CN206075134U - A kind of tunnel automatic guided vehicle and guidance system - Google Patents
A kind of tunnel automatic guided vehicle and guidance system Download PDFInfo
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- CN206075134U CN206075134U CN201620663040.9U CN201620663040U CN206075134U CN 206075134 U CN206075134 U CN 206075134U CN 201620663040 U CN201620663040 U CN 201620663040U CN 206075134 U CN206075134 U CN 206075134U
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Abstract
This utility model is related to material flows automation field, and in particular to a kind of tunnel automatic guided vehicle, guidance system and its operational approach.What this utility model was achieved by the following technical programs：A kind of tunnel automatic guided vehicle, comprising car body and the pallet fork being located on the car body, the pallet fork is to be provided with the two-way bidirectional fork for stretching out in the width of the carbody direction or on the car body route guiding device for ensureing this kind of tunnel automatic guided vehicle course and the positioner for positioning this kind of tunnel homing guidance truck position in the two-way three-dimensional pallet fork that stretch out and can stretch out in front of the car body in the width of the carbody direction.The purpose of this utility model is to provide a kind of tunnel automatic guided vehicle, guidance system and its operational approach, and the straight-line travelling in tunnel is realized using the closed slide in tunnel, low to warehouse improvement cost, comprising positioner, accurate positioning.
Description
Technical field
This utility model is related to material flows automation field, and in particular to a kind of tunnel automatic guided vehicle and guidance system.
Background technology
AGV, i.e. automatic guided vehicle, refer to equipment homing guidance device, can be along the transport vehicle of the guide path of regulation traveling.
As industrial automation level is lifted and currently the demand of logistic efficiency is constantly lifted, increasing warehouse
Used in automatic guided vehicle sorting, transport goods.Conventional guide mode is divided into two big class at present, and a class is that fixed route is led
Draw mode, information media thing is laid come to automatic guided vehicle to guide in guide path, guide mode of the class without fixed route,
The path of advance, such as las er-guidance mode are autonomously generated by program.
What current guide mode did not often make full use of some features under current storage environment to reduce guiding answers
Miscellaneous degree, such as the most frequently used electromagnetism guide mode, this guide mode need electric wire embedded in subsurface, are existed by AC signal
Magnetic field is produced around electric wire, automatic guided vehicle is by detecting the power in magnetic field come along corresponding route；This mode is usually
Larger is changed to environment, quantities is increased, be increased cost.In the utility model patent of Publication No. 102156475A just
A kind of method of electromagnetism guiding is proposed, need to be guided in the corresponding electric wire of embedded underground, quantities is larger.
In the utility model patent of publication number 104102222A, it is proposed that a kind of to utilize laser radar and reflecting plate to calculate
The method of the position of current AGV automatic guided vehicles, needs install more reflecting plate in AGV working environments, without fully profit
With the feature of storage environment so that big to the improvement cost in warehouse using such technical scheme, increase operation cost of enterprises.
Utility model content
The purpose of this utility model is to provide a kind of tunnel automatic guided vehicle, guidance system and its operational approach, using lane
Closed slide in road realizes the straight-line travelling in tunnel, low to warehouse improvement cost, comprising positioner, accurate positioning.
Above-mentioned technical purpose of the present utility model technical scheme is that：A kind of tunnel homing guidance
Car, comprising car body and the pallet fork that is located on the car body, the pallet fork be can the width of the carbody direction it is two-way stretch out it is double
To pallet fork or can be in the two-way three-dimensional pallet fork that stretch out and can stretch out in front of the car body in the width of the carbody direction, the car body
On be provided with for ensure this kind of tunnel automatic guided vehicle course route guiding device and for position this kind of tunnel from
The positioner of dynamic guiding truck position, the route guiding device include guiding device in tunnel, guiding device in the tunnel
Including for detecting range unit in the tunnel of the car body and both sides object distance.
