CN207337209U - A kind of path detection and control device for automatic Guided Vehicle - Google Patents
A kind of path detection and control device for automatic Guided Vehicle Download PDFInfo
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- CN207337209U CN207337209U CN201721170934.5U CN201721170934U CN207337209U CN 207337209 U CN207337209 U CN 207337209U CN 201721170934 U CN201721170934 U CN 201721170934U CN 207337209 U CN207337209 U CN 207337209U
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- Prior art keywords
- guided vehicle
- automatic guided
- control device
- path detection
- steering
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Abstract
A kind of path detection and control device for automatic Guided Vehicle is the utility model is related to, the path detection device and control device include automatic Guided Vehicle（1）, colour band（2）, beam launcher（3）, light wave record sensor（4）, steering power mechanism（5）, steering mechanical mechanism（6）.The utility model controls the direction of trolley by the way of optical sensing, it is remained on circuit set in advance and travels.The design of the device is simple, is easy to use flexibly, cost is relatively low and path orientation is accurate, and overall structure is easy to later period maintenance and replacement, has very wide application prospect.
Description
Technical field
Material flows automation field is the utility model is related to, homing guidance device is housed more particularly to one kind, can be along rule
Fixed route, the carrying vehicle of path detection and control device is loaded with car body.
Background technology
The navigation mode of country's automatic Guided Vehicle is mainly the following at present：
1st, magnetic navigation mode：Magnetic navigation, that is, magnetic stripe navigation, is by being laid with magnetic stripe on road surface, passing through magnetic navigation sensor
The magnetic signal that continual sensing magnetic stripe produces realizes navigation, and appointed task is completed by reading the RFID card of pre-plugged.
Magnetic navigation cost is relatively low, realizes relatively simple.But this navigation mode very flexible, AGV can only walk along magnetic stripe, and change path needs
Again magnetic stripe is laid with, task can not be changed in real time by control system, and magnetic stripe is easily damaged, later maintenance cost is higher.
2nd, laser navigation mode：Laser navigation is the accurate laser reflection plate of installation site around AGV driving paths,
AGV gathers the laser beam by baffle reflection by launching laser beam, to determine its current position and direction, and leads to
Continuous triangle geometric operation is crossed to realize the navigation of AGV.Technique biggest advantage is AGV registrations；Ground need not
Other location facilities；Driving path can be flexible and changeable, can be adapted to various field environment, it is current external many AGV productions
The advanced navigation mode that producer preferentially uses, shortcoming are to manufacture of high cost, more relatively harsh to environmental requirement (ambient, ground
Face requires, visