CN203038107U - One-machine driven manual loading and unloading AGV control system - Google Patents
One-machine driven manual loading and unloading AGV control system Download PDFInfo
- Publication number
- CN203038107U CN203038107U CN 201220476274 CN201220476274U CN203038107U CN 203038107 U CN203038107 U CN 203038107U CN 201220476274 CN201220476274 CN 201220476274 CN 201220476274 U CN201220476274 U CN 201220476274U CN 203038107 U CN203038107 U CN 203038107U
- Authority
- CN
- China
- Prior art keywords
- module
- agv
- processor
- control system
- motor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Images
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The utility model discloses a one-machine driven manual loading and unloading AGV control system, comprising a processor unit, a controller, a first motor, a second motor, and an AGV vehicle. The processor unit sends out control signals to the controller, and the controller divides control signals into a first drive signal and a second drive signal. The first drive signal and the second drive signal respectively control the second motor and the first motor. The first motor controls speed of the AGV vehicle. The second motor controls directions of the AGV vehicle. In order to improve operation speed and ensure stability and reliability of an AGV system, a DSP processor in the processor unit is added with a FPGA processor, forming a dual-core processor based on DSP+FPGA, thereby realizing independent control of speed and directions of the AGV vehicle, effectively preventing phenomenon of flywheel, and greatly improving antijamming capability.
Description
Technical field
The utility model relates to automatic guided vehicle (AGV, Automated Guided Vehicle) technical field, and particularly drives artificial loading and unloading AGV control system relevant for unit.
Background technology
Automatic guided vehicle (Automated Guided Vehicle; be called for short AGV); refer to be equipped with homing guidance devices such as electromagnetism or optics; can travel along the guide path of regulation; transport vehicle with safeguard protection and various transfer functions does not need the driver and provides power resources with chargeable storage for it in the commercial Application.Generally can see through computer and control its course and behavior, or utilize electromagnetic path to set up its course, electromagnetic path sticks on the floor, and the information that automatic guided vehicle then follows electromagnetic path to bring moves and moves.
The AGV dolly with respect to walking, creep or other non-wheeled mobile robot has that action is quick, high efficiency, simple in structure, advantage such as controllability is strong, security is good.Compare with other equipment commonly used in the mass transport, the zone of action of AGV dolly need not to lay stationary installations such as track, a mounting, is not subjected to the restriction in place, road and space.
General common AGV dolly all has its motion of two motor-driven, by its X coordinate and Y coordinate in the plane of two Electric Machine Control, and has two universal wheels one of them or two to regulate its stability, arrives behind the website by artificial handling goods.
Existing AGV control system all is that (digital signal processor, DSP) control form four-wheel differentia and turns to and travel, and as shown in Figure 1, are the block scheme of the AGV control system of prior art by the individual digit signal processor basically.
In the prior art, general A GV control system comprises battery, dsp processor, first controller, second controller, first motor, second motor, signal processor and AGV dolly.Battery is electric supply installation, for whole system operation provides operating voltage.The built-in control system of dsp processor, and send and control signal to first controller and second controller, first controller and second controller are controlled the work of second motor and first motor respectively, and first motor and second motor are respectively applied to drive the AGV dolly again and move.Wherein, after the driving signal of first motor and second motor is synthetic through signal processor, the motion of control AGV dolly.
