CN204302798U - A kind of interactive automatic guided vehicle - Google Patents
A kind of interactive automatic guided vehicle Download PDFInfo
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- CN204302798U CN204302798U CN201420716801.3U CN201420716801U CN204302798U CN 204302798 U CN204302798 U CN 204302798U CN 201420716801 U CN201420716801 U CN 201420716801U CN 204302798 U CN204302798 U CN 204302798U
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Abstract
The utility model discloses a kind of interactive automatic guided vehicle, comprise compartment, driving shaft, front-wheel, trailing wheel, navigation module, control module, the human-computer interaction module being provided with touch-screen, driver module, wireless communication module, power module and Power Monitoring Unit.The guide vehicle that the utility model provides is provided with human-computer interaction module and wireless communication module, and operator according to the actual needs of oneself, can call out guide vehicle and set different objectives, thus the material completed between different operating point is mutual.This kind of guide vehicle, by the setting of mode of operation, not only can be operated in the workshop of nonstandardized technique but also can be operated in standardized production line.
Description
Technical field
The utility model belongs to robotics, is specifically related to a kind of interactive guide vehicle.
Background technology
In recent years, along with the development of material industry, society is more and more higher to the requirement of handling and conveying automaticity.Transport in module in logistics, automatic guided vehicle (AGV) is widely used.Existing mass transport automatic guided vehicle on the market mainly contains two kinds, the first is that simple realization point-to-point transmission fixed line transports material, this kind of homing guidance bassinet structure is simple, low price, but this kind of guide vehicle can not meet the mutual working condition of multiple operating points needs; The second is the guide vehicle each station being carried out to polling type, and this kind of guide vehicle is applied to the production line of streamlined more.There is the workshop of a lot of nonstandardized technique streamline in current China, therefore this kind of workshop need a kind of not only can carry out different station mutually mutual the but also material of the workshop that can meet nonstandardized technique application transport guide vehicle.Existing two kinds of guide vehicles on the market can not meet the application demand in this nonstandardized technique workshop.
Utility model content
In order to overcome the defect existed in prior art, a kind of material guide vehicle that can carry out mutually can meeting again alternately between different station nonstandardized technique shop applications is provided, this guide vehicle can independently drive to calling position according to the calling of operator, more flexible compared with taking turn car common on market, be applicable to being applied to many non-streamlined workshops.The concrete technical scheme of the utility model is as follows:
1. an interactive automatic guided vehicle, comprises compartment, driving shaft, front-wheel and trailing wheel, and wherein, front-wheel is driven pulley; Trailing wheel is connected with driving shaft, is driving wheel; Ground for described automatic guided vehicle walking is preset with the track route be made up of some magnetic stripes; Described automatic guided vehicle also comprises:
Navigation module, described navigation module comprises magnetic induction sensor, and described magnetic induction sensor is arranged at the bottom of described automatic guided vehicle front end, for responding to the magnetic stripe of relevant position on described track route, obtains an analog signal;
Control module, described control module comprises A/D chip and dsp chip; Described A/D chip is connected with described magnetic induction sensor, for receiving described analog signal and exporting a digital data transmission to described dsp chip after analog-to-digital conversion; The data signal that described A/D chip exports corresponds to the current location information of described guide vehicle; Described dsp chip is used for according to described current location information and default target position information, or controls direction of travel and the speed of described guide vehicle according to external alarm message signal;
Be provided with the human-computer interaction module of touch-screen, described human-computer interaction module is connected with described dsp chip by the mode of RS422 asynchronous serial port, for manually inputting described target position information, and described target position information is transferred to described dsp chip;
Wireless communication module, described wireless communication module is connected with described dsp chip by the mode of RS232 asynchronous serial port, for receiving the target position information sent by the mode of external call, and described target position information is transferred to described dsp chip;
Driver module, described driver module comprises the steering wheel and direct current generator that are connected with described dsp chip respectively; Wherein, described servo driving front-wheel steer, described direct current generator is connected with described driving shaft by decelerator, drives trailing wheel running;
Power module, described power module comprises lithium battery, powers for each parts for described guide vehicle;
Power Monitoring Unit, described Power Monitoring Unit is connected with described control module, for monitoring described power module in real time and sending first alarm signal lower than during the critical value preset to described control module at electric energy.
Described guide vehicle also comprises the some ultrasonic sensors be connected with described control module respectively, in the described guide vehicle course of work, sends the second alarm signal when sensing preceding object thing to described control module.
Described guide vehicle also comprises the DC motor Driver current sensing means be connected with described control module, for the operating current of direct current generator described in Real-Time Monitoring, if operating current is higher than the current critical value preset, sends the 3rd alarm signal to described control module.
The front and rear of described guide vehicle is respectively equipped with ultrasonic sensor described at least one, and the detection range≤1m of described sensor.Compared with prior art, the guide vehicle that the utility model provides is provided with man-machine interactive interface and wireless communication module, operator according to the actual needs of oneself, can call out guide vehicle and sets different objectives, thus the material completed between different operating point is mutual.This kind of guide vehicle, by the setting of mode of operation, not only can be operated in the workshop of nonstandardized technique but also can be operated in standardized production line.
