CN112697137A - Auxiliary device for intelligently adjusting ground clearance of AGV magnetic navigation sensor - Google Patents
Auxiliary device for intelligently adjusting ground clearance of AGV magnetic navigation sensor Download PDFInfo
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- CN112697137A CN112697137A CN202011476464.1A CN202011476464A CN112697137A CN 112697137 A CN112697137 A CN 112697137A CN 202011476464 A CN202011476464 A CN 202011476464A CN 112697137 A CN112697137 A CN 112697137A
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- magnetic navigation
- navigation sensor
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/04—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means
- G01C21/08—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means involving use of the magnetic field of the earth
Abstract
The invention discloses an auxiliary device for intelligently adjusting ground clearance of an AGV magnetic navigation sensor, wherein the magnetic navigation sensor is arranged below a magnetic navigation sensor mounting bracket and comprises: a stepping motor and a sealing ball screw module; the ultrasonic radar ranging sensor module is used for detecting whether an obstacle exists on the road surface in the advancing direction; the TOF laser radar ranging sensor module is used for measuring the height from the magnetic navigation sensor to the ground; the Hall proximity switch sensor module is used for detecting whether the magnetic navigation sensor is positioned in a travel range or not; and the MCU module is used for driving the magnetic navigation sensor mounting bracket to slide up and down according to the height information of the magnetic navigation sensor and the magnetic field intensity information of the magnetic force line. The ground clearance of the magnetic navigation sensor can be adjusted according to the road surface condition, so that the ground clearance is kept at the optimal detection distance, the magnetic navigation sensor detects enough magnetic field intensity, the tracing precision of the magnetic navigation sensor is ensured, and the running stability of the AGV is enhanced.
Description
Technical Field
The invention belongs to the technology of intelligent heavy-load AGV, and particularly relates to an auxiliary device for intelligently adjusting the ground clearance of an AGV magnetic navigation sensor.
Background
Automatic transport is permeating each trade, and as its core equipment, AGV also is constantly widening the field when becoming intelligent storage standard outfit, and AGV technique is also constantly developing in order to adapt to more application scenarios, for example under the scene that large-scale equipment and product transportation required more and more stricter, AGV's structure and bear and also changed, and heavy load AGV takes place in due course, begins to get into market application. Magnetic navigation sensor is magnetic force line guide AGV's important part, because magnetic navigation sensor detects magnetic force line magnetic field intensity's effective threshold value scope 2 ~ 5cm distance department above the magnetic tape, so in industrial application, generally adopt fixed mode to install magnetic navigation sensor on the AGV that uses stereoplasm solid tyre, this kind of mounting means is applicable to the smooth work scene who does not have the barrier in ground, if ground is rugged and rugged, has domaticly, when AGV drives over magnetic navigation sensor have with the damaged danger of ground collision. Besides, AGV automobile body height can change along with the change of load, especially uses soft hollow tire's AGV, and automobile body height fluctuation range is bigger, and fixed mounting's magnetic navigation sensor height will inevitably exceed effective threshold value scope, if promote magnetic navigation sensor's fixed mounting height, then the magnetic navigation sensor can not appear and can not detect the condition that the magnetic line of force leads to the AGV derail, seriously influences AGV's driving safety. This greatly limits the range of use of magnetic navigation sensors.
Disclosure of Invention
The invention aims to provide an auxiliary device for intelligently adjusting the ground clearance of an AGV magnetic navigation sensor.
The technical scheme for realizing the purpose of the invention is as follows: the utility model provides an auxiliary device of intelligent adjustment AGV magnetic navigation sensor ground clearance, magnetic navigation sensor sets up in magnetic navigation sensor installing support below, includes:
the stepping motor and the sealing ball screw module are used for driving the magnetic navigation sensor mounting bracket to slide up and down;
the ultrasonic radar ranging sensor module is used for detecting whether an obstacle exists on the road surface in the advancing direction;
the TOF laser radar ranging sensor module is used for measuring the height from the magnetic navigation sensor to the ground;
the Hall proximity switch sensor module is used for detecting whether the magnetic navigation sensor is positioned in a travel range or not;
and the MCU module is used for driving the stepping motor and the sealing ball screw module to drive the magnetic navigation sensor mounting bracket to slide up and down according to the height information of the magnetic navigation sensor and the magnetic field intensity information of the magnetic force lines.
