CN207319065U

CN207319065U - A kind of AGV path tracks of list main orbit

Info

Publication number: CN207319065U
Application number: CN201721246537.1U
Authority: CN
Inventors: 兰东军; 过金超
Original assignee: Henan Senyuan Electric Co Ltd
Current assignee: Henan Senyuan Electric Co Ltd
Priority date: 2017-09-25
Filing date: 2017-09-25
Publication date: 2018-05-04
Anticipated expiration: 2027-09-25

Abstract

It the utility model is related to path track field, and in particular to a kind of AGV path tracks of list main orbit.Its scheme is to connect the radian of main orbit and the connection track of branch's track with setting, and it is respectively at the distance that the distance between the adjacent two connection track of main orbit both sides and the intersection point of main orbit are more than at least one AGV vehicle commander, make there was only " people " font fork among whole path, there is no " a " type fork, ensure two AGV trolleies at the same time to will not touch the complexity that, reduces control algolithm on main orbit when meeting together.

Description

A kind of AGV path tracks of list main orbit

Technical field

It the utility model is related to path track field, and in particular to a kind of AGV path tracks of list main orbit.

Background technology

AGV is a kind of modern automation haulage equipment, has been widely used for various industrial occasions now, as cigar mill, Port and pier etc..Tiered warehouse facility is then the mark of present logistic storage.Ring-like circuit, lattice type network are that present comparison is more Path planning selection, but needing to arrange in pairs or groups complicated seeks footpath algorithm to ensure the correct operation of AGV.Most of actual industrial fields In scape because space is limited, can not often ensure perfect annular or grid type AGV paths, thus limits AGV at these Application in conjunction；Although single path circuit disclosure satisfy that the Jiang-Wu Road in smaller space, but AGV is operationally due to single path Structure also occur various problems, such as monosymmetric branch's track, connect the connection of branch's track and main orbit Track is typically symmetrical, so may result in and may meet from the AGV of Liang Ge branches track return main orbit at crossing And then bump against, although so control algolithm can be caused to become more by judging to make two AGV avoid bumping against in advance Complexity, increase programming realizes difficulty.

Utility model content

The purpose of this utility model is to provide a kind of AGV path tracks of single main orbit, to solve two from symmetrical point The AGV that branch track returns to main orbit may bump against and in order to make two AGV from symmetric part of matrix track return main orbit not phases Hit the problem of causing control algolithm complex.

To achieve the above object, the embodiment of the utility model includes a kind of AGV path tracks of single main orbit, including backbone Connection track between road, branch's track and the connection main orbit and branch's track, the extended line of branch's track Perpendicular to the main orbit, the connection track is with the setting track of radian and tangent with the main orbit；It is respectively at The distance between adjacent two branch's track of the main orbit both sides and the intersection point of the main orbit are more than at least one The length of AGV vehicles.

The beneficial effects of the utility model are：The radian of main orbit and the connection track of branch's track with setting is connected, And the distance between the adjacent two connection track for being respectively at the main orbit both sides and intersection point of the main orbit More than the distance of at least one AGV vehicle commander, make there was only " people " font fork among whole path, there is no " a " type fork, ensure Two AGV trolleies on main orbit when meeting at the same time to that will not touch together, so as to reduce the complexity of control algolithm.

Further, path website is provided with the main orbit, working terminal is provided with branch's track.

Further, the path website and working terminal are provided with the station location marker device for AGV detections position.

Further, the station location marker device includes Quick Response Code.

Further, the setting radian positioned at the connection track of the main orbit homonymy is identical；Positioned at described The setting radian of the main orbit not connection track of homonymy differs.

The further beneficial effect of the utility model is：By setting on path website and working terminal, and each website Station location marker device so that AGV can determine the specific location where itself so that control to AGV is more flexibly and essence Really.

Brief description of the drawings

Fig. 1 is the schematic diagram at a crossing on main orbit in the prior art；

Fig. 2 is the path schematic diagram that single main orbit is applied to tiered warehouse facility in the utility model；

Fig. 3 is the schematic diagram at a crossing on single main orbit of the utility model.

Embodiment

The utility model is described in more detail below in conjunction with the accompanying drawings.