For a long time, find that traditional AGV control system exists a lot of potential safety hazards, comprising:
(1) because the AGV dolly brakes frequently and starts, increased the weight of the workload of dsp processor, the dsp processor of monolithic can't be considered the state of battery, makes the AGV control system energy can not get optimal utilization;
(2) owing to disturbed by the surrounding environment labile factor, the dsp processor of monolithic occurs unusual through regular meeting, causes out of controlly, and antijamming capability is relatively poor;
(3) for the four-wheel structure of AGV dolly, perfect condition generally is that two drive motor cooperate an engaged wheel to form a plane of movement, but when running into the motion path out-of-flatness, often run into two engaged wheels and cooperate a driving wheel running, the phenomenon that at this moment will cause dolly " flywheel " to occur takes place, this instrument or the product on every side that generally can break out of control;
(4) because will handling the differential of two motors of speed control signal formation of two motors simultaneously, dsp processor adjusts AGV dolly speed and direction in the plane, speed and direction are the amounts of two couplings like this, all difficult for the accurate control that realizes final speed and direction, need adjustment for a long time sometimes;
(5) the AGV dolly of controlling for differential, generally require the control signal of two motor to want synchronously, but for the dsp processor of monolithic, be difficult to again accomplish, make the compensation that the AGV dolly will be back and forth when straight way travels, and rocking tendency is bigger sometimes;
(6) dsp processor of monolithic is difficult to the requirement of competent many signal processing systems, in order to satisfy the requirement of two motors, the AGV dolly of the dsp processor control of monolithic is normally realized the high-speed a/d sampling to solve at the different integrated circuit board of polylith with signal processing function, and this brings a lot of inconvenience to practical application;
(7) because the AGV control system does not possess the independent control of speed and direction, so the AGV dolly does not arrange website at bend generally speaking, can not satisfy the path that some have the turning;
(8) because two optical code disks that test the speed are to be contained on the driving wheel, cause when " flywheel " occurring, can't finishing the various compensation of AGV control system.
Therefore, need redesign existing AGV controller based on monolithic DSP control.
The utility model content
At the problems referred to above, the purpose of this utility model provides a kind of unit and drives artificial loading and unloading AGV control system, has solved in the prior art phenomenon of " flywheel " and the problem of poor anti jamming capability.
For solving the problems of the technologies described above, the technical scheme that the utility model adopts is: provide a kind of unit to drive artificial loading and unloading AGV control system, comprise processor unit, controller, first motor, second motor and AGV dolly, described processor unit sends and controls signal to described controller, by described controller control signal is divided into first and drives signal and the second driving signal, the described first driving signal and second drives signal and controls described second motor and first motor respectively, by the speed of the first described Electric Machine Control AGV dolly, the direction of the second described Electric Machine Control AGV dolly.
In preferred embodiment of the utility model, described processor unit is a dual core processor, comprise dsp processor, FPGA processor and be located at dsp processor and the master system of FPGA processor and kinetic control system, described master system comprises human-computer interface module, path planning module and online output module, described kinetic control system comprises the servocontrol module, data memory module and I/O control module, wherein, dsp processor is used for the control human-computer interface module, path planning module, online output module, data memory module and I/O control module, the FPGA processor is used for control servocontrol module, and carries out exchanges data between dsp processor and the FPGA processor in real time and call.
In preferred embodiment of the utility model, described AGV control system also comprises battery, described battery further is connected with the output terminal of first motor with second motor, and processor unit further is connected to tie point between first motor output end and the battery and the tie point between second motor output end and the battery respectively.
In preferred embodiment of the utility model, described servocontrol module also comprises modular converter, and described modular converter comprises analog-digital converter and digital analog converter.
Whether in preferred embodiment of the utility model, described servocontrol module also comprises coder module, and described coder module judges whether to meet rate request for detection of AGV dolly actual speed, too fast or slow excessively, and sends control signal.
In preferred embodiment of the utility model, described servocontrol module also comprises current module, and the output power that described current module is used for the adjustment battery reaches the scope that the AGV dolly needs.
In preferred embodiment of the utility model, described servocontrol module also comprises the speed module, described speed module is connected with the coder module communication, too fast or slow excessively when coder module detection AGV dolly actual speed, the speed module is regulated AGV dolly actual speed according to the result that coder module detects.
In preferred embodiment of the utility model, described servocontrol module also comprises displacement module, and whether described displacement module arrives at a station for detection of the AGV dolly, whether arrives set displacement, if slow excessively, sends assisted instruction to controller; If close to set displacement excessively, need to slow down, then send deceleration instruction to controller.
In preferred embodiment of the utility model, described AGV dolly comprises navigation sensor, the place ahead obstacle sensor, left and right side obstacle sensor, speed pickup, website sensor and reverse sensor, whether described navigation sensor judges the AGV dolly in the center line operation, and adjusts the AGV dolly at suitable run location.