Preferably, the stepping motor and the sealing ball screw module comprise a stepping motor and a sealing ball screw, the magnetic navigation sensor mounting bracket is connected with an output shaft of the stepping motor through the sealing ball screw, and the stepping motor drives the magnetic navigation sensor mounting bracket to slide up and down through the sealing ball screw.
Preferably, the stepping motor is a 57 stepping motor, and the stepping angle is 1.8 degrees.
Preferably, the ultrasonic radar ranging sensor module is disposed on the magnetic navigation sensor mounting bracket.
Preferably, the TOF lidar ranging sensor module is disposed on the magnetic navigation sensor mounting bracket and located below the ultrasonic radar ranging sensor module.
Preferably, the height of the magnetic navigation sensor to the ground is the distance directly measured by the ultrasonic radar ranging sensor minus the distance to the magnetic navigation sensor.
Preferably, the hall proximity switch sensor module includes a hall proximity switch sensor and a metal slider arranged on the magnetic navigation sensor mounting bracket, and the hall proximity switch sensor is arranged at two ends of a stroke interval of the metal slider.
Preferably, the working process of the MCU module is:
according to the distance measured by the TOF laser radar ranging sensor module, sending a driving signal to the stepping motor and the sealing ball screw module, and adjusting the magnetic navigation sensor to a set height; when hall proximity switch sensor module, it surpasss the stroke interval to detect magnetic navigation sensor, the MCU module stop immediately to step motor and sealed ball screw module send drive signal to return alarm signal, there is the barrier when ultrasonic radar range sensor module detects the place ahead, and the MCU module sends the request to AGV and stops the instruction and send alarm information, the data that magnetic navigation sensor sent are received and analyzed to the MCU module, obtain the magnetic field of the magnetic track that magnetic navigation sensor received, according to the magnetic field drive step motor and sealed ball screw module make magnetic navigation sensor can receive magnetic field intensity and remain stable.
Compared with the prior art, the invention has the following remarkable advantages: the height of the magnetic navigation sensor is automatically adjusted, the passing capacity of the heavy AGV is improved, and the use scene of the AGV using the magnetic navigation sensor for navigation is enlarged; low cost, high durability and easy maintenance.
The present invention is described in further detail below with reference to the attached drawing figures.
Drawings
Fig. 1 is a schematic diagram of the principle of the present invention.
Fig. 2 is a schematic view of the installation of the present invention.
Fig. 3 is a flow chart of the operation of the present invention.
Detailed description of the invention
As shown in fig. 1-3, an auxiliary device of ground clearance of intelligent adjustment AGV magnetic navigation sensor, magnetic navigation sensor sets up in magnetic navigation sensor installing support below, includes:
a stepping motor and sealing ball screw module 103 for driving the magnetic navigation sensor mounting bracket to slide up and down;
specifically, the stepping motor and sealing ball screw module 103 includes a stepping motor and a sealing ball screw, the magnetic navigation sensor mounting bracket is connected with an output shaft of the stepping motor through the sealing ball screw, and the stepping motor drives the magnetic navigation sensor mounting bracket to slide up and down through the sealing ball screw, so as to drive the magnetic navigation sensor arranged below the magnetic navigation sensor mounting bracket to slide up and down and adjust the distance from the ground;
specifically, the stepping motor is a 57 stepping motor, and the stepping angle is 1.8 degrees.
