CN201494328U - Automatic navigation trolley - Google Patents
Automatic navigation trolley Download PDFInfo
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- CN201494328U CN201494328U CN200920059424XU CN200920059424U CN201494328U CN 201494328 U CN201494328 U CN 201494328U CN 200920059424X U CN200920059424X U CN 200920059424XU CN 200920059424 U CN200920059424 U CN 200920059424U CN 201494328 U CN201494328 U CN 201494328U
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- central controller
- road surface
- car body
- rfid
- serial port
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L58/00—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles
- B60L58/10—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries
- B60L58/18—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries of two or more battery modules
- B60L58/21—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries of two or more battery modules having the same nominal voltage
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2200/00—Type of vehicles
- B60L2200/40—Working vehicles
- B60L2200/44—Industrial trucks or floor conveyors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/421—Speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/70—Interactions with external data bases, e.g. traffic centres
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2250/00—Driver interactions
- B60L2250/10—Driver interactions by alarm
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2260/00—Operating Modes
- B60L2260/20—Drive modes; Transition between modes
- B60L2260/32—Auto pilot mode
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/60—Electric or hybrid propulsion means for production processes
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/64—Electric machine technologies in electromobility
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/16—Information or communication technologies improving the operation of electric vehicles
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Sustainable Development (AREA)
- Sustainable Energy (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The utility model relates to an automatic navigation trolley, which belongs to the field of transportation vehicles. The automatic navigation trolley comprises a trolley part and a navigation part. The trolley part comprises a trolley body, an electric case, a central controller, a group battery, a driving mechanism, a hanging mechanism, a road surface magnetic strip signal sensor, a road surface RFID radio frequency identification tag card reader, a collision prevention mechanism, and so on. The navigation part comprises magnetic strips laid on the road surface and RFID radio frequency identification tag cards, the road surface magnetic strip signal sensor and the road surface RFID radio frequency identification tag card reader are arranged on the trolley body, and the road surface magnetic strip signal sensor is directly connected with the AD module of the central controller to process the analog signals outputted from the road surface magnetic strip signal sensor. The automatic navigation trolley adopts the magnetic strips laid on the road surface and the RFID radio frequency identification tag cards to conduct navigation, can flexibly change lines, and is well suitable for a flexible manufacturing system.
Description
Technical field
The utility model automatic navigation dolly belongs to field of transport vehicles.
Background technology
In 2007 years, the China Logistics expense accounts for 18% in GDP, occupy high-order.Manufacture logistics total value accounts for 74.7% in the social logistics total value.And the handling of material is an occurrence frequency height in the logistics progress, and the consumption time is long, the activity that required expense is big.In order to reduce the manufacture cost and to raise the efficiency, the technology of carrying will be a kind of good methods automatically.In addition, the autonomous navigation transport trolley is the effective means of logistics transportation in current FMS flexible manufacturing system and the automated warehouse storage system.The autonomous navigation transport trolley transports goods by the utilization automated transport system, and can be under non-interfering situation with the goods high efficient and reliable send to the destination.The use of autonomous navigation transport trolley can greatly alleviate people's labour intensity, has improved logistics operational paradigm and service quality, has reduced logistics cost.
At present, have the automatic running trolley system of navigate modes such as vision, laser and GPS on the market, the costing an arm and a leg of these products, cost performance is not high, is not easy to promote.The automatic running trolley system cost that adopts the magnetic stripe mode to navigate is low, and the cost performance height is convenient to popularize in various industries.Adopt the magnetic stripe mode to navigate automatic running trolley when carrying out system's control, adopt usually and lay 1,2,3 magnetic stripes in the side of walking magnetic stripe and carry out aux. controls, it is few that this method has quantity of information, can only carry out simple task; And lay many magnetic stripes, it is bigger to take up room, and causes defectives such as accuracy of positioning is low.
Summary of the invention
The utility model is at weak point of the prior art, and provide a kind of autonomous navigation automatically guiding trolley, adopt and lay magnetic stripe and RFID label on the ground, central controller is realized complicated automatic running trolley control and multitask distribution flexibly by combining to analog information and numerical information mixed processing and with wireless data transmission technology; Various control information be can store, the flexible demand of various systems and the control of complex task well met.
