CN204904090U - Automatic transport vechicle that guides of multistation point backpack - Google Patents

Automatic transport vechicle that guides of multistation point backpack Download PDF

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Publication number
CN204904090U
CN204904090U CN201520581015.1U CN201520581015U CN204904090U CN 204904090 U CN204904090 U CN 204904090U CN 201520581015 U CN201520581015 U CN 201520581015U CN 204904090 U CN204904090 U CN 204904090U
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central processing
processing unit
car
guided vehicle
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陈津河
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Chen Ring (beijing) Co Ltd Technology
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Chen Ring (beijing) Co Ltd Technology
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Abstract

The utility model relates to an automatic transport vechicle that guides of multistation point backpack, a serial communication port, including automobile body, central processing unit, drive unit, battery, wireless communication module, protector, safety precaution unit, vision navigation unit, website recognition cell and liquid crystal display unit, wherein: central processing unit is connected with drive unit, battery, wireless communication module, protector, safety precaution unit, website recognition cell, vision navigation unit and liquid crystal display unit respectively, protector includes electric and hydraulic system and the three baffle that is connected with it. The utility model discloses a vision navigation technique, appearance compact structure, the loading capacity is big, and it is nimble to turn, and functioning speed is fast, and its safety precaution unit includes multiple sensor, can monitor the surrounding environment accurately, discovers dangerous information and can send the alarm immediately, reliability and security height can realize unattendedly in the course of the work completely, use manpower sparingly, can satisfy practical application's needs well.

Description

Multi-site backpack automated guided vehicle
Technical field
The utility model belongs to automatical pilot transportation vehicle technical field, is specifically related to a kind of multi-site backpack automated guided vehicle.
Background technology
At present, in the handling process of Factory Logistics, material, from batching district to the carrying of the pipeline of production line body, normally relies on materials vehicle to coordinate with artificial battery truck.Detailed process is: the materials vehicle filling material or body feed tank manually docks with battery truck by logistics distribution personnel, thus drags materials vehicle by artificial battery truck, and material or body feed tank are transported to pipeline from batching district; After arriving at pipeline, logistics distribution personnel and/or line body assembly crewman, be placed on material or body feed tank a dead lift on the pipeline of production line body, makes it move with production line body.Meanwhile, after the material in materials vehicle has all been carried, empty truck has manually docked with battery truck by logistics distribution personnel again, thus makes empty truck arrive at batching district, so that the personnel that prepare burden assemble again.Thus circulate with this, to complete the conveying carrying of the material of whole workshop.
But, in above-mentioned Factory Logistics carrying, mainly by manually participating in carrying, thus realize the conveying of material between batching district and the pipeline of production line body, therefore, the conveying production efficiency of factory is lower, and hand labor intensity cost that is comparatively large, hand labor is higher.
Utility model content
For above-mentioned problems of the prior art, the purpose of this utility model is to provide a kind of multi-site backpack automated guided vehicle avoiding occurring above-mentioned technological deficiency.
In order to realize above-mentioned utility model object, the technical solution adopted in the utility model is as follows:
A kind of multi-site backpack automated guided vehicle, comprises car body 1, central processing unit, driver element, accumulator, wireless communication module, protective device, safe early warning unit, vision guided navigation unit, station recognition unit, liquid crystal display, wherein:
Described central processing unit is arranged on the inside of described car body 1, and described central processing unit is connected with liquid crystal display with described driver element, accumulator, wireless communication module, protective device, safe early warning unit, vision guided navigation unit, station recognition unit respectively;
Described accumulator is connected with liquid crystal display with described central processing unit, driver element, wireless communication module, protective device, safe early warning unit, vision guided navigation unit, station recognition unit respectively;
Described protective device comprises electrically and hydraulic system and be attached thereto three baffle plates 3 connect, and described three baffle plates 3 are separately positioned on three sides of described car body 1;
Described vision guided navigation unit comprises visual pattern adhesive tape, cmos camera 6 and digital signal processor, described visual pattern adhesive tape is attached on the terrestrial path that described multi-site backpack automated guided vehicle advances, and described cmos camera 6 is connected with described digital signal processor;
Described station recognition unit comprises radio frequency reader and electronic tag, and described radio frequency reader is arranged on the bottom surface of described car body 1, and is connected with described accumulator with described central processing unit respectively, and described electronic tag is close to the side of described terrestrial path.
Further, described liquid crystal display comprises LCDs 7 and multiple button 8, and described LCDs 7 is arranged on one end of described car body 1 with described multiple button 8 and is all connected with described central processing unit.
Further, described safe early warning unit comprises laser range finder, speed pickup, acceleration transducer, human body proximity sensor, combustible gas sensor, sensor of dust concentration, warning lamp and warning hummer, described laser range finder, speed pickup, acceleration transducer, human body proximity sensor, combustible gas sensor, sensor of dust concentration, warning lamp are all connected with described central processing unit with warning hummer, and described warning lamp and described warning hummer are arranged on two sides of described car body 1.
Further, described driver element comprises motor driver, drive motor and six universal driving wheels 2, described motor driver is connected with described central processing unit, and described drive motor is connected with described motor driver, and described six universal driving wheels 2 are arranged on the bottom of described car body 1.
Further, described wireless communication module adopts ZigBee module.
Further, described multi-site backpack automated guided vehicle also comprises GPS module, and described GPS module is connected with described accumulator respectively at described central processing unit.
Further, the bottom at the two ends of described car body 1 is also respectively equipped with the camera of integrated optical source, and the camera of described integrated optical source is connected with described accumulator with described central processing unit respectively.
Further, the portion of bearing 5 of described car body 1 is equipped with one deck rubber layer.
The multi-site backpack automated guided vehicle that the utility model provides adopts vision guided navigation technology, contour structures is compact, dead weight capacity is large, turn flexibly, travelling speed is fast, multi-site backpack automated guided vehicle utilizes the article on protective device protection car body 1 and car body 1, safe early warning unit comprises multiple sensors, can accurately surrounding being monitored, find that dangerous information can give the alarm immediately, reliability and security high, can realize unattended in the course of the work completely, save manpower, the electricity of accumulators store can use the long period, the camera 6 of integrated optical source is equipped with before and after transport vehicle, the video image of transport vehicle surrounding environment can be gathered, and feed back to central host, central host can communicate with multi-site backpack automated guided vehicle in real time, multi-site backpack automated guided vehicle is monitored in real time, the needs of practical application can be met well.
Accompanying drawing explanation
Fig. 1 is perspective view of the present utility model;
Fig. 2 is structured flowchart of the present utility model;
Fig. 3 is the hardware connection structure block diagram of central processing unit and miscellaneous part;
In figure, 1-car body, the universal driving wheel of 2-, 3-baffle plate, 4-lug boss, 5-bears portion, 6-CMOS video camera, 7-LCDs, 8-button.
Embodiment
Below in conjunction with the drawings and specific embodiments, the utility model is described further.
