CN206096930U - Friehgt dolly - Google Patents

Friehgt dolly Download PDF

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Publication number
CN206096930U
CN206096930U CN201621054237.9U CN201621054237U CN206096930U CN 206096930 U CN206096930 U CN 206096930U CN 201621054237 U CN201621054237 U CN 201621054237U CN 206096930 U CN206096930 U CN 206096930U
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CN
China
Prior art keywords
dolly
module
control module
main control
trolley body
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
CN201621054237.9U
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Chinese (zh)
Inventor
段英宏
秦意乔
杜鹏
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Tianjin University of Science and Technology
Original Assignee
Tianjin University of Science and Technology
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Tianjin University of Science and Technology filed Critical Tianjin University of Science and Technology
Priority to CN201621054237.9U priority Critical patent/CN206096930U/en
Application granted granted Critical
Publication of CN206096930U publication Critical patent/CN206096930U/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

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Abstract

The utility model relates to a friehgt dolly, including the little driving license body and steerable the remote control unit of the little driving license body, the little driving license body is established at two power wheels of front side and is established the universal wheel at the rear side including the symmetry: be equipped with on the little driving license body host system and with host system is connected be used for detecting the dolly and on every side the distance between the object or detect dolly and terminal point mark when being close the transportation terminal point between the distance ultrasonic ranging module, be used for detecting the operation distance of dolly photoelectric encoder, be used for judging the current advancing direction of dolly electron compass, be used for traversing to apart from transportation terminal point predetermined distance the time in the collection field of vision terminal point mark image the camera and be used for two drives the motor module of power wheel. The utility model discloses can realize dolly remote control to can realize that the dolly under the unmanned intervention condition, transports the goods to the terminal point from the starting point, just can not have under any mark, the orbital condition on ground, realize the active transport of goods.

