CN113867372A - Navigation device and navigation method for wireless non-contact power supply AGV - Google Patents
Navigation device and navigation method for wireless non-contact power supply AGV Download PDFInfo
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Abstract
Alternating current is conducted in a first transmitting guide rail and a second transmitting guide rail, when the AGV moves along the transmitting guide rails, induction voltage is generated in each induction coil, and along with deviation between the moving track of the AGV and the direction of the transmitting guide rails, the induction voltage in each induction coil changes, a control module judges the deviation direction and the deviation amount of the AGV according to the change condition of the induction voltage when each induction coil in an induction coil group moves in a changing magnetic field, automatically corrects the deviation of the AGV, adjusts the moving direction of the AGV in real time, and enables the AGV to automatically move along the transmitting guide rails. In the technical scheme, the magnetic navigator is not required to be installed, and the navigation device is installed at the bottom of the AGV, so that the AGV is easier to install, and the production cost is reduced.
Description
Technical Field
The invention relates to the technical field of wireless power supply control, in particular to a navigation device and a navigation method for a wireless non-contact power supply AGV.
Background
The mill and workshop are using Automatic Guided Vehicle (AGV) more and more, AGV's marcing has multiple navigation, include through the label on the route of marcing, two-dimensional code mark route and position, realize location and navigation with SLAM algorithm etc. and one kind more commonly used is magnetic navigation, magnetic navigation is to marcing the route subaerially at AGV and laying the permanent magnetism magnetic stripe, the magnetic field intensity change that comes the response magnetic stripe through the magnetic navigation inductor dress at the AGV vehicle bottom realizes that AGV's patrolling line navigation is realized to the relative skew position of magnetic navigation ware and magnetic stripe. To current AGV through wireless non-contact power supply, the main not enough of magnetic stripe navigation mode lies in: in order to obtain electric energy while the AGV walks, the AGV must be positioned right above a wireless non-contact power supply track and cannot deviate from the power supply track, so that a permanent magnetic stripe needs to be laid on the ground right above the wireless non-contact power supply track, and the material cost, the construction cost for laying the magnetic stripe and the cost for maintaining the magnetic stripe are increased.
Disclosure of Invention
In view of the above, it is desirable to provide a navigation apparatus and a navigation method for a wireless non-contact power supply AGV, which can realize automatic AGV navigation without installing a magnetic navigator.
The utility model provides a navigation head for wireless non-contact power supply AGV, navigation head installs in the bottom of AGV for make the AGV advance along transmission guide rail, transmission guide rail is including the first transmission guide rail and the second transmission guide rail that are parallel to each other, leads to the alternating current that the equal opposite direction of size is opposite in first transmission guide rail and the second transmission guide rail, and navigation head includes an induction coil group, induction coil group includes first induction coil and second induction coil, first induction coil with second induction coil with first transmission guide rail with the central line of second transmission guide rail sets up for the symmetry axis, and is perpendicular to respectively first transmission guide rail with second transmission guide rail.
Furthermore, first induction coil locates the top of first transmission guide rail, second induction coil locates the top of second transmission guide rail, the inductance and the coil turn number of first induction coil with the inductance and the coil turn number of second induction coil are unanimous.
Further, the induction voltage sampling circuit comprises two voltage sampling circuits, the two voltage sampling circuits comprise a first voltage sampling circuit and a second voltage sampling circuit, the first voltage sampling circuit and the second voltage sampling circuit are respectively connected to the first induction coil and the second induction coil, and the two voltage sampling circuits are respectively used for collecting induction voltage values generated by the first induction coil and the second induction coil.
Furthermore, the AGV comprises a control module, the control module is connected with the two voltage sampling circuits, and the control module is used for receiving the induced voltage values transmitted by the two voltage sampling circuits and generated by the first induction coil and the second induction coil and adjusting the traveling direction of the AGV according to the induced voltage values.
Furthermore, the two voltage sampling circuits respectively comprise an LC resonance circuit, a full-bridge rectification circuit, a voltage division circuit, a filter circuit and a voltage stabilizing circuit, and induced voltages generated by the first induction coil and the second induction coil are sent to the control module after rectification, filtering and voltage stabilization.