As Fig. 1, shown in Fig. 2 and Fig. 3, a kind of multi-site backpack automated guided vehicle, comprise car body 1, central processing unit (being called for short CPU), driver element, accumulator, wireless communication module, protective device, safe early warning unit, vision guided navigation unit, station recognition unit, liquid crystal display, wherein: it is inner that described central processing unit is arranged on described car body 1, described central processing unit respectively with described driver element, accumulator, wireless communication module, protective device, safe early warning unit, vision guided navigation unit, station recognition unit is connected with liquid crystal display.This multi-site backpack automated guided vehicle can way traffic.
Described protective device comprises electrically and hydraulic system and three baffle plates 3 being attached thereto, three baffle plates 3 are that grid is netted, duroplasts or alloy material is adopted to make, described three baffle plates 3 are separately positioned on three sides of described car body 1, electric and hydraulic system is arranged on the inside of car body 1, be connected with central processing unit, control by central processing unit, electrically and hydraulic system provide control signal and power for three baffle plates 3, three baffle plates 3 can be stirred up and down, thus realize three baffle plates 3 upwards erect or hang down downwards come, when putting article on car body 1, central processing unit controls electrically driven makes three baffle plates 3 upwards erect, thus form a fence, article on car body 1 can be avoided from landing car body 1, after article unload, three baffle plates 3 hang down, can play a protective role to car body 1, car body 1 is in an impact avoided to sustain damage.
Multi-site backpack automated guided vehicle of the present utility model carries out vision guided navigation by vision guided navigation unit.Described vision guided navigation unit comprises visual pattern adhesive tape, cmos camera 6 and digital signal processor (being called for short DSP), described visual pattern adhesive tape is attached on the terrestrial path that described multi-site backpack automated guided vehicle advances, described cmos camera 6 is connected with described digital signal processor, described cmos camera 6 is arranged on the bottom of one end of described multi-site backpack automated guided vehicle, for taking terrestrial path, gather the image information of visual pattern adhesive tape, then the image information collected is input in digital signal processor, make path model through corresponding machine vision algorithm to estimate and multiple-limb Path Recognition, calculate the motion control center of transport vehicle relative to the angular deviation relative to guide wire of the range deviation of guide wire and the current working direction of transport vehicle, timed sending Path error information is to central processing unit.When recognizing multiple-limb path, immediately multiple-limb Path Recognition result being sent to central processing unit, calculating the position of individual path turning node, and after turning starts, follow the tracks of the process of having turned.Above routing information inputs central processing unit by serial line interface, and the control strategies such as corresponding advance, speed governing, turning made again by central processing unit.Cmos camera 6 also can replace with ccd video camera.
Described accumulator is connected with liquid crystal display with described central processing unit, driver element, wireless communication module, protective device, safe early warning unit, vision guided navigation unit, radio frequency reader respectively.Described liquid crystal display comprises LCDs 7 and multiple button 8, and described LCDs 7 is arranged on one end of described car body 1 with described multiple button 8 and is all connected with described central processing unit.One end that car body 1 arranges LCDs 7 is provided with lug boss 4, and lug boss 4 can avoid article landing because inertia moves forward when transport vehicle operationally brakes.
Described safe early warning unit comprises laser range finder, speed pickup, acceleration transducer, human body proximity sensor, combustible gas sensor, sensor of dust concentration, warning lamp and warning hummer, described laser range finder, speed pickup, acceleration transducer, human body proximity sensor, combustible gas sensor, sensor of dust concentration, warning lamp are all connected with described central processing unit and described accumulator with warning hummer, and described warning lamp and described warning hummer are arranged on the two sides of described car body 1.The coherent signal detected is input to central processing unit by these sensors, and accumulator provides electric energy for these sensors.Four laser range finders are separately positioned on four of multi-site backpack automated guided vehicle not on ipsilateral, may be used for detecting the distance between transport vehicle and barrier, when hypotelorism, central processing unit can control driver element and adjusts the direct of travel of transport vehicle and speed or carry out emergency brake, so that avoiding obstacles, prevent collision; Four human body proximity sensors are separately positioned on four of multi-site backpack automated guided vehicle not on ipsilateral, may be used for detecting the distance between transport vehicle and human body, when hypotelorism, central processing unit can control driver element and adjusts the direct of travel of transport vehicle and speed or carry out emergency brake, to avoid human body, prevent from colliding people, simultaneously, central processing unit controls warning lamp and lights, drive warning buzzer rings, to remind people, allow people oneself can hide multi-site backpack automated guided vehicle; Combustible gas sensor, sensor of dust concentration, speed pickup, acceleration transducer are all arranged on car body 1, combustible gas sensor can detect in multi-site backpack automated guided vehicle working environment whether have too much inflammable gas, once find that combustable gas concentration exceeds standard, namely central processing unit controls warning lamp and lights, drive warning buzzer rings, send information warning by wireless communication unit to central host simultaneously, so that monitor staff can Timeliness coverage dangerous situation process in time, avoid breaking out of fire; Whether the dust concentration that sensor of dust concentration can detect in multi-site backpack automated guided vehicle working environment exceeds standard, once find that combustable gas concentration exceeds standard, namely central processing unit controls warning lamp and lights, drive warning buzzer rings, send information warning by wireless communication unit to central host simultaneously, so that monitor staff can Timeliness coverage dangerous situation process in time, avoid dust explosion occurring and avoiding that dust concentration is too high to be damaged human body; Speed pickup and acceleration transducer are arranged on the inside of car body 1, travelling speed and the acceleration of transport vehicle can be detected, when the travelling speed of transport vehicle and acceleration exceed safe range, central processing unit can adjust speed and acceleration, warning lamp lights simultaneously, warning buzzer rings, plays alarm function.
Described driver element comprises motor driver, drive motor and six universal driving wheels 2, described motor driver is connected with described central processing unit, described drive motor is connected with described motor driver, described six universal driving wheels 2 are arranged on the bottom of described car body 1, arrange three universal driving wheels 2 in every side of car body 1.
