CN202795056U - AGV (automatic guided vehicle) infrared light electric guide device - Google Patents
AGV (automatic guided vehicle) infrared light electric guide device Download PDFInfo
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- CN202795056U CN202795056U CN 201220469698 CN201220469698U CN202795056U CN 202795056 U CN202795056 U CN 202795056U CN 201220469698 CN201220469698 CN 201220469698 CN 201220469698 U CN201220469698 U CN 201220469698U CN 202795056 U CN202795056 U CN 202795056U
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Abstract
The utility model relates to an AGV (automatic guided vehicle) infrared light electric guide device. A decoder is connected onto a main control unit and connected with a buffer driver, a light intensity adjustable resistor is arranged on the buffer driver, the buffer driver is connected with an infrared transmitter through a scanning indicator lamp, an infrared receiver receives reflected infrared signals, the infrared signals are connected into the main control unit through a voltage comparator, a voltage adjusting resistor is arranged on the voltage comparator, and acquired path information is transmitted by a communication serial port on the main control unit. The infrared light electric guide device realizes calculation and distance measurement for a guide tape with an optional width by detecting offset of a vehicle body relative to a guide path, a single trip point in the middle of a sensor is detected and removed, offset of partial regions of the sensor relative to the guide path is detected, and actual offset is measured. The receiving strength of infrared rays is adjusted, the infrared rays with different light intensities are detected, and different guide paths of reflective materials can be detected.
Description
Technical field
The utility model relates to a kind of homing guidance equipment, relates in particular to a kind of AGV infrared electro guide piece.
Background technology
Existing AGV automatical pilot transportation vehicle mostly adopts the guidance technologies such as laser guiding, inertial guide, electromagnetism guiding, the guiding of magnetic nail.Calculate current position and routing information according to the data message that collects, and calculate corresponding controlled quentity controlled variable according to the position that calculates and routing information, and output controls voltage to servo controller, control electric machine rotation and travel mechanism operation, thus reach the purpose of path trace.Particularly for the demanding AGV of control accuracy, the routing information of collection and the analysis of algorithm directly determine the height of AGV control accuracy.Therefore precision is high, cost is low, application and structure easily position detecting device be the prerequisite of the unmanned transport vehicle of research and development.
Application number is that 200810050826.3 Chinese patent discloses a kind of device of magnetic guide sensor and to the collecting method of orbit information, magnetic guide sensor is comprised of n the magnetic detecting element that equidistantly distributes that is arranged in parallel, each different magnetic cell represents the difference of Detection task, comprise the detection of environment magnetic, orientation magnetic detection, temperature detection etc., realize detection to routing information thereby the magnetic signal that detects used that hall device amplifies and send to control module by communication port.
Application number be 200520022576.4 Chinese patent a kind of guidance device with position detecting function is disclosed, a pair of SYMMETRIC ELECTROMAGNETIC chi by being installed in AGV transport vehicle bottom to the setting of transport vehicle driving path about the detection of two row magnetic nail determine the positional information of AGV, thereby reach the purpose of control AGV guiding.
Utilize laser scanning head to send laser signal, need to the reflector collection signal be installed in the arranged around in path, and at Laser Slabs and reflector the existence of barrier can not be arranged directly, high, great in constructing amount to the requirement of environment on the whole, cost is high.
The difference that the electromagnetic guiding device utilization is embedded in the electromagnetic frequency that the following calutron in road surface produces realizes the control to the AGV guiding, but be embedded in underground electromagnetism steering tape and when changing the path, can bring greatly inconvenience, and in the position of burying route underground, the planarization on road surface and presentation quality all will be subject to impact in various degree, and the electromagnetic interference (EMI) that the electrical equipment in workshop produces all will produce on the precision of collection signal greatly impact.
The inertial guide Technology Need arranges gyroscope at AGV, and gyroscope need to can be worked under constant temperature, so just needs to increase a cover thermostatic equipment, and structure is extremely complicated.
Summary of the invention
The purpose of this utility model provides and a kind ofly is applied in the logistics transportation system automatic guided vehicle signal processing and analysis and controls the optical navigation pick-up unit of automatic guided vehicle tracking.
