranged at the upper end of the main transporting AGV, a first servo motor, a first driver, a first reducer, a first screw rod and a first connecting device matched with the first screw rod are arranged in the main transporting AGV, the first lifting plate is used for lifting, a first AGV setting panel is arranged at the rear end of the main transporting AGV, and a first vehicle-mounted control system is arranged below the first AGV setting panel;
the lower end of the synchronous transport AGV is connected with a plurality of second free travelling wheels, the second free travelling wheels are used for moving the synchronous transport AGV, a second lifting plate is installed at the front end of the synchronous transport AGV, an infrared sensor receiving device is arranged in the front end of the synchronous transport AGV, a second active sensing identification module is installed at the upper end of the synchronous transport AGV, a second servo motor, a second driver, a second speed reducer, a second lead screw and a second connecting device matched with the second lead screw are installed inside the synchronous transport AGV and used for lifting the second lifting plate, a second AGV setting panel is arranged at the rear end of the synchronous transport AGV, and a second load control system is arranged below the second AGV setting panel;
the auxiliary inclined plane is respectively installed the first lifting board of mainly carrying AGV has built-in edge that has infrared sensor emitter and the second lifting board of synchronous transport AGV has built-in edge that has infrared sensor receiving arrangement, be used for first lifting board and second lifting board can be convenient for insert the heavy object bottom.
Preferably, infrared sensor emitter and infrared sensor receiving arrangement pair and are provided with three groups, correspond respectively set up in the front end that first board and second lifted the board and the main front end lower part intermediate position of carrying AGV and synchronous transport AGV for guarantee the sensitivity that detects.
Preferably, the auxiliary inclined plane is made of a transparent material and is used for preventing the operation of the infrared sensor from being influenced.
Further, first free travelling wheel and second free travelling wheel all include gyro wheel, supplementary rotation motor and drive arrangement, the gyro wheel connect respectively in mainly carry AGV and synchronous transport AGV's bottom, supplementary rotation motor and drive arrangement connect in on the gyro wheel.
Furthermore, an infrared sensor receiving device is arranged in the edge of the front end of the bottom of the second lifting plate and used for receiving infrared rays emitted by the infrared sensor emitting device, and the second lifting plate is connected to a second connecting device matched with the second screw rod and used for directly carrying heavy objects.
Further, the first vehicle-mounted control system and the second vehicle-mounted control system each include a navigation/guidance calculation module, a wireless communication module, and a processing control module, wherein:
the first vehicle-mounted control system is connected with the first driver, the first free wheel, the first active sensing identification module, the pressure sensor and the infrared sensor transmitting device, and is used for sending information detected by the infrared sensor and images collected by the first active sensing identification module to an upper control system, receiving control signals of the upper control system, and controlling the main transporting AGV to run after processing;
and the second vehicle-mounted control system is connected with the second driver, the second free travelling wheel, the second active perception identification module and the infrared sensor receiving device, is used for receiving the information detected by the infrared sensor and the image collected by the second active perception identification module, sending the control signal to the upper control system and receiving the control signal of the upper control system, and controls the synchronous AGV to run after processing.
Further, first initiative perception identification module and second initiative perception identification module all include high definition digtal camera and storage module, wherein:
the high-definition camera is connected with the storage module and is used for shooting the surrounding environment and recording the surrounding environment in the storage module;
the storage module is connected with the first vehicle-mounted control system and the second vehicle-mounted control system, the first vehicle-mounted control system and the second vehicle-mounted control system send information stored in the storage module to an upper control system for processing, receive control signals given by the upper control system and control the first free travelling wheels and/or the second free travelling wheels to move so as to realize the function of actively sensing the surrounding environment.
