CN1775598A - Automatic buffer collision-preventing system for manless carrier vehicle - Google Patents
Automatic buffer collision-preventing system for manless carrier vehicle Download PDFInfo
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- CN1775598A CN1775598A CN 200510048646 CN200510048646A CN1775598A CN 1775598 A CN1775598 A CN 1775598A CN 200510048646 CN200510048646 CN 200510048646 CN 200510048646 A CN200510048646 A CN 200510048646A CN 1775598 A CN1775598 A CN 1775598A
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Abstract
The invention discloses an unmanned-truck automatic buffering and anti-impacting system, and its contact impact part comprises contact body and cylinder component or hydraulic cylinder component, or bag component, connected with the contact body, a displacement sensor is arranged on the contact part or the unmanned truck body, the cylinder component, hydraulic cylinder component or bag component is in sequence connected with a pressure senor and a pressure and speed regulator, and the pressure sensor, displacement sensor and pressure and speed regulator are connected with a vehicle computer. The invention has simple system construction, small bulk, sensitive impact checking function, high response speed, self-adaptive control function, and flexible control mode.
Description
Technical field
The invention belongs to the automatic guided vehicle technical field, comprise the crusherbull zone system and the control of braking technical field of rail type automatic guided vehicle and trackless automatic guided vehicle.
Background technology
Automatic guided vehicle is the key equipment in the automatic material flow system, and intelligent in places such as factory, warehouse, full automaticity ground is along track or the predetermined paths convey materials that travels.Existing automatic guided vehicle, as the automatic guided vehicle (AGV) of various guide modes, mainly adopt equipped with non-contact sensor and touch sensor to prevent and reduce in service and other object or system between car and the car direct impact (annotate: the obstacle of following indication comprises other automatic guided vehicle that moves in the system) take place when breaking down.Adopt the automatic guided vehicle of noncontacting proximity sensors such as laser, infrared, microwave, when the detecting obstacles thing, have certain blind area, can't avoid direct impact fully with obstacle; And install or only be equipped with the automatic guided vehicle of touch sensor simultaneously, although taking of having installed padded coaming or increased the distance of mechanical contact body apart from car body, come buffering percussive force or the crash-avoidance that stops in advance, but it is bulky usually, inconvenience is installed, and sensitivity descends and influences outward appearance, also has an outstanding defective simultaneously, promptly can't predict type, size, the speed of relative movement of obstacle, thereby can not determine the size of impact.When collision takes place, if impact has surpassed original anticipated value, the under damping of padded coaming is to consume impact, the deformation of the padded coaming that collision causes will be above padded coaming thickness, or the brake stopping distance surpasses the distance of mechanical contact body apart from car body, will cause the direct impact of car body and obstacle, cause automatic guided vehicle or obstacle to be broken, perhaps cause the damage of contact anticollision device itself.And, no matter this moment, automatic guided vehicle bumped with big or little obstacle, adopt the brake mode of big negative acceleration abrupt deceleration and brake facing locking at once without exception, easily cause the damage of actuating device and control device, also cause the goods of delivery to drop easily because of the excessive inertia that brakes.In automobile and the crashproof application engineering of general vehicle, there are many employing gas, hydraulic actuating cylinder and capsule formula structure to implement the technology and the device of impact detection and pooling feature, but constitute from it, only being the logic control mode that adopts the input of switching value signal, output simply, is some simple machinery (depended on pressure and relevant action effect) automation or electric automatization devices.Have some simple gas, hydraulic pressure and electric control loop, can't detect size or the degree of judging impact force, do not have or only have maximum two-stages and preset treatment measures, and exist speed of response to reach the weakness that can not adapt to complex situations slowly, do not possess the function that