In this patent document, the bearing of trend for defining the tunnel is fore-and-aft direction, both sides of the shelf in the tunnel,
As left and right directions, different from the pallet fork structure of traditional guiding car, and the pallet fork direction of traditional guiding car is relatively described car
The fore-and-aft direction of body, and in narrow opening, often do not possess the radius of turn of guiding car, guide car cornering difficulties.In this programme,
The left and right directions for going out to pitch the direction as car body of the bidirectional fork, the three-dimensional pallet fork can be rotated relative to car body, can
Go out fork to the left and right directions and forward direction of the car body, bidirectional fork and three-dimensional pallet fork need not be turned in the tunnel.
In the tunnel, guiding device includes range unit in the tunnel, and in the tunnel, range unit is specific, can
Think the sensors such as laser range finder or ultrasonic distance measuring apparatus, the both sides of the car body can be respectively provided at, and in actual storage ring
In border, guide rail can be installed in the both sides in the tunnel in the warehouse of narrow opening, and the effect of the guide rail script is to shield, and is put
Put the car body and collide shelf, and in the technical program, range unit is obtained just by scanning the guide rail in the tunnel
Distance of the interior range unit apart from guide rail described in both sides, calculates the distance for deviateing straight line, so as to control to guiding car
System, realizes the straight-line travelling in the tunnel.
After guiding car is by projected route traveling, the positioner is needed to be positioned, the positioner can have many
Kind implementation, such as operating range computer, GPS locator etc., can enumerate the concrete mode of the positioner, institute further below
State positioner and determine guiding particular location of the car in the tunnel, stop on predeterminated position, carry out picking or goods putting
Action.
As it is of the present utility model preferably, the route guiding device also comprising guiding device outside tunnel, outside the tunnel
Guiding device is rotation diastimeter.
In the tunnel, guiding car can coordinate the guide rail to be guided by guiding device in the tunnel, go out
Behind the tunnel, often multiple peripheries can be set in predetermined paths peripheries fixed without the guide rail, this when
Position reflecting plate, outside the tunnel, guiding device can be rotation diastimeter, such as scanning laser range finder, can rotate, 306
Ten degree according to certain frequency transmitting laser beam.Laser is reflected by reflecting plate, and the rotation diastimeter constantly receives pre-
If the laser beam of position reflection, through geometrical calculation, obtain guiding the position of car, so as to realize navigation row according to position coordinateses
Sail.
Preferably the positioner includes rough positioning device as of the present utility model, and the rough positioning device is comprising using
The range unit before and after detecting the car body relative to tunnel fore-and-aft direction object of reference.
As it is of the present utility model preferably, the positioner also includes accurate positioning device.
The effect of the positioner is to determine the particular location of guiding car, in the technical program, can adopt described
The mode that rough positioning device and the accurate positioning device are combined, the rough positioning device can be the range unit in front and back, tool
Body, can be such as sensor such as dot laser diastimeter or ultrasonic distance measuring apparatus, and the fore-and-aft direction in the tunnel is arranged therewith
The reflecting plate of cooperation, is calculating guiding car when predeterminated position is reached, can send the signal for slowing down or stopping,
But in some storage environments, such as long tunnel, far, angle is slightly inclined apart from end distance before and after the tunnel to guide car
Difference laser can deviate from reflecting plate, affect Position location accuracy.In this case, it is possible to fill with the use of the fine positioning
Put, the accurate positioning device is imageing sensor or laser range finder, the different technical scheme of concrete foundation determining, in the lane
In road, two side positions stick multiple non-reflective labelings, or set multiple apertures, and laser range finder can be according to measurement distance
Change, so that it is determined that current location.Also the accurate positioning device can also be imageing sensor, can paste in the tunnel
The objects such as upper Quick Response Code, are confirmed by described image sensor scanning, so that it is determined that current location.
As it is of the present utility model preferably, in the tunnel, guiding device is lateral range finding with the accurate positioning device
Instrument.