The invention also discloses a carrying method of the synchronous AGV carrying system with cooperative active sensing, which carries out carrying by utilizing the synchronous AGV carrying system with cooperative active sensing, and specifically comprises the following steps:
the user first sets up the initial setup of the main transporting AGVs through the first AGV setup panel, then the main transporting AGV starts to work and lift the heavy object, the upper control system controls the first servo motor to drive the first screw rod and the first connecting device matched with the first screw rod according to the initial setting, the first lifting plate is pulled, at the moment, the pressure sensor on the main transporting AGV detects the force for lifting the heavy object, the first vehicle-mounted control system sends the force to the upper control system through the primary processing, the upper control system compares the force with the initial setting, then calculates reasonable control information through a program and sends the control signal to the second vehicle-mounted control system for synchronously transporting AGV, therefore, a control instruction is sent to a second vehicle-mounted control system for synchronously carrying the AGV, the second vehicle-mounted control system sends a control signal to a second driver, and a second servo motor is controlled to drive a second screw rod and a second connecting device matched with the second screw rod to pull a second lifting plate to realize the synchronization of the carrying force.
Further, in the process of lifting the heavy object, infrared rays sent by an infrared sensor transmitting device mainly used for carrying the AGV front end upwards deviate from an infrared sensor receiving device at the front end of a second lifting plate, a second vehicle-mounted control system for synchronously carrying the AGV receives information sent by the infrared sensor receiving device, control information is directly calculated through a program, a second driver is controlled to send control signals, a second servo motor is controlled to drive a second lead screw and a second connecting device matched with the second lead screw to pull the second lifting plate to be lifted slowly, the infrared sensor receiving device returns to the position below a signal transmitting range of the infrared sensor transmitting device, the lifting height is synchronized, and the lifting height is ensured to be synchronized under the condition that the main carrying AGV and the synchronous carrying AGV are located on pavements with different heights.
Further, after the heavy object is lifted to a certain height, the main transporting AGV and the synchronous transporting AGV keep the lifting height unchanged, a first vehicle-mounted control system of the main transporting AGV sends a signal of finishing preparation to an upper control system, the upper control system gives a path planning scheme and sends the path planning scheme to the first vehicle-mounted control system and a second vehicle-mounted control system, the first vehicle-mounted control system and the second vehicle-mounted control system respectively control a first free travelling wheel of the main transporting AGV and a second free travelling wheel of the synchronous transporting AGV to start to move to a transporting target location according to the scheme, meanwhile, the relative positions of the two AGVs are controlled to be unchanged, and when the target location is reached, the two AGVs are controlled to decelerate until the target location is stopped and just reached.
Furthermore, after the target location is reached, the first vehicle-mounted control system controls the first lifting plate of the main transporting AGV to move downwards, infrared rays emitted by the infrared sensor emitting device at the front end of the main transporting AGV deviate downwards from the infrared sensor receiving device at the front end of the second lifting plate, the second vehicle-mounted control system of the synchronous transporting AGV receives information emitted by the infrared sensor receiving device, control information is directly calculated through a program and is sent to the second vehicle-mounted control system on the synchronous transporting AGV, the processing control module controls the buckle to be opened and controls the second driver to control the second servo motor to reduce the lifting force, when the infrared rays emitted by the infrared sensor emitting device deviate downwards from the infrared sensor receiving device, the processing control module controls the second driver to control the second servo motor to slowly descend through the second lead screw and the matched second connecting device thereof, after the heavy object is stably put down, the whole system stops running and the carrying is finished.
Furthermore, in the process of carrying out the whole carrying work, the first active perception identification module and the second active perception identification module are combined with monitoring equipment of a carrying environment to monitor the whole carrying process and send the monitoring equipment to the upper control system, and if the upper control system identifies that a person or an obstacle suddenly appears in the front, the upper control system sends control information to the first vehicle-mounted control system and/or the second vehicle-mounted control system to control the whole system to carry out real-time self-locking, so that the two AGVs stop, or carry out evading navigation on the two AGVs through path planning.