Described wireless communication module adopts ZigBee module.
Described station recognition unit comprises radio frequency reader and electronic tag, described radio frequency reader is arranged on the bottom surface of described car body 1, described radio frequency reader is connected with accumulator with central processing unit respectively, described electronic tag is attached to the side of being pasted the transport vehicle travel path formed on the ground by visual pattern adhesive tape, and the position of pasting electronic tag represents a website.In advance by unique website coordinate stored in electronic tag, the website coordinate in different electronic tag is not identical.The central processing unit of every platform multi-site backpack automated guided vehicle is all provided with unique No. ID, during work, central host can be come to send electronic chart to certain multi-site backpack automated guided vehicle in real time by No. ID of multi-site backpack automated guided vehicle, this electronic chart comprises the website coordinate that need change running status and the action carried out at the electronic tag place website needs that this website coordinate is specified, after the multi-site backpack automated guided vehicle of specifying receives this electronic chart, this electronic chart is stored in the internal storage of central processing unit.When multi-site backpack automated guided vehicle travels on path, website coordinate in this electronic tag is also sent to central processing unit by the information that the electronic tag thus read out that radio frequency reader scans certain side, visual pattern adhesive tape path, region comprises in electronic tag, website coordinate in this website coordinate of central processing unit comparison and electronic chart, if when this website coordinate is not present in current electronic map, then multi-site backpack automated guided vehicle is ignored this electronic tag place website and is continued to travel with current state; When this address is present in current electronic map, central processing unit reads the action that should perform at this website coordinate in electronic chart and controls multi-site backpack automated guided vehicle execution This move.Performing an action in electronic chart comprise multi-site backpack automated guided vehicle to stop at this website with different speeds, multi-site backpack automated guided vehicle wait for, multi-site backpack automated guided vehicle turns left or right-hand rotation etc. at divergence paths place at the unloading of this website, multi-site backpack automated guided vehicle at this website picking, multi-site backpack automated guided vehicle.These actions can cover the everything that multi-site backpack automated guided vehicle is applied in the work environment substantially, and central processing unit and central host can increase at any time, delete function, therefore, the adaptive faculty of multi-site backpack automated guided vehicle system is stronger.When central processing unit receives the information from the website coordinate of radio frequency reader, while website coordinate in comparison electronic chart, no matter whether this website coordinate is present in current task electronic chart, this website coordinate is sent to central host by capital, central host can according to No. ID of the multi-site backpack automated guided vehicle sent by central processing unit and website coordinate, determine the site location residing for multi-site backpack automated guided vehicle that this ID points to, this contributes to realizing the monitoring of central host to multi-site backpack automated guided vehicle.By station recognition unit, central host can realize the real-time monitoring of running status to multi-site backpack automated guided vehicle and position.
Described multi-site backpack automated guided vehicle also comprises GPS module, and described GPS module is connected with described accumulator respectively at described central processing unit.Pass through GPS module, central host can grasp the geographic position of transport vehicle in real time by gps system, this compares and is suitable for using in the working environment that space is more wide, or when vision guided navigation unit break down cannot use time as subsequent use, central host can locate the geographic coordinate of each transport vehicle in real time.
The bottom at the two ends of the car body 1 of described multi-site backpack automated guided vehicle can also be respectively arranged with the camera (attached not shown) of integrated optical source, and the camera of described integrated optical source is connected with described accumulator with described central processing unit respectively.The camera of described integrated optical source provides power supply by accumulator, when ambient light is not enough, integrated optical source can be opened, ensure the quality gathering video image, camera can Real-time Collection to the image of transport vehicle surrounding working environment, and feed back to central host, transport vehicle is monitored in real time, in time investigation suspected fault and barrier.
The portion of bearing 5 of described car body 1 is equipped with one deck rubber layer, when on car body 1 during unload items, rubber layer can play buffer action, avoid causing damage to car body 1, simultaneously, when multi-site backpack automated guided vehicle is advanced, the friction force produced between article and rubber layer is comparatively large, and article can be avoided to slide.
The multi-site backpack automated guided vehicle that the utility model provides adopts vision guided navigation technology, contour structures is compact, dead weight capacity is large, turn flexibly, travelling speed is fast, multi-site backpack automated guided vehicle utilizes the article on protective device protection car body and car body, safe early warning unit comprises multiple sensors, can accurately surrounding being monitored, find that dangerous information can give the alarm immediately, reliability and security high, can realize unattended in the course of the work completely, save manpower, the electricity of accumulators store can use the long period, the camera of integrated optical source is equipped with before and after transport vehicle, the video image of transport vehicle surrounding environment can be gathered, and feed back to central host, central host can communicate with multi-site backpack automated guided vehicle in real time, by station recognition unit, central host can realize the real-time monitoring of running status to multi-site backpack automated guided vehicle and position, the needs of practical application can be met well.
The above embodiment only have expressed embodiment of the present utility model, and it describes comparatively concrete and detailed, but therefore can not be interpreted as the restriction to the utility model the scope of the claims.It should be pointed out that for the person of ordinary skill of the art, without departing from the concept of the premise utility, can also make some distortion and improvement, these all belong to protection domain of the present utility model.Therefore, the protection domain of the utility model patent should be as the criterion with claims.