The purpose of this utility model reaches by following measure, the automatic navigation dolly comprises dolly partial sum leader, and the dolly part is made of car body, electric cabinet, central controller, battery pack, driver train, hitch, road surface magnetic stripe signal transducer, road surface RFID RFID tag card reader, anticollision mechanism etc.Leader is made up of magnetic stripe on the road surface that is laid in and RFID RFID tag card.The installation electric cabinet is set on car body, central controller is installed in the electric cabinet, battery pack is installed on car body, driver train is installed on car body, hitch is installed on car body, anticollision mechanism is installed on car body, road surface magnetic stripe signal transducer is installed on car body, road surface RFID RFID tag card reader is installed on car body, road surface magnetic stripe signal transducer and road surface RFID RFID tag card reader are installed on the interior line of centers of the vertical symmetric section of car body, and road surface magnetic stripe signal transducer is installed in the place ahead of drive part travel direction in the car body, and road surface RFID RFID tag card reader is installed in the head or the afterbody of car body.
Car body adopts the monolithic devices structure, and is simple for structure; The mode of loading variation can be carried out the afterbody traction, the direct load in back etc.
Central controller is to be main body controller based on microprocessor, and the interface of outfit various protocols is connected with external various functional modules.Central controller is monitored in real time to battery status.
The AD module of road surface magnetic stripe signal transducer and central controller is carried out direct connection; the analog signal of road surface magnetic stripe signal transducer output is carried out delivering to after overvoltage protection and signal filtering are handled the AD input port of microprocessor, be converted in the digital signal by microprocessor and handle.Microprocessor not timing road pavement magnetic stripe signal transducer resets, and makes road surface magnetic stripe signal transducer working stability.
RFID RFID tag card reader is connected with central controller by the RS232 serial port protocol, and the inner MAX232 of employing of central controller carries out level conversion to be handled.
The multilevel security device of system is connected with central controller by the IO point, and extraneous interfering signal is eliminated to drawing processing on the IO level point in central controller inside.
Wireless lan controller is connected with central controller by the RS485 serial port protocol, and the inner MAX481 of employing of central controller carries out the RS485 serial port protocol to be handled.
The RFDC module is connected with central controller by the RS485 serial port protocol, and the inner MAX481 of employing of central controller carries out the RS485 serial port protocol to be handled.The RFDC module adopts the 433MHz ifd module, adopts frequency modulation technology to carry out anti-interference process, makes the data transmission of module have good stability.
Eeprom memory is connected with central controller by High Speed I IC data protocol.
Drive motor is connected with central controller by DA module and IO point, and central controller inside adopts ULN2003 to carry out level translation to the IO point, and power-handling capability is expanded.The inner DAC5573 that adopts of central controller is converted into analog signal with 8 bit-serial digital signals, realizes drive motor is carried out accuracy control.
Man-machine massaging device is connected with central controller by the RS485 serial port protocol, and the inner MAX481 of employing of central controller carries out the RS485 serial port protocol to be handled.
Operating switch is connected with central controller by the IO point with warning device, and central controller inside adopts ULN2003 to carry out level translation to the IO point, and power-handling capability is expanded.
Central controller is also reserved a plurality of IO points and can be connected with function expanding module with RS485 serial port protocol interface.Central controller inside adopts ULN2003 to carry out level translation to the IO point, and power-handling capability is expanded; Adopting MAX481 to carry out the RS485 serial port protocol handles.
The guidance method of automatic navigation dolly: dolly is powered by battery pack in the process of moving, detect magnetic stripe signal on the road surface that is laid in by the road surface magnetic stripe signal transducer of dolly part, and be decomposed in the AD module that left and right sides two-way analog signal is transported to central controller, central controller calculates the departure of two-way magnetic stripe signal, handle through FUZZY ALGORITHMS FOR CONTROL and pid control algorithm then, road surface RFID RFID tag card reader gets access to the information conveyance of road surface RFID RFID tag card to central controller, central controller reads the RFID RFID tag and is stuck in cooresponding mission bit stream in the route table, after comprehensive, central controller sends command signal driver train is controlled, drive motor is walked according to desired trajectory, and the realization system carries out autonomous navigation according to the magnetic stripe that lays and two kinds of simulations of RFID RFID tag card with the mixed signal of numeral on the road surface.