Due to the adoption of the technical scheme, compared with the prior art, the invention has the following advantages and positive effects:
according to the synchronous AGV carrying system with cooperative and active sensing, the robot is used for replacing a human to carry out auxiliary carrying, so that manpower is saved, carrying danger is avoided, the pressure sensor and the infrared sensor are used for guaranteeing carrying force and carrying height synchronization of two AGVs on the ground with different heights, the upper control system is used as an intelligent brain to send instructions to the vehicle-mounted control system, automatic synchronous carrying is controlled, the functions of path planning, navigation guiding, synchronous position control and active sensing of the surrounding environment are achieved, manpower is saved, manual labor of people is reduced, carrying efficiency is improved, and carrying danger is reduced.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below. It is obvious that the drawings in the following description are only some embodiments of the invention, and that for a person skilled in the art, other drawings can be derived from them without inventive effort. In the drawings:
FIG. 1 is a front view of a coordinated active perception synchronous AGV handling system of the present invention;
FIG. 2 is a top view of a synchronized AGV handling system in accordance with the present invention;
FIG. 3 is a perspective view of a primary transport AGV in a coordinated actively sensed synchronous AGV transport system of the present invention;
FIG. 4 is an assembly view of a first servo motor and a first lead screw and a first connecting device matched with the first lead screw in the cooperative and active sensing synchronous AGV handling system of the present invention;
FIG. 5 is a perspective view of a synchronized AGV in a synchronized AGV handling system with cooperative active sensing according to the present invention;
FIG. 6 is an assembly view of a second servo motor and a second screw rod and a second connecting device matched with the second screw rod in the cooperative and active sensing synchronous AGV handling system of the present invention;
FIG. 7 is a high level control system operation block diagram of the present invention;
fig. 8 is a control flow chart of the on-board control system of the invention.
[ description of main symbols ]
1-mainly carrying the AGV;
101-a first freewheel;
102-a first lifting plate;
103-a pressure sensor;
104-infrared sensor emitting means;
105-a first active sensing identification module;
106-a first servomotor;
107-first lead screw;
108-a first connecting means;
109-a first AGV setting panel;
2, synchronously carrying the AGV;
201-a second freewheel;
202-a second lifting plate;
203-infrared sensor receiving means;
204-a second active sensing identification module;
205-a second servomotor;
206-a second lead screw;
207-second connecting means;
208-a second AGV setting panel;
3-auxiliary inclined plane.
Detailed Description
While the embodiments of the present invention will be described and illustrated in detail with reference to the accompanying drawings, it is to be understood that the invention is not limited to the specific embodiments disclosed, but is intended to cover various modifications, equivalents, and alternatives falling within the scope of the invention as defined by the appended claims.
Example one
1-6, the present invention discloses a cooperative active sensing synchronous AGV handling system, comprising a primary handling AGV1, a synchronous handling AGV2, and an auxiliary ramp 3, wherein:
the lower extreme of mainly carrying AGV1 is connected with a plurality of first free running wheels 101 for the removal of mainly carrying AGV1, first lifting plate 102 is equipped with to the front end of mainly carrying AGV1, the built-in pressure sensor 103 in the upper end of first lifting plate 102 is used for detecting the used power of first lifting plate lifting weight, pressure sensor 103 adopts recessed processing for preventing the pressure of weight to the detection of the pressure sensor 103 of lower surface from influencing, the built-in infrared sensor emitter 104 that has put of the front end of mainly carrying AGV1, the upper end of mainly carrying AGV1 is equipped with first initiative perception identification module 105, the inside of mainly carrying AGV1 is equipped with first servo motor 106, first driver (not shown), first reduction gear (not shown), first lead screw 107 and with the supporting first connecting device 108 of first lead screw 107, is used for drawing up first lifting plate 102, a first AGV setting panel 109 is provided at the rear end of the main transport AGV1, and a first vehicle-mounted control system (not shown) is provided below the first AGV setting panel;
the lower end of the synchronous transporting AGV2 is connected with a plurality of second free running wheels 201 for the movement of the synchronous transporting AGV2, the front end of the synchronous transporting AGV2 is provided with a second lifting plate 202, the front end of the synchronous transporting AGV2 is provided with an infrared sensor receiving device 203 inside, the upper end of the synchronous transporting AGV2 is provided with a second active sensing and recognizing module 204, the inside of the synchronous transporting AGV2 is provided with a second servo motor 205, a second driver (not shown), a second speed reducer (not shown), a second lead screw 206 and a second connecting device 207 matched with the second lead screw 206 for lifting the second lifting plate 202, the rear end of the synchronous transporting AGV2 is provided with a second AGV setting panel 208 and a second vehicle-mounted control system (not shown) is arranged below the second AGV setting panel 208;
the auxiliary inclined planes 3 are respectively installed at the edge of the infrared sensor transmitting device 104 built in the first lifting plate 102 of the primary transporting AGV1 and the edge of the infrared sensor receiving device 203 built in the second lifting plate 202 of the synchronous transporting AGV2, so that the first lifting plate 102 and the second lifting plate 202 can be inserted into the bottom end of the weight in parallel in the left-right direction. In a preferred embodiment, the auxiliary bevel 3 is made of a transparent material to prevent the operation of the infrared sensor from being affected.
