CN114137946B - AGV double-vehicle linkage control device and method - Google Patents
AGV double-vehicle linkage control device and method Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/0055—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots with safety arrangements
- G05D1/0077—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots with safety arrangements using redundant signals or controls
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Abstract
The invention provides an AGV double-vehicle linkage control device and method. The device comprises: install main control unit, main drive module, main motor, main electronic switch, main terminating resistor and the main remote controller on main AGV, install the auxiliary controller on auxiliary AGV, auxiliary drive module, auxiliary motor, auxiliary terminating resistor and auxiliary controller. The invention can work in two working modes of single car and double car linkage. When working in a bicycle mode, the main AGV and the auxiliary AGV are independently controlled by operating the main remote controller and the auxiliary remote controller respectively; when the motor is in a double-car linkage mode, the main controller is operated to simultaneously control the main motor and the auxiliary motor to work. According to the invention, two working modes are set, so that the control modes are diversified; by introducing the double-vehicle linkage mode, the motor works with high synchronism, and the abrasion of wheels can be effectively avoided.
Description
Technical Field
The invention belongs to the technical field of AGVs (Automated Guided Vehicle, automatic navigation vehicles), and particularly relates to an AGV double-vehicle linkage control device and method.
Background
Currently, AGVs have been widely used in industrial processes. With the development of industrial technology, the requirements on the bearing capacity of the AGV in the market are higher and higher. The largest flatbed in the transportation industry has a load-carrying length of 17 meters, so that the load-carrying capacity of the transport vehicle cannot be increased by increasing the size of the AGV without limitation, and once the AGV is longer than 17 meters, the transport vehicle cannot be quickly transported from a production place to a use place, so that a lot of production cost is increased. In order to achieve the required carrying capacity and convenient transportation, many manufacturers design the AGVs into two AGVs with small carrying capacity, so that the size of the AGVs is reduced, and the two AGVs synchronously act and carry together in working.
The existing two-vehicle linkage scheme of most manufacturers generally only uses an upper computer to send motion instructions to two AGVs respectively, or only enables the PLCs of the two vehicles to communicate. The two linkage schemes are actually controlled by the respective PLCs independently, and are not truly linked. Moreover, due to the communication delay, the motor actions of the two vehicles are asynchronous, so that wheels are worn, the motor can be damaged under severe conditions, and the service life of the AGV is reduced.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides the AGV double-vehicle linkage control device and the AGV double-vehicle linkage control method, wherein each AGV can be used independently, and double-vehicle linkage can be realized after two vehicles are connected by a butt-joint cable.
In order to achieve the above object, the present invention adopts the following technical scheme.
In a first aspect, the present invention provides an AGV double-car linkage control device, including: the main control unit is arranged on the main AGV, the main driving module is connected with the driving interface of the main control unit, the main motor is connected with the output end of the main driving module, and the main electronic switch is connected between the input end of the main driving module and the main terminal resistor, and the control end of the main electronic switch is connected with the main control unit; the auxiliary AGV comprises an auxiliary AGV, an auxiliary driving module, an auxiliary motor, an auxiliary terminal resistor, a control end and a control end, wherein the auxiliary AGV is arranged on the auxiliary AGV; in the bicycle mode, the main electronic switch and the auxiliary electronic switch are both connected, and the main controller and the auxiliary controller are respectively used for receiving instructions sent by the main remote controller and the auxiliary remote controller; in the double-vehicle linkage mode, a main controller is connected with a secondary controller through a communication line, the input end of a main driving module is connected with the input end of a secondary driving module, a main electronic switch and a secondary electronic switch are disconnected, and the main controller simultaneously controls a main motor and a secondary motor according to instructions sent by a main remote controller.
Further, the main controller and the auxiliary controller are both PLC controllers.
Further, the main electronic switch and the auxiliary electronic switch are relays.
Further, the number of the main driving modules is equal to that of the main motors, the number of the main driving modules is 4 or multiple of 4, the input ends of all the main driving modules are connected in parallel, and one main driving module is connected with one main motor; the number of the auxiliary driving modules is equal to that of the auxiliary motors, the auxiliary driving modules are 4 or multiples of 4, the input ends of all the auxiliary driving modules are connected in parallel, and one auxiliary driving module is connected with one auxiliary motor.