The lateral diastimeter is specific, it would however also be possible to employ laser range finder.Above it has been noted that guiding car is in institute
Move in stating tunnel, the course in tunnel is determined by guiding device in the tunnel.As systemic presupposition guiding car exists
Travel on the center line in roadway, in the tunnel, the laser range finder of guiding device will constantly detect the guiding car and institute
The distance of the shelf of both sides in tunnel is stated, course is modified according to the data of detection, guarantee to guide the correct of car
Traveling.The accurate positioning device, is also equally the lateral diastimeter, i.e., is set of system with guiding device in the tunnel,
It is without the need for additionally purchasing hardware, cost-effective.Its positioning principle is that on the shelf, change point at is set up in certain position, such as
An opaque object is sticked, when guiding garage sails to herein, originally relatively stable range finding can vertically occur significantly
Numerical value saltus step, then now it may determine that guiding car is in predeterminated position, vehicle fork center and cargo centre are in roadway direction
It is aligned, reach pinpoint purpose.
As it is of the present utility model preferably, the rough positioning device is located at the fore-and-aft direction of the car body, the fine positioning
Device is located at the both sides direction of the car body.
As it is of the present utility model preferably, also comprising for scanning the pallet detection device of pallet hole.
At work, the pallet fork stretches out, and in needing the hole for insert the pallet, pallet is seated on the shelf,
So as to complete picking action, if being the absence of para-position, pallet fork stretches out rashly, then can touch pallet or goods.The pallet is visited
Survey device can be laser acquisition sensor, or image recognition sensor, guarantee in all directions the pallet fork and
The hole para-position of the pallet precisely, is smoothly docked.
A kind of tunnel automatic guidance system, comprising described tunnel automatic guided vehicle, also comprising task management system and goods
Frame, forms the tunnel passed through for this kind of tunnel automatic guided vehicle between the adjacent shelf, the tunnel both sides be provided with it is described
The guide rail that guiding device is used cooperatively in tunnel.
In the tunnel, range unit is adjusted by measuring the distance between guide rail and vehicle and comparing default distance
The attitude of vehicle and direction.
As it is of the present utility model preferably, in the guide rail and the tunnel, range unit is located at sustained height.
As it is of the present utility model preferably, being provided with the extension tunnel before and after makes for positioner cooperation
Reflecting plate is positioned in front and back.
As it is of the present utility model preferably, the tunnel automatic guided vehicle includes guiding device outside tunnel, outside the tunnel
Guiding device includes rotation diastimeter, and the tunnel is externally provided with multiple periphery positioning used cooperatively for the rotation diastimeter instead
Penetrate plate.
Preferably the positioner includes accurate positioning device as of the present utility model, and the accurate positioning device is image
Sensor, the shelf are provided with the positioning image for described image sensor scanning.
A kind of tunnel automatic guidance system operational approach, comprises the steps of,
Step one, Ground arrangement step：
Guide rail is arranged in the tunnel both sides；
Step 2, task determination step：
The task nexus system generates picking or goods putting task, is sent to automatic guided vehicle；
Step 3, routing step：
Range unit in tunnel is installed on the automatic guided vehicle, by the guide rail for scanning both sides, is obtained and institute
State the distance value of guide rail, pass course amendment and real-time data monitoring, it is ensured that automatic guided vehicle edge in the tunnel
Projected route is travelled；
Step 4, positioning step：
The automatic guided vehicle is positioned by the positioner, reach picking or the goods putting predetermined area is stopped
Car；
Step 5, picking/goods putting step：
The bidirectional fork is extended laterally relative to the car body, for the shelf carry out picking or goods putting action,
As of the present utility model preferred, also comprising routing step outside step 6, tunnel：
The automatic guided vehicle ends task, and travels out the tunnel, guiding device outside tunnel on the automatic guided vehicle,
Outside the tunnel, guiding device includes rotation diastimeter, and the tunnel is externally provided with and multiple uses cooperatively for the rotation diastimeter
Periphery positions reflecting plate, and the rotation diastimeter positions reflecting plate acquisition relative distance by scanning the periphery, by real-time
Detect with adjustment in direction to travel in the predetermined paths outside tunnel.