Furthermore, the voltage dividing circuit comprises a first voltage dividing resistor and a second voltage dividing resistor, the resistance values of the first voltage dividing resistor and the second voltage dividing resistor are determined according to the voltage value rectified by the full-bridge rectifying circuit, and the induction voltage value transmitted to the control module after voltage division is smaller than the working voltage of the control module.
Furthermore, the induction coil assembly further comprises a third induction coil, the third induction coil is arranged between the first transmitting guide rail and the second transmitting guide rail, and the first induction coil and the second induction coil are respectively arranged at two ends of the third induction coil.
Further, the first induction coil and the second induction coil are respectively arranged at the outer sides of the first transmitting guide rail and the second transmitting guide rail, and the first induction coil, the second induction coil and the third induction coil are perpendicular to the first transmitting guide rail and the second transmitting guide rail.
Further, the third induction coil is connected to a third voltage sampling circuit, and the third voltage sampling circuit is used for collecting the induction voltage of the third induction coil and transmitting the induction voltage to the control module.
And a navigation method of a navigation device for a wireless non-contact power supply AGV, comprising the steps of:
energizing the first and second launch rails;
the AGV is electrified and travels along the first launching guide rail and the second launching guide rail;
the voltage sampling circuit collects the induction voltage value of each induction coil in the induction coil group and transmits the induction voltage value to the control module;
the control module judges the running state of the AGV according to the induction voltage values of the induction coils;
and the control module adjusts the traveling direction of the AGV according to the judgment result.
Further, when the induction coil assembly includes the first induction coil and the second induction coil, the step of judging the operating state of the AGV by the control module according to the induction voltage value of each induction coil specifically includes:
when the induction voltage value of the first induction coil is larger than that of the second induction coil, the fact that the AGV deflects rightwards at the moment is indicated, and the control module controls the AGV to move leftwards;
when the induction voltage value of the first induction coil is smaller than that of the second induction coil, it is indicated that the AGV shifts leftwards, and the control module controls the AGV to move rightwards.
Further, when the induction coil assembly includes first induction coil, second induction coil and third induction coil, control module judges the operating condition of AGV according to each induction coil's induced voltage value specifically includes:
the induction voltage value of the first induction coil is increased, the induction voltage value of the second induction coil is decreased, the fact that the AGV deflects rightwards at the moment is indicated, the distance of the AGV offsetting rightwards is calculated according to the change amplitude of the induction voltage value of the third induction coil, and the control module controls the AGV to deflect leftwards by the corresponding distance;
the induction voltage value of the first induction coil is reduced, the induction voltage value of the second induction coil is increased, the fact that the AGV has deviated to the left at the moment is shown, the distance of the deviation of the AGV to the left is calculated according to the change range of the induction voltage value of the third induction coil, and the control module controls the AGV to deviate to the right by a corresponding distance.
In the navigation device and the navigation method for the wireless non-contact power supply AGV, alternating current is conducted in the first transmitting guide rail and the second transmitting guide rail, when the AGV moves along the transmitting guide rails, induction voltage is generated in each induction coil, and along with deviation between the moving track of the AGV and the direction of the transmitting guide rails, the induction voltage in each induction coil changes, the control module judges the deviation direction and the deviation amount of the AGV according to the change condition of the induction voltage value when each induction coil in the induction coil group moves in a changing magnetic field, the deviation of the AGV is automatically corrected, the moving direction of the AGV is adjusted in real time, and the AGV automatically moves along the transmitting guide rails. In the technical scheme, the magnetic navigator is not required to be installed, and the navigation device is installed at the bottom of the AGV, so that the AGV is easier to install, and the production cost is reduced. The method is simple, easy to realize, low in cost and convenient to popularize.