Unit of the present utility model drives artificial loading and unloading AGV control system, in order to improve arithmetic speed, guarantee stability and the reliability of AGV system, the utility model is introduced the FPGA processor in the dsp processor of processor unit, formation is based on the dual core processor of DSP+FPGA, the multi controller systems that this processor unit is realized the dsp processor of original monolithic is concentrated design, and take into full account battery in the effect of this system, realized the independent control of the little vehicle speed of AGV and direction, and two its speed of different Electric Machine Control and direction arranged, giving the FPGA processor servocontrol module of workload maximum in the AGV control system handles, give full play to FPGA processor data processing speed characteristics faster, and human-computer interface module, path planning module, online output module, data memory module and I/O control module are given dsp processor control, so just realized the division of labor of dsp processor and FPGA processor, dsp processor is freed from the hard work amount, prevent the generation of " flywheel " phenomenon effectively, antijamming capability strengthens greatly.
Description of drawings
Fig. 1 is the block scheme of the AGV control system of prior art;
Fig. 2 is the block scheme that the unit of the utility model preferred embodiment drives artificial loading and unloading AGV control system;
Fig. 3 is the block scheme of processor unit among Fig. 2;
Fig. 4 is that the unit of the utility model preferred embodiment drives artificial loading and unloading AGV control system application synoptic diagram.
Embodiment
Below in conjunction with accompanying drawing preferred embodiment of the present utility model is described in detail, thereby so that advantage of the present utility model and feature can be easier to be it will be appreciated by those skilled in the art that protection domain of the present utility model is made more explicit defining.
As shown in Figure 2, drive the block scheme of artificial loading and unloading AGV control system for the unit of the utility model preferred embodiment.In the present embodiment, unit drives artificial loading and unloading AGV control system and comprises battery, processor unit, controller, first motor, second motor and AGV dolly.Wherein, described battery is lead-acid battery, is a kind of electric supply installation, for whole system operation provides operating voltage.Battery further is connected with the output terminal of first motor with second motor, and processor unit further is connected to tie point between first motor output end and the battery and the tie point between second motor output end and the battery respectively.
The built-in control system of processor unit described in the utility model and control circuit, described processor unit sends and controls signal to described controller, by described controller control signal is divided into first and drives signal and the second driving signal, described first drives signal and second drives the work that signal is controlled described second motor and first motor respectively, and first motor is respectively applied to drive the motion that the AGV dolly of being located at the AGV car body carries out directions X (level) and Y-direction (vertical) again with second motor.By the speed of the first described Electric Machine Control AGV dolly, the direction of the second described Electric Machine Control AGV dolly has realized the independent control of the little vehicle speed of AGV and direction in the utility model.
The utility model is the requirement that the dsp processor that overcomes monolithic can not satisfy stability and the rapidity of AGV control system, the mode of operation of having given up the dsp processor of AGV monolithic that control system adopts provides the brand-new control model based on the DSP+FPGA processor.Processor unit serves as to handle core with the FPGA processor, realize the real-time processing of digital signal, dsp processor is freed in the middle of the work of complexity, realize the signal processing algorithm of part and the steering logic of FPGA processor, and realization data communication and storage live signal are interrupted in response.
See also Fig. 3, described processor unit is a dual core processor, and it comprises dsp processor and FPGA processor, and the two communication is mutually carried out exchanges data in real time and called.Described processor unit also comprises master system and the kinetic control system of being located at dsp processor and FPGA processor, described master system comprises human-computer interface module, path planning module and online output module, described kinetic control system comprises servocontrol module, data memory module and I/O control module, wherein, dsp processor is used for control human-computer interface module, path planning module, online output module, data memory module and I/O control module, and the FPGA processor is used for control servocontrol module.
Master system comprises human-computer interface module, path planning module and online output module.Human-computer interface module comprises and begins/restart button and function selecting key; Path planning module comprises the speed that has preset, acceleration, parameter settings such as position; Online output module is used for the duty of prompting AGV dolly, such as being in the AGV dolly course of work or the condition prompting that arrives at a station.