As of the present utility model preferred, in the step 4, positioning step, including coarse positioning step and fine positioning step
Suddenly：
In the coarse positioning step, the automatic guided vehicle is provided with rough positioning device, and the rough positioning device is comprising front
Range unit afterwards, before and after the tunnel extension be provided with for range unit before and after described use cooperatively before and after positioning reflection
Plate, the range unit in front and back are realized finding range by scanning the positioning reflecting plate in front and back, are determined by the numerical value of range finding
Particular location of the automatic guided vehicle in the tunnel；
In the fine positioning step, the accurate positioning device scans the object of reference of the tunnel both sides, obtains concrete position
Put.
As of the present utility model preferred, in the step 5, picking/goods putting step, also comprising pallet scanning step：
Pallet detection device is housed on the automatic guided vehicle, the pallet fork is filled in pallet detection after moving to specified location
Start to extend laterally after putting determination safety.
In sum, this utility model has the advantages that：
1st, guide rail originally just in storage environment has been used in guiding, little to the hardware modifications in warehouse, improves construction efficiency,
Reducing the construction costs.
2nd, guiding car includes rough positioning device and accurate positioning device, can be made according to the length in tunnel and other concrete conditions
With different technical schemes.
3rd, comprising guiding device outside tunnel, reflecting plate can be positioned by periphery outside tunnel and rotation diastimeter continues
Carry out route guiding.
4th, guide car and can laterally go out fork with two-way, without the need for turning during work picking, efficiency high, the adaptability to narrow opening
It is good.
Description of the drawings：
Fig. 1 is the schematic diagram of embodiment 1；
Fig. 2 is the schematic diagram of two-way guiding car；
Fig. 3 is the schematic diagram that three-dimensional guides car；
Fig. 4 is the schematic diagram of two-dimension code label on pallet in embodiment 5.
In figure：
1st, car body, 11, bidirectional fork, 111, fetching fork, 12, three-dimensional pallet fork, 2, tunnel, 3, shelf, 31, guide rail, 4, road
Line guiding device, 41, guiding device in tunnel, 42, guiding device outside tunnel, 5, positioner, 51, rough positioning device, it is front
Afterwards range unit 6, position reflecting plate in front and back, 8, periphery positioning reflecting plate, 9 pallets, 91, two-dimension code label.
Specific embodiment
This utility model is described in further detail below in conjunction with accompanying drawing.
This specific embodiment is only which is not to restriction of the present utility model, ability to explanation of the present utility model
Field technique personnel can make the modification for not having creative contribution after this specification is read as needed to the present embodiment, but
As long as all being protected by Patent Law in right of the present utility model.
Embodiment 1, as shown in Figure 1：A kind of tunnel automatic guidance system, comprising tunnel automatic guided vehicle, also comprising appoint
Business management system and shelf 3, form the tunnel 2 passed through for this kind of tunnel automatic guided vehicle, 2 both sides of tunnel between adjacent shelf 3
It is provided with the guide rail 31 used cooperatively with guiding device in tunnel 41.It is provided with extension before and after tunnel 2 and matches somebody with somebody for positioner 5
The positioning reflecting plate 6 in front and back that conjunction is used.
As depicted in figs. 1 and 2, a kind of tunnel automatic guided vehicle, the pallet fork comprising car body 1 and the installation being located on car body 1,
Pallet fork is to be provided with car body 1 automatic for ensureing this kind of tunnel in 1 width of the car body two-sided bidirectional fork 11 for stretching out
The route guiding device 4 and the positioner 5 for positioning this kind of tunnel homing guidance truck position of guiding car course, route
Guiding device 4 includes guiding device 41 in tunnel, and in tunnel, guiding device 41 is included for detecting car body 1 and both sides object distance
Tunnel in range unit.
In this patent document, the bearing of trend for defining tunnel 2 is fore-and-aft direction, and both sides of the shelf in tunnel 2 are as left
Right direction, different from the pallet fork structure of traditional guiding car, the direction that goes out to pitch of traditional pallet fork for guiding car is relative car body 1
Fore-and-aft direction, and in narrow opening, often do not possess the radius of turn of guiding car, car cornering difficulties are guided, it is in this programme, two-way
Pallet fork 11 can go out fork relative to 1 left and right directions of car body, need not turn in tunnel 2.