Drawings
FIG. 1 is a first schematic diagram of a first exemplary configuration of a navigation device for a wireless, contactless power AGV according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a second navigation device for a wireless, contactless power AGV according to an embodiment of the present invention;
FIG. 3 is a circuit diagram of a first voltage sampling circuit of a navigation device for a wireless contactless power AGV according to an embodiment of the present invention;
FIG. 4 is a circuit diagram of a second voltage sampling circuit for a navigation device of a wireless contactless power AGV according to an embodiment of the present invention;
FIG. 5 is a schematic diagram illustrating the relationship between the offset distance and the sampling voltage of a navigation device for a wireless non-contact power AGV according to an embodiment of the present invention;
fig. 6 is a flowchart of a navigation method of a navigation device for a wireless contactless power AGV according to an embodiment of the present invention;
FIG. 7 is a first schematic structural diagram of a navigation device for a wireless contactless power AGV according to another embodiment of the present invention;
FIG. 8 is a schematic structural diagram of a second exemplary navigation device for a wireless, contactless power AGV according to the present invention;
FIG. 9 is a circuit diagram of a third voltage sampling circuit for a navigation device of a wireless contactless power AGV according to another embodiment of the present invention;
FIG. 10 is a schematic diagram showing the relationship between the offset distance and the sampling voltage of a navigation device for a wireless contactless power AGV according to another embodiment of the present invention;
fig. 11 is a flowchart of a navigation method of a navigation device for a wireless contactless power AGV according to another embodiment of the present invention.
Detailed Description
The present embodiment is an example of a navigation device and a navigation method for an AGV with wireless non-contact power supply, and the present invention will be described in detail with reference to the following embodiments and accompanying drawings.
Example one
Referring to fig. 1, 2, 3, 4 and 5, a navigation device for an AGV powered wirelessly and in non-contact is shown, the navigation device is mounted at the bottom of the AGV and is configured to enable the AGV to travel along a transmitting rail, the transmitting rail includes a first transmitting rail and a second transmitting rail that are parallel to each other, alternating currents with equal magnitude and opposite directions are passed through the first transmitting rail and the second transmitting rail, the navigation device includes an induction coil set, the induction coil set includes a first induction coil L1 and a second induction coil L2, and the first induction coil L1 and the second induction coil L2 are disposed with a center line of the first transmitting rail and a center line of the second transmitting rail as a symmetry axis and are perpendicular to the first transmitting rail and the second transmitting rail, respectively.
Specifically, the first and second induction coils L1 and L2 employ a solenoid having the same number of coil turns and winding direction.
Further, the first induction coil L1 is disposed above the first transmitting rail, the second induction coil L2 is disposed above the second transmitting rail, and the inductance and the number of turns of the first induction coil L1 are the same as those of the second induction coil L2. The navigation device further comprises two voltage sampling circuits, wherein the two voltage sampling circuits comprise a first voltage sampling circuit and a second voltage sampling circuit, the first voltage sampling circuit and the second voltage sampling circuit are respectively connected to the first induction coil L1 and the second induction coil L2, and the two voltage sampling circuits are respectively used for collecting induced voltage values generated by the first induction coil L1 and the second induction coil L2.
Specifically, in the horizontal direction, the first induction coil L1 and the second induction coil L2 are disposed on a first plane, the first transmitting rail and the second transmitting rail are disposed on a second plane, and the first plane and the second plane are disposed in parallel with each other. In the vertical direction, the first induction coil L1 is vertically disposed above the first launching rail with a predetermined distance between the first induction coil L1 and the first launching rail, the second induction coil L2 is disposed above the second launching rail with a predetermined distance between the second induction coil L2 and the second launching rail; the relative position between first induction coil L1 with second induction coil L2 is fixed to be set up, first induction coil L1 with the axle center of second induction coil L2 is on same straight line, and during initial installation, the distance between first induction coil L1 with first transmission guide rail is the same with the distance between second induction coil L2 with the second transmission guide rail.
Specifically, when the first and second induction coils L1 and L2 are disposed to be axisymmetrical with respect to the center line of the first and second transmitting rails, the magnitudes of the induced voltages generated at the first and second induction coils L1 and L2 are equal. The first inductive coil L1 is connected to a first voltage sampling circuit and the second inductive coil L2 is connected to a second voltage sampling circuit.
Furthermore, the navigation device further comprises a control module, the control module is connected with the two voltage sampling circuits, and the control module is used for receiving the induced voltage values generated by the first induction coil L1 and the second induction coil L2 transmitted by the two voltage sampling circuits and adjusting the traveling direction of the AGV according to the induced voltage values.
Furthermore, the two voltage sampling circuits respectively comprise an LC resonance circuit, a full-bridge rectification circuit, a voltage division circuit, a filter circuit and a voltage stabilizing circuit, and the induced voltage generated by the first induction coil L1 and the second induction coil L2 is sent to the control module after rectification, filtering and voltage stabilization. The voltage division circuit comprises a first voltage division resistor and a second voltage division resistor, the resistance values of the first voltage division resistor and the second voltage division resistor are determined according to the voltage value rectified by the full-bridge rectification circuit, and the induction voltage value transmitted to the control module after voltage division is smaller than the working voltage of the control module.