Further, the main controller and the auxiliary controller are also respectively provided with a main wireless communication module and an auxiliary wireless communication module which are respectively used for receiving instructions sent by the main remote controller and the auxiliary remote controller through radio.
In a second aspect, the present invention provides a method for controlling using the apparatus, comprising the steps of:
bicycle mode:
the main controller receives an instruction of the main remote controller, then outputs a control signal to enable the main electronic switch to be turned on, and outputs a driving control signal to the main driving module, and the main driving module drives the main motor to rotate;
the auxiliary controller receives an instruction of the auxiliary remote controller, then outputs a control signal to enable the auxiliary electronic switch to be turned on, and outputs a driving control signal to the auxiliary driving module, and the auxiliary driving module drives the auxiliary motor to rotate;
double-car linkage mode:
the main controller receives the instruction of the main remote controller and then sends the instruction to the auxiliary controller through the communication line;
after receiving the instruction, the auxiliary controller outputs a control signal to disconnect the auxiliary electronic switch;
the main controller outputs a control signal to disconnect the main electronic switch, and outputs a driving control signal to the main driving module and the auxiliary driving module, and simultaneously controls the main motor and the auxiliary motor to rotate.
Further, the main controller and the auxiliary controller are both PLC controllers.
Further, the main electronic switch and the auxiliary electronic switch are relays.
Further, the number of the main driving modules is equal to that of the main motors, the number of the main driving modules is 4 or multiple of 4, the input ends of all the main driving modules are connected in parallel, and one main driving module is connected with one main motor; the number of the auxiliary driving modules is equal to that of the auxiliary motors, the auxiliary driving modules are 4 or multiples of 4, the input ends of all the auxiliary driving modules are connected in parallel, and one auxiliary driving module is connected with one auxiliary motor.
Further, the main controller and the auxiliary controller are also respectively provided with a main wireless communication module and an auxiliary wireless communication module which are respectively used for receiving instructions sent by the main remote controller and the auxiliary remote controller through radio.
Compared with the prior art, the invention has the following beneficial effects.
The AGV double-vehicle linkage control device provided by the invention can work in two working modes of single vehicle and double vehicle linkage. When working in a bicycle mode, the main AGV and the auxiliary AGV are independently controlled by operating the main remote controller and the auxiliary remote controller respectively; when the motor is operated in the double-car linkage mode, the main controller is operated, the auxiliary controller is not operated, and the main motor and the auxiliary motor are simultaneously controlled to operate by operating the main remote controller. According to the invention, two working modes are set, so that the control modes are diversified; by introducing the double-vehicle linkage mode, the motor works with high synchronism, and the abrasion of wheels can be effectively avoided.
Drawings
FIG. 1 is a block diagram of an AGV dual-vehicle linkage control device in accordance with an embodiment of the present invention.
Fig. 2 is a schematic structural diagram of another embodiment of the present invention.
Fig. 3 is a flowchart of a control by using the device according to an embodiment of the present invention.
In fig. 1, 11-main controller, 12-main electronic switch, 13-main driving module, 14-main motor, 15-main remote controller, 16-main termination resistor, 21-sub controller, 22-sub electronic switch, 23-sub driving module, 24-sub motor, 25-sub remote controller, 26-sub termination resistor.
Detailed Description
The present invention will be further described with reference to the drawings and the detailed description below, in order to make the objects, technical solutions and advantages of the present invention more apparent. It will be apparent that the described embodiments are only some, but not all, embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
FIG. 1 is a block diagram of an AGV dual-vehicle linkage control device according to an embodiment of the invention, comprising: the main control device comprises a main controller 11 arranged on a main AGV, a main driving module 13 connected with a driving interface of the main controller 11, a main motor 14 connected with an output end of the main driving module 13, a main electronic switch 12 connected between an input end of the main driving module 13 and a main terminal resistor 16, and a control end of the main electronic switch 12 connected with the main controller 11; the auxiliary AGV comprises an auxiliary AGV, an auxiliary driving module 21, an auxiliary motor 24, an auxiliary terminal resistor 26, a control end of the auxiliary electronic switch 22 and an auxiliary controller 21, wherein the auxiliary controller 21 is arranged on the auxiliary AGV, the auxiliary driving module 23 is connected with a driving interface of the auxiliary controller 21 through the auxiliary electronic switch 22, the auxiliary motor 24 is connected with the output end of the auxiliary driving module 23, and the auxiliary terminal resistor 26 is connected with the input end of the auxiliary driving module 23; in the bicycle mode, the main electronic switch 12 and the auxiliary electronic switch 22 are all turned on, and the main controller 11 and the auxiliary controller 21 are respectively used for receiving instructions sent by the main remote controller 15 and the auxiliary remote controller 25; in the double-car linkage mode, the main controller 11 is connected with the auxiliary controller 21 through a communication line, the input end of the main driving module 13 is connected with the input end of the auxiliary driving module 23, the main electronic switch 12 and the auxiliary electronic switch 22 are both disconnected, and the main controller 11 simultaneously controls the main motor 14 and the auxiliary motor 24 according to the instruction sent by the main remote controller 15.