Kinetic control system comprises servocontrol module, data memory module and I/O control module.Wherein, data memory module is a storer; The I/O control module comprises RS-232 serial line interface, ICE port etc.The servocontrol module further comprises modular converter, coder module, current module, speed module and displacement module.
Wherein, described modular converter comprises analog-digital converter (ADC, Analog to Digital Converter) and digital analog converter (DAC, Digital to Analog Converter); Whether described coder module judges whether to meet rate request for detection of AGV dolly actual speed, too fast or slow excessively, and sends control signal.
Described current module is connected with controller, modular converter with battery.Modular converter is according to the electric current of battery and controller, and the output power that judgment task power, and power condition fed back to battery, current module are used for adjusting battery reaches the scope that the AGV dolly needs.
Described speed module is connected with the coder module communication, and too fast or slow excessively when coder module detection AGV dolly actual speed, the speed module is regulated AGV dolly actual speed according to the result that coder module detects.
Whether described displacement module detects the AGV dolly and arrives at a station, and whether arrives set displacement, if slow excessively, sends assisted instruction to controller; If close to set displacement excessively, need to slow down, then send deceleration instruction to controller.
Be a dual core processor for processor unit, under the power supply opening state, earlier by human-computer interface module work, select to determine the path planning of AGV dolly again according to the function of human-computer interface module, the navigation sensor of AGV dolly, the place ahead obstacle sensor, left and right side obstacle sensor transmits parameter to the dsp processor in the processor unit according to actual navigational environment, dsp processor is handled back and the communication of FPGA processor, handled the servocontrol module of first motor and second motor then by the FPGA processor, and give dsp processor the deal with data communication, continue to handle follow-up running status by dsp processor.
In conjunction with above description, master system comprises human-computer interface module, path planning module, online output module; Kinetic control system comprises servocontrol module, data memory module, I/O control module.Wherein, the servocontrol module of workload maximum is given the control of FPGA processor, remaining comprises that whole modules of master system give dsp processor control, so just realized the division of labor of dsp processor and FPGA processor, also can carry out communication between the two simultaneously, carry out exchanges data in real time and call.
AGV dolly in the utility model comprises a driving wheel, two engaged wheels, a plurality of sensor and collision avoidance systems, and optical code disk all is installed on the described engaged wheel.Wherein, described sensor comprises navigation sensor, the place ahead obstacle sensor, left and right side obstacle sensor, speed pickup, website sensor and reverse sensor, whether described navigation sensor judges the AGV dolly in the center line operation, and adjusts the AGV dolly at suitable run location.
As shown in Figure 4, in the present embodiment, comprise the sensor of label S1, S2, S3, S4, S6, S7, S8, S9, S10, S11, S12, S13, S14, S18, S19, S20 representative, it is located at the different parts of AGV dolly.Wherein, sensor S1, S2, S3, S4 are navigation sensor, whether judge the AGV dolly in the center line operation, and adjustment AGV dolly is at suitable run location; Sensor S9, S10 are that the place ahead obstacle sensor and the sensor S8 that are located at AGV dolly the place ahead are the side obstacle sensor of being located at AGV dolly side; The sensor S7 that is located at the AGV dolly is speed pickup; The sensor S6 that is located at the AGV dolly is the website sensor, and it is used for realizing the function of displacement module; Sensor S11, S12, S13, S14, S18, S19, S20 are reverse sensor, are used for the direction of motion of transposing first motor and second motor.Website 1 ~ n among the figure and charging zone are the reflection units of being located at ground, and the sensor can cooperate reflection unit to assist the motion of AGV dolly.