The purpose of this utility model is achieved through the following technical solutions:
AGV infrared electro guide piece, characteristics are: comprise infrared transmitter, infrared remote receiver, buffering driver and main control unit, infrared remote receiver accesses to main control unit through voltage comparator, voltage comparator is provided with voltage-regulation resistance, connect code translator on the main control unit, code translator connects buffering driver, and buffering driver is provided with the light intensity adjustable resistance, buffering driver connects infrared transmitter through the scanning pilot lamp, and main control unit is provided with communication serial port.
Further, above-mentioned AGV infrared electro guide piece, wherein, described main control unit is provided with start stop switch and reset switch.
Further, above-mentioned AGV infrared electro guide piece, wherein, described infrared transmitter is comprised of two rows infrared transmitting tube spaced apart.
Again further, above-mentioned AGV infrared electro guide piece, wherein, described infrared remote receiver is comprised of row infrared receiving tube spaced apart.
Again further, above-mentioned AGV infrared electro guide piece, wherein, it is the chip of STC11F04E that described main control unit adopts model.
The substantive distinguishing features of technical solutions of the utility model and progressive being mainly reflected in:
The utility model infrared electro guide piece is to the detection of the side-play amount of the relative guided path of car body, can realize calculating and range finding to the steering tape of any width, single trip point in the middle of the sensor is detected, and dispel trip point, guide path is departed from the Sensor section zone detect, and measure real offset.To the adjusting of the receiving intensity of Infrared, thereby realize detection to the Infrared of different light intensity, and then can all can realize detecting to the different guide path of reflectorized material.Infrared photoelectric sensor setting can start shutdown switch, can start as required stop sensor, thereby reduces the time of scanning, prolongs the serviceable life of sensor.The layout of sensor adopts the layout type of M type, and tail end employing arcuate structure, thereby also can realize accurate collection to the routing information of corner when turning, thereby improves the precision of path detection.
Description of drawings
Below in conjunction with accompanying drawing technical solutions of the utility model are described further:
Fig. 1: organigram of the present utility model;
Fig. 2: the layout synoptic diagram of infrared transmitter and infrared remote receiver.
Embodiment
As shown in Figure 1, AGV infrared electro guide piece, comprise infrared transmitter 12, infrared remote receiver 8, buffering driver 9 and main control unit 4, infrared remote receiver 8 accesses to main control unit 4 through voltage comparator 7, it is the chip of STC11F04E that main control unit 4 adopts model, voltage comparator 7 is provided with voltage-regulation resistance 6, connect code translator 5 on the main control unit 4, code translator 5 connects buffering driver 9, buffering driver 9 is provided with light intensity adjustable resistance 10, buffering driver 9 connects infrared transmitter 12 through scanning pilot lamp 11, main control unit 4 is provided with communication serial port 1, start stop switch 2 and reset switch 3, as shown in Figure 2, infrared transmitter 12 is comprised of two rows infrared transmitting tube 13 spaced apart, and infrared remote receiver 8 is comprised of row infrared receiving tube 14 spaced apart.
When measuring route information, at first start start stop switch 2, plugged, main control unit 4 sends sweep signal, sweep signal is through sending to buffering driver 9 after code translator 5 decodings, drive infrared transmitter 12 emission Infrared after the voltage-regulation through buffering driver 9, light scanning pilot lamp 11, as the indicator signal of lighting of infrared remote receiver 8, reflective guide path is with the infrared electro signal reflex that receives, and infrared remote receiver 8 receives infrared signal and is converted to electric signal, by voltage comparator 7 relatively after, if voltage is higher than the peak value of comparative voltage, thereby then send out high level conducting receiving circuit, otherwise send low level.4 pairs of receiving circuit pin voltage of main control unit scan detection, then the voltage signal that detects are converted to digital signal by main control unit 4 and send by communication serial port; When scanning pilot lamp 11 is lighted, but infrared remote receiver 8 does not receive voltage signal, then regulating 10 pairs of light intensity of light intensity adjustable resistance regulates, thereby the receiving circuit forward voltage is reached in the detectable scope, equally, in detecting the process of Infrared, conversion can occur in the reflection strength of the variation light of surrounding environment thereupon, by to the adjusting of light intensity adjustable resistance 10 adjusting to light intensity; The intensity of different light is different, and the photoelectric effect of generation also is different, and the voltage of conducting also is different, when the material of guide path changes, the voltage-regulation resistance 6 of regulation voltage comparer changes the measurement range of voltage, realizes the guide path of different materials is detected.
