CN112987738A - Physical parameter checking method of AGV motion navigation core controller and AGV - Google Patents
Physical parameter checking method of AGV motion navigation core controller and AGV Download PDFInfo
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- CN112987738A CN112987738A CN202110217520.8A CN202110217520A CN112987738A CN 112987738 A CN112987738 A CN 112987738A CN 202110217520 A CN202110217520 A CN 202110217520A CN 112987738 A CN112987738 A CN 112987738A
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- 238000000034 method Methods 0.000 title claims abstract description 18
- 230000017525 heat dissipation Effects 0.000 claims abstract description 7
- 239000007787 solid Substances 0.000 description 4
- 238000007689 inspection Methods 0.000 description 3
- 238000006243 chemical reaction Methods 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005674 electromagnetic induction Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
Abstract
The invention discloses a physical parameter checking method of an AGV motion navigation core controller and an AGV, which comprise a vehicle body shell, wherein two side surfaces of the vehicle body shell are respectively provided with a heat dissipation hole, one side surface of the vehicle body shell, which is provided with the heat dissipation holes, is provided with a second infrared sensor, the other side surface is provided with a third infrared sensor, one side surface of the vehicle body shell, which is provided with the second infrared sensor, is also provided with a second infrared receiver, one side surface of the vehicle body shell, which is provided with the third infrared sensor, is also provided with the third infrared receiver, the bottom end of the vehicle body shell is respectively and symmetrically provided with four rectangular grooves, wheels are respectively arranged in the rectangular grooves, a first rotating shaft is connected between the two wheels at the front end, a cross fixing block is inserted in a cross clamping groove on a circular table, a second motor is arranged on a circular table at the left side of, and a second rotating shaft is arranged on the two wheels of the rear row.
Description
Technical Field
The invention relates to the technical field of AGV trolleys, in particular to a method for checking physical parameters of an AGV motion navigation core controller and an AGV trolley.
Background
An AGV is a transport vehicle equipped with an electromagnetic or optical automatic navigation device, capable of traveling along a predetermined navigation route, and having safety protection and various transfer functions. The industrial application does not need a driver's transport vehicle, and a rechargeable storage battery is used as a power source of the industrial application. Generally, the traveling path and behavior can be controlled by a computer, or the traveling path is set up by using an electromagnetic rail which is adhered to the floor, and the unmanned transport vehicle moves and acts by means of information brought by the electromagnetic rail, so that the unmanned transport vehicle can replace manual transport and can improve the enterprise image.
Before the AGV leaves a factory, related physical parameters, such as zero offset value of a steering wheel, need to be corrected, and all previous correction methods are that a reference object is manually selected, such as a bottom surface line is drawn, and after the AGV moves a distance, the shift deviation of the AGV is measured, so that the operation is complex, the trouble and the labor are wasted, and the batch inspection is not facilitated.
Disclosure of Invention
The invention aims to provide a method for checking physical parameters of an AGV motion navigation core controller and an AGV, so as to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme: a physical parameter checking method of an AGV motion navigation core controller comprises a vehicle body shell, heat dissipation holes are formed in two side faces of the vehicle body shell respectively, an infrared sensor II is arranged on one side face of the vehicle body shell, an infrared sensor III is arranged on the other side face of the vehicle body shell, an infrared receiver II is further arranged on one side face of the vehicle body shell, an infrared receiver III is further arranged on one side face of the vehicle body shell, four rectangular grooves are symmetrically formed in the bottom end of the vehicle body shell respectively, wheels are arranged in the rectangular grooves respectively, a first rotating shaft is connected between the two wheels at the front end, a first gear is arranged on the first rotating shaft, a second gear is meshed with the first gear and fixed on an output shaft of the first motor, the first motor is fixed inside the vehicle body shell, two side plates are respectively arranged at two ends of the wheel, the top ends of the side plates are connected to the round tables, two left and right connecting rods are respectively arranged on the two round tables which are opposite to each other in front and back, the round table positioned at the front end on the left side is provided with the third motor, a cross fixing block is arranged on an output shaft of the third motor, the cross fixing block is inserted into a cross clamping groove on the round table, the round table positioned at the left side on the rear end is provided with the second motor, an output shaft of the second motor is provided with the cross fixing block, the cross fixing block is inserted into the cross clamping groove on the round table, two wheels in the rear row are provided with a rotating shaft II, the front end of the vehicle body shell is respectively and symmetrically provided with two first infrared sensors, the top one side of automobile body shell is equipped with electric lift rod, the top opposite side of automobile body shell is equipped with solid fixed ring, but the solid fixed ring internal connection has the rotating support, but the rotating support with the bottom at the tray is connected on the top of electric lift rod.