In this embodiment, the device includes two parts, a primary AGV and a secondary AGV. The primary AGV and the secondary AGV are basically identical in structure, and the connection relation of the modules is shown in FIG. 1. The functional principles of each module will be described below using a master AGV as an example.
The main controller 11 is a control and processing center, and is mainly used for coordinating the work of each module by outputting control signals and completing some simple calculation and data processing tasks. The command sent by the main remote controller 15 can be received in a wired or wireless mode, the command is analyzed, and then a corresponding control signal is output according to the command. The driving interface of the main controller 11 is connected with the input end of the main driving module 13, outputs driving control signals to the main driving module 13, and the main driving module 13 drives the main motor 14 to rotate. In the double-car linkage mode, the main controller 11 is also connected with the auxiliary controller 21 through a communication line to realize data communication between the two controllers, for example, the main controller 11 sends an instruction to the auxiliary controller 21 or the auxiliary controller 21 sends status data to the main controller 11. The implementation scheme of the main controller 11 is many, for example, a single chip microcomputer may be adopted, a PLC controller may also be adopted, and the specific controller form is not limited in this embodiment.
The main electronic switch 12 is connected between the input end of the main driving module 13 and the main terminal resistor 16, and the control end of the main electronic switch 12 is connected with the main controller 11 and is used for controlling the connection and disconnection of the main terminal resistor 16 under the action of the main controller 11. The main controller 11 communicates with the main driving module 13 through a CAN bus, and in order to enable the main controller 11 to normally communicate with the main driving module 13, the CAN bus needs to be connected with a terminal resistor, for example, in a bicycle mode, the main electronic switch 12 needs to be turned on to enable the main terminal resistor 16 to be connected with the CAN bus; in the two-vehicle linkage mode, since the input terminals of the main driving module 13 and the auxiliary driving module 23 are connected together, and the input terminal of the auxiliary driving module 23 is connected with the auxiliary terminal resistor 26, the main terminal resistor 16 is not required to be connected (and the main terminal resistor 16 is no longer located at the CAN terminal but is located at the middle position at the moment), so that the main electronic switch 12 is required to be disconnected. The connection method of the sub electronic switch 22 is different from that of the main electronic switch 12, and thus functions differently. The auxiliary electronic switch 22 is connected between the driving interface of the auxiliary controller 21 and the input end of the auxiliary driving module 23, and is used for controlling the on-off of the auxiliary controller 21 and the auxiliary driving module 23. In the bicycle mode, the auxiliary electronic switch 22 is turned on, and the auxiliary controller 21 outputs a driving control signal to the auxiliary driving module 23, so that the auxiliary motor 24 is controlled; in the two-vehicle linked mode, the sub electronic switch 22 is turned off to "disable" the sub controller 21, and the main controller 11 simultaneously controls the main driving module 13 and the sub driving module 23. The specific circuit forms of the main (or auxiliary) electronic switch, such as a contactor, a relay, a semiconductor switch, a high-power switch tube, etc., are not limited by the specific switch forms in this embodiment.
The main driving module 13 is configured to amplify and convert the driving control signal output from the main controller 11, and output a driving signal with a certain intensity to the main motor 14 to rotate. The circuit configuration and index parameters of the main drive module 13 are related to the specific type of main motor 14 and will not be described in detail here.