Accompanying drawing explanation
Fig. 1 is overall structure figure of the present utility model.
Fig. 2 is module composition diagram of the present utility model.
Detailed description of the invention
The utility model is described in detail by way of example below in conjunction with accompanying drawing.
Embodiment 1
A kind of interactive automatic guided vehicle, comprise compartment 1, driving shaft 2, front-wheel 3 and trailing wheel 4, wherein, front-wheel 3 is driven pulley; Trailing wheel 4 is connected with driving shaft 2, is driving wheel; Ground for described automatic guided vehicle walking is preset with the track route be made up of some magnetic stripes.
This automatic guided vehicle also comprises monitoring module 5, navigation module 6, wireless communication module 7, human-computer interaction module 8, driver module 9, Power Monitoring Unit 10 and safety monitoring module 11 as shown in Figure 2.
As shown in Figure 2, monitoring module 5 is connected with navigation module 6, wireless communication module 7, human-computer interaction module 8, driver module 9, Power Monitoring Unit 10 and safety monitoring module 11 respectively.
Concrete, navigation module 6 comprises magnetic induction sensor 601, and this magnetic induction sensor 601 is arranged at the bottom of automatic guided vehicle front end, for responding to the magnetic stripe of relevant position on track route, obtains an analog signal.
Monitoring module 5 comprises A/D chip and dsp chip; A/D chip is connected with magnetic induction sensor 601, for receiving analog signal that magnetic induction sensor 601 collects and exporting a digital data transmission to dsp chip after analog-to-digital conversion; The data signal that A/D chip exports corresponds to the current location information of guide vehicle; Dsp chip is used for according to current location information and default target position information, or controls direction of travel and the speed of guide vehicle according to external alarm message signal.
The direction of travel of monitoring module 5 pairs of guide vehicles and the control of speed are realized by driver module.Driver module 9 comprises the steering wheel 901 and direct current generator 902 that are connected with described dsp chip respectively; Wherein, steering wheel 901 is arranged on guide vehicle car body front end, matches with front-wheel 3, and monitoring module 5 by controlling front-wheel steer to steering wheel 901, thus realizes the control to direction of travel.Direct current generator 902 is arranged on the rear end of guide vehicle car body, is connected with driving shaft 2 by decelerator 12, and monitoring module 5 controls trailing wheel running by direct current generator 902, thus realizes the control to the speed of travel.
The utility model provides the mode of two kinds of Offered target positional informations: a kind of mode is that the mode that operator is directly inputted with touch-screen by human-computer interaction module 8 is arranged, and another kind of mode is that operator is arranged in the mode of outside remote call-in by wireless communication module 7.These two kinds of set-up modes are realized by human-computer interaction module 8 and wireless communication module 7 respectively.
Human-computer interaction module 8 is provided with a touch-screen 801, and this human-computer interaction module 8 is connected with described dsp chip by the mode of RS422 asynchronous serial port, for manually inputting target position information, and the target position information of input is transferred to described dsp chip.During actual use, operator can directly input required target position information by touch-screen 801.
Wireless communication module 7 is connected with described dsp chip by the mode of RS232 asynchronous serial port, for receiving the target position information sent by the mode of external call, and described target position information is transferred to described dsp chip.Actual when using, operator can long-range transmission one call signal, by the setting of this call signal realize target positional information.
Power module can comprise lithium battery, powers for each parts for guide vehicle; But be not limited thereto, also can according to actual needs, select the battery of other kinds as power supply.
Power Monitoring Unit 10 is connected with control module 5, for real-time monitoring power supply module and electric energy lower than preset critical value time send the first alarm signal to monitoring module 5.In actual use, can arrange monitoring module 5, control guide vehicle after making monitoring module 5 receive the first alarm signal and move to preset charged place and charge to power module.
In the present embodiment, safety monitoring module 11 comprises ultrasonic sensor 111 and DC motor Driver current sensing means.Wherein, ultrasonic sensor 111, in the guide vehicle course of work, sends the second alarm signal to described control module when meeting barrier.In actual use, can arrange monitoring module 5, control driver module 9 after making monitoring module 5 receive the second alarm signal and make guide vehicle skidding.DC motor Driver current sensing means is used for the operating current of Real-Time Monitoring direct current generator, if operating current is higher than the current critical value preset, DC motor Driver current sensing means sends the 3rd alarm signal to monitoring module 5.In actual use, can arrange monitoring module 5, control driver module 9 after making monitoring module 5 receive the 3rd alarm signal and guide vehicle emergency brake is braked.
The workflow of the guide vehicle that the utility model provides is as follows:
Gather the good track route of floor planning by the magnetic induction sensor 601 of body structure and locate guide vehicle direction of travel, monitoring module 5 adopts A/D chip to gather the analog signal of navigation module, the current location information of guide vehicle is obtained after the high performance control tailored version dsp chip process in control module, then the steering wheel 901 controlled in driver module 9 drives front-wheel 3 respective direction to turn to, and controls direct current generator 901 and drives trailing wheel 4 to do the running of corresponding speed.