Referring to fig. 2, three sets of infrared sensor emitting devices 104 and infrared sensor receiving devices 203 are provided in pairs, and are respectively provided at the front ends of the first lifting plate 102 and the second lifting plate 202 and at the middle positions of the lower portions of the front ends of the main transporting AGV1 and the synchronous transporting AGV2, so as to ensure the detection sensitivity.
In this embodiment, the first and second free wheels 101 and 201 each include a roller (not shown) connected to the bottom of the main transporting AGV1 and the synchronous transporting AGV2, an auxiliary rotating motor (not shown) and a driving device (not shown) connected to the roller.
Further, an infrared sensor receiving device 203 is disposed inside a bottom front edge of the second lifting plate 202 for receiving the infrared rays emitted by the infrared sensor emitting device 104, and the second lifting plate 202 is connected to a second connecting device 207 associated with the second lead screw 206 for directly carrying the heavy object.
Further, the first vehicle-mounted control system and the second vehicle-mounted control system each include a navigation/guidance calculation module (not shown), a wireless communication module (not shown), and a processing control module (not shown), wherein:
the first vehicle-mounted control system is connected with the first driver, the first free wheel 101, the first active sensing identification module 105, the pressure sensor 103 and the infrared sensor transmitting device 104, and is used for sending information detected by the infrared sensor and images collected by the first active sensing identification module 105 to an upper control system, receiving control signals of the upper control system, and controlling the main transporting AGV1 to operate after processing;
the second vehicle-mounted control system is connected with the second driver, the second free wheel 201, the second active sensing recognition module 204 and the infrared sensor receiving device 203, and is used for receiving information detected by the infrared sensor and images collected by the second active sensing recognition module 204, sending the information to the upper control system, receiving control signals of the upper control system, and controlling the synchronous carrying AGV2 to operate after processing.
Further, the first active sensing recognition module 105 and the second active sensing recognition module 204 each include a high-definition camera (not shown) and a storage module (not shown), wherein:
the high-definition camera is connected with the storage module and is used for shooting the surrounding environment and recording the surrounding environment in the storage module;
the storage module is connected with the first vehicle-mounted control system and the second vehicle-mounted control system, the first vehicle-mounted control system and the second vehicle-mounted control system send information stored in the storage module to an upper control system for processing, receive a control signal given by the upper control system, and accordingly control the first free travelling wheels 101 and/or the second free travelling wheels 201 to move, and the function of actively sensing the surrounding environment is achieved.
Example two
As shown in fig. 7 and 8, the present invention further discloses a transporting method of a cooperative active sensing synchronous AGV transporting system, which uses the cooperative active sensing synchronous AGV transporting system for transporting, and specifically includes:
the user sets initial setting of the main transporting AGVs through the first AGV setting panel 109, then the main transporting AGVs 1 start working to lift heavy objects, the upper control system controls the first servo motor 106 to drive the first screw rod 107 and the first connecting device 108 matched with the first screw rod according to the initial setting, the first lifting plate 102 is pulled, at this time, the pressure sensor 103 on the main transporting AGVs 1 detects the force for lifting the heavy objects, the first vehicle control system sends the first vehicle control system to the upper control system through preliminary processing, the upper control system compares the first vehicle control system with the initial setting, then calculates reasonable control information through programs and sends the control signal to the second vehicle control system for synchronously transporting the AGVs 2, thereby sending a control instruction to the second vehicle control system for synchronously transporting the AGVs 2 to send a control signal to the second driver, and controls the second servo motor 205 to drive the second screw rod 206 and the second connecting device 207 matched with the second screw rod to pull the second lifting plate 202 to realize synchronous transporting force synchronization of the AGVs 2.