The control device provided in this embodiment has two working modes, namely a single-vehicle mode and a double-vehicle linkage mode. When the bicycle is operated in the bicycle mode, the main AGV and the auxiliary AGV are not crosslinked, are independently controlled, and are respectively controlled by different staff through respectively operating the main remote controller 15 and the auxiliary remote controller 25. The synchronism of the main motor 14 and the auxiliary motor 24 cannot be ensured, so that the working mode is suitable for application scenes which do not need double-car matching. When the system works in the double-vehicle linkage mode, the main AGV and the auxiliary AGV are connected through a communication line, so that data communication between the two controllers is realized; meanwhile, the input ends of the main driving module 13 and the auxiliary driving module 23 are also connected together, so that driving control signals output by the main controller 11 can be simultaneously input into the main driving module 13 and the auxiliary driving module 23, and synchronous control of the main motor 14 and the auxiliary motor 24 is realized. In order to avoid work confusion, the secondary controller 21 is also required to be "disabled", that is, cannot control the secondary driving module 23, and the specific implementation method is as follows: the main controller 11 sends an instruction to the sub-controller 21; after receiving the instruction, the sub controller 21 outputs a control signal to the control terminal of the sub electronic switch 22 to turn off.
In the embodiment, two working modes are set, so that control modes are diversified; by introducing the double-vehicle linkage mode, the motors of the double vehicles work with high synchronism, and the abrasion of wheels can be effectively avoided.
As an alternative embodiment, the main controller 11 and the sub controller 21 are both PLC controllers.
The present embodiment gives a technical solution of the main controller 11 and the sub-controller 21. As mentioned above, the controller has many forms, the PLC controller is the most commonly used industrial controller, is suitable for on-site control, and has the advantages of high reliability, strong anti-interference capability, simple interface, small volume, small power consumption, high cost performance and the like.
As an alternative embodiment, the primary electronic switch 12 and the secondary electronic switch 22 are relays.
The present embodiment provides a solution for the main electronic switch 12 and the auxiliary electronic switch 22. As mentioned above, electronic switches are in many forms, with relays being one of the most commonly used electronic switches. The relay is generally composed of four parts, namely a coil, a magnetic circuit, a reaction spring and a contact. The coil can generate electromagnetic attraction after being electrified to drive the armature of the magnetic circuit to attract and enable the contact to generate a displacement action, namely closing or opening. The contacts include normally closed contacts (initial state closed) and normally open contacts (initial state open). After the coil is powered on and the relay is attracted, the normally closed contact is opened, and the normally open contact is closed; after the coil is released after power failure, the normally closed contact and the normally open contact are reset to the initial state.
As an alternative embodiment, the number of the main driving modules 13 and the number of the main motors 14 are equal and are all 4 or multiples of 4, the input ends of all the main driving modules 13 are connected in parallel, and one main driving module 13 is connected with one main motor 14; the number of the auxiliary driving modules 23 and the number of the auxiliary motors 24 are equal and are all 4 or multiples of 4, the input ends of all the auxiliary driving modules 23 are connected in parallel, and one auxiliary driving module 23 is connected with one auxiliary motor 24.
The embodiment provides a more specific application scene. In the present embodiment, the number of the main driving module 13 and the main motor 14, the sub driving module 23 and the sub motor 24 is 4 or a multiple of 4, as shown in fig. 2. In fig. 2, PLC1 is a main controller 11, PLC2 is a sub controller 21, canopen is a driving interface, and WNET is a communication interface. RC1 is the primary remote control 15, and RC2 is the secondary remote control 25. Q1-Q4 are 4 main driving modules 13, Q5-Q8 are 4 auxiliary driving modules 23, the input ends of Q1-Q4 are connected together through interfaces CN6 and CN7 thereon, and the input ends of Q5-Q8 are also connected together through interfaces CN6 and CN7 thereon. M1-M4 are 4 main motors 14, and M5-M8 are 4 auxiliary motors 24. A main driving module 13 is connected to a main motor 14 via a driving interface DLD and an encoder interface BMQ, such as Q1 and M1; a secondary drive module 23 is coupled to a secondary motor 24 via a drive interface and encoder interface, such as Q15 to M5. The motor encoder is a sensor for measuring the rotation angle and rotation speed of the motor. Sometimes, in order to accurately control the motor, parameters such as the rotation speed of the motor need to be collected from a motor encoder. K1 is a main electronic switch 12, K2 is a secondary electronic switch 22, and K1 and K2 are relays. TR1 and TR2 are the main termination resistor 16 and the sub termination resistor 26, respectively. XP1, XS1 are the communication lines connecting PLC1 and PLC2 communication interfaces WNET; XP2, XS2 are CAN lines connecting the inputs of the main drive module 13 and the auxiliary drive module 23.