In tunnel, guiding device 41 includes range unit in tunnel, and in tunnel, range unit is specific, can be Laser Measuring
The sensor such as distance meter or ultrasonic distance measuring apparatus, can be respectively provided at the both sides of car body 1, and in actual storage environment, narrow opening
Guide rail 31 can be installed in the both sides in tunnel 2 in warehouse, and the effect of 31 script of guide rail is to shield, and place car body 1 and collide shelf,
And in the technical program, in tunnel, range unit obtains interior range unit apart from both sides guide rail 31 just by scanning guide rail 31
Distance, calculate the distance for deviateing straight line, so as to be controlled to guiding car, realize the straight-line travelling in the tunnel 2.
After guiding car is by projected route traveling, positioner 5 is needed to be positioned, positioner 5 there can be various realizations
Mode, such as operating range computer, GPS locator etc., can enumerate the concrete mode of positioner 5 further below, and positioner 5 is true
Surely particular location of the car in tunnel 2 is guided, is stopped on predeterminated position, is carried out picking or goods putting action.
Also comprising guiding device 42 outside tunnel, outside tunnel, guiding device 42 is rotation diastimeter to route guiding device 4.
In tunnel 2, guiding car can coordinate guide rail 31 to be guided by guiding device 41 in tunnel, go out tunnel 2
Afterwards, often multiple peripheries can be set in predetermined paths periphery and positions reflecting plate 8, lane without guide rail 31, this when
Outside road, guiding device 42 can be rotation diastimeter, such as scanning laser range finder, can rotate, and 360 deg is according to certain
Frequency launches laser beam.Laser is reflected by reflecting plate, rotates the laser beam that diastimeter constantly receives predeterminated position reflection,
Through geometrical calculation, obtain guiding the position of car, so as to realize navigation traveling according to position coordinateses.
It is additionally provided with car body 1 for detecting the pallet detection device of pallet hole.
At work, pallet fork stretches out, and in needing the hole for insert pallet, pallet is seated on shelf, so as to complete picking
Action, if being the absence of para-position, pallet fork stretches out rashly, then can touch pallet or goods.Pallet detection device can be laser
Detection sensor, it is ensured that pallet fork is accurate with the hole para-position of pallet, smoothly docks.
Positioner 5 includes rough positioning device 51, before rough positioning device 51 could be for detecting car body 1 relative to tunnel
Range unit before and after rear direction object of reference, it is also possible to which position is determined by the detection of lateral distance.Also fill comprising fine positioning
Put, accurate positioning device is imageing sensor.
The effect of positioner 5 is to determine the particular location of guiding car, in the technical program, can be filled using coarse positioning
The mode of 51 and accurate positioning device combination is put, rough positioning device 51 can be range unit in front and back, specifically, can be such as point
The sensor such as laser range finder or ultrasonic distance measuring apparatus, the fore-and-aft direction in tunnel 2 arrange matched reflecting plate, are calculating
Guiding car can send the signal for slowing down or stopping when predeterminated position is reached, but in some storage environments,
Such as long tunnel, far, angle slightly deviation laser can deviate from reflecting plate, shadow apart from end distance before and after tunnel 2 to guide car
Ring Position location accuracy.In this case, it is possible to the use of accurate positioning device, accurate positioning device is imageing sensor.Example
Such as, among tunnel 2, two side positions, the object such as the Quick Response Code that is sticked, accurate positioning device is imageing sensor, identification scanning, measuring and calculating
Position at guiding car, realizes finely positioning.Rough positioning device 51 is located at the fore-and-aft direction of car body 1, and accurate positioning device is located at car
The both sides direction of body 1.