In the process of lifting the weight, infrared rays emitted by the infrared sensor emitting device 104 at the front end of the main carrying AGV1 upwards deviate from the infrared sensor receiving device 203 at the front end of the second lifting plate 202, a second vehicle-mounted control system of the synchronous carrying AGV2 receives information emitted by the infrared sensor receiving device 203, control information is directly calculated through a program, a second driver is controlled to emit control signals, and the second servo motor 205 is controlled to drive the second screw rod 206 and the second connecting device 207 matched with the second screw rod to pull the second lifting plate 202 to be lifted slowly, so that the infrared sensor receiving device 203 returns to the position below the signal emitting range of the infrared sensor emitting device 104, synchronization of lifting heights is achieved, and synchronization of the lifting heights is guaranteed under the condition that the main carrying AGV1 and the synchronous carrying AGV2 are located on different-height road surfaces.
After the heavy object is lifted to a certain height, the main carrying AGV1 and the synchronous carrying AGV2 keep the lifting height unchanged, the first vehicle-mounted control system of the main carrying AGV1 sends a signal of finishing preparation to the upper control system, the upper control system gives a path planning scheme and sends the path planning scheme to the first vehicle-mounted control system and the second vehicle-mounted control system, the first vehicle-mounted control system and the second vehicle-mounted control system respectively control the first free travelling wheel 101 of the main carrying AGV1 and the second free travelling wheel 201 of the synchronous carrying AGV2 to start to move to a carrying target point according to the scheme, meanwhile, the relative positions of the two AGVs are controlled to be unchanged, and when the AGVs reach the target point, the AGVs are controlled to decelerate until the AGVs stop reaching the target point.
After the target location is reached, the first vehicle-mounted control system controls the first lifting plate 102 of the main transporting AGV1 to move downwards, the infrared ray emitted by the infrared sensor emitting device 104 at the front end of the main transporting AGV1 deviates downwards from the infrared sensor receiving device 203 at the front end of the second lifting plate 202, the second vehicle-mounted control system of the synchronous transporting AGV2 receives the information emitted by the infrared sensor receiving device 203, directly calculates control information through a program, sends the control information to the second vehicle-mounted control system on the synchronous transporting AGV2, controls the buckle to be opened, controls the second servo motor 205 to reduce the lifting force, controls the second servo motor 205 to control the second servo motor 205 to slowly descend through the second lead screw 206 and the second connecting device 207 matched with the second lead screw when the infrared ray emitted by the infrared sensor emitting device 104 deviates downwards from the infrared sensor receiving device 203, after the heavy object is stably put down, the whole system stops running and the carrying is finished.