comprehensive various situation is carried out automatically regulating control.For example in fact disclosed technology among the Chinese patent CN 2275052Y is the rising of utricule pressure when coming collision detection with a pressure relay, the startup that comes switch on direct control brake gear again with the contact of this pressure switch.Do not have self-regulating function, and tackle the measure of utricule pressure limit possibility explosion when colliding.Chinese patent CN 1583472A described " vehicle intellectualized microcomputer control system " for another example, its control also only is to distinguish approaching degree of risk according to two incoming signals of distance sensing device, according to the warning of logic determines stepped starting, brake, anticollision device, there is not self-regulating function more yet.And the in fact main effect of the micro controller system as core component that it is mentioned (micro computer) is a signal of handling range finder, and this part distance measuring equipment (DME) can be realized by sensors such as the laser of industrial standard, infrared, super sonic, microwaves, and more safe and reliable, identical with the automatic guided vehicle noncontacting proximity sensor effect of preceding surface analysis.It also only is that some logical signal input and output are handled that the control signal that its working process relates to is handled, and available simple relay decision circuit or digital logic circuit (AND OR NOT gate circuit) are handled.Hydraulic buffer system as core in its collision avoidance system then is to be realized by the mechanical device that a series of pressure cooperate with mechanical action.Above-described this class technology and device, mostly bulky, function singleness, complex structure, device need the customized design manufacturing.And automatic guided vehicle is that the light, mechanical, electrical technology of a class set is in the high technology equipment of one, little, the complex structure of volume, spread all over device and devices such as sensor, controller and control circuit, actuating unit, actuating device in the car body, adopt unmanned, intelligent, full automatic control, major control is that the automatic electrical control system of core is finished by car-mounted computer.Therefore, this above class anti-collision technique and device do not possess the condition that practices on automatic guided vehicle, and perhaps effect is relatively poor.
Summary of the invention
Purpose of the present invention is just in order to solve the deficiency that above-mentioned prior art exists, and provide a kind of impact detection that can carry out continuously automatically, buffer action power and stroke between automatically regulating automatic guided vehicle and the obstacle on one's own initiative, the brake mode of control automatic guided vehicle, thus effectively avoid automatic guided vehicle or obstacle to break and the automatic buffer collision-preventing system for manless carrier vehicle of the damage of actuating device and control device.Have system and constitute simply, most of device is optional uses industrial normal component; Volume is little, is easy to equip on automatic guided vehicle; Combine with the automatic guided vehicle control system, adopt automatic electrical control system, impact detection sensitivity, speed of response are fast, adaptive control, mode are flexible; Variable direct impact is the characteristics such as buffering contact of ACTIVE CONTROL.
The objective of the invention is to be achieved through the following technical solutions.
Automatic buffer collision-preventing system for manless carrier vehicle, its contact impact portions branch comprise contact and with contact bonded assembly cylinder component or hydraulic actuating cylinder member, it perhaps is capsule formula member, on the car body of contact collision part or automatic guided vehicle, displacement pickup is installed, cylinder component or hydraulic actuating cylinder member or capsule formula member are connected with pressure sensor, pressure-speed regulating device by the conduit order, and pressure sensor, displacement pickup and pressure-speed regulating device are electrically connected with car-mounted computer.
The present invention also is connected with energy storage behind pressure-speed regulating device; Described pressure-speed regulating device is made up of the by pass valve by the conduit parallel connection and electrohydraulic servo valve or electro-hydraulic proportional valve; Or add flow regulating valve by the by pass valve of parallel connection and electromagnetic valve at different levels and form.