Preferably, a signal receiving chip is arranged inside the vehicle body shell and connected with a computer terminal.
Preferably, the second motor and the third motor are both connected with a signal receiving chip through a circuit, so that the positive and negative rotation and the rotation angle of the motors are controlled.
Preferably, one end of the electric lifting rod is connected with the tray through a rotatable device.
Preferably, the first infrared receiver is opposite to the external infrared transmitter.
Preferably, the second infrared receiver is opposite to the external infrared transmitter.
Preferably, the third infrared receiver is opposite to the external infrared transmitter.
Compared with the prior art, the invention has the beneficial effects that:
1. according to the AGV motion navigation core controller physical parameter checking method and the AGV, the three infrared sensors are arranged in front of the body shell and on the left side and the right side of the body shell respectively, so that the obstacles can be detected in a specified range, the timely angle adjustment is carried out, people or objects can be avoided, and the method is more scientific and humanized.
2. According to the AGV motion navigation core controller physical parameter checking method and the AGV, the three infrared receivers, the motor II and the motor III rotate positively and negatively and the angle is set on the left side and the right side of the front side and the right side of the outer shell of the vehicle body, and the three infrared transmitters arranged outside are utilized, so that the angle of the initial steering wheel of the vehicle can be adjusted at a fixed point, manual work is replaced, the automation degree is high, the AGV motion navigation core controller is suitable for batch inspection, and the AGV motion navigation core controller is suitable for inspection and adjustment after leaving a factory.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a second schematic view of the overall structure of the present invention;
FIG. 3 is a third schematic view of the overall structure of the present invention;
fig. 4 is a schematic view of the wheel connection structure of the present invention.
In the figure: 1. a vehicle body shell; 2. a first infrared inductor; 3. a first infrared receiver; 4. heat dissipation holes; 5. a second infrared sensor; 6. a second infrared receiver; 7. a tray; 8. a rotatable support; 9. A fixing ring; 10. an electric lifting rod; 11. a third infrared receiver; 12. a rectangular groove; 13. a circular truncated cone; 14. A side plate; 15. a first rotating shaft; 16. a first gear; 17. a second gear; 18. a first motor; 19. a left connecting rod and a right connecting rod; 20. a second rotating shaft; 21. a second motor; 22. a cross-shaped fixed block; 23. a third motor; 24. a third infrared inductor; 25. and (7) wheels.
Detailed Description
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, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example (b): referring to fig. 1-4, the present invention provides a technical solution: a physical parameter checking method of an AGV motion navigation core controller comprises a vehicle body shell 1, heat dissipation holes 4 are respectively formed in two side faces of the vehicle body shell 1, an infrared sensor II 5 is arranged on one side face of the side face, provided with the heat dissipation holes 4, of the vehicle body shell 1, an infrared sensor III 24 is arranged on the other side face, an infrared receiver II 6 is further arranged on one side face, provided with the infrared sensor II 5, of the vehicle body shell 1, an infrared receiver III 11 is further arranged on one side face, provided with the infrared sensor III 24, of the vehicle body shell 1, four rectangular grooves 12 are respectively and symmetrically arranged at the bottom end of the vehicle body shell 1, wheels 25 are respectively arranged in the rectangular grooves 12, a rotating shaft I15 is connected between the two wheels 25 at the front end, a gear I16 is arranged on the rotating shaft I15, a gear II 17 is meshed at the position of the gear I16, and the gear II, the first motor 18 is fixed inside the vehicle body shell 1, two side plates 14 are respectively arranged at two ends of a wheel 25, the top ends of the side plates 14 are connected to the round platforms 13, two left and right connecting rods 19 are respectively arranged on the two round platforms 13 which are opposite to each other in front and back, a third motor 23 is arranged on the round platform 13 positioned at the front end of the left side, a cross fixing block 22 is arranged on an output shaft of the third motor 23, the cross fixing block 22 is inserted into a cross clamping groove on the round platform 13, a second motor 21 is arranged on the round platform 13 at the left side of the rear end, a cross fixing block 22 is arranged on an output shaft of the second motor 21, the cross fixing block 22 is inserted into the cross clamping groove on the round platform 13, a second rotating shaft 20 is arranged on the two wheels 25 at the rear row, two first infrared inductors 2 are respectively and symmetrically arranged at the front end of the vehicle body shell, the top opposite side of automobile body shell 1 is equipped with solid fixed ring 9, and solid fixed ring 9 in-connection has rotatable support 8, and the bottom at tray 7 is connected on the top of rotatable support 8 and electric lift pole 10.