Description

One kind cargo transport dolly
Technical field
The utility model belongs to travelling bogie technical field, and in particular to one kind cargo transport dolly.
Background technology
Current intelligent transport dolly such as can not traveled across effectively in actual moving process, some problems that can be run into Avoidance is carried out in journey, it may occur that the problem of collision, when soon transport is to terminal, it is impossible to control effectively car body accurately The position of terminal is parked in, use requirement of the people to intelligent transport dolly can not be met in a word.
Utility model content
The purpose of this utility model is to solve above-mentioned technical problem and provide a kind of intelligent cargo transport dolly.
For achieving the above object, the utility model is adopted the following technical scheme that:
One kind cargo transport dolly, including the remote control of trolley body and the controllable trolley body, the dolly sheet Body includes the universal wheel on rear side of being symmetrically arranged at two power wheels of front side and being located at:The trolley body be provided with main control module with And be connected with the main control module for detecting the distance between dolly and surrounding objects or examining in close transportation terminal The photoelectric coding of the ultrasonic distance measuring module of the distance between survey dolly and post thing, the operation distance for detecting dolly Device, the electronic compass for judging the current direct of travel of dolly, for trolley travelling to away from transportation terminal preset distance when The camera of post object image and for two motor modules for driving the power wheel in the collection visual field.
The communication module that the main control module communicates with ipc monitor device is realized in the main control module connection.
The ultrasonic distance measuring module is 5, front end, the both sides of trolley body is separately mounted to, wherein before dolly End installs one, and in the both sides of dolly two are respectively mounted.
The ultrasonic distance measuring module adopts US-100.
The main control module adopts K60DN512 single-chip microcomputers.
State remote control to be communicated with the main control module by infrared transmission module.
The utility model can realize dolly straighforward operation, it is possible to realize dolly at nobody by master control module controls In the case of intervention, by goods from starting point automatic conveying to terminal, it is whole without the need for manually operate, and can be on ground without any mark In the case of thing, track, the automatic transportation of goods is capable of achieving.
Description of the drawings
Fig. 1 illustrates the connection diagram of cargo transport dolly main control module of the present utility model and other modules;
Fig. 2 illustrates control flow schematic diagram of the present utility model.
Specific embodiment
Below, substantive distinguishing features of the present utility model and advantage are further described with reference to example, but this practicality is new Type is not limited to listed embodiment.
It is shown in Figure 1, one kind cargo transport dolly, including the remote control dress of trolley body and the controllable trolley body Put, the trolley body includes the universal wheel on rear side of being symmetrically arranged at two power wheels of front side and being located at:In the trolley body Ultrasonic distance measuring module, photoelectric encoder, electronic compass, the shooting for being provided with main control module and being connected with the main control module Head, motor module;
The ultrasonic distance measuring module, for detecting the distance between dolly and surrounding objects or in close transportation terminal Distance between detection dolly and post thing;
The photoelectric encoder is used to detect the operation distance of dolly that the electronic compass to be used to judge the current row of dolly Enter direction;
The camera, for when trolley travelling is to away from transportation terminal preset distance, gathering post thing in the visual field Image is to main control module;
The motor module, two power wheels for driving dolly are moved so that trolley body is advanced or turns or stop Only.
During operation, the travel distance of the controllable dolly of collection information that main control module passes through photoelectric encoder, electronic compass And direction, the detection of surrounding objects is realized by ultrasonic distance measuring module, barrier avoiding function is realized, judging that dolly will transport Row to terminal when, i.e., away from terminal predeterminable range when, the camera finds the post thing in the visual field, and main control module can be taken the photograph The mark for being placed on final position, and the range finding for passing through ultrasonic distance measuring module are recognized as the image of head collection, judges little The relative position (relative distance and relative angle) of car and transportation terminal, main control module simultaneously carries out school with this to trolley travelling direction Just, it is ensured that dolly can fast and accurately arrive at transport destination.
The main control module can according to photoelectric encoder, electronic compass collection information correcting the operation road of dolly Line, and ensure that trolley body is walked and fast and accurately transported in predetermined route using existing dolly route control technology Row is to terminal.
The utility model can realize dolly straighforward operation, it is possible to realize dolly in the case of unmanned the intervention, by goods Transport to terminal from starting point, it is whole without the need for manually operating, and can be capable of achieving in the case where ground is without any mark, track The automatic transportation of goods.
Used as one embodiment, in the utility model, the cargo transport dolly can be designed with three kinds of operational modes, i.e. " hand Dynamic model formula ", " memory pattern " and " automatic transportation pattern ", conveniently operate with, and can pass through remote control certainly by operator By switching at any time between these three patterns.
(1) manual mode.In a manual mode, dolly needs artificially to be operated, and operator can pass through remote control mode control The start-stop and direction of advance of dolly processed, completes the basic transport task of dolly by way of remote control.Push with traditional people Car mode is compared, and this pattern can save sizable manpower.Meanwhile, when dolly break down or transportation environment occur suddenly can not Control change, such as when industrial accident, outdoor natural calamity, can quickly change trolley travelling track, or even serve as wireless remote control and rescue Dangerous dolly.
(2) memory pattern.Before entering this mode, remote control travelling bogie in a manual mode is answered first, makes trolley travelling To shipping point of origin, when dolly enters memory pattern, automatically its present position is designated as into shipping point of origin, in memory pattern Under, dolly is controlled by remote control, make dolly under manual operation, run to transportation terminal.In the process, dolly can be with It is designed as that the path advanced, current location can be identified in real time to judge using existing memory program, and records preservation extremely In memory card, such as SD card, so that automatic mode judges to remember path and is advanced according to memory path.
(3) automatic transportation pattern.In such a mode, first, dolly such as reads this transport road from storage card in SD card Footpath, then memory based transportation route, is controlled from starting point autonomous operation to transportation terminal, whole process using prior art Without the need for human intervention, guided without the need for laying any mark on ground.If but without any transport for having recorded in storage card Route, then cannot be introduced into automatic transportation pattern." manual mode " and " memory pattern " can only be entered.
Operational flowchart of the present utility model is as shown in Figure 2.
After system electrification, start to initialize modules, after the completion of initialization, wait operator's remote control to select to enter " manual mode ", " memory pattern ", " automatic transportation pattern ", in Three models, operating personnel can real-time control exit currently Pattern.
In the utility model, the main control module is also associated with communication module, for realize the main control module with it is upper Machine monitoring device communicates, and by the ipc monitor device and dolly man-machine interaction is carried out, can be real-time by ipc monitor device Current trolley travelling state is obtained, can include trolley travelling position, direction of advance, and operation control is sent to dolly and referred to Order.
In the utility model, the remote control is communicated by infrared transmission module with trolley body, sends instruction, Trolley body is provided with infrared receiving module, is connected with the main control module, is carried out with the telecommand for receiving remote control Start and stop, steering and the switching of pattern.
It should be noted that in the utility model, the ultrasonic distance measuring module is mainly used for obstacle detection, works as dolly When having other objects to stop in running route, dolly is capable of identify that obstacle, and sends alarm, reminds operating personnel, can be 5 It is individual, front end, the both sides of dolly are separately mounted to, wherein one can be installed in the front end of dolly, it is respectively mounted in the both sides of dolly Two.
Wherein, in the utility model, described ultrasonic distance measuring module can adopt US-100.
It should be noted that in the utility model, photoelectric encoder (test the speed optical code disk) is used for detecting the road of trolley travelling Journey, is two, is separately mounted on two power wheels, and electronic compass is one, the direct of travel current for judging dolly.Electricity Sub- compass is arranged in trolley body.
By photoelectric encoder, the data of electronic compass, it is possible to achieve judge the phase of current dolly and transportation terminal jointly To position and current dolly and the direct deviation of default course, and dolly travel direction is adjusted as benchmark.
The camera primarily to detection transportation terminal mark, installed in the front end of dolly.When single-chip microcomputer passes through When photoelectric encoder, the collection information of electronic compass judge that dolly will run to terminal, camera is found in the visual field on car Post thing, by ultrasonic distance measuring module and the information of electronic compass, can determine whether out current dolly and post thing Between relative distance and relative angle, single-chip microcomputer adjusts according to current dolly with the relative angle of post thing, distance Dolly direct of travel.
The main control module adopts single-chip microcomputer, and connects liquid crystal display.
The single-chip microcomputer can select the Kinetis K60DN512 single-chip microcomputers of En Zhi Pus company.
Following table is the connection description in the utility model between K60DN512 single-chip microcomputers and the module of other each connections.
In order to improve accuracy of identification, identification error is reduced, in the utility model, dolly can be adopted in transportation The detached mode of turn condition, linear state is advanced, that is, two wheel speeds of holding are identical when advancing, and one wheel is quiet during turning Only, radius of turn is fixed (i.e. axle length), is not in other radiuss of turn.This is because in road conditions less preferably Area, two wheels are rotated simultaneously, it is ensured that dolly carries out turning increasingly difficult with a fixed radius of turn, and makes a wheel Static mode is more easy to realize that turning precision is also higher.
Jing is surveyed, and under automatic transportation pattern, in transporting within short distance 50M, transport precision is added up to 5-10CM After finish film head image recognition, transport precision can meet completely transportation demand up to 1-3cm.
Compared with prior art, the utility model has the advantages that:
1. in the case of unmanned the intervention, goods can be transported to terminal from starting point, it is whole without the need for manually operating.
2. the transport of goods can be capable of achieving in the case where ground is without any mark, track.
3. the various occasions of indoor and outdoor are can be applicable to, remains to preferably realize transport in rainy day, dirt road.
4. transportation route can be quickly changed, is conducive to the variation of factory and enterprise production line.
5. applied range, can be applied not only to the cargo transport of factory, also apply be applicable to outdoor various occasions, such as agriculture Field, fishing ground, warehouse etc..
The above is only preferred embodiment of the present utility model, it is noted that for the common skill of the art For art personnel, on the premise of without departing from the utility model principle, some improvements and modifications can also be made, these improve and Retouching also should be regarded as protection domain of the present utility model.