Specifically, the working voltage of the control chip is usually 3.3V, and therefore, the value of the induced voltage transmitted to the control module after voltage division should be less than 3.3V, so as to avoid affecting the normal operation of the control module.
Specifically, first partial pressure sampling circuit includes first LC resonance circuit, first full-bridge rectifier circuit, first partial pressure circuit, first filter circuit and first voltage stabilizing circuit, first partial pressure sampling circuit is used for gathering first induction coil L1's induced voltage value, the input of first partial pressure circuit is connected first full-bridge rectifier circuit's output, first partial pressure circuit includes third voltage-dividing resistor R2 and fourth voltage-dividing resistor R3, first filter circuit with first voltage stabilizing circuit cross-over with fourth voltage-dividing resistor R3 both ends, the output of first voltage stabilizing circuit is connected to control module. The maximum voltage value across the fourth voltage-dividing resistor R3 is less than 3.3V.
With first voltage divider circuit is corresponding, second voltage divider sampling circuit includes second LC resonance circuit, second full-bridge rectifier circuit, second voltage divider circuit, second filter circuit and second voltage stabilizing circuit, second voltage divider sampling circuit is used for gathering second induction coil L2's induced voltage value, the input of second voltage divider circuit is connected the output of second full-bridge rectifier circuit, second voltage divider circuit includes fifth divider resistance R5 and sixth divider resistance R6, second filter circuit with second cross-over voltage stabilizing circuit with sixth divider resistance R6 both ends, the output of second voltage stabilizing circuit is connected to control module. The maximum voltage value of the two ends of the sixth voltage-dividing resistor R6 is less than 3.3V.
Specifically, the functions of each circuit in the voltage sampling circuit are as follows:
an LC resonance circuit: the LC resonance satisfies the basic formula:
. In the formula (I), the reaction mixture is,
，
is the main frequency, and is the frequency of the main frequency,
c is the inductance of the solenoid L1 and is the capacity value of the combination of C1, C2 and C3. LC satisfies the resonance formula, and can avoid subsequent sampling interference and oscillation.
Full-bridge rectifier circuit: four unidirectional-conduction diodes, a capacitor loop and a resistor discharge loop are adopted to form a full-bridge rectification circuit, and input alternating current is converted into direct current to obtain rectified direct current voltage V-L1.
A voltage dividing circuit: the voltage dividing circuit divides voltage by adopting two resistors with large resistance values, the size of the two voltage dividing resistors is determined by the maximum value of V-L1, and the voltage on the fourth voltage dividing resistor R3 is ensured not to exceed 3.3V when the V-L1 is the maximum value. The reason for this selection is that the voltage across the fourth voltage dividing resistor R3 is the sampling voltage, and the sampling voltage is transmitted back to the control chip of the control module, so that the input voltage across the control chip is less than 3.3V, thereby ensuring the safety of the control chip.
A filter circuit: the capacitor is used for playing a role in filtering and stabilizing voltage, absorbing high-frequency ripples and preventing the sampling voltage from having large fluctuation;
voltage stabilizing circuit: and 3.3V voltage-stabilizing tubes with low voltage drop are adopted as the subsequent stage to ensure that the sampling voltage is not too high.