A kind of tunnel automatic guidance system operational approach, comprises the steps of,
Step one, Ground arrangement step：
Guide rail 31 is arranged in 2 both sides of tunnel；
Step 2, task determination step：
Task nexus system generates picking or goods putting task, is sent to automatic guided vehicle；
Step 3, routing step：
Range unit in tunnel is installed on automatic guided vehicle, by the guide rail 31 for scanning both sides, is obtained and guide rail 31
Distance value, pass course amendment and real-time data monitoring, it is ensured that automatic guided vehicle is travelled along projected route in tunnel 2；
Step 4, positioning step：
Automatic guided vehicle is positioned by positioner 5, reach picking or the goods putting predetermined area is stopped；
Step 5, picking/goods putting step：
Bidirectional fork 11 is extended laterally relative to car body 1, for shelf 3 carry out picking or goods putting action,
As of the present utility model preferred, also comprising routing step outside step 6, tunnel：
Automatic guided vehicle ends task, and travels out tunnel 2, and on automatic guided vehicle, guiding device 42 outside tunnel, lead outside tunnel
Leading-in device includes rotation diastimeter, and tunnel 2 is externally provided with multiple periphery positioning reflecting plates 8 used cooperatively for rotation diastimeter, rotation
Turn diastimeter and the acquisition relative distance of reflecting plate 8 is positioned by scanning periphery, travelled in lane by real-time detection and adjustment in direction
In predetermined paths outside road.
In step 4, positioning step, including coarse positioning step and fine positioning step：
In coarse positioning step, automatic guided vehicle is provided with rough positioning device 51, and rough positioning device 51 includes range finding dress in front and back
Put, before and after tunnel 2, extension is provided with the positioning reflecting plate 6 in front and back used cooperatively for range unit in front and back, in front and back range finding dress
Put by reflecting plate 6 is positioned before and after scanning to realize range finding, automatic guided vehicle is determined in tunnel 2 by the numerical value found range
Particular location；
In fine positioning step, accurate positioning device scans the object of reference of 2 both sides of tunnel, obtains particular location.
In step 5, picking/goods putting step, also comprising pallet scanning step：
Pallet detection device is housed on automatic guided vehicle, bidirectional fork 11 starts to extend laterally after rising to specified altitude assignment.
Embodiment 2：In the present embodiment, in tunnel, guiding device 41 adopts same system with accurate positioning device 52,
Using laser range finder.
Guiding car is moved in tunnel, and the course in tunnel is determined by guiding device in tunnel 41.Such as system
Default guiding car is travelled on 2 centrage of tunnel, and in tunnel, the laser range finder of guiding device 41 will constantly detect guiding car
With the distance of the shelf of both sides in tunnel 2, course is modified according to the data of detection, guarantees to guide the correct of car
Traveling.Accurate positioning device 52, is also equally lateral diastimeter, i.e., is set of system with guiding device in tunnel 41, without the need for extra
Hardware is purchased, it is cost-effective.Its positioning principle is that change point at is set up in certain position on shelf, such as stick one it is not anti-
The object of light, when guiding garage and sailing to herein, originally relatively stable range finding can vertically occur significantly numerical value saltus step, then this
When it may determine that guiding car be in predeterminated position, vehicle fork center and cargo centre it is aligned in roadway direction, reach
Pinpoint purpose.
Embodiment 3；As shown in figure 3, from the difference of embodiment 1 be pallet fork structure it is different, in the present embodiment, pallet fork is
Three-dimensional pallet fork 12, three-dimensional pallet fork 12 can be rotated on car body 1, except going out fork in both sides direction of car body 1 or so relatively, moreover it is possible to
Front goes out fork.
Embodiment 4：As shown in figure 4, from the difference of embodiment 1 be pallet detection device implementation it is different, in this reality
Apply in example, pallet detection device is vision sensor, can be photographic head, the specified location patch near the hole in pallet 9
Upper two-dimension code label 91, photographic head can adjust the position and direction of pallet fork according to the position of Quick Response Code in the visual field, realize suitable
Profit enters fork.
Embodiment 5：Its rough positioning device adopts RFID technique.Car body 1 is provided with RFID scanning means, a certain in tunnel 2
Position is provided with RFID tag, when car body 1 is passed through, when the scanning of RFID scanning means is to RFID tag, is stopped or is subtracted
Speed, reaches the effect for determining position coarse positioning.