Wherein, the inside of automobile body shell 1 is equipped with signal receiving chip, is connected with computer terminal.
In this embodiment, a signal receiving chip is arranged inside the car body shell 1, a signal is sent out under the control of a computer terminal technician, and the signal receiving chip receives the signal and then controls the route of the trolley to move, take out objects and place the objects.
The second motor 21 and the third motor 23 are both connected with the signal receiving chip through circuits, so that the positive and negative rotation and the rotation angle of the motors are controlled.
In this embodiment, the second motor 21 and the third motor 23 arranged inside the car body shell 1 receive signals through the signal receiving chip, so as to control the forward and reverse rotation angles of the second motor 21 and the third motor 23, thereby enabling the car to realize left or right steering and controlling the angle conversion of the car.
Wherein one end of the electric lifting rod 10 is connected with the tray 7 through a rotatable device.
In this embodiment, electric lift rod 10 one end passes through rotatable device and links to each other with tray 7, and after signal receiving chip received the signal that computer terminal sent, by the lift of control circuit control electric lift rod 10 to the upset of control tray 7, thereby topples over the goods.
Wherein, the first infrared receiver 3 is opposite to the external infrared emitter.
In this embodiment, the first infrared receiver 3 is located at the front end of the car body shell 1 and is opposite to the external infrared emitter, when physical parameters of the AGV motion navigation core controller need to be checked, the first infrared receiver 3 needs to be opened, the car is sent to a designated place where the infrared emitter is arranged, chip parameters are adjusted, and therefore the forward and reverse rotation and the forward and reverse rotation angles of the second motor 21 and the third motor 23 are controlled, and the initial zero offset angle of the steering wheel of the car is corrected again.
Wherein, the second infrared receiver 6 is opposite to the external infrared emitter.
In this embodiment, the second infrared receiver 6 is located on one side of the car body shell 1, when physical parameters of the AGV motion navigation core controller need to be checked, the second infrared receiver 6 is started, the setting of chip parameter values is adjusted, and therefore the initial zero offset angle of the steering wheel of the trolley is adjusted, when the physical parameter values of the trolley are returned to the initial state, the second infrared receiver 6 is opposite to the external infrared emitter, and at the moment, the infrared signal is switched on.
Wherein, the infrared receiver III 11 is opposite to the external infrared transmitter.
In this embodiment, the third infrared receiver 11 is located on the other side surface of the car body shell, when the infrared receivers at the other two ends of the car are opposite to the external infrared transmitter, after receiving the infrared signal, the parameter values of the signal receiving chip are continuously adjusted, the rotation directions and the rotation angles of the second motor 21 and the third motor 23 are adjusted, the setting of the parameters is performed, and the rotation of the steering wheel of the car is controlled, so that the position of the third infrared receiver 11 on the car body shell 1 is adjusted, and when the position of the third infrared receiver 11 and the position of the external infrared transmitter are opposite to each other, the setting of the parameter of the initial steering wheel zero offset angle of the car can be recovered through the adjustment of the three parameter values.
The working principle is as follows: the AGV trolley in the embodiment controls the trolley to move according to a specified path through electromagnetic induction, the front end, the left end and the right end of a trolley body shell 1 of the trolley are respectively provided with an infrared inductor I2, an infrared inductor II 5 and an infrared inductor III 24, obstacles or human bodies in a certain range are respectively sensed from the front side, the left side and the right side of the trolley, the path is switched to avoid the obstacles, the top end of the trolley body shell 1 is respectively provided with an electric lifting rod 10 and a fixing ring 9, the fixing ring 9 is provided with a rotatable bracket 9 connected with the bottom end of a tray 7, the top end of the electric lifting rod 10 is connected with the bottom end of the tray 7 through a rotatable device, and the overturning of the tray 7 is controlled through a signal receiving chip and a circuit, so that the dumping of articles in the tray 7 is controlled, the bottom end of the trolley body shell 1 of the trolley is respectively, the rectangular groove 12 is internally provided with wheels 25, the front and rear wheels 25 at the left end are respectively provided with a motor III 23 and a motor II 21, the deflection angle of the wheel 25 at the left end is controlled through a signal receiving chip and a control circuit, the conversion of direction and angle is carried out, the turning is convenient, the front end and the left and right ends of the body shell 1 of the trolley are respectively provided with an infrared receiver I3, an infrared receiver II 6 and an infrared receiver III 11, the positions of the infrared receivers I3, the infrared receiver II 6 and the infrared receiver III 11 are respectively opposite to three external infrared transmitters, the initial turning angles of the motor II 21 and the motor III 23 are changed through changing the initial set parameter values of the signal receiving chip, the initial zero deflection angle of the steering wheel of the trolley is changed, when the zero deflection angle of the steering wheel of the trolley is restored to the initial value, at the moment, the three infrared transmitters are respectively opposite to the positions of the infrared receiver I3, the, at the moment, the infrared signal is switched on, and the physical parameter value of the steering wheel of the trolley is restored to the initial state.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (7)