The guide vehicle that the utility model provides by the mode of remote call-in, also can be controlled by touch-screen, and the operation be convenient in reality uses, and citing is below described:
Hypothetical target position comprises station A and station C, first operator calls out at station A, automatic guided vehicle selects a path to arrive station A after obtaining the wireless signal called out, production material is contained on guide vehicle at station A place by operator, then by the objective station C that the touch-screen input material of guide vehicle transports, material is transported to station C by guide vehicle path planning.
Be only a specific embodiment of the application above, but the application is not limited thereto, the change that any those skilled in the art can think, all should drops in the protection domain of the application.
Claims (4)
1. an interactive automatic guided vehicle, comprises compartment, driving shaft, front-wheel and trailing wheel, and wherein, front-wheel is driven pulley; Trailing wheel is connected with driving shaft, is driving wheel; It is characterized in that: the ground for described automatic guided vehicle walking is preset with the track route be made up of some magnetic stripes; Described automatic guided vehicle also comprises:
Navigation module, described navigation module comprises magnetic induction sensor, and described magnetic induction sensor is arranged at the bottom of described automatic guided vehicle front end, for responding to the magnetic stripe of relevant position on described track route, obtains an analog signal;
Monitoring module, described monitoring module comprises A/D chip and dsp chip; Described A/D chip is connected with described magnetic induction sensor, for receiving described analog signal and exporting a digital data transmission to described dsp chip after analog-to-digital conversion; The data signal that described A/D chip exports corresponds to the current location information of described guide vehicle; Described dsp chip is used for according to described current location information and default target position information, or controls direction of travel and the speed of described guide vehicle according to external alarm message signal;
Be provided with the human-computer interaction module of touch-screen, described human-computer interaction module is connected with described dsp chip by the mode of RS422 asynchronous serial port, for manually inputting described target position information, and described target position information is transferred to described dsp chip;
Wireless communication module, described wireless communication module is connected with described dsp chip by the mode of RS232 asynchronous serial port, for receiving the target position information sent by the mode of external call, and described target position information is transferred to described dsp chip;
Driver module, described driver module comprises the steering wheel and direct current generator that are connected with described dsp chip respectively; Wherein, described servo driving front-wheel steer, described direct current generator is connected with described driving shaft by decelerator, drives trailing wheel running;
Power module, described power module comprises lithium battery, powers for each parts for described guide vehicle;
Power Monitoring Unit, described Power Monitoring Unit is connected with described monitoring module, for monitoring described power module in real time and sending first alarm signal lower than during the critical value preset to described monitoring module at electric energy.
2. guide vehicle according to claim 1, it is characterized in that, described guide vehicle also comprises the some ultrasonic sensors be connected with described monitoring module respectively, in the described guide vehicle course of work, sends the second alarm signal when sensing preceding object thing to described monitoring module.
3. guide vehicle according to claim 2, it is characterized in that, described guide vehicle also comprises the DC motor Driver current sensing means be connected with described monitoring module, for the operating current of direct current generator described in Real-Time Monitoring, if operating current is higher than the current critical value preset, send the 3rd alarm signal to described monitoring module.
4. guide vehicle according to claim 2, is characterized in that, the front and rear of described guide vehicle is respectively equipped with ultrasonic sensor described at least one, and the detection range≤1m of described sensor.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420716801.3U CN204302798U (en) | 2014-11-26 | 2014-11-26 | A kind of interactive automatic guided vehicle |
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| CN201420716801.3U CN204302798U (en) | 2014-11-26 | 2014-11-26 | A kind of interactive automatic guided vehicle |
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| CN204302798U true CN204302798U (en) | 2015-04-29 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105824315A (en) * | 2016-04-27 | 2016-08-03 | 武汉艾立奇自动化科技有限公司 | AGV automatic guiding system and method thereof |
| CN108327816A (en) * | 2018-04-18 | 2018-07-27 | 杨雪锋 | A kind of aircraft AGV servicers |
| CN112327760A (en) * | 2020-10-30 | 2021-02-05 | 深圳创维－Rgb电子有限公司 | Flexible production line control method and device and computer readable storage medium |
-
2014
- 2014-11-26 CN CN201420716801.3U patent/CN204302798U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105824315A (en) * | 2016-04-27 | 2016-08-03 | 武汉艾立奇自动化科技有限公司 | AGV automatic guiding system and method thereof |
| CN105824315B (en) * | 2016-04-27 | 2019-06-14 | 武汉艾立奇自动化科技有限公司 | A kind of AGV automated induction systems and its method |
| CN108327816A (en) * | 2018-04-18 | 2018-07-27 | 杨雪锋 | A kind of aircraft AGV servicers |
| CN112327760A (en) * | 2020-10-30 | 2021-02-05 | 深圳创维－Rgb电子有限公司 | Flexible production line control method and device and computer readable storage medium |
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