The relationship between the sampled voltage on the induction coil and the offset of the AGV is shown in table 1:
TABLE 1
Specifically, solenoids L1 and L2, which are induction coils, are each 80mm in length, are symmetrical about a center line, are located above the launch rail, and are at a vertical distance of 30mm from the launch rail. The lengths, spacings, and distances between the L1 and L2 may be adjusted based on factors such as the distance from the launch rail. Alternating currents with equal and opposite directions are led into the left-side transmitting guide rail and the right-side transmitting guide rail, and in the current initial position, the induction quantities, the coil turns and the uniformity of the L1 and the L2 are consistent, and the induction voltages generated by the L1 and the L2 are theoretically the same. Assuming the direction of travel of the AGV is shown by the center line arrow in FIG. 2, L1 and L2 are located at the bottom of the AGV and travel with the vehicle. When the AGV is shifted to the right, L1 and L2 move to the right simultaneously, the induced voltage at L1 will increase linearly and the induced voltage at L2 will decrease linearly. Similarly, when the AGV is biased to the left, L1 and L2 move to the left simultaneously, the induced voltage on L1 decreases linearly, and the induced voltage on L2 increases linearly. The sampling circuit shown in fig. 3 can acquire and calculate an actual induced voltage value, and the offset direction can be determined by comparing the difference between the L1 and the L2, and if the L1 sampling voltage value is greater than the L2 sampling voltage value, it indicates that the AGV has shifted to the right, and a control command for moving to the left is given to the AGV. Conversely, if the sampled voltage value of L1 is less than the sampled voltage value of L2, this indicates that the AGV has shifted to the left, and a control command for moving to the right is required for the AGV. After the direction is judged, the specific offset distance of the AGV at the time needs to be known, the offset distance is obtained through the corresponding relation between the offset distances of L1 and L2 and the sampling voltage, the corresponding relation between the actually tested offset distance and the sampling voltage is shown in fig. 5, and an accurate distance adjusting instruction is given through the corresponding relation to enable the AGV to return to the established running path.
And, referring to fig. 6, there is shown a navigation method of a navigation device for a wireless contactless power supply AGV, including the steps of:
energizing the first and second launch rails;
the AGV is electrified and travels along the first launching guide rail and the second launching guide rail;
the voltage sampling circuit collects the induction voltage value of each induction coil in the induction coil group and transmits the induction voltage value to the control module;
the control module judges the running state of the AGV according to the induction voltage values of the induction coils;
and the control module adjusts the traveling direction of the AGV according to the judgment result.
Further, the step of judging the operating state of the AGV by the control module according to the induced voltage value of each induction coil specifically includes:
when the induction voltage value of the first induction coil L1 is larger than that of the second induction coil L2, it indicates that the AGV has right deviation, and the control module controls the AGV to move left;
when the induction voltage value of the first induction coil L1 is smaller than that of the second induction coil L2, it indicates that the AGV has a leftward deviation, and the control module controls the AGV to move rightward.
Example two
Referring to fig. 7, 8, 9 and 10, a navigation device for an AGV powered by wireless and non-contact is shown, according to another embodiment of the present invention, installed at a bottom of the AGV, and configured to enable the AGV to travel along a transmitting rail, where the transmitting rail includes a first transmitting rail and a second transmitting rail that are parallel to each other, alternating currents with equal magnitude and opposite directions are passed through the first transmitting rail and the second transmitting rail, the navigation device includes an induction coil set, the induction coil set includes a first induction coil L1, a second induction coil L2 and a third induction coil L3, the third induction coil L3 is disposed between the first transmitting rail and the second transmitting rail, and the first induction coil L1 and the second induction coil L2 are respectively disposed at two ends of the third induction coil L3. The first induction coil L1 and the second induction coil L2 are respectively disposed at the outer sides of the first and second launching rails, and the first induction coil L1, the second induction coil L2 and the third induction coil L3 are perpendicular to the first and second launching rails.
Further, the inductance and the number of turns of the first induction coil L1 are the same as those of the second induction coil L2, and the inductance and the number of turns of the third induction coil L3 are greater than those of the first and second induction coils L1 and L2.
Specifically, in the horizontal direction, the first induction coil L1, the second induction coil L2, and the third induction coil L3 are disposed on a first plane, the first radiation guide rail and the second radiation guide rail are disposed on a second plane, and the first plane and the second plane are disposed in parallel with each other. In the vertical direction, the first induction coil L1 is vertically arranged above the outer side of the first launching rail, the first induction coil L1 and the first launching rail have a predetermined distance therebetween in the vertical direction, the second induction coil L2 is arranged above the outer side of the second launching rail, the second induction coil L2 and the second launching rail have a predetermined distance therebetween in the vertical direction, the third induction coil L3 is vertically arranged between the first launching rail and the second launching rail, and the third induction coil L3 and the first launching rail and the third launching rail have a predetermined distance therebetween in the vertical direction; the relative position between the first induction coil L1, the second induction coil L2 and the third induction coil L3 is fixed, the axes of the first induction coil L1 and the second induction coil L2 are on the same straight line, and the axes of the third induction coil L3 and the first induction coil L1 and the second induction coil L2 may not be on the same straight line. At the time of initial installation, the first and second induction coils L1 and L2 are respectively provided at the outer sides of the first and second transmitting rails, and the distance between the first induction coil L1 and the first transmitting rail is the same as the distance between the second induction coil L2 and the second transmitting rail.