The present invention is when automatic guided vehicle and obstacle bump, cylinder component, hydraulic actuating cylinder member or the capsule formula member stress of contact collision part compress, are out of shape, its in-to-in working medium is compressed, if the maximum pressure that the pressure that impact moment produces can bear greater than cylinder component, hydraulic actuating cylinder member or capsule formula member, then fluid passes through by pass valve in parallel and electrohydraulic servo valve or electro-hydraulic proportional valve simultaneously to the energy storage bleed off, after pressure reduces, the by pass valve SELF CL.Pressure sensor sends detected pressure change signal (can do the size reference of impact) to car-mounted computer, the detected gas of displacement pickup, the compression of hydraulic actuating cylinder or capsule or deflection (being the distance between obstacle and the car body) also send car-mounted computer to, pressure and displacement are by the sensor continuous detecting, car-mounted computer is monitored in real time, the moving velocity of automatic guided vehicle when car-mounted computer comprehensively bumps again, by the negative acceleration value of programming control automatic guided vehicle ramp to stop and the time of brake facing time-delay locking, calculate optimization simultaneously, gas is mutually related, the pressure of hydraulic actuating cylinder or capsule (impact), stroke (amount of compression or distortion), the change curve of speed is as given, with pressure sensor, the value of feedback of displacement pickup, the variable quantity that resolves stroke in the unit time is a speed feedback value, as feedback, again by control program by car-mounted computer dynamically control electrohydraulic servo valve in the pressure-speed regulating device or electro-hydraulic proportional valve aperture or the multistage electromagnetic valve of control open successively, Control work medium (fluid) enters the flow velocity of energy storage.Thus, valve, pipeline, energy storage forms controlled dumping force to the fluid working medium that comes self-contact type impact portions branch to have certain pressure, impact is converted to the pressure of fluid working medium by system damping and energy storage consumption like this, absorb, storage, constitute controlled Impact energy consumption and absorb switching process, thereby automatic guidance gas, the pressure of hydraulic actuating cylinder or capsule, stroke, the speed amount changes by the change curve that calculates, constitute the closed loop control of many rings, control contact retreat or uniformly retarded motion is done in the compression of capsule formula structure, the maintenance obstacle contacts with contact or capsule formula structure long period, prolong the in-service time of impact, cut down the peak value of impact, reach good control effect.By buffer action, the stroke of finally controlling gas, hydraulic actuating cylinder or capsule is in safe range, and promptly the distance between obstacle and the car body is in safe range.According to momentum theorem, native system is by controlled Impact energy consumption and absorb switching process, the increase of may command impact in-service time, can reduce to act on the impact of automatic guided vehicle itself and obstacle, form buffer action, avoid the excessive damage that causes of car body and obstacle direct impact and impact.Simultaneously, the antagonistic force to automatic guided vehicle itself that causes is collided in control indirectly, the friction force of braking force when adding slowing-down brake and track, ground and wheel, automatic guided vehicle is steadily stopped, reduce impact, vibrations, avoid the damage of actuating device and control device and the goods of delivery to drop because of the excessive inertia that brakes to the car body and the actuating device of automatic guided vehicle.Need to prove, the quality size of obstacle, speed of relative movement difference, also different to impact and collision stroke partly that the contact impact portions is divided, these all can be measured by pressure, displacement pickup and send into the car-mounted computer processing, form different control policies, braking brake and prevent collision, thereby to not influence of result of use of the present invention.
Further set forth content of the present invention below in conjunction with Figure of description.
Description of drawings
Fig. 1 is the structural representation that contact collision part of the present invention adopts cylinder or hydraulic actuating cylinder member;
Fig. 2 is the structural representation that contact collision part of the present invention adopts capsule formula member;
Fig. 3 is the scheme drawing of another embodiment of the pressure-speed regulating device that adopted;
Fig. 4 is control principle figure.
The specific embodiment
As Fig. 1, shown in Figure 2, the present invention includes contact collision part, contact impact portions branch comprise contact 10 and with contact bonded assembly cylinder component or hydraulic actuating cylinder member 1, it perhaps is capsule formula member 2, on cylinder component or hydraulic actuating cylinder member or capsule formula member or car body, displacement pickup 7 is installed, cylinder component or hydraulic actuating cylinder member or capsule formula member are by conduit 9 orders and pressure sensor 3, pressure-speed regulating device 8 connects, also can connect energy storage 6 behind pressure-speed regulating device 8, pressure sensor 3 and displacement pickup 7 and pressure-speed regulating device 8 are electrically connected with car-mounted computer.Pressure-speed regulating device 8 adopts by pass valve 4 and electrohydraulic servo valve or electro-hydraulic proportional valve 5 connection structures in parallel as shown in Figure 1 and Figure 2, and the combination that also can adopt as shown in Figure 3 by pass valve 4 and multistage electromagnetic valve 12 by parallel connection to add flow regulating valve 13 realizes.When cylinder component or hydraulic actuating cylinder member 1, when perhaps capsule formula member 2 in-to-in working mediums are air, energy storage 6 can be installed, the directly outside bleed off of pressed gas.