1. The utility model provides a method and AGV dolly are checked to physics parameter of AGV motion navigation core control ware, includes automobile body shell (1), its characterized in that: the automobile body structure is characterized in that heat dissipation holes (4) are respectively formed in two side faces of an automobile body shell (1), an infrared sensor II (5) is arranged on one side face of the automobile body shell (1), an infrared sensor III (24) is arranged on the other side face of the automobile body shell, an infrared receiver II (6) is further arranged on one side face of the infrared sensor II (5) on the automobile body shell (1), an infrared receiver III (11) is further arranged on one side face of the infrared sensor III (24) on the automobile body shell (1), four rectangular grooves (12) are respectively and symmetrically formed in the bottom end of the automobile body shell (1), wheels (25) are respectively arranged in the rectangular grooves (12), a first rotating shaft (15) is connected between the two wheels (25) at the front end, and a first gear (16) is arranged on the first rotating shaft (15), a second gear (17) is meshed at the first gear (16), the second gear (17) is fixed on an output shaft of a first motor (18), the first motor (18) is fixed inside the vehicle body shell (1), two side plates (14) are respectively arranged at two ends of the wheel (25), the top ends of the side plates (14) are connected to the circular truncated cones (13), two left and right connecting rods (19) are respectively arranged on the two circular truncated cones (13) which are opposite to each other in the front and back, a third motor (23) is arranged on the circular truncated cone (13) which is positioned at the front end of the left side, a cross fixing block (22) is arranged on an output shaft of the third motor (23), the cross fixing block (22) is inserted into a cross clamping groove on the circular truncated cone (13), a second motor (21) is arranged on the circular truncated cone (13) at the left side of the rear end, and a cross, the cross fixing block (22) is inserted into a cross clamping groove in the circular truncated cone (13), two rotating shafts (20) are arranged on the wheels (25) in the rear row, the front end of the car body shell (1) is symmetrically provided with two infrared sensors (2) respectively, the car body shell (1) is provided with infrared receivers (3) on the side faces of the infrared sensors (2), one side of the top end of the car body shell (1) is provided with an electric lifting rod (10), the other side of the top end of the car body shell (1) is provided with a fixing ring (9), the fixing ring (9) is connected with a rotatable support (8) in the fixing ring (9), and the rotatable support (8) and the top end of the electric lifting rod (10) are connected to the bottom end of the tray (7).
2. The AGV motion navigation core controller physical parameter checking method according to claim 1 and AGV thereof, wherein: and a signal receiving chip is arranged in the vehicle body shell (1) and is connected with a computer terminal.
3. The AGV motion navigation core controller physical parameter checking method according to claim 1 and AGV thereof, wherein: and the second motor (21) and the third motor (23) are both connected with a signal receiving chip by a circuit, so that the positive and negative rotation and the rotation angle of the motors are controlled.
4. The AGV motion navigation core controller physical parameter checking method according to claim 1 and AGV thereof, wherein: one end of the electric lifting rod (10) is connected with the tray (7) through a rotatable device.
5. The AGV motion navigation core controller physical parameter checking method according to claim 1 and AGV thereof, wherein: the first infrared receiver (3) is opposite to the external infrared transmitter.
6. The AGV motion navigation core controller physical parameter checking method according to claim 1 and AGV thereof, wherein: the second infrared receiver (6) is opposite to the external infrared transmitter.
7. The AGV motion navigation core controller physical parameter checking method according to claim 1 and AGV thereof, wherein: the third infrared receiver (11) is opposite to the external infrared transmitter.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110217520.8A CN112987738B (en) | 2021-02-26 | 2021-02-26 | Physical parameter checking method for AGV motion navigation core controller |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110217520.8A CN112987738B (en) | 2021-02-26 | 2021-02-26 | Physical parameter checking method for AGV motion navigation core controller |
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| CN112987738A true CN112987738A (en) | 2021-06-18 |
| CN112987738B CN112987738B (en) | 2022-11-18 |
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| Publication number | Publication date |
|---|---|
| CN112987738B (en) | 2022-11-18 |
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