CN204374774U - A kind of intelligence guiding conveying arrangement of automatic collision - Google Patents

A kind of intelligence guiding conveying arrangement of automatic collision Download PDF

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Publication number
CN204374774U
CN204374774U CN201520079273.XU CN201520079273U CN204374774U CN 204374774 U CN204374774 U CN 204374774U CN 201520079273 U CN201520079273 U CN 201520079273U CN 204374774 U CN204374774 U CN 204374774U
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transport vehicle
sensor
main circuit
infrared sensor
groups
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CN201520079273.XU
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胡天林
黄诗镇
林宝
陈艺帆
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Xiamen University
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Xiamen University
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Abstract

An intelligence guiding conveying arrangement for automatic collision, relates to transport vehicle.The safe class and work efficiency that can improve intelligence guiding transportation system are provided, the intelligence guiding conveying arrangement that each transport vehicle can accomplish a kind of automatic collision of automatic collision can be realized.Be provided with electromagnetic sensor, ultrasonic sensor, main circuit MCU, optical code disk, radio frequency communication module, infrared sensor; Ultrasonic sensor and infrared sensor are provided with 4 groups, 4 groups of ultrasonic sensors and infrared sensor are located at transport vehicle all around respectively, judge for the Distance geometry obstacle measured between transport vehicle, the output terminal of 4 groups of ultrasonic sensors and infrared sensor and the route data collection signal of electromagnetic sensor export termination main circuit MCU input end, main circuit MCU exports termination steering wheel, DC shunt-excited machine and radio frequency communication module, and DC shunt-excited machine drives transport vehicle trailing wheel; The velocity information that optical code disk is measured exports the input end of termination main circuit MCU.

Description

A kind of intelligence guiding conveying arrangement of automatic collision
Technical field
The utility model relates to transport vehicle, especially relates to a kind of intelligence guiding conveying arrangement of automatic collision.
Background technology
At present, existing AGV (the Automated Guided Vehicle) transport vehicle utilizing photoelectricity, electromagnetic sensor to track to magnetic field on market, mostly can only the barrier of tested static, security protection is generally: preceding object thing detecting sensor+mechanical anticollision mechanism double protection.Although when transport vehicle detects that obstacle can stop to ensure safety, this reduces production efficiency, therefore when multiple transport vehicle runs on same rail, be difficult to avoid that each transport vehicle can occur and the other side is thought obstacle.
Summary of the invention
The purpose of this utility model is to provide the safe class and work efficiency that can improve intelligence guiding transportation system, can realize the intelligence guiding conveying arrangement that each transport vehicle can accomplish a kind of automatic collision of automatic collision.
The utility model is provided with electromagnetic sensor, ultrasonic sensor, main circuit MCU, optical code disk, radio frequency communication module, infrared sensor; Described ultrasonic sensor and infrared sensor are provided with 4 groups, 4 groups of ultrasonic sensors and infrared sensor are located at the position, front, rear, left and right of transport vehicle respectively, 4 groups of ultrasonic sensors and infrared sensor judge for the Distance geometry obstacle measured between transport vehicle, the output terminal of 4 groups of ultrasonic sensors and infrared sensor and the route data collection signal of electromagnetic sensor export the input end of termination main circuit MCU, the output termination steering wheel of main circuit MCU, DC shunt-excited machine and radio frequency communication module, DC shunt-excited machine drives transport vehicle trailing wheel; The velocity information that optical code disk is measured exports the input end of termination main circuit MCU.
The part that tracks of the present utility model utilizes electromagnetic sensor, orbit is connected with the electromagnetic signal of fixed frequency, inductance capacitance resonance principle is utilized to carry out magnetic field tracking, photoelectric sensor auxiliary selenoid sensor carries out judgement route, the directional information of main circuit MCU carries out beating angle for the steering wheel controlling to be arranged on transport vehicle front, controls transport vehicle working direction and keep away barrier with this.The workflow of ranging and range rate part is as follows: first, and on transport vehicle, infrared sensor and ultrasonic sensor are equipped with in four sides, front, rear, left and right, utilizes infrared and ultrasonic sensor to carry out range observation between transport vehicle and obstacle judges; Secondly, the high-precision optical code disk that tests the speed is installed, for reading the current travelling speed of transport vehicle and controlling with PI on drive motor gear; Finally, each transport vehicle is equipped with radio-frequency device, for the communication between each transport vehicle, transmits the speed of each transport vehicle, runs the value of attitude and each distance measuring sensor, reach and share dynamic transport information.Automatic obstacle-avoiding part: with regard to a transport vehicle, utilize range information, velocity amplitude comprehensive descision that the information of the range sensor of this transport vehicle, velocity amplitude and other transport vehicles send, utilize rate controlling amount control the rotating speed of drive motor thus control the speed of transport vehicle and travel attitude (speeds control comprise be forced to stop), thus accomplish automatic collision.
The utility model can pass through the distance in measurement 4 directions and the speed of traveling, by less radio-frequency and his car communication, and automatic collision; Can automatic collision mutually, therefore can many transport and work simultaneously, improve conevying efficiency.
Accompanying drawing explanation
Fig. 1 is the structure composition schematic diagram of the utility model embodiment.
Embodiment
Below in conjunction with drawings and Examples, the utility model is described in further detail.
See Fig. 1, the utility model embodiment is provided with electromagnetic sensor 1, ultrasonic sensor 2, main circuit MCU 5, optical code disk 7, radio frequency communication module 10, infrared sensor 11, described ultrasonic sensor 2 and infrared sensor 11 are provided with 4 groups, before 4 groups of ultrasonic sensors 2 and infrared sensor 11 are located at transport vehicle respectively, after, left, right position, 4 groups of ultrasonic sensors 2 and infrared sensor 11 judge for the Distance geometry obstacle measured between transport vehicle, the output terminal of 4 groups of ultrasonic sensors 2 and infrared sensor 11 and the route data collection signal of electromagnetic sensor 1 export the input end of termination main circuit MCU 5, the output termination steering wheel 4 of main circuit MCU 5, DC shunt-excited machine 9 and radio frequency communication module 10, DC shunt-excited machine 9 drives transport vehicle trailing wheel 8, the velocity information that optical code disk 7 is measured exports the input end of termination main circuit MCU 5.
In FIG, marking 6 is direct current battery power.
Gather route data by electromagnetic sensor 1 and transfer to main circuit MCU 5, export the PWM controlled quentity controlled variable of steering wheel through main circuit MCU 5, control steering wheel 4 dozens of angles, drive transport vehicle front-wheel 3 to turn to, realize direction controlling.
Infrared sensor 11, ultrasonic sensor 2 for measure transport vehicle four direction obstacle or and other transport vehicles between distance, send data to main circuit MCU 5, radio frequency communication module 10 is controlled by main circuit MCU 5, transmitting gathering the data of returning between each transport vehicle, sharing multidate information.
DC shunt-excited machine 9 controls running by main circuit MCU 5, drives transport vehicle trailing wheel 8, utilizes optical code disk 7 to measure velocity information, return main circuit MCU 5, realize velocity close-loop control, and velocity close-loop control realizes crashproof most basic guarantee.