In the autonomous navigation process, carry out safety device and detect, when collision safety device had signal, dolly stopped immediately; The non-collision safety device has signal, carries out deceleration control or the control etc. of stopping.
Automatic navigation dolly multi-task controlling method is: the EEPROM holder is set on central controller, the EEPROM holder is connected with microprocessor by the IIC data protocol, the setting of storage route table is used for writing down the each task that dolly is carried out in the EEPROM holder, and the column of route table has the sequence number of RFID RFID tag card, instruction 1, instruction 2, instruction n, relevant parameter 1, relevant parameter 2, relevant parameter n.By the man-machine massaging device that is connected with central controller executing the task of each bar route table is set, and is stored in the eeprom memory of central controller.Dolly in the process of moving, arrive RFID RFID tag Ka Chu, read the sequence number of RFID RFID tag card, the sequence number of the pairing instruction of sequence number of this RFID RFID tag card in the route table that stores in the eeprom memory according to central controller, relevant parameter and destination RFID RFID tag card is carried out the task that the sequence number of this RFID RFID tag card is given.Information by route table realizes acceleration and deceleration adjustment in the automatic running trolley driving process; Satisfy the task needs of carrying out, carry out routing.
On central controller, be connected with wireless lan controller by the RS485 serial port protocol, can receive the communication data of external system by wireless lan function in real time, dynamically adjust the setting of route table, adjusted route table setting can cover route table setting original in the dolly as required in eeprom memory, also can not cover original route table setting.By WLAN be implemented in the branch crossing preferentially by, dodge and carry out functions such as isochronous schedules with other related systems.
On central controller, be connected with the RFDC module by the RS485 serial port protocol, can receive the communication data of external system by wireless data transfer module in real time, dynamically adjust the setting of route table, adjusted route table setting can cover route table setting original in the dolly as required in eeprom memory, also can not cover original route table setting.By RFDC be implemented in the branch crossing preferentially by, dodge and carry out functions such as isochronous schedules with other related systems.
Reliability and stability by wireless lan controller or RFDC module controls automatic navigation dolly raising system automatically switch between two kinds of methods.
Automatic navigation dolly hitch is made up of top board, bearing pin, compression spring, elevator bolt, inner-hexagon spanner, spacing shim, drive wheel, hinged-support.Inner-hexagon spanner is installed on the elevator bolt, and top board is connected on the car body, and compression spring is installed on the bearing pin, and spacing shim is installed on the hinged-support, and drive wheel is installed on the spacing shim, and spacing shim makes the driver train built on stilts along the rotation of hinged-support center.It is comprehensive mobile flexibly to realize that dolly is undertaken by manual intervention.
The beneficial effects of the utility model: adopt magnetic stripe and RFID RFID tag on the road surface that is laid in to stick into the row navigation, can change route flexibly, can well be applicable to FMS flexible manufacturing system.Adopt WLAN and wireless data communication technology to cooperate route table, have very big information capacity and good dynamic property.Adopt hitch, under the situation of manual intervention, dolly can comprehensively move flexibly.
Description of drawings
Accompanying drawing 1 is a vehicle structure scheme drawing of the present utility model.
Accompanying drawing 2 is schematic top plan view of accompanying drawing 1.
Accompanying drawing 3 is leader scheme drawings of the present utility model.
Accompanying drawing 4 is hitch scheme drawings of the present utility model.
Accompanying drawing 5 is central controller framework scheme drawings of the present utility model.
Accompanying drawing 6 is navigation scheme drawings of the present utility model.
Accompanying drawing 7 is RFID RFID tag card schematic layout patterns of the present utility model.