Single backbone path takes less floor space than ring-like, grid type AGV paths；Single main orbit, Dan Cha at the same time Mouth enormously simplify the complexity of dispatching algorithm；The AGV trolleies of 3 to 5 can meet that the material of general workshop transports need Ask.

But single main orbit is since various problems also occur in line construction, is as shown in Figure 1 single backbone in the prior art The schematic diagram at a crossing on road, the branch track B and branch track C of main orbit both sides are symmetrical on main orbit A, connect backbone The connection track of road A and branch track B and C are also symmetrical on main orbit, and it is symmetrical from two respectively so to may result in two AGV When branch's track returns to main orbit, meet or bump against at the O of crosspoint, to solve the problems, such as that this then needs to design relative complex control Algorithm processed so that two AGV avoid meeting at the O of crosspoint in advance.

For simplify control algorithm so that the control of AGV is easier, and the utility model devises a kind of single main orbit AGV path tracks, are given below the embodiment that a utility model is applied to tiered warehouse facility.

Fig. 2 show the path schematic diagram that single main orbit in the utility model is applied to tiered warehouse facility, wherein horizontal straight real Line is main orbit A, and the working terminal on triangular representation branch track, further includes charging zone and working area；B1 to B5 is branch Track.

Fig. 3 show the schematic diagram at a crossing on single main orbit, and A, B are two flex points for leading to branch's track, A, B it Between be separated by the distance of at least one AGV；The radian for being used to connect the connection track of main orbit and branch's track at A flex points is first Setting value, the radian of the connection track for being used at B flex points connect main orbit and branch's track are the second setting value, the first setting value Equal to the second setting value either more than the second setting value or less than the second setting value.

1-5 is path website, and 6-9 is working terminal, and 1-9 is both provided with two-dimentional code mark, for upper computer detection AGV positions are simultaneously accurately controlled；Include 8 and 9 two working terminals on first branch's track that A flex points are drawn, B flex points are drawn Second branch's track on include 6 and 7 two working terminals, the distance between A flex points and B flex points are more than at least one AGV's Length, and have a path website between the two.

Pass through the setting of above-mentioned track structure so that AGV vehicles return to backbone from branch's track positioned at main orbit both sides During road, effectively AGV can be avoided to bump against, be used to calculate in advance and judge whether AGV can bump against without substantial amounts of program.

The track of the utility model includes main orbit, branch's track and the connection track with setting radian, and three carries out The structure of the utility model is formed after processing assembling, the track can be formed by plastics, rubber or intermetallic composite coating.

The embodiment that the utility model is related to is presented above, is respectively at adjacent two of main orbit both sides The length that the distance between intersection point of track and main orbit is more than at least one AGV vehicle is connected, is made among whole path only " people " font fork, does not have " a " type fork, ensures two AGV trolleies at the same time to will not be touched when meeting on main orbit Together, the complexity of control algolithm is reduced.

But the utility model is not limited to described embodiment, such as the connection rail of connection main orbit and branch's track Road can be tangent with branch track, can not also be tangent, and the technical solution so formed is to be finely adjusted shape to above-described embodiment Into, this technical solution is still fallen within the scope of protection of the utility model.

Claims

A kind of 1. AGV path tracks of list main orbit, it is characterised in that：Including main orbit, branch's track and the connection backbone Connection track between road and branch's track, the extended line of branch's track is perpendicular to the main orbit, the connection Track is with the setting track of radian and tangent with the main orbit；It is respectively at adjacent two of the main orbit both sides The distance between intersection point of the connection track and the main orbit is more than the length of at least one AGV vehicle.
A kind of 2. AGV path tracks of single main orbit according to claim 1, it is characterised in that：Set on the main orbit There is path website, working terminal is provided with branch's track.
A kind of 3. AGV path tracks of single main orbit according to claim 2, it is characterised in that：The path website and work Website is provided with the station location marker device for AGV detections position.
A kind of 4. AGV path tracks of single main orbit according to claim 3, it is characterised in that：The station location marker device Including Quick Response Code.
A kind of 5. AGV path tracks of single main orbit according to claim 4, it is characterised in that：It is same positioned at the main orbit The setting radian of the connection track of side is identical；Setting radian positioned at the main orbit not connection track of homonymy differs.