Working process is as follows: the present invention is installed on the automatic guided vehicle 11, at first when automatic guided vehicle normally moves, presets one and be worth pressure-speed regulating device 8, make electrohydraulic servo valve 5 have certain aperture, collide the pressure of instantaneous generation in order to bleed off.When surpassing safe pressure, opens the pressure of by pass valve 4 in cylinder component or hydraulic actuating cylinder member or capsule formula member release.When automatic guided vehicle and obstacle bump, according to control principle shown in Figure 4, the cylinder component of contact collision part or hydraulic actuating cylinder member 1 or capsule formula member 2 compress, distortion, pressure sensor 3 detects its pressure inside to be changed, be converted to electric signal and send car-mounted computer to, displacement pickup 7 detects gas, the compression or the deflection of hydraulic actuating cylinder or capsule send car-mounted computer to, the moving velocity of automatic guided vehicle when car-mounted computer comprehensively bumps again, by the negative acceleration of programming control automatic guided vehicle ramp to stop and the time of brake facing time-delay locking, calculate optimization simultaneously, gas is mutually related, the pressure of hydraulic actuating cylinder or capsule (impact force), stroke (amount of compression or distortion), the change curve of speed is as given, with pressure sensor, the value of feedback of displacement pickup, the variable quantity that resolves stroke in the unit time is a speed feedback value, as feedback, by the aperture of electrohydraulic servo valve in the programming control pressure-speed regulating device 8 or electronically controlled proportional valve 5, control flow rate of fluid again.Thus, valve 5, pipeline 9, energy storage 6 forms controllable damping force, constitute controlled Impact energy consumption and absorb switching process, thereby control gas, the pressure of hydraulic actuating cylinder or capsule, stroke, the speed amount, constitute the closed loop control of many rings, reach good control effect, final control gas, the stroke of hydraulic actuating cylinder or capsule is in safe range, be that distance between obstacle and the car body is in safe range, and by controlled Impact energy consumption and absorption switching process, and the time of impact effect prolong as far as possible, reduce to act on the impact of automatic guided vehicle itself and obstacle with control, avoid the excessive damage that causes of car body and obstacle direct impact and impact.Simultaneously, the antagonistic force to automatic guided vehicle itself that causes is collided in control indirectly, and the friction force of track, ground and wheel steadily stops automatic guided vehicle when adding brake, reduces impact, vibrations to the car body and the actuating device of automatic guided vehicle.Collision finishes, and after automatic guided vehicle leaves obstacle, can open electrohydraulic servo valve or electro-hydraulic proportional valve 5 with the automatic or manual mode, passes through conduit 9 to gas, hydraulic actuating cylinder or capsule make-up gas or liquid by energy storage 6, makes system reset.
The present invention is applicable to all kinds of automatic guided vehicles, comprises rail type automatic guided vehicle (RGV, STV etc.), as: straight-rail type shuttle, ring-rail type shuttle etc.; And trackless automatic guided vehicle, as: the automatic guided vehicle of various guide modes (AGV) etc.
Claims (4)
1, automatic buffer collision-preventing system for manless carrier vehicle, include contact collision part, it is characterized in that, contact impact portions branch comprise contact (10) and with contact bonded assembly cylinder component or hydraulic actuating cylinder member (1), it perhaps is capsule formula member (2), on the car body of contact collision part or automatic guided vehicle, displacement pickup (7) is installed, cylinder component or hydraulic actuating cylinder member or capsule formula member are by conduit (9) order and pressure sensor (3), pressure-speed regulating device (8) connects, pressure sensor (3), displacement pickup (7) and pressure-speed regulating device (8) are electrically connected with car-mounted computer.
2, automatic buffer collision-preventing system for manless carrier vehicle according to claim 1 is characterized in that, also is connected with energy storage (6) behind pressure-speed regulating device (8).
3, automatic buffer collision-preventing system for manless carrier vehicle according to claim 1 is characterized in that, described pressure-speed regulating device (8) is made up of the by pass valve (4) by the conduit parallel connection and electrohydraulic servo valve or electro-hydraulic proportional valve (5).