Further, the navigation device further comprises three voltage sampling circuits, the three voltage sampling circuits comprise a first voltage sampling circuit, a second voltage sampling circuit and a third voltage sampling circuit, the first voltage sampling circuit, the second voltage sampling circuit and the third voltage sampling circuit are respectively connected to the first induction coil L1, the second induction coil L2 and the third induction coil L3, and the three voltage sampling circuits are respectively used for collecting induced voltage values generated by the first induction coil L1, the second induction coil L2 and the third induction coil L3.
Furthermore, the navigation device further comprises a control module, the control module is connected with the three voltage sampling circuits, and the control module is used for receiving three induced voltage values generated by the first induction coil L1, the second induction coil L2 and the third induction coil L3 and transmitted by the voltage sampling circuits, and adjusting the traveling direction of the AGV according to the induced voltage values.
Furthermore, the three voltage sampling circuits respectively comprise an LC resonance circuit, a full-bridge rectification circuit, a voltage division circuit, a filter circuit and a voltage stabilizing circuit, and the induced voltages generated by the first induction coil L1 and the second induction coil L2 are sent to the control module after rectification, filtering and voltage stabilization. The voltage division circuit comprises a first voltage division resistor and a second voltage division resistor, the resistance values of the first voltage division resistor and the second voltage division resistor are determined according to the voltage value rectified by the full-bridge rectification circuit, and the induction voltage value transmitted to the control module after voltage division is smaller than the working voltage of the control module.
Specifically, the working voltage of the control chip is usually 3.3V, and therefore, the value of the induced voltage transmitted to the control module after voltage division should be less than 3.3V, so as to avoid affecting the normal operation of the control module.
Specifically, the third voltage division sampling circuit includes third LC resonance circuit, third full-bridge rectifier circuit, third voltage division circuit, third filter circuit and third voltage stabilizing circuit, the third voltage division sampling circuit is used for gathering third induction coil L3's induced voltage value, the input of third voltage division circuit is connected the output of third full-bridge rectifier circuit, the third voltage division circuit includes seventh divider resistance R8 and eighth divider resistance R9, the third filter circuit with the third voltage stabilizing circuit cross-over with eighth divider resistance R9 both ends, the output of third voltage stabilizing circuit is connected to control module. The maximum voltage value of the two ends of the eighth voltage-dividing resistor R9 is less than 3.3V.
The relationship between the sampled voltage on the induction coil and the amount of deviation of the AGV when it is shifted to the right is shown in table 2:
TABLE 2
The relationship between the sampled voltage on the induction coil and the amount of deviation when the AGV is deviated to the left is shown in table 3:
TABLE 3
Specifically, the solenoids L1, L2, and L3 are induction coils having lengths of 40mm, and 120mm, respectively, and in the current initial position, L1 and L2 are located on both sides of the two launching rails with the center lines of the two launching rails as the symmetry axes, and the center of L3 is aligned with the center lines of the two launching rails. The lengths, spacings, and distances between the L1, L2, and L3 and the launch rails may be adjusted based on factors such as the distance of the launch rails. Alternating currents with the same magnitude and the opposite direction are led into the left-side transmitting guide rail and the right-side transmitting guide rail, and are divided by a neutral line at the current initial position, theoretically, induced voltages generated by the left-side part and the right-side part of the L3 are equal in magnitude and opposite in direction, and at the moment, the total induced voltage of the L3 is the minimum and is theoretically 0. The direction indicated by the central line arrow in fig. 8 is the AGV forward direction, L3 is located at the bottom of the AGV, and as the AGV advances, the AGV is biased to the left or biased to the right, the induced voltage on L3 increases, and increases linearly along with the increase of the offset distance, and when the center of L3 gradually approaches the center of a certain launch rail, the induced voltage reaches the maximum value, and the induced voltage can be obtained by the sampling circuit shown in fig. 9. From the actual measured induced voltage versus offset shown in FIG. 10, it can be known how much the AGV actually has been offset. However, since L3 is shifted to the left or right, the induced voltage increases linearly, and therefore, after knowing how far the AGV has shifted, it is necessary to determine the direction of the shift and confirm whether the AGV is shifted to the left or to the right.