As an alternative embodiment, the main controller 11 and the sub-controller 21 are further provided with a main wireless communication module and a sub-wireless communication module, respectively, for receiving instructions sent by radio from the main remote controller 15 and the sub-remote controller 25, respectively.
The embodiment provides a technical scheme for wirelessly controlling the AGV. In the present embodiment, wireless control is realized by providing a main wireless communication module or a sub wireless communication module connected to the main controller 11 or the sub controller 21. Of course, the main remote controller 15 and the auxiliary remote controller 25 should also be provided with matched remote control transceiver modules. The wireless remote control is not limited by the connection of the remote controller, and the operation is more flexible and convenient.
Fig. 3 is a flowchart of a method for controlling by using the device according to an embodiment of the present invention, where the method includes the following steps:
bicycle mode:
step 101, the main controller 11 receives the instruction of the main remote controller 15, then outputs a control signal to turn on the main electronic switch 12, and outputs a driving control signal to the main driving module 13, and the main driving module 13 drives the main motor 14 to rotate;
step 102, the auxiliary controller 21 receives the instruction of the auxiliary remote controller 25, then outputs a control signal to switch on the auxiliary electronic switch 22, and outputs a driving control signal to the auxiliary driving module 23, and the auxiliary driving module 23 drives the auxiliary motor 24 to rotate;
double-car linkage mode:
step 103, the main controller 11 receives the instruction of the main remote controller 15, and then sends the instruction to the sub controller 21 through the communication line;
step 104, after receiving the instruction, the sub controller 21 outputs a control signal to turn off the sub electronic switch 22;
in step 105, the main controller 11 outputs a control signal to turn off the main electronic switch 12, and outputs a driving control signal to the main driving module 13 and the sub driving module 23, and simultaneously controls the main motor 14 and the sub motor 24 to rotate.
Compared with the technical scheme of the system embodiment shown in fig. 1, the method of the embodiment has similar implementation principle and technical effect, and is not repeated here. As well as the latter embodiments, will not be explained again.
As an alternative embodiment, the main controller 11 and the sub controller 21 are both PLC controllers.
As an alternative embodiment, the primary electronic switch 12 and the secondary electronic switch 22 are relays.
As an alternative embodiment, the number of the main driving modules 13 and the number of the main motors 14 are equal and are all 4 or multiples of 4, the input ends of all the main driving modules 13 are connected in parallel, and one main driving module 13 is connected with one main motor 14; the number of the auxiliary driving modules 23 and the number of the auxiliary motors 24 are equal and are all 4 or multiples of 4, the input ends of all the auxiliary driving modules 23 are connected in parallel, and one auxiliary driving module 23 is connected with one auxiliary motor 24.
As an alternative embodiment, the main controller 11 and the sub-controller 21 are further provided with a main wireless communication module and a sub-wireless communication module, respectively, for receiving instructions sent by radio from the main remote controller 15 and the sub-remote controller 25, respectively.
The foregoing is merely illustrative of the present invention, and the present invention is not limited thereto, and any changes or substitutions easily contemplated by those skilled in the art within the scope of the present invention should be included in the present invention. Therefore, the protection scope of the invention is subject to the protection scope of the claims.
Claims (10)
1. An AGV double car coordinated control device, characterized by comprising: the main control unit is arranged on the main AGV, the main driving module is connected with the driving interface of the main control unit, the main motor is connected with the output end of the main driving module, and the main electronic switch is connected between the input end of the main driving module and the main terminal resistor, and the control end of the main electronic switch is connected with the main control unit; the auxiliary AGV comprises an auxiliary AGV, an auxiliary driving module, an auxiliary motor, an auxiliary terminal resistor, a control end and a control end, wherein the auxiliary AGV is arranged on the auxiliary AGV; in the bicycle mode, the main electronic switch and the auxiliary electronic switch are both connected, and the main controller and the auxiliary controller are respectively used for receiving instructions sent by the main remote controller and the auxiliary remote controller; in the double-vehicle linkage mode, a main controller is connected with a secondary controller through a communication line, the input end of a main driving module is connected with the input end of a secondary driving module at a point A, a main electronic switch and a secondary electronic switch are disconnected, and the main controller outputs a driving signal to the point A according to an instruction sent by a main remote controller to control the main motor and the secondary motor to synchronously rotate.