Its concrete function is achieved as follows:
1) before the AGV dolly is not received order, its general order that can wait for that controller sends in the zone of charging is in case after receiving task, meeting enters goods along the track on the charging regional edge and transports track;
3) after the injection of AGV dolly, sensor S9, the S10 in its place ahead and side sensor S8 can judge surrounding environment, defining does not have barrier to enter range of operation, as exist barrier to send interrupt request to dsp processor, dsp processor can be to interrupting doing very first time response, if the interrupt response of dsp processor does not have enough time to handle, the collision avoidance system on the AGV dolly will be triggered, and then reach the function that keeps in obscurity; If there is not barrier to enter range of operation, the AGV dolly will carry out normal state operation;
4) when the injection of AGV dolly normally moves, dsp processor can be sent the travel speed size of AGV dolly according to the actual motion environment, and the velocity magnitude of two engaged wheels of coming according to collection, after dsp processor and the communication of FPGA processor, generate concrete PWM ripple by the FPGA processor and control first motor, thereby regulate the speed of AGV trolley travelling;
5) meet the requirements of under the condition in AGV dolly injection normal running speed, its navigation sensor S1, S2, S3 and S4 carry out work, and a photosignal that reflects is given dsp processor, after judging, dsp processor gives FPGA processor, by carrying out communication with dsp processor after the FPGA processor calculating, send first by controller then and drive signal controlling second motor, carry out the direction that servocontrol is regulated the AGV trolley travelling by second motor then, make navigation sensor accompany movement track easily;
6) in order to realize the steady running of AGV dolly, reduce the labile factor of AGV dolly running, system has added speed pickup S7, this sensor can read ground acceleration or deceleration bar code, give controller then, controller can carry out computing according to this signal and actual surrounding environment, sends second travelling speed that drives signal controlling first motor then, make the AGV dolly with different speed by the short distance straight way, grow apart from straight way and bend;
7) in order to realize the website function of AGV dolly, the utility model has added website sensor S6, and this sensor can read ground website bar code, and adds up automatically, AGV dolly meeting automatic stopping behind the arrival website is by workman's automatic loading and unloading goods of current website;
8) in order to realize circulatory function, can automatic clear when the AGV dolly reaches maximum website and again slave station point 1 count;
9) if the AGV dolly is received the reversing request, the AGV dolly can be in the original place automatic stop motion and the current state of abridging, open its reverse sensor S11, S12, S13, S14, S18, S19 and S20 and change first motor and the direction of motion of second motor, take the principle of work the same with forward, control its counter motion.
In sum, the unit that the utility model discloses drives artificial loading and unloading AGV control system, in order to improve arithmetic speed, guarantee stability and the reliability of AGV system, the utility model is introduced the FPGA processor in the dsp processor of processor unit, formation is based on the dual core processor of DSP+FPGA, the multi controller systems that this processor unit is realized the dsp processor of original monolithic is concentrated design, and take into full account battery in the effect of this system, realized the independent control of the little vehicle speed of AGV and direction, and two its speed of different Electric Machine Control and direction arranged, giving the FPGA processor servocontrol module of workload maximum in the AGV control system handles, give full play to FPGA processor data processing speed characteristics faster, and human-computer interface module, path planning module, online output module, data memory module and I/O control module are given dsp processor control, so just realized the division of labor of dsp processor and FPGA processor, dsp processor is freed from the hard work amount, prevent the generation of " flywheel " phenomenon effectively, antijamming capability strengthens greatly.