The ultrasonic radar ranging sensor module 102 is used for detecting whether an obstacle exists on a road surface in the advancing direction;
specifically, the ultrasonic radar ranging sensor module 102 is arranged on a magnetic navigation sensor mounting bracket, and can accurately detect the distance to a front object, so as to detect whether an obstacle exists in the advancing direction;
specifically, the ultrasonic radar ranging sensor module 102 has a small size and low power, can accurately detect the distance between the ultrasonic radar ranging sensor module and a planar object within the range of 5cm to 800cm, and can accurately measure people within the range of 5cm to 250cm, wherein the working frequency is 40KHz, and the measurement angle is 75 degrees.
A TOF lidar ranging sensor module 104 for measuring the height of the magnetic navigation sensor to the ground;
specifically, TOF lidar ranging sensor module 104 sets up on magnetic navigation sensor installing support, and is located the below of ultrasonic radar ranging sensor module 102, and TOF lidar ranging sensor module 104 is fixed to magnetic navigation sensor's distance, and the distance that ultrasonic radar ranging sensor directly measured subtracts magnetic navigation sensor's distance, is the height of magnetic navigation sensor to ground promptly.
Specifically, the TOF lidar ranging sensor module 104 is small in size and high in measurement accuracy, the measurement range is 3 cm-200 cm, the accuracy is +/-3%, and the response frequency is 50Hz, and is used for accurately measuring the height from the magnetic navigation sensor to the ground;
the Hall proximity switch sensor module 101 is used for detecting whether the magnetic navigation sensor is positioned in a travel range;
specifically, be equipped with the metal sliding block on magnetic navigation sensor installing support, through the stroke interval of confirming magnetic navigation sensor confirm the stroke interval of metal sliding block, install hall proximity switch sensor in the stroke interval both ends of metal sliding block, when magnetic navigation sensor surpassed the stroke interval, hall proximity switch sensor detected the signal.
Specifically, the hall proximity switch sensor module 101 detects a distance of 10mm, a response frequency of 1KHz, an output form is a switching value, and an output is a low level when metal is detected;
and the MCU module 100 is used for sending or stopping a driving signal to the stepping motor and the sealing ball screw module, sending a stop request instruction to the AVG or sending an alarm signal.
Specifically, the MCU module 100 sends a driving signal to the stepping motor and sealing ball screw module 103 according to the distance measured by the TOF lidar ranging sensor module 104, and adjusts the magnetic navigation sensor to a set height; when hall proximity switch sensor module 101, it surpasss the stroke interval to detect magnetic navigation sensor, the MCU module stop immediately to step motor and sealed ball screw module send drive signal to return alarm signal, there is the barrier when ultrasonic radar range sensor module detects the place ahead, and the MCU module sends the request stop command and sends alarm information to the AGV, the data that magnetic navigation sensor sent are received and analyzed to the MCU module, obtain the magnetic field of the magnetic track that magnetic navigation sensor received, and the drive of MCU module step motor and sealed ball screw module make magnetic navigation sensor receive sufficient magnetic field intensity and remain stable.
In a further embodiment, the MCU module has the following communication interfaces:
one path of the CAN communication interface is connected with the magnetic navigation sensor, and the other path of the CAN communication interface adopts a high-speed optical coupling isolator to enhance the anti-interference capability of a CAN bus and is connected with a vehicle control module;
one IIC communication interface is connected with the TOF laser radar ranging sensor;
one path of UART communication interface is connected with the ultrasonic radar ranging sensor;
a stepper motor driver signal interface;
and two paths of IO ports for detecting a switch signal by adopting the optical coupling isolator are connected with the Hall proximity switch sensor.
The MCU module executes the control program to realize the following functions:
driving a stepping motor to adjust the height of the magnetic navigation sensor according to the height information of the magnetic navigation sensor and the magnetic field intensity information of the magnetic force line;
receiving signals of a Hall proximity switch sensor, and limiting the moving stroke of a magnetic navigation sensor;
receiving and analyzing data of the magnetic navigation sensor, detecting the magnetic field intensity of magnetic lines of force, and sending track information of the magnetic lines of force to the vehicle control module;
and an information communication function with the vehicle control module.