The offset direction can be determined by the difference between the induced voltages of L1 and L2. Assuming that the inductance, the number of turns of the coil and the degree of uniformity of L1 and L2 are the same, the magnitude of the induced voltage generated by L1 and L2 is theoretically the same at the current initial position. The direction indicated by the arrow in the center line of FIG. 8 is the direction of travel of the AGV, with L1 and L2 located at the bottom of the AGV, traveling with the vehicle. When the AGV is biased to the right, L1 and L2 move to the right simultaneously, the induced voltage on L1 will increase and the induced voltage on L2 will decrease. Similarly, when the AGV is biased to the left, L1 and L2 move to the left at the same time, the induced voltage on L1 will decrease and the induced voltage on L2 will increase. The actual induced voltage value can be collected and calculated through the sampling circuit, the offset direction can be judged by comparing the difference value of the sampling voltages of L1 and L2, if the sampling voltage value of L1 is larger than that of L2, it is indicated that the AGV shifts rightwards at the moment, and if the sampling voltage value of L1 is smaller than that of L2, it is indicated that the AGV shifts leftwards at the moment.
The deviation direction and the deviation distance are judged, so that an actual control instruction can be given to the AGV control system for adjustment.
And, referring to fig. 11, there is shown a navigation method of a navigation device for a wireless contactless power supply AGV, comprising the steps of:
energizing the first and second launch rails;
the AGV is electrified and travels along the first launching guide rail and the second launching guide rail;
the voltage sampling circuit collects the induction voltage value of each induction coil in the induction coil group and transmits the induction voltage value to the control module;
the control module judges the running state of the AGV according to the induction voltage values of the induction coils;
and the control module adjusts the traveling direction of the AGV according to the judgment result.
Further, when the induction coil assembly includes a first induction coil L1, a second induction coil L2, and a third induction coil L3, the step of determining the operating state of the AGV by the control module according to the induced voltage value of each induction coil specifically includes:
the induced voltage value of the first induction coil L1 is increased, the induced voltage value of the second induction coil L2 is decreased, the fact that the AGV deflects rightwards at the moment is shown, the distance of the AGV offsetting rightwards is calculated according to the change amplitude of the induced voltage value of the third induction coil L3, and the control module controls the AGV to deflect leftwards by the corresponding distance;
the induced voltage value of the first induction coil L1 is reduced, the induced voltage value of the second induction coil L2 is increased, the fact that the AGV deflects leftwards at the moment is shown, the distance of the AGV offsetting leftwards is calculated according to the change amplitude of the induced voltage value of the third induction coil L3, and the control module controls the AGV to deflect rightwards by the corresponding distance.
In the navigation device and the navigation method for the wireless non-contact power supply AGV, alternating current is conducted in the first transmitting guide rail and the second transmitting guide rail, when the AGV moves along the transmitting guide rails, induction voltage is generated in each induction coil, and along with deviation between the moving track of the AGV and the direction of the transmitting guide rails, the induction voltage in each induction coil changes, the control module judges the deviation direction and the deviation amount of the AGV according to the change condition of the induction voltage value when each induction coil in the induction coil group moves in a changing magnetic field, the deviation of the AGV is automatically corrected, the moving direction of the AGV is adjusted in real time, and the AGV automatically moves along the transmitting guide rails. In the technical scheme, the magnetic navigator is not required to be installed, and the navigation device is installed at the bottom of the AGV, so that the AGV is easier to install, and the production cost is reduced. The method is simple, easy to realize, low in cost and convenient to popularize.
It should be noted that the present invention is not limited to the above-mentioned embodiments, and other changes and modifications can be made by those skilled in the art according to the spirit of the present invention, and these changes and modifications made according to the spirit of the present invention should be included in the scope of the present invention as claimed.
Claims (10)
1. The utility model provides a navigation head for wireless non-contact power supply AGV, navigation head installs in the bottom of AGV for make the AGV advance along transmission guide rail, transmission guide rail is including the first transmission guide rail and the second transmission guide rail that are parallel to each other, leads to the alternating current that the equal opposite direction of size is opposite in first transmission guide rail and the second transmission guide rail, its characterized in that, navigation head includes an induction coil group, induction coil group includes first induction coil and second induction coil, first induction coil with second induction coil with first transmission guide rail with the central line of second transmission guide rail sets up for the symmetry axis, and is perpendicular to respectively first transmission guide rail with second transmission guide rail.