Claims (8)

1. a multi-site backpack automated guided vehicle, it is characterized in that, comprise car body (1), central processing unit, driver element, accumulator, wireless communication module, protective device, safe early warning unit, vision guided navigation unit, station recognition unit, liquid crystal display, wherein:
Described central processing unit is arranged on the inside of described car body (1), and described central processing unit is connected with liquid crystal display with described driver element, accumulator, wireless communication module, protective device, safe early warning unit, vision guided navigation unit, station recognition unit respectively;
Described accumulator is connected with liquid crystal display with described central processing unit, driver element, wireless communication module, protective device, safe early warning unit, vision guided navigation unit, station recognition unit respectively;
Described protective device comprises electrically and hydraulic system and be attached thereto three baffle plates (3) connect, and described three baffle plates (3) are separately positioned on three sides of described car body (1);
Described vision guided navigation unit comprises visual pattern adhesive tape, cmos camera (6) and digital signal processor, described visual pattern adhesive tape is attached on the terrestrial path that described multi-site backpack automated guided vehicle advances, and described cmos camera (6) is connected with described digital signal processor;
Described station recognition unit comprises radio frequency reader and electronic tag, described radio frequency reader is arranged on the bottom surface of described car body (1), and be connected with described accumulator with described central processing unit respectively, described electronic tag is close to the side of described terrestrial path.
2. multi-site backpack automated guided vehicle according to claim 1, it is characterized in that, described liquid crystal display comprises LCDs (7) and multiple button (8), and described LCDs (7) is arranged on one end of described car body (1) with described multiple button (8) and is all connected with described central processing unit.
3. multi-site backpack automated guided vehicle according to claim 1, it is characterized in that, described safe early warning unit comprises laser range finder, speed pickup, acceleration transducer, human body proximity sensor, combustible gas sensor, sensor of dust concentration, warning lamp and warning hummer, described laser range finder, speed pickup, acceleration transducer, human body proximity sensor, combustible gas sensor, sensor of dust concentration, warning lamp is all connected with described central processing unit with warning hummer, described warning lamp and described warning hummer are arranged on two sides of described car body (1).
4. multi-site backpack automated guided vehicle according to claim 1, it is characterized in that, described driver element comprises motor driver, drive motor and six universal driving wheels (2), described motor driver is connected with described central processing unit, described drive motor is connected with described motor driver, and described six universal driving wheels (2) are arranged on the bottom of described car body (1).
5. multi-site backpack automated guided vehicle according to claim 1, is characterized in that, described wireless communication module adopts ZigBee module.
6. multi-site backpack automated guided vehicle according to claim 1, is characterized in that, described multi-site backpack automated guided vehicle also comprises GPS module, and described GPS module is connected with described accumulator respectively at described central processing unit.
7. multi-site backpack automated guided vehicle according to claim 1, it is characterized in that, the bottom at the two ends of described car body (1) is also respectively equipped with the camera of integrated optical source, and the camera of described integrated optical source is connected with described accumulator with described central processing unit respectively.
8. multi-site backpack automated guided vehicle according to claim 1, is characterized in that, the portion of bearing (5) of described car body (1) is equipped with one deck rubber layer.
CN201520581015.1U 2015-08-04 2015-08-04 Automatic transport vechicle that guides of multistation point backpack Active CN204904090U (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106595688A (en) * 2016-12-08 2017-04-26 济南佰意兴网络科技有限公司 Multi-AGV-guiding and dynamic path planning method

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106595688A (en) * 2016-12-08 2017-04-26 济南佰意兴网络科技有限公司 Multi-AGV-guiding and dynamic path planning method

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