In the whole carrying process, the first active perception identification module 105 and the second active perception identification module 204 are combined with monitoring equipment of a carrying environment to monitor the whole carrying process, the surrounding environment is sensed and sent to an upper control system, if the upper control system identifies that people or obstacles appear suddenly in the front, control information is sent to the first vehicle-mounted control system and/or the second vehicle-mounted control system to control the whole system to carry out instant self-locking, so that the two AGVs stop, or the two AGVs are navigated and evaded through path planning, if the people or the obstacles in the front originally exist, the upper control system can directly bring the people or the obstacles into the path planning to navigate and evade the AGVs.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (12)
1. The utility model provides a synchronous AGV handling system of initiative perception in coordination, its characterized in that includes main transport AGV, synchronous transport AGV and supplementary inclined plane, wherein:
the lower end of the main transporting AGV is connected with a plurality of first free travelling wheels which are used for the movement of the main transporting AGV, the front end of the main transporting AGV is provided with a first lifting plate, the upper end of the first lifting plate is internally provided with a pressure sensor, the pressure sensor adopts concave processing to prevent the pressure of the heavy object from influencing the detection of the pressure sensor on the lower surface, an infrared sensor transmitting device is arranged in the front end of the main transporting AGV, a first active sensing identification module is arranged at the upper end of the main transporting AGV, a first servo motor, a first driver, a first reducer, a first screw rod and a first connecting device matched with the first screw rod are arranged in the main transporting AGV, the first lifting plate is used for lifting, a first AGV setting panel is arranged at the rear end of the main transporting AGV, and a first vehicle-mounted control system is arranged below the first AGV setting panel;
the lower end of the synchronous transport AGV is connected with a plurality of second free travelling wheels, the second free travelling wheels are used for moving the synchronous transport AGV, a second lifting plate is installed at the front end of the synchronous transport AGV, an infrared sensor receiving device is arranged in the front end of the synchronous transport AGV, a second active sensing identification module is installed at the upper end of the synchronous transport AGV, a second servo motor, a second driver, a second speed reducer, a second lead screw and a second connecting device matched with the second lead screw are installed inside the synchronous transport AGV and used for lifting the second lifting plate, a second AGV setting panel is arranged at the rear end of the synchronous transport AGV, and a second load control system is arranged below the second AGV setting panel;
the auxiliary inclined plane is respectively installed the first lifting board of mainly carrying AGV has built-in edge that has infrared sensor emitter and the second lifting board of synchronous transport AGV has built-in edge that has infrared sensor receiving arrangement, be used for first lifting board and second lifting board can be convenient for insert the heavy object bottom.
2. The system of claim 1, wherein three sets of infrared sensor emitting devices and infrared sensor receiving devices are provided in pairs, and are respectively and correspondingly arranged at the front ends of the first lifting plate and the second lifting plate and at the middle positions of the lower portions of the front ends of the main transporting AGV and the synchronous transporting AGV, so as to ensure the detection sensitivity.
3. A synchronized AGV handling system with cooperative active sensing according to claim 1, wherein the auxiliary ramp is made of transparent material to prevent interference with the operation of the infrared sensor.
4. The system of claim 1, wherein said first free wheel and said second free wheel each comprise a roller, a secondary rotating motor and a driving device, said rollers are connected to the bottom of said primary AGV and said synchronous AGV, respectively, and said secondary rotating motor and driving device are connected to said rollers.
5. A synchronous AGV transport system with cooperative active sensing as claimed in claim 1, wherein the bottom front edge of the second lifting plate is provided with an infrared sensor receiver for receiving the infrared rays emitted from the infrared sensor emitter, and the second lifting plate is connected to the second connecting device associated with the second screw rod for directly transporting the heavy objects.
6. A coordinated actively aware synchronous AGV handling system according to claim 1, where the first and second onboard control systems each comprise a navigation/guidance calculation module, a wireless communication module and a process control module, where:
the first vehicle-mounted control system is connected with the first driver, the first free wheel, the first active sensing identification module, the pressure sensor and the infrared sensor transmitting device, and is used for sending information detected by the infrared sensor and images collected by the first active sensing identification module to an upper control system, receiving control signals of the upper control system, and controlling the main transporting AGV to run after processing;
and the second vehicle-mounted control system is connected with the second driver, the second free travelling wheel, the second active perception identification module and the infrared sensor receiving device, is used for receiving the information detected by the infrared sensor and the image collected by the second active perception identification module, sending the control signal to the upper control system and receiving the control signal of the upper control system, and controls the synchronous AGV to run after processing.
7. The system of claim 1, wherein each of said first and second active sensing id modules comprises a high definition camera and a storage module, and wherein:
the high-definition camera is connected with the storage module and is used for shooting the surrounding environment and recording the surrounding environment in the storage module;
the storage module is connected with the first vehicle-mounted control system and the second vehicle-mounted control system, the first vehicle-mounted control system and the second vehicle-mounted control system send information stored in the storage module to an upper control system for processing, receive control signals given by the upper control system and control the first free travelling wheels and/or the second free travelling wheels to move so as to realize the function of actively sensing the surrounding environment.