Accompanying drawing 8 is road surface magnetic stripe signal transducer and road surface RFID RFID tag card reader partial circuit figure in the central process unit of the present utility model.
Accompanying drawing 9 is drive motor partial circuit figure in the central process unit of the present utility model.
Accompanying drawing 10 is eeprom memory partial circuit figure in the central process unit of the present utility model.
Accompanying drawing 11 is RS485 serial communication partial circuit figure in the central process unit of the present utility model.
Accompanying drawing 12 is IO partial circuit figure in the central process unit of the present utility model.
Accompanying drawing 13 is safety device partial circuit figure in the central process unit of the present utility model.
The specific embodiment
The utility model is described in further detail below in conjunction with accompanying drawing.
Shown in accompanying drawing 1, accompanying drawing 2, accompanying drawing 3, the utility model comprises dolly partial sum leader, and the dolly part is made of car body 1, electric cabinet 2, central controller 3, battery pack 4, driver train 5, hitch 6, road surface magnetic stripe signal transducer 7, road surface RFID RFID tag card reader 8, anticollision mechanism 9 etc.Leader is made up of magnetic stripe on the road surface that is laid in 10 and RFID RFID tag card 11.Dolly is powered by battery pack 4 in the process of moving, the installation electric cabinet is set on car body, central controller is installed in the electric cabinet, driver train is installed on the car body, battery pack is installed on the car body, anticollision mechanism is installed in the car body edge, hitch is being installed in the car body middle part, road surface magnetic stripe signal transducer and road surface RFID RFID tag card reader are installed on the interior line of centers of the vertical symmetric section of car body, and the place ahead of road surface magnetic stripe signal transducer drive part travel direction in car body, road surface RFID RFID tag card reader is at the head or the afterbody of car body, between road surface RFID RFID tag card reader and the RFID RFID tag card apart from more than the 35mm.Magnetic stripe adopts 50mm wide, the specification that 1mm is thick; RFID RFID tag card adopts nail type, 125KHz low frequency passive read write tag card.RFID RFID tag card is installed in magnetic stripe and transfers, and has easy installation, protection against the tide, anti-compression functions.Between road surface RFID RFID tag card reader and the RFID RFID tag card apart from more than the 35mm.Car body adopts the monolithic devices structure, and is simple for structure; The mode of loading variation can be carried out the afterbody traction, the direct load in back etc.
As shown in Figure 4, the dolly hitch is made up of top board 21, bearing pin 22, compression spring 23, elevator bolt 24, inner-hexagon spanner 25, spacing shim 26, drive wheel 27, hinged-support 28.Inner-hexagon spanner 25 is installed on the elevator bolt 24, compression spring 23 is installed on the bearing pin 22, hinged-support 28 is installed on the top board 21, top board 21 is connected on the car body, drive wheel 27 is connected on the top board 21, spacing shim 26 is installed on the elevator bolt 24, when the artificial travelling car of needs, with inner-hexagon spanner 25, right-hand revolution elevator bolt 24, spacing shim 26 is raised, and whole driver train rotates along hinged-support 28 centers, the drive wheel 27 of dolly is built on stilts thereupon also, so just can make dolly carry out comprehensive moving; When needs normally move, use inner-hexagon spanner 25 again, anticlockwise direction rotary lifting bolt 24, at this moment dolly drive wheel 27 is put down, and dolly promptly carries out normal operation.