4, automatic buffer collision-preventing system for manless carrier vehicle according to claim 1 is characterized in that, described pressure-speed regulating device (8) adds flow regulating valve (13) by the by pass valve (4) of parallel connection and electromagnetic valve at different levels (12) and forms.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200510048646 CN1775598A (en) | 2005-11-24 | 2005-11-24 | Automatic buffer collision-preventing system for manless carrier vehicle |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200510048646 CN1775598A (en) | 2005-11-24 | 2005-11-24 | Automatic buffer collision-preventing system for manless carrier vehicle |
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| CN1775598A true CN1775598A (en) | 2006-05-24 |
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| CN 200510048646 Pending CN1775598A (en) | 2005-11-24 | 2005-11-24 | Automatic buffer collision-preventing system for manless carrier vehicle |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102198594A (en) * | 2011-04-20 | 2011-09-28 | 东北大学 | Throttler |
| CN103529491A (en) * | 2013-10-30 | 2014-01-22 | 南京南车浦镇城轨车辆有限责任公司 | Metro vehicle barrier detector |
| CN103569000A (en) * | 2012-07-27 | 2014-02-12 | 富士重工业株式会社 | Vehicle front structure |
| WO2014043940A1 (en) * | 2012-09-24 | 2014-03-27 | 深圳市华星光电技术有限公司 | Automatic transport vehicle |
| CN104360684A (en) * | 2014-10-23 | 2015-02-18 | 河南农业大学 | Automatic field self-walking machine row-aligning device and control method thereof |
| CN105711528A (en) * | 2016-01-21 | 2016-06-29 | 中国汽车技术研究中心 | Vehicle front end collision-resistant device for reducing injury to passenger in vehicle |
| CN106843237A (en) * | 2017-04-01 | 2017-06-13 | 成都西物信安智能系统有限公司 | A kind of wireless safety check apparatus for detecting vehicle chassis |
| WO2018010044A1 (en) * | 2016-07-13 | 2018-01-18 | 王振铎 | Intelligent adjustment type automatic kinetic energy force release mitigation system |
| CN109506603A (en) * | 2017-09-15 | 2019-03-22 | 北京京东尚科信息技术有限公司 | One kind arriving level detecting apparatus and fork truck |
-
2005
- 2005-11-24 CN CN 200510048646 patent/CN1775598A/en active Pending
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102198594A (en) * | 2011-04-20 | 2011-09-28 | 东北大学 | Throttler |
| CN102198594B (en) * | 2011-04-20 | 2013-02-13 | 东北大学 | Throttler |
| CN103569000A (en) * | 2012-07-27 | 2014-02-12 | 富士重工业株式会社 | Vehicle front structure |
| WO2014043940A1 (en) * | 2012-09-24 | 2014-03-27 | 深圳市华星光电技术有限公司 | Automatic transport vehicle |
| CN103529491A (en) * | 2013-10-30 | 2014-01-22 | 南京南车浦镇城轨车辆有限责任公司 | Metro vehicle barrier detector |
| CN103529491B (en) * | 2013-10-30 | 2015-10-14 | 南京南车浦镇城轨车辆有限责任公司 | A kind of railcar detection of obstacles instrument |
| CN104360684A (en) * | 2014-10-23 | 2015-02-18 | 河南农业大学 | Automatic field self-walking machine row-aligning device and control method thereof |
| CN104360684B (en) * | 2014-10-23 | 2017-01-11 | 河南农业大学 | Automatic field self-walking machine row-aligning device and control method thereof |
| CN105711528A (en) * | 2016-01-21 | 2016-06-29 | 中国汽车技术研究中心 | Vehicle front end collision-resistant device for reducing injury to passenger in vehicle |
| WO2018010044A1 (en) * | 2016-07-13 | 2018-01-18 | 王振铎 | Intelligent adjustment type automatic kinetic energy force release mitigation system |
| CN106843237A (en) * | 2017-04-01 | 2017-06-13 | 成都西物信安智能系统有限公司 | A kind of wireless safety check apparatus for detecting vehicle chassis |
| CN109506603A (en) * | 2017-09-15 | 2019-03-22 | 北京京东尚科信息技术有限公司 | One kind arriving level detecting apparatus and fork truck |
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