In a further embodiment, the magnetic navigation sensor module 105 has a detection width of 600mm, a resolution of 1mm, a CANopen interface, and a ground clearance, i.e., a distance from a magnetic force band, of 10mm to 50mm, and can detect the magnetic field strength of a guide track while detecting the magnetic force line to realize track guidance.
The working principle of the invention is as follows:
the MCU module 100 sends a driving signal to the stepping motor and sealing ball screw module 103 to adjust the magnetic navigation sensor to a set height;
in the moving process of the AGV, the ultrasonic radar ranging sensor module 102, the Hall proximity switch sensor module 101 and the TOF laser radar ranging sensor module 104 continuously work, when the Hall proximity switch sensor module 101 detects that a magnetic navigation sensor exceeds a travel range, if the magnetic navigation sensor is located in the travel range, the MCU module immediately stops sending driving signals to the stepping motor and the sealing ball screw module, and returns an alarm signal; when the ultrasonic radar ranging sensor module detects that an obstacle exists in front of the AGV, the MCU module sends a request stop instruction to the AGV and sends alarm information; when the height of the magnetic navigation sensor measured by the TOF laser radar ranging sensor module 104 is not in a set interval, the MCU module 100 sends a driving signal to the stepping motor and sealing ball screw module 103 to adjust the magnetic navigation sensor to a set height; the MCU module receives and analyzes data sent by the magnetic navigation sensor, obtains a magnetic field of a magnetic track received by the magnetic navigation sensor, and simultaneously drives the stepping motor and the sealing ball screw module to enable the magnetic navigation sensor to receive enough magnetic field intensity and keep stable.
The invention realizes automatic adjustment of the height of the magnetic navigation sensor relative to the ground, so that the magnetic navigation sensor is always kept at the optimal detection distance, the occurrence of touch or derailment of the magnetic navigation sensor and the ground is prevented, the passing performance of the AGV vehicle is improved, and the driving stability of the AGV is enhanced.
Claims (8)
1. The utility model provides an auxiliary device of intelligent adjustment AGV magnetic navigation sensor ground clearance, its characterized in that, magnetic navigation sensor (105) set up in magnetic navigation sensor installing support below, include:
the stepping motor and sealing ball screw module (103) is used for driving the magnetic navigation sensor mounting bracket to slide up and down;
the ultrasonic radar ranging sensor module (102) is used for detecting whether an obstacle exists on a road surface in the advancing direction;
a TOF lidar ranging sensor module (104) to measure a height of the magnetic navigation sensor to the ground;
the Hall proximity switch sensor module (101) is used for detecting whether the magnetic navigation sensor is positioned in a travel range or not;
and the MCU module (100) is used for driving the stepping motor and the sealing ball screw module to drive the magnetic navigation sensor mounting bracket to slide up and down according to the height information of the magnetic navigation sensor and the magnetic field intensity information of the magnetic force lines.
2. The auxiliary device for intelligently adjusting the ground clearance of the magnetic navigation sensor of an AGV according to claim 1, wherein the stepping motor and the sealing ball screw module (103) comprise a stepping motor and a sealing ball screw, the magnetic navigation sensor mounting bracket is connected with an output shaft of the stepping motor through the sealing ball screw, and the stepping motor drives the magnetic navigation sensor mounting bracket to slide up and down through the sealing ball screw.
3. The AGV magnetic navigation sensor ground clearance assistance device of claim 2, wherein the stepper motor is a 57 stepper motor with a step angle of 1.8 °.
4. The auxiliary device for intelligently adjusting the ground clearance of a magnetic navigation sensor of an AGV according to claim 1, wherein the ultrasonic radar ranging sensor module (102) is disposed on the magnetic navigation sensor mounting bracket.