2. The AGV double-car coordinated control device according to claim 1, wherein the main controller and the sub-controller are both PLC controllers.
3. The AGV double-car coordinated control device according to claim 1, wherein the main electronic switch and the sub electronic switch are both relays.
4. The AGV double-car coordinated control device according to claim 1, wherein the number of main driving modules and the number of main motors are equal, are all 4 or multiples of 4, the input ends of all the main driving modules are connected in parallel, and one main driving module is connected with one main motor; the number of the auxiliary driving modules is equal to that of the auxiliary motors, the auxiliary driving modules are 4 or multiples of 4, the input ends of all the auxiliary driving modules are connected in parallel, and one auxiliary driving module is connected with one auxiliary motor.
5. The AGV double-car coordinated control device according to claim 1, wherein the main controller and the sub-controller are further provided with a main wireless communication module and a sub-wireless communication module, respectively, for receiving instructions transmitted by the main remote controller and the sub-remote controller by radio, respectively.
6. A method of controlling using the apparatus of claim 1, comprising the steps of:
bicycle mode:
the main controller receives an instruction of the main remote controller, then outputs a control signal to enable the main electronic switch to be turned on, and outputs a driving control signal to the main driving module, and the main driving module drives the main motor to rotate;
the auxiliary controller receives an instruction of the auxiliary remote controller, then outputs a control signal to enable the auxiliary electronic switch to be turned on, and outputs a driving control signal to the auxiliary driving module, and the auxiliary driving module drives the auxiliary motor to rotate;
double-car linkage mode:
the main controller receives the instruction of the main remote controller and then sends the instruction to the auxiliary controller through the communication line;
after receiving the instruction, the auxiliary controller outputs a control signal to disconnect the auxiliary electronic switch;
the main controller outputs a control signal to disconnect the main electronic switch, and outputs a driving control signal to an input end connection point A of the main driving module and the auxiliary driving module to control the main motor and the auxiliary motor to synchronously rotate.
7. The method of claim 6, wherein the primary controller and the secondary controller are both PLC controllers.
8. The method of claim 6, wherein the primary electronic switch and the secondary electronic switch are relays.
9. The method of claim 6, wherein the number of main drive modules and main motors is equal, each being 4 or a multiple of 4, the inputs of all main drive modules being connected in parallel, one main drive module being connected to each main motor; the number of the auxiliary driving modules is equal to that of the auxiliary motors, the auxiliary driving modules are 4 or multiples of 4, the input ends of all the auxiliary driving modules are connected in parallel, and one auxiliary driving module is connected with one auxiliary motor.
10. The method of claim 6, wherein the main controller and the sub-controller are further provided with a main wireless communication module and a sub-wireless communication module, respectively, for receiving instructions transmitted by the main remote controller and the sub-remote controller, respectively, by radio.
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| CN105116901A (en) * | 2015-09-04 | 2015-12-02 | 中国石油大学(华东) | Image-processing-based dual-vehicle intelligent correction system |
| CN106828663A (en) * | 2017-02-23 | 2017-06-13 | 青岛霍博智能设备有限公司 | A kind of radio gang formula omnibearing ambulation hoistable platform transport vehicle |
| CN106882280A (en) * | 2017-02-26 | 2017-06-23 | 青岛霍博智能设备有限公司 | Large-tonnage radio gang formula all-direction moving unit based on CAN control |
| CN206640524U (en) * | 2017-03-17 | 2017-11-14 | 无锡轻舟智能科技有限公司 | A kind of DC brushless motor is double to drive vector controller |
| CN206704344U (en) * | 2017-05-05 | 2017-12-05 | 青岛科技大学 | A kind of intelligent transport vehicle |
| CN106956631A (en) * | 2017-05-09 | 2017-07-18 | 青岛科技大学 | A kind of drum-type intelligent transport car |
| CN109466340A (en) * | 2018-11-21 | 2019-03-15 | 中国农业大学 | Double-motor coupling driving electric tractor and control method thereof |
| CN111258275A (en) * | 2018-11-30 | 2020-06-09 | 沈阳新松机器人自动化股份有限公司 | Double-vehicle linkage control method for heavy-load AGV |
| CN211209610U (en) * | 2019-10-30 | 2020-08-07 | 诺力智能装备股份有限公司 | Industrial vehicle controller |
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