Claims (1)

1. an intelligence guiding conveying arrangement for automatic collision, is characterized in that being provided with electromagnetic sensor, ultrasonic sensor, main circuit MCU, optical code disk, radio frequency communication module, infrared sensor; Described ultrasonic sensor and infrared sensor are provided with 4 groups, 4 groups of ultrasonic sensors and infrared sensor are located at the position, front, rear, left and right of transport vehicle respectively, 4 groups of ultrasonic sensors and infrared sensor judge for the Distance geometry obstacle measured between transport vehicle, the output terminal of 4 groups of ultrasonic sensors and infrared sensor and the route data collection signal of electromagnetic sensor export the input end of termination main circuit MCU, the output termination steering wheel of main circuit MCU, DC shunt-excited machine and radio frequency communication module, DC shunt-excited machine drives transport vehicle trailing wheel; The velocity information that optical code disk is measured exports the input end of termination main circuit MCU.
CN201520079273.XU 2015-02-04 2015-02-04 A kind of intelligence guiding conveying arrangement of automatic collision Active CN204374774U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201520079273.XU CN204374774U (en) 2015-02-04 2015-02-04 A kind of intelligence guiding conveying arrangement of automatic collision

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201520079273.XU CN204374774U (en) 2015-02-04 2015-02-04 A kind of intelligence guiding conveying arrangement of automatic collision

Publications (1)

Publication Number Publication Date
CN204374774U true CN204374774U (en) 2015-06-03

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CN201520079273.XU Active CN204374774U (en) 2015-02-04 2015-02-04 A kind of intelligence guiding conveying arrangement of automatic collision

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105564231A (en) * 2015-09-29 2016-05-11 洛阳博智自动控制技术有限公司 Method for controlling three-dimensional feeding of AGV (automatic guided vehicle)
CN107589742A (en) * 2017-08-22 2018-01-16 广东嘉腾机器人自动化有限公司 Automatical pilot transportation vehicle control method, device and computer-readable recording medium

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105564231A (en) * 2015-09-29 2016-05-11 洛阳博智自动控制技术有限公司 Method for controlling three-dimensional feeding of AGV (automatic guided vehicle)
CN107589742A (en) * 2017-08-22 2018-01-16 广东嘉腾机器人自动化有限公司 Automatical pilot transportation vehicle control method, device and computer-readable recording medium
CN107589742B (en) * 2017-08-22 2020-10-30 广东嘉腾机器人自动化有限公司 Control method and device for automated guided vehicle and computer readable storage medium

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