The infrared electro guide piece of AGV, it is installed in the bottom of the rear and front end of AGV transport vehicle, infrared transmitter 12 emission Infrared by its device and infrared remote receiver 8 received spot sequence are determined the positional information of the relative guided path of AGV, positional information and the control panel of the AGV that obtains communicate, thereby control AGV is along the guide path tracking.It is easy to have simple and reliable for structure, calculating simplicity, design and change the path, and to advantages such as the applicable ability of environment are strong, is particularly suitable for being applied to the path detection of the motor dolly in automated production workshop.
The power valve of infrared electro orientation sensor and receiving tube layout are as shown in Figure 2, the layout of the layout straggly of the diode that adopts can make infrared receiving tube 14 fully receive the light of infrared transmitting tube 13, empennage with certain radian can fully scan reflective steering tape in the process of turning, after the infrared power valve 13 emission infrared rays process emissions of reflective tape, infrared receiving tube 14 receives the photoelectricity sequence through the processing of main control unit, can obtain positional information.
About eight photodiodes respectively with master control borad on the voltage comparator of controller interconnect, voltage comparator sends to the voltage signal that collects the pin of master control borad, whether master control borad detects conducting by the scanning to pin, by above-mentioned a series of conversion, can be digital signal with analog signal conversion.
Detection to the steering tape width, before starting guide vehicle, start first the photoelectricity orientation sensor, because in initialized position, AGV is in the central authorities of guide wire, so the photoelectricity orientation sensor be in steering tape directly over, and the both sides of steering tape are all within the scope of photoelectricity orientation sensor, so the reflected light that receives according to the photoelectricity orientation sensor calculates the width of steering tape.
The left side lamp of photoelectric sensor is a through the number of lighting of guide wire reflected voltage, and the number that the starboard light of photoelectricity orientation sensor is lighted through the guide wire reflected voltage is b,
Distance L=the a+b of reflective steering tape, L herein are the number that photoelectric receiving diode is lit, and namely the width of steering tape is weighed by the number of photoelectric receiving tube,
To the detection of single saltus step dim spot in the steering tape reflection photoelectricity, and remove,
The method that this kind removed dim spot all adopts in following situation;
The reflection photoelectricity that receives the photodiode generation is being scanned in the process of detection, getting left side photodiode is example, if L[I] lamp lights, and L[I+1] individual lamp do not light, L[I+2] individual lamp lights, then can think herein L[I+1] individual lamp should be lit, but not be lit; L[I+1 herein then] be considered as single saltus step dim spot, when calculating, it is considered as lighting;
In like manner, when this kind situation appears in the right photodiode, also remove single saltus step dim spot with this kind method;
When steering tape all being within the scope of infrared electro orientation sensor to the measurement of offset distance,
The number that the left side lamp of infrared photoelectric sensor is lighted through the guide wire reflected voltage is I, and the number that the lamp on the right side of infrared electro orientation sensor is lighted through the guided path reflected voltage is J, and according to shown in Figure 2 each beacon light of lighting is write down;
Can calculate offset information by weight (W) and positional information (X) to the Position Number of sensor;
The weight that the sensor receiving tube from left to right of sensor is set is respectively (L7 ,-7), (L6 ,-6), (L5,-5), (L4 ,-4), (L3 ,-3), (L2 ,-2), (L1 ,-1), (L0,0), (R0,0), (R1,1), (R2,2), (R3,3), (R4,4), (R5,5), (R6,6), (R7,7), position X is respectively-7, ,-6,-5 ,-4 ,-3 ,-2 ,-1,0,0,1,2,3,4,5,6,7, then can just calculate side-play amount by following weight formula;
X=L7+L6+L5+L4+L3+L2+L1+L0+R0+R1+R2+R3+R4+R5+R6+R7 （2）
E=W/X （3）
Error=E （4）