Claims (12)
1. a kind of tunnel automatic guided vehicle, comprising car body（1）Be located at the car body（1）On pallet fork, it is characterised in that：It is described
Pallet fork is can be in the car body（1）The two-way bidirectional fork for stretching out of width（11）Or can be in the car body（1）Width
It is two-way to stretch out and be to the car body（1）The three-dimensional pallet fork that front is stretched out, the car body（1）On be provided with for ensureing this kind of lane
The route guiding device of road automatic guided vehicle course（4）Fill with the positioning for positioning this kind of tunnel homing guidance truck position
Put（5）, the route guiding device（4）Including guiding device in tunnel（41）, guiding device in the tunnel（41）Including use
In the detection car body（1）With range unit in the tunnel of both sides object distance.
2. a kind of tunnel automatic guided vehicle according to claim 1, it is characterised in that：The route guiding device（4）Also
Comprising guiding device outside tunnel（42）, guiding device outside the tunnel（42）To rotate diastimeter.
3. a kind of tunnel automatic guided vehicle according to claim 1, it is characterised in that：The positioner（5）Comprising thick
Positioner（51）, the rough positioning device（51）Comprising for detecting the car body（1）Relative to tunnel fore-and-aft direction reference
Range unit before and after thing, or, the rough positioning device（51）Comprising RFID scanning means.
4. a kind of tunnel automatic guided vehicle according to claim 3, it is characterised in that：The positioner（5）Also include
Accurate positioning device.
5. a kind of tunnel automatic guided vehicle according to claim 4, it is characterised in that：Guiding device in the tunnel（41）
Lateral diastimeter is with the accurate positioning device (52).
6. a kind of tunnel automatic guided vehicle according to claim 4, it is characterised in that：The rough positioning device（51）It is located at
The car body（1）Fore-and-aft direction, the accurate positioning device is located at the car body（1）Both sides direction.
7. a kind of tunnel automatic guided vehicle according to claim 1, it is characterised in that：Also include for scanning pallet hole
Pallet detection device.
8. a kind of tunnel automatic guidance system, comprising the tunnel automatic guided vehicle as described in claim 1-7 any one, its
It is characterised by：Task management system and shelf are included also（3）, the adjacent shelf（3）Between formed and led for this kind of tunnel automatically
Draw the tunnel that car passes through（2）, the tunnel（2）Both sides are provided with and guiding device in the tunnel（41）The guide rail for using cooperatively
（31）.
9. a kind of tunnel automatic guidance system according to claim 8, it is characterised in that：The guide rail（31）With the lane
In road, range unit is located at sustained height.
10. a kind of tunnel automatic guidance system according to claim 8, it is characterised in that：In the tunnel（2）Before and after
Extension is provided with for the positioner（5）Positioning reflecting plate before and after using cooperatively（6）.
A kind of 11. tunnel automatic guidance systems according to claim 8, it is characterised in that：The tunnel automatic guided vehicle
Comprising guiding device outside tunnel（42）, outside the tunnel, guiding device includes rotation diastimeter, the tunnel（2）It is externally provided with multiple
For the periphery positioning reflecting plate that the rotation diastimeter is used cooperatively（8）.
A kind of 12. tunnel automatic guidance systems according to claim 8, it is characterised in that：The positioner（5）Comprising
Accurate positioning device, the accurate positioning device be imageing sensor, the shelf（3）It is provided with for described image sensor scanning
Positioning image.
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| CN201620663040.9U CN206075134U (en) | 2016-06-29 | 2016-06-29 | A kind of tunnel automatic guided vehicle and guidance system |
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| CN201620663040.9U CN206075134U (en) | 2016-06-29 | 2016-06-29 | A kind of tunnel automatic guided vehicle and guidance system |
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| CN105974922A (en) * | 2016-06-29 | 2016-09-28 | 上海诺力智能科技有限公司 | Tunnel automatic guide vehicle, guide system, and operating method for guide system |
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| CN107840059A (en) * | 2017-11-30 | 2018-03-27 | 上海诺力智能科技有限公司 | A kind of two-way storage automatic material fetching machine |
| CN109901586A (en) * | 2019-03-27 | 2019-06-18 | 厦门金龙旅行车有限公司 | A kind of unmanned vehicle tracking control method, device, equipment and storage medium |
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