As shown in Figure 5, central controller is equipped with AD module interface, RS485 serial port protocol interface, IIC data protocol interface, DA module interface and IO interface to be main body controller based on the PIC18F8527 microcontroller.The AD module of road surface magnetic stripe signal transducer and central controller is carried out direct connection, RFID RFID tag card reader is connected with central controller by the RS232 serial port protocol, and the inner MAX481 of employing of central controller carries out the RS485 serial port protocol to be handled.Safety device is connected with central controller by the IO point, and central controller inside adopts ULN2003 to carry out level translation to the IO point, and power-handling capability is expanded.Wireless lan controller is connected with central controller by the RS485 serial port protocol, and the inner MAX481 of employing of central controller carries out the RS485 serial port protocol to be handled.The RFDC module is connected with central controller by the RS485 serial port protocol, and the inner MAX481 of employing of central controller carries out the RS485 serial port protocol to be handled.The RFDC module adopts the 433MHz ifd module, adopts frequency modulation technology to carry out anti-interference process, makes the data transmission of module have good stability.EEPROM is connected with central controller by I IC data protocol, and eeprom memory is connected with the PIC18F8527 microprocessor by High Speed I IC data protocol.Drive motor is connected with central controller by IO point and DA module, and central controller inside adopts ULN2003 to carry out level translation to the IO point, and power-handling capability is expanded.Man-machine massaging device is connected with central controller by the RS485 serial port protocol, and the inner MAX481 of employing of central controller carries out the RS485 serial port protocol to be handled.Operating switch is connected with central controller by the IO point with warning device, and central controller inside adopts ULN2003 to carry out level translation to the IO point, and power-handling capability is expanded.Central controller is also reserved a plurality of IO points and can be connected with function expanding module with multichannel RS485 serial port protocol interface, and central controller inside adopts ULN2003 to carry out level translation to the IO point, and power-handling capability is expanded; Adopting MAX481 to carry out the RS485 serial port protocol handles.Central controller can be a main body controller based on the High Performance 32 digit RISC micro controller LPC2131 of ARM7TDMI-S also, and the interface of outfit various protocols is connected with external various functional modules.
Show as accompanying drawing 6, in the dolly driving process, the track following module begins, detect magnetic stripe signal on the road surface that is laid in by the road surface magnetic stripe signal transducer of dolly part, carry out the identification of two-way tape signal, and be decomposed in the AD module that left and right sides two-way analog signal is transported to central controller, the tape signal analogue to digital conversion, central controller calculates the departure of two-way magnetic stripe signal, determine the trajector deviation amount, the track FUZZY ALGORITHMS FOR CONTROL is handled then, handle through FUZZY ALGORITHMS FOR CONTROL and track pid control algorithm, judged whether the RFID label signal, road surface RFID RFID tag card reader reads the rfid card sequence number, information conveyance is to central controller, central controller reads and is stored in eeprom memory Intermediate Course table, whether decision instruction reads finishes, whether reading command, decision instruction relevant parameter, has parameter just to read relevant parameter, instruction number adds 1, printenv adds 1 with regard to the direct instruction number, and after route table read and finishes, central controller was through the drive motor algorithm process, send command signal drive motor is carried out control, the track following module finishes.
In the autonomous navigation process, when the collision safety device signal is arranged, send command signal drive motor is carried out control, dolly stops immediately; The non-collision safety device has signal, and the motor speed feedback signal is sent command signal drive motor is carried out control, carries out deceleration control or the control etc. of stopping.
Show that as accompanying drawing 7 RFID RFID tag card is laid on the road surface, when reading the 30# label, carry out and slow down that the speed after the deceleration is 30m/min, runs to stop bit, feed, after charging is finished, continue to travel with the production system interlock.Drive to 31# label place, turn right; When reading the 33# label, owing to be that left car is preferential,, judge whether the left side has vehicle, if there is not vehicle then to pass through so intercept by wireless earlier; Otherwise wait for.Drive to 34# label place, keep straight on, and quicken, the speed after the acceleration is 50m/min; When reading the 36# label, carry out to slow down, the speed after the deceleration is 20m/min, runs to stop bit, carries out discharging with the production system interlock, unloading after charging finishes, and continues to travel.
Dolly is when place in operation, on the road surface, lay magnetic stripe and RFID RFID tag card, and be connected with central controller by the RS485 serial port protocol by the man-machine massaging device of dolly self, input is provided with route table, route table is stored in the EEPROM holder, the EEPROM holder is connected with central controller by the IIC data protocol, route table is used for writing down the each task that dolly is carried out, the column of route table has the sequence number of RFID RFID tag card, instruction 1, instruction 2, instruction n, relevant parameter 1, relevant parameter 2, relevant parameter n.Dolly by reading the sequence number of RFID label card, is carried out each task according to cooresponding task and parameter in the route table in motion.