The offset distance Δ d=Error * d of photoelectricity orientation sensor then, wherein d is two distances between the photoelectric receiving diode, is a fixed value;
Wherein Δ d is that the negative number representation photoelectric sensor is offset left, represents the skew of photoelectric sensor to the right when Δ d is positive number, and in like manner, the offset distance of guide vehicle is the distance of photoelectric sensor;
Lighting number when the diode of photoelectric sensor the right is R1, when the number that light on the left side is 0, is partial to the left side of steering tape if the numerical value of R1 less than L the time, illustrate the photoelectricity orientation sensor, according to shown in Figure 2 each beacon light of lighting is write down;
The zone bit R[i of the diode of lighting in the leftmost side of sensor right side diode is set], then can set the lamp of lighting in the rightmost side is R[i+L],
Then the offset distance of infrared seeker sensor is Δ d=[-i-(i+L)] * d, wherein d is two distances between the photoelectric receiving diode, is a fixed value;
In like manner, lighting number when infrared orientation sensor left side diode is L1, and the number that light on the right side is when being 0, if the numerical value of L1 is less than L the time, the right side of photoelectric guide sensor deflection steering tape is described, according to shown in Figure 2 each beacon light of lighting is write down;
The zone bit L[i of the diode of lighting in the rightmost side of sensor left side diode is set], then can set the lamp of lighting in the leftmost side is L[i+L],
Then the offset distance of infrared seeker sensor is Δ d=[i+ (i+L)] * d, wherein d is two distances between the photoelectric receiving diode, is a fixed value;
Removal to the trip point that collects;
In the ranging process of infrared sensor, if the conversion of range finding is that distance take single-sensor is as the unit saltus step, if Δ d[i+1]=Δ d[i] ± d, then the data that read of sensor are smooth transformations, if Δ d conversion is excessive it is considered as external disturbance it is removed.
Through the processing of above-mentioned algorithm, the data stabilization that obtains is reliable, can be used as the guiding reference data of guide vehicle.
In sum, the utility model infrared electro guide piece is to the detection of the side-play amount of the relative guided path of car body, can realize calculating and range finding to the steering tape of any width, single trip point in the middle of the sensor is detected, and dispel trip point, guide path is departed from the Sensor section zone detect, and measure real offset.To the adjusting of the receiving intensity of Infrared, thereby realize detection to the Infrared of different light intensity, and then can all can realize detecting to the different guide path of reflectorized material.Infrared photoelectric sensor setting can start shutdown switch, can start as required stop sensor, thereby reduces the time of scanning, prolongs the serviceable life of sensor.The layout of sensor adopts the layout type of M type, and tail end employing arcuate structure, thereby also can realize accurate collection to the routing information of corner when turning, thereby improves the precision of path detection.
It is emphasized that: above only is preferred embodiment of the present utility model, be not that the utility model is done any pro forma restriction, every foundation technical spirit of the present utility model all still belongs in the scope of technical solutions of the utility model any simple modification, equivalent variations and modification that above embodiment does.
Claims (5)
1. AGV infrared electro guide piece, it is characterized in that: comprise infrared transmitter (12), infrared remote receiver (8), buffering driver (9) and main control unit (4), infrared remote receiver (8) accesses to main control unit (4) through voltage comparator (7), voltage comparator (7) is provided with voltage-regulation resistance (6), the upper code translator (5) that connects of main control unit (4), code translator (5) connects buffering driver (9), buffering driver (9) is provided with light intensity adjustable resistance (10), buffering driver (9) connects infrared transmitter (12) through scanning pilot lamp (11), and main control unit (4) is provided with communication serial port (1).
2. AGV infrared electro guide piece according to claim 1, it is characterized in that: described main control unit (4) is provided with start stop switch (2) and reset switch (3).