Claims (6)

1. a kind of cargo transport dolly, it is characterised in that including trolley body and can control the remote control of the trolley body, institute Trolley body is stated including two power wheels for being symmetrically arranged at front side and a universal wheel of rear side is located at:The trolley body is provided with master Control module and be connected with the main control module for detecting the distance between dolly and surrounding objects or being close to transport The light of the ultrasonic distance measuring module of distance during terminal between detection dolly and post thing, the operation distance for detecting dolly Photoelectric coder, the electronic compass for judging the current direct of travel of dolly, in trolley travelling to predetermined away from transportation terminal Apart from when gather the camera of post object image in the visual field and for two motor modules for driving the power wheel.
2. freight according to claim 1 dolly, it is characterised in that the main control module connection realize the main control module with The communication module of ipc monitor device communication.
3. freight according to claim 2 dolly, it is characterised in that the ultrasonic distance measuring module is 5, is separately mounted to The front end of trolley body, both sides, wherein installing one in the front end of dolly, in the both sides of dolly two are respectively mounted.
4. freight according to claim 3 dolly, it is characterised in that the ultrasonic distance measuring module adopts US-100.
5. freight according to any one of claim 1-4 dolly, it is characterised in that the main control module is mono- using K60DN512 Piece machine.
6. freight according to claim 5 dolly, it is characterised in that the remote control by infrared transmission module with it is described Main control module is communicated.
CN201621054237.9U 2016-09-13 2016-09-13 Friehgt dolly Expired - Fee Related CN206096930U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201621054237.9U CN206096930U (en) 2016-09-13 2016-09-13 Friehgt dolly

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201621054237.9U CN206096930U (en) 2016-09-13 2016-09-13 Friehgt dolly

Publications (1)

Publication Number Publication Date
CN206096930U true CN206096930U (en) 2017-04-12

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN201621054237.9U Expired - Fee Related CN206096930U (en) 2016-09-13 2016-09-13 Friehgt dolly

Country Status (1)

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108803603A (en) * 2018-06-05 2018-11-13 广州市远能物流自动化设备科技有限公司 AGV trolley butt junction location methods based on coded image and AGV trolleies
CN110361748A (en) * 2019-07-18 2019-10-22 广东电网有限责任公司 A kind of mobile device air navigation aid, relevant device and product based on laser ranging
CN111760795A (en) * 2019-07-16 2020-10-13 北京京东乾石科技有限公司 Method and device for sorting goods

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108803603A (en) * 2018-06-05 2018-11-13 广州市远能物流自动化设备科技有限公司 AGV trolley butt junction location methods based on coded image and AGV trolleies
CN111760795A (en) * 2019-07-16 2020-10-13 北京京东乾石科技有限公司 Method and device for sorting goods
CN110361748A (en) * 2019-07-18 2019-10-22 广东电网有限责任公司 A kind of mobile device air navigation aid, relevant device and product based on laser ranging

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CF01 Termination of patent right due to non-payment of annual fee
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Granted publication date: 20170412

Termination date: 20210913