A dolly route table
| Label | Instruction | 1 | |
Instruction n | |
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| 30 | Slow down | Charging | 30m/ |
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| 31 | Turn right | ||||||
| 32 | |||||||
| 33 | Left side car is preferential |
| Label | Instruction | 1 | |
Instruction n | |
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| 34 | Keep straight on | Quicken | 50m/ |
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| 35 | |||||||
| 36 | Slow down | Discharging | Preferentially | 20m/ |
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| 37 | Quicken | 50m/min | |||||
B dolly route table
| Label | Instruction | 1 | |
Instruction n | |
|
|
| 30 | Slow down | Charging | 30m/ |
||||
| 31 | Keep straight on | Quicken | 50m/ |
||||
| 32 | Slow down | Discharging | Preferentially | 20m/ |
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| 33 | |||||||
| 34 | Slow down | Turn left | 30m/ |
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| 35 | |||||||
| 36 | Right car is preferential | ||||||
| 37 | Quicken | 50m/min | |||||
Can carry out in real time dynamically change route table by RFDC module and WLAN in the trolley travelling process.On central controller, be connected with wireless lan controller by the RS485 serial port protocol, can receive the communication data of external system by wireless lan function in real time, dynamically adjust the setting of route table, adjusted route table setting can cover route table setting original in the dolly as required in EEPROM, also can not cover original route table setting.By WLAN be implemented in the branch crossing preferentially by, function such as dodge, carry out the isochronous schedules function with other related systems.On central controller, be connected with the RFDC module by the RS485 serial port protocol, can receive the communication data of external system by wireless data transfer module in real time, dynamically adjust the setting of route table, adjusted route table setting can cover route table setting original in the dolly as required in EEPROM, also can not cover original route table setting.By RFDC be implemented in the branch crossing preferentially by, function such as dodge, carry out the isochronous schedules function with other related systems.
Dolly by reading the sequence number of RFID label card, is carried out each task according to cooresponding task and parameter in the route table in motion.2 automatic running trolleys, 8 RFID label cards, the route table configuration of 2 automatic running trolleys, in operational process, the A dolly is when reading the 30# label, carry out and slow down, speed after the deceleration is 30m/min, runs to stop bit, feeds with the production system interlock, after charging is finished, continue to travel.Drive to 31# label place, turn right; When reading the 33# label, owing to be that left car is preferential,, judge whether the left side has vehicle, if there is not vehicle then to pass through so intercept by wireless earlier; Otherwise wait for.Drive to 34# label place, keep straight on, and quicken, the speed after the acceleration is 50m/min; When reading the 36# label, carry out to slow down, the speed after the deceleration is 20m/min, runs to stop bit, carries out discharging with the production system interlock, unloading after charging finishes, and continues to travel; Owing to be that this car is preferential, directly by finishing a duty cycle.The similar A dolly of the operation of B dolly.
Providing an example below is described:
More than one automatic running trolley system comprises 2 automatic running trolleys, 8 RFID label cards, and the route table configuration of 2 automatic running trolleys is shown in A dolly route table, B dolly route table.In operational process, the A dolly is carried out and is slowed down when reading the 30# label, and the speed after the deceleration is 30m/min, runs to stop bit, feeds with the production system interlock, after charging is finished, continues to travel.Drive to 31# label place, turn right; When reading the 33# label, owing to be that left car is preferential,, judge whether the left side has vehicle, if there is not vehicle then to pass through so intercept by wireless earlier; Otherwise wait for.Drive to 34# label place, keep straight on, and quicken, the speed after the acceleration is 50m/min; When reading the 36# label, carry out to slow down, the speed after the deceleration is 20m/min, runs to stop bit, carries out discharging with the production system interlock, unloading after charging finishes, and continues to travel; Owing to be that this car is preferential, directly by finishing a duty cycle.The similar A dolly of the operation of B dolly.