5. The auxiliary device for intelligently adjusting the ground clearance of an AGV magnetic navigation sensor according to claim 1, wherein the TOF lidar ranging sensor module (104) is disposed on the magnetic navigation sensor mounting bracket and below the ultrasonic radar ranging sensor module (102).
6. The AGV magnetic navigation sensor ground clearance assistance device of claim 1, wherein the magnetic navigation sensor height to ground is the distance directly measured by the ultrasonic radar ranging sensor minus the distance to the magnetic navigation sensor.
7. The auxiliary device for intelligently adjusting the ground clearance of the magnetic navigation sensor of an AGV according to claim 1, wherein the Hall proximity switch sensor module (101) comprises a Hall proximity switch sensor and a metal slider arranged on a magnetic navigation sensor mounting bracket, and the Hall proximity switch sensor is arranged at two ends of a travel interval of the metal slider.
8. Auxiliary device for intelligently adjusting the ground clearance of a magnetic navigation sensor of an AGV according to claim 1, characterized in that the working process of the MCU module (100) is:
according to the distance measured by the TOF laser radar ranging sensor module (104), a driving signal is sent to the stepping motor and the sealing ball screw module (103), and the magnetic navigation sensor is adjusted to a set height; when hall proximity switch sensor module (101), detect magnetic navigation sensor and surpass the stroke interval, the MCU module stop immediately to step motor and sealed ball screw module send drive signal to return alarm signal, there is the barrier when ultrasonic radar range sensor module detects the place ahead, and the MCU module sends the request stop instruction and sends alarm information to the AGV, the data that magnetic navigation sensor sent are received and analyzed to the MCU module, obtain the magnetic field of the magnetic track that magnetic navigation sensor received, according to magnetic field drive step motor and sealed ball screw module make magnetic navigation sensor can receive magnetic field intensity and remain stable.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011476464.1A CN112697137A (en) | 2020-12-15 | 2020-12-15 | Auxiliary device for intelligently adjusting ground clearance of AGV magnetic navigation sensor |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011476464.1A CN112697137A (en) | 2020-12-15 | 2020-12-15 | Auxiliary device for intelligently adjusting ground clearance of AGV magnetic navigation sensor |
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| CN112697137A true CN112697137A (en) | 2021-04-23 |
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| CN202011476464.1A Pending CN112697137A (en) | 2020-12-15 | 2020-12-15 | Auxiliary device for intelligently adjusting ground clearance of AGV magnetic navigation sensor |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113567997A (en) * | 2021-09-28 | 2021-10-29 | 南京智鹤电子科技有限公司 | Laser ranging device and method for measuring change of magnetic pole spacing |
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- 2020-12-15 CN CN202011476464.1A patent/CN112697137A/en active Pending
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| CN104149782A (en) * | 2014-07-31 | 2014-11-19 | 同济大学 | Automatic driving system of magnetic-navigation based multi-sensor fusion intelligent vehicle |
| CN206400350U (en) * | 2016-12-16 | 2017-08-11 | 盐城工学院 | A kind of unmanned navigation intelligent electric flatcar of large-scale heavy duty formula with automatic deviation rectifying function |
| CN110588774A (en) * | 2019-10-22 | 2019-12-20 | 杭州精是智能科技有限公司 | Vehicle capable of climbing and crossing obstacles and achieving automatic height adjustment based on RFID navigation walking |
| CN111142517A (en) * | 2019-12-12 | 2020-05-12 | 南京理工大学 | Fork-entering assisting method and device for intelligent AGV forklift |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113567997A (en) * | 2021-09-28 | 2021-10-29 | 南京智鹤电子科技有限公司 | Laser ranging device and method for measuring change of magnetic pole spacing |
| CN113567997B (en) * | 2021-09-28 | 2021-12-03 | 南京智鹤电子科技有限公司 | Laser ranging device and method for measuring change of magnetic pole spacing |
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