2. The navigation device of claim 1, wherein the first induction coil is disposed above the first transmitter rail and the second induction coil is disposed above the second transmitter rail, the first induction coil having an inductance and a number of turns of the coil that are consistent with an inductance and a number of turns of the coil of the second induction coil.
3. The navigation device of claim 1, further comprising two voltage sampling circuits, the two voltage sampling circuits including a first voltage sampling circuit and a second voltage sampling circuit, the first voltage sampling circuit and the second voltage sampling circuit being connected to the first induction coil and the second induction coil, respectively, the two voltage sampling circuits being configured to collect induced voltage values generated by the first induction coil and the second induction coil, respectively.
4. The navigation device of claim 3, further comprising a control module, wherein the control module is connected to the two voltage sampling circuits, and the control module is configured to receive the induced voltage values generated by the first induction coil and the second induction coil transmitted by the two voltage sampling circuits and adjust the traveling direction of the AGV according to the induced voltage values; two the voltage sampling circuit includes LC resonance circuit, full-bridge rectifier circuit, bleeder circuit, filter circuit and voltage stabilizing circuit respectively, first induction coil with induced voltage that the second induction coil produced sends to after rectification, filtering, steady voltage control module.
5. The navigation device as set forth in claim 4, wherein the voltage divider circuit comprises a first voltage divider resistor and a second voltage divider resistor, the resistance of the first voltage divider resistor and the resistance of the second voltage divider resistor are determined according to the rectified voltage value of the full-bridge rectifier circuit, and the value of the induced voltage transmitted to the control module after voltage division is smaller than the operating voltage of the control module.
6. The navigation device of claim 3, wherein the set of induction coils further includes a third induction coil disposed between the first and second transmit rails, the first and second induction coils being disposed at respective ends of the third induction coil.
7. The navigation device of claim 6, wherein the first and second induction coils are disposed outside of the first and second transmit rails, respectively, the first, second, and third induction coils being perpendicular to the first and second transmit rails; the third induction coil is connected to a third voltage sampling circuit, and the third voltage sampling circuit is used for collecting the induction voltage of the third induction coil and transmitting the induction voltage to the control module.
8. A navigation method of a navigation device for a wireless non-contact power supply AGV is characterized by comprising the following steps:
energizing the first and second launch rails;
the AGV is electrified and travels along the first launching guide rail and the second launching guide rail;
the voltage sampling circuit collects the induction voltage value of each induction coil in the induction coil group and transmits the induction voltage value to the control module;
the control module judges the running state of the AGV according to the induction voltage values of the induction coils;
and the control module adjusts the traveling direction of the AGV according to the judgment result.
9. The navigation method according to claim 8, wherein when the induction coil set includes a first induction coil and a second induction coil, the step of the control module determining the operating state of the AGV according to the induced voltage value of each induction coil specifically includes:
when the induction voltage value of the first induction coil is larger than that of the second induction coil, the fact that the AGV deflects rightwards at the moment is indicated, and the control module controls the AGV to move leftwards;
when the induction voltage value of the first induction coil is smaller than that of the second induction coil, it is indicated that the AGV shifts leftwards, and the control module controls the AGV to move rightwards.
10. The navigation method according to claim 8, wherein when the induction coil set includes a first induction coil, a second induction coil and a third induction coil, the step of the control module determining the operating state of the AGV according to the induced voltage value of each induction coil specifically includes:
the induction voltage value of the first induction coil is increased, the induction voltage value of the second induction coil is decreased, the fact that the AGV deflects rightwards at the moment is indicated, the distance of the AGV offsetting rightwards is calculated according to the change amplitude of the induction voltage value of the third induction coil, and the control module controls the AGV to deflect leftwards by the corresponding distance;
the induction voltage value of the first induction coil is reduced, the induction voltage value of the second induction coil is increased, the fact that the AGV has deviated to the left at the moment is shown, the distance of the deviation of the AGV to the left is calculated according to the change range of the induction voltage value of the third induction coil, and the control module controls the AGV to deviate to the right by a corresponding distance.
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Application publication date: 20211231 |