The above example is a kind of of concrete enforcement of the present utility model.Common variation that those skilled in the art carries out in technical solutions of the utility model and replacement all should be included in the protection domain of the present utility model.
As shown in Figure 8; the AD module of road surface magnetic stripe signal transducer and central controller is carried out direct connection; the analog signal of road surface magnetic stripe signal transducer J26 output is carried out delivering to after overvoltage protection and signal filtering are handled the defeated AD inlet of PIC18F8527 microprocessor, be converted in the digital signal by the PIC18F8527 microprocessor and handle.PIC18F8527 microprocessor not timing road pavement magnetic stripe signal transducer resets, and makes road surface magnetic stripe signal transducer working stability.RFID RFID tag card reader J16 is connected with central controller by the RS232 serial port protocol, and the inner MAX232 of employing of central controller carries out level conversion to be handled.Battery voltage signal carries out delivering to after overvoltage protection and signal filtering are handled the AD input port of PIC18F8527 microprocessor, carries out the battery status monitoring.
As shown in Figure 9, drive motor is connected with central controller by DA module and IO point, and central controller inside adopts ULN2003 to carry out level translation to the IO point, and power-handling capability is expanded.The inner DAC5573 that adopts of central controller is converted into analog signal with 8 bit-serial digital signals, realizes drive motor is carried out accuracy control.
As shown in Figure 10, eeprom memory is connected with the PIC18F8527 microprocessor by High Speed I IC data protocol.
As shown in Figure 11, wireless lan controller is connected with central controller by the RS485 serial port protocol, and the inner MAX481 of employing of central controller carries out the RS485 serial port protocol to be handled.The RFDC module is connected with central controller by the RS485 serial port protocol, and the inner MAX481 of employing of central controller carries out the RS485 serial port protocol to be handled.The RFDC module adopts the 433MHz ifd module, adopts frequency modulation technology to carry out anti-interference process, makes the data transmission of module have good stability.Man-machine massaging device is connected with central controller by the RS485 serial port protocol, and the inner MAX481 of employing of central controller carries out the RS485 serial port protocol to be handled.Reserving RS485 serial port protocol interface can be connected with function expanding module.
As shown in Figure 12, operating switch is connected with central controller by the IO point with warning device, and central controller inside adopts ULN2003 to carry out level translation to the IO point, and power-handling capability is expanded.Reserve a plurality of IO points and be connected with function expanding module, the IO point of reservation has two kinds of patterns that adopt relay output and level output.
As shown in Figure 13, the multilevel security device of system is connected with central controller by the IO point, and extraneous interfering signal is eliminated to drawing processing on the IO level point in central controller inside.
Claims (5)
1. automatic navigation dolly, constitute by car body, electric cabinet, central controller, battery pack, driver train, hitch, road surface magnetic stripe signal transducer, anticollision mechanism, the installation electric cabinet is set on car body, central controller is installed in the electric cabinet, battery pack is installed on car body, driver train is installed on car body, hitch is installed on car body, anticollision mechanism is installed on car body, road surface magnetic stripe signal transducer is installed on car body, is it is characterized in that on car body, installing road surface RFID RFID tag card reader.
2. automatic navigation dolly according to claim 1 is characterized in that road surface RFID RFID tag card reader is installed on the interior line of centers of the vertical symmetric section of car body, and road surface RFID RFID tag card reader is installed in the head or the afterbody of car body.
3. automatic navigation dolly according to claim 1, it is characterized in that central controller is main body controller with the microcontroller, the AD module of road surface magnetic stripe signal transducer and central controller is carried out direct connection, RFID RFID tag card reader is connected with central controller by the RS232 serial port protocol, safety device is connected with central controller by the IO point, wireless lan controller is connected with central controller by the RS485 serial port protocol, the RFDC module is connected with central controller by the RS485 serial port protocol, eeprom memory is connected with central controller by the IIC data protocol, drive motor is connected with central controller by DA module and IO point, man-machine massaging device is connected with central controller by the RS485 serial port protocol, and operating switch is connected with central controller by the IO point with warning device.