3. AGV infrared electro guide piece according to claim 1 is characterized in that: described infrared transmitter (12) is comprised of two rows infrared transmitting tube spaced apart.
4. AGV infrared electro guide piece according to claim 1 is characterized in that: described infrared remote receiver (8) is comprised of row infrared receiving tube spaced apart.
5. AGV infrared electro guide piece according to claim 1 is characterized in that: it is the chip of STC11F04E that described main control unit (4) adopts model.
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| Application Number | Priority Date | Filing Date | Title |
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| CN 201220469698 CN202795056U (en) | 2012-09-14 | 2012-09-14 | AGV (automatic guided vehicle) infrared light electric guide device |
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| CN 201220469698 CN202795056U (en) | 2012-09-14 | 2012-09-14 | AGV (automatic guided vehicle) infrared light electric guide device |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103645738A (en) * | 2013-12-20 | 2014-03-19 | 江苏清弘物联网股份有限公司 | Miniature car model navigation method |
| CN106247942A (en) * | 2016-09-21 | 2016-12-21 | 深圳职业技术学院 | Infrared accurate measurement instrument device |
| CN107091647A (en) * | 2017-04-26 | 2017-08-25 | 深圳市招科智控科技有限公司 | Harbour container level carries unmanned vehicle navigation method |
| CN107430405A (en) * | 2015-03-23 | 2017-12-01 | 富士机械制造株式会社 | Moving body |
| CN107561985A (en) * | 2017-09-05 | 2018-01-09 | 天津朗誉科技发展有限公司 | A kind of technical grade wire body docks communication sensor |
| CN107765696A (en) * | 2017-12-05 | 2018-03-06 | 哈尔滨工业大学（威海） | A kind of bus type AGV photoelectric guide controllers |
| WO2018082413A1 (en) * | 2016-11-06 | 2018-05-11 | 杨国强 | Guide rail-based positioned guiding system and method |
| CN109643122A (en) * | 2016-08-26 | 2019-04-16 | 夏普株式会社 | Automatic travelling device and automatically walk system |
| CN111103829A (en) * | 2019-12-11 | 2020-05-05 | 旋智电子科技（上海）有限公司 | Motor control device and method |
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2012
- 2012-09-14 CN CN 201220469698 patent/CN202795056U/en not_active Expired - Fee Related
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103645738A (en) * | 2013-12-20 | 2014-03-19 | 江苏清弘物联网股份有限公司 | Miniature car model navigation method |
| CN103645738B (en) * | 2013-12-20 | 2016-06-29 | 江苏清弘物联网股份有限公司 | A kind of Miniature car model navigation method |
| CN107430405A (en) * | 2015-03-23 | 2017-12-01 | 富士机械制造株式会社 | Moving body |
| CN109643122A (en) * | 2016-08-26 | 2019-04-16 | 夏普株式会社 | Automatic travelling device and automatically walk system |
| CN106247942A (en) * | 2016-09-21 | 2016-12-21 | 深圳职业技术学院 | Infrared accurate measurement instrument device |
| WO2018082413A1 (en) * | 2016-11-06 | 2018-05-11 | 杨国强 | Guide rail-based positioned guiding system and method |
| CN107091647A (en) * | 2017-04-26 | 2017-08-25 | 深圳市招科智控科技有限公司 | Harbour container level carries unmanned vehicle navigation method |
| CN107091647B (en) * | 2017-04-26 | 2020-04-21 | 深圳市招科智控科技有限公司 | Navigation method for horizontally carrying unmanned vehicle by port container |
| CN107561985A (en) * | 2017-09-05 | 2018-01-09 | 天津朗誉科技发展有限公司 | A kind of technical grade wire body docks communication sensor |
| CN107765696A (en) * | 2017-12-05 | 2018-03-06 | 哈尔滨工业大学（威海） | A kind of bus type AGV photoelectric guide controllers |
| CN111103829A (en) * | 2019-12-11 | 2020-05-05 | 旋智电子科技（上海）有限公司 | Motor control device and method |
| CN111103829B (en) * | 2019-12-11 | 2024-05-17 | 旋智电子科技（上海）有限公司 | Motor control device and method |
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