8. A method for transporting a cooperative and active-sensing synchronous AGV transporting system, which is characterized in that the method for transporting an AGV using the cooperative and active-sensing synchronous AGV transporting system according to any one of claims 1 to 7 comprises:
the user first sets up the initial setup of the main transporting AGVs through the first AGV setup panel, then the main transporting AGV starts to work and lift the heavy object, the upper control system controls the first servo motor to drive the first screw rod and the first connecting device matched with the first screw rod according to the initial setting, the first lifting plate is pulled, at the moment, the pressure sensor on the main transporting AGV detects the force for lifting the heavy object, the first vehicle-mounted control system sends the force to the upper control system through the primary processing, the upper control system compares the force with the initial setting, then calculates reasonable control information through a program and sends the control signal to the second vehicle-mounted control system for synchronously transporting AGV, therefore, a control instruction is sent to a second vehicle-mounted control system for synchronously carrying the AGV, the second vehicle-mounted control system sends a control signal to a second driver, and a second servo motor is controlled to drive a second screw rod and a second connecting device matched with the second screw rod to pull a second lifting plate to realize the synchronization of the carrying force.
9. The method of claim 8 in combination with active perception of the transport of a synchronous AGV transport system, it is characterized in that in the process of lifting the heavy object, infrared rays emitted by an infrared sensor emitting device at the front end of a main transporting AGV deviate upwards from an infrared sensor receiving device at the front end of a second lifting plate, a second vehicle-mounted control system for synchronously transporting the AGV receives information emitted by the infrared sensor receiving device, directly calculating control information through a program, controlling a second driver to send out a control signal, controlling a second servo motor to drive a second screw rod and a second connecting device matched with the second screw rod to pull a second lifting plate to slowly lift, so that the infrared sensor receiving device returns to the position below the signal transmitting range of the infrared sensor transmitting device to achieve the synchronization of the lifting height, the lifting height synchronization is guaranteed under the condition that the main transporting AGV and the synchronous transporting AGV are located on the road surfaces with different heights.
10. The method of claim 9, wherein after the heavy object is lifted to a certain height, the main AGVs and the synchronous AGVs keep the lifting height unchanged, the first onboard control system of the main AGVs sends a ready signal to the upper control system, the upper control system provides a path planning scheme and sends the path planning scheme to the first onboard control system and the second onboard control system, and the first onboard control system and the second onboard control system respectively control the first free traveling wheels of the main AGVs and the second free traveling wheels of the synchronous AGVs to start to move to a target transportation location according to the scheme, and simultaneously control the relative positions of the two AGVs to be unchanged, and when the AGVs reach the target location, the AGVs are controlled to decelerate until the AGVs stop to just reach the target location.
11. The AGV transporting method according to claim 10, wherein after reaching the target location, the first onboard control system controls the first lifting board of the primary AGV to move downward, the infrared ray emitted from the infrared sensor emitter at the front end of the primary AGV deviates downward from the infrared sensor receiver at the front end of the second lifting board, the second onboard control system of the primary AGV receives the information from the infrared sensor receiver and calculates the control information directly by program, and sends the control information to the second onboard control system of the primary AGV, the processing control module controls the buckle to open, and controls the second actuator to control the second servo motor to reduce the lifting force, when the infrared ray emitted from the infrared sensor emitter deviates downward from the infrared sensor receiver, the processing control module controls the second actuator to control the second servo motor, and the second lifting plate is controlled to slowly descend through the second screw rod and the second connecting device matched with the second screw rod, and after the heavy object is stably put down, the whole system stops running, and the carrying is finished.
12. The method as claimed in claim 11, wherein during the whole process of the transportation, the first active sensing recognition module and the second active sensing recognition module are combined with the monitoring device of the transportation environment to monitor the whole transportation process and send the monitored result to the upper control system, and if the upper control system recognizes that a person or an obstacle suddenly appears in front of the transportation process, the upper control system sends control information to the first vehicle-mounted control system and/or the second vehicle-mounted control system to control the whole transportation system to perform real-time self-locking, so that the two AGVs stop, or perform navigation avoidance on the two AGVs through path planning.
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