The beneficial effect that the artificial loading and unloading of the utility model unit driving AGV control system has is:
1, in motion process, taken into full account the effect of battery in this system, constantly all the running status of AGV dolly is being monitored and computing based on the DSP+FPGA processor, avoided the generation of big electric current, so fundamentally solved big electric current to the impact of battery, avoided the generation of the lead-acid battery overaging phenomenon that causes owing to heavy-current discharge;
2, in the rapid discharge process, in the voltage detecting process of opposite end, introduced the parameter such as internal resistance, temperature of lead-acid battery, make terminal voltage more close to actual parameter, the protection that utilizes the energy is arranged;
3, handled the independent control of velocity magnitude and the direction of AGV dolly by the FPGA processor, make that control is fairly simple, improved arithmetic speed greatly, solved the slower bottleneck of dsp processor operation of monolithic, it is short to have shortened the construction cycle, and system's portable ability is strong;
4, realize veneer control fully, not only saved control panel and taken up room, but also realized the velocity magnitude of AGV dolly and independently controlling of direction, be conducive to improve stability and the dynamic property of AGV dolly;
5, owing to adopt the FPGA processor to handle lot of data and algorithm, and the interference source around having taken into full account, and dsp processor of the prior art freed from the hard work amount, preventing the generation of " flywheel " phenomenon effectively, antijamming capability strengthens greatly;
6, because the AGV dolly has only a driving wheel, make two motors and two engaged wheels in one plane forever, make the AGV dolly out of control because of the flywheel problem never;
7, owing to the independent control of adopting velocity magnitude and direction, and second power of motor of control AGV trolley travelling direction is less, is conducive to reduce the consumption of energy like this;
8, owing to speed and the direction of AGV dolly are independently controlled, and have memory function, this makes the AGV dolly can arbitrarily be parked in any locational website;
9, be the independent control of velocity magnitude and direction owing to what adopt, make the easier realization of AGV dolly oppositely move backward, as long as in practical structures, add a cover discriminating direction sensor, just can realize the car-backing function of AGV dolly, and not need the Rotate 180 degree;
10, on two of AGV dolly back engaged wheels optical code disk is housed all, like this can be according to two compensation corrections that speed, direction and the displacement of AGV dolly of driving wheel are carried out in optical code disk output of trailing wheel, this position that makes AGV pull in for a short time is more accurate;
11, the sensor of its direction navigation of AGV dolly is mounted on the engaged wheel, and this makes that its control is more accurate and simple, generally has four sensors just can accurately control its direction.
Above-described only is embodiment of the present utility model; be not so limit claim of the present utility model; every equivalent structure or equivalent flow process conversion that utilizes the utility model instructions and accompanying drawing content to do; or directly or indirectly be used in other relevant technical fields, all in like manner be included in the scope of patent protection of the present utility model.
Claims (9)
1. a unit drives artificial loading and unloading AGV control system, it is characterized in that, comprise processor unit, controller, first motor, second motor and AGV dolly, described processor unit sends and controls signal to described controller, by described controller control signal is divided into first and drives signal and the second driving signal, the described first driving signal and second drives signal and controls described second motor and first motor respectively, by the speed of the first described Electric Machine Control AGV dolly, the direction of the second described Electric Machine Control AGV dolly.
2. unit according to claim 1 drives artificial loading and unloading AGV control system, it is characterized in that, described processor unit is a dual core processor, comprise dsp processor, FPGA processor and be located at dsp processor and the master system of FPGA processor and kinetic control system, described kinetic control system comprises the servocontrol module, data memory module and I/O control module, wherein, dsp processor is used for control data memory module and I/O control module, the FPGA processor is used for control servocontrol module, and carries out exchanges data between dsp processor and the FPGA processor in real time and call.
3. unit according to claim 1 drives artificial loading and unloading AGV control system, it is characterized in that, described AGV control system also comprises battery, described battery further is connected with the output terminal of first motor with second motor, and processor unit further is connected to tie point between first motor output end and the battery and the tie point between second motor output end and the battery respectively.
4. unit according to claim 2 drives artificial loading and unloading AGV control system, it is characterized in that described servocontrol module also comprises modular converter, and described modular converter comprises analog-digital converter and digital analog converter.
5. unit according to claim 2 drives artificial loading and unloading AGV control system, it is characterized in that, described servocontrol module also comprises coder module, described coder module is for detection of AGV dolly actual speed, judge whether to meet rate request, whether too fast or slow excessively, and send control signal.
6. unit according to claim 3 drives artificial loading and unloading AGV control system, it is characterized in that described servocontrol module also comprises current module, and the output power that described current module is used for the adjustment battery reaches the scope that the AGV dolly needs.
7. unit according to claim 5 drives artificial loading and unloading AGV control system, it is characterized in that, described servocontrol module also comprises the speed module, described speed module is connected with the coder module communication, too fast or slow excessively when coder module detection AGV dolly actual speed, the speed module is regulated AGV dolly actual speed according to the result that coder module detects.