4. automatic navigation dolly according to claim 1 is characterized in that central controller has the expanded function of a plurality of IO points and multichannel RS485 serial port protocol interface.
5. automatic navigation dolly according to claim 1, it is characterized in that hitch is made up of top board, bearing pin, compression spring, elevator bolt, inner-hexagon spanner, spacing shim, drive wheel, hinged-support, inner-hexagon spanner is installed on the elevator bolt, compression spring is installed on the bearing pin, hinged-support is installed on the top board, top board is connected on the car body, and drive wheel is connected on the top board, and spacing shim is installed on the elevator bolt.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200920059424XU CN201494328U (en) | 2009-06-23 | 2009-06-23 | Automatic navigation trolley |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200920059424XU CN201494328U (en) | 2009-06-23 | 2009-06-23 | Automatic navigation trolley |
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| CN201494328U true CN201494328U (en) | 2010-06-02 |
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| CN200920059424XU Expired - Fee Related CN201494328U (en) | 2009-06-23 | 2009-06-23 | Automatic navigation trolley |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102765345A (en) * | 2012-07-23 | 2012-11-07 | 梁倬睿 | Automatic road transporting device |
| CN103268116A (en) * | 2013-04-17 | 2013-08-28 | 无锡普智联科高新技术有限公司 | Complex magnetic marker correction-based deviation rectification control system and method for automatic guided vehicle (AGV) |
| CN105396295A (en) * | 2015-11-17 | 2016-03-16 | 卢军 | Space programming robot toy for children |
| CN105550676A (en) * | 2016-02-03 | 2016-05-04 | 天津市乐图软件科技有限公司 | Logistics delivery vehicle trace tracking method based on linearity CCD |
| CN106494259A (en) * | 2016-12-27 | 2017-03-15 | 山东泰开机器人有限公司 | Modularity AGV intelligent navigation vehicle control system |
-
2009
- 2009-06-23 CN CN200920059424XU patent/CN201494328U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102765345A (en) * | 2012-07-23 | 2012-11-07 | 梁倬睿 | Automatic road transporting device |
| CN103268116A (en) * | 2013-04-17 | 2013-08-28 | 无锡普智联科高新技术有限公司 | Complex magnetic marker correction-based deviation rectification control system and method for automatic guided vehicle (AGV) |
| CN103268116B (en) * | 2013-04-17 | 2015-02-18 | 无锡普智联科高新技术有限公司 | Complex magnetic marker correction-based deviation rectification control method for automatic guided vehicle (AGV) |
| CN105396295A (en) * | 2015-11-17 | 2016-03-16 | 卢军 | Space programming robot toy for children |
| CN105396295B (en) * | 2015-11-17 | 2018-07-17 | 卢军 | A kind of space programming robot toy towards children |
| CN105550676A (en) * | 2016-02-03 | 2016-05-04 | 天津市乐图软件科技有限公司 | Logistics delivery vehicle trace tracking method based on linearity CCD |
| CN106494259A (en) * | 2016-12-27 | 2017-03-15 | 山东泰开机器人有限公司 | Modularity AGV intelligent navigation vehicle control system |
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Denomination of utility model: Automatic guided vehicle capable of moving in all directions Effective date of registration: 20121221 Granted publication date: 20100602 Pledgee: Bank of China, Limited by Share Ltd, Guangzhou, Panyu branch Pledgor: Guangzhou JingYuan Mechano-Electric Equipment Co., Ltd. Registration number: 2012990000833 |
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Date of cancellation: 20140421 Granted publication date: 20100602 Pledgee: Bank of China, Limited by Share Ltd, Guangzhou, Panyu branch Pledgor: Guangzhou JingYuan Mechano-Electric Equipment Co., Ltd. Registration number: 2012990000833 |
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| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of utility model: Automatic guided vehicle capable of moving in all directions Effective date of registration: 20140422 Granted publication date: 20100602 Pledgee: Bank of China, Limited by Share Ltd, Guangzhou, Panyu branch Pledgor: Guangzhou JingYuan Mechano-Electric Equipment Co., Ltd. Registration number: 2014990000284 |
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