8. unit according to claim 2 drives artificial loading and unloading AGV control system, it is characterized in that described servocontrol module also comprises displacement module, whether described displacement module arrives at a station for detection of the AGV dolly, whether arrive set displacement, if slow excessively, send assisted instruction to controller; If close to set displacement excessively, need to slow down, then send deceleration instruction to controller.
9. unit according to claim 1 drives artificial loading and unloading AGV control system, it is characterized in that, described AGV dolly comprises navigation sensor, the place ahead obstacle sensor, left and right side obstacle sensor, speed pickup, website sensor and reverse sensor, whether described navigation sensor judges the AGV dolly in the center line operation, and adjusts the AGV dolly at suitable run location.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220476274 CN203038107U (en) | 2012-09-19 | 2012-09-19 | One-machine driven manual loading and unloading AGV control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220476274 CN203038107U (en) | 2012-09-19 | 2012-09-19 | One-machine driven manual loading and unloading AGV control system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203038107U true CN203038107U (en) | 2013-07-03 |
Family
ID=48690214
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220476274 Expired - Fee Related CN203038107U (en) | 2012-09-19 | 2012-09-19 | One-machine driven manual loading and unloading AGV control system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203038107U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102830704A (en) * | 2012-09-19 | 2012-12-19 | 苏州工业园区职业技术学院 | Single drive manual loading and unloading automatic guided vehicle (AGV) control system |
| CN106383484A (en) * | 2016-12-15 | 2017-02-08 | 合肥工业大学 | Shuttle vehicle control system based on wheel hub motor and magnetic encoder and method thereof |
-
2012
- 2012-09-19 CN CN 201220476274 patent/CN203038107U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102830704A (en) * | 2012-09-19 | 2012-12-19 | 苏州工业园区职业技术学院 | Single drive manual loading and unloading automatic guided vehicle (AGV) control system |
| CN106383484A (en) * | 2016-12-15 | 2017-02-08 | 合肥工业大学 | Shuttle vehicle control system based on wheel hub motor and magnetic encoder and method thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107610494B (en) | AGV vehicle system based on information physical fusion system and traffic control method | |
| CN102830703B (en) | Unit drives automatic loading and unloading AGV control system | |
| CN102768537B (en) | Wireless control system of automated guided vehicle | |
| CN205333083U (en) | AGV dolly based on laser navigation | |
| CN103135548B (en) | A kind of unmanned floor truck and driving control system thereof | |
| CN102749922A (en) | Artificially assembled and disassembled automatic guided vehicle control system | |
| CN202929481U (en) | AGV control system for automatic loading/unloading through single driving wheel | |
| CN205003547U (en) | AGV control system | |
| CN206644888U (en) | One-way single-drive submarine AGV based on magnetic navigation | |
| CN102830704A (en) | Single drive manual loading and unloading automatic guided vehicle (AGV) control system | |
| CN105137949A (en) | AGV control system | |
| CN205272074U (en) | Support differential AGV platform of arm | |
| CN109606506A (en) | A kind of control method that diagonal driving turns to | |
| CN203535477U (en) | Four-wheel micro-mouse sprint controller based on ARM9 | |
| CN103472835B (en) | Based on double-core four-wheel micro computer Mus fast sprint controller | |
| CN202518762U (en) | Manual automatic integrated van | |
| CN102830706B (en) | Medical AGV control system | |
| CN202694147U (en) | Automatic guided vehicle and driving control system of automatic guided vehicle | |
| CN203038107U (en) | One-machine driven manual loading and unloading AGV control system | |
| CN103529846A (en) | Dual-core-based continuous-turning sprint servo system for four-wheeled fast microcomputer mice | |
| CN102761299B (en) | Automatic guided vehicle combination drive control system | |
| CN202838022U (en) | Medical AGV control system | |
| CN102830705A (en) | Medical automatic guided vehicle (AGV) logistics control system | |
| CN103472838A (en) | Fast sprint controller of four-wheel micro-mouse based on double processors | |
| CN102749923A (en) | Automatic loading and unloading and automatic guidance vehicle control system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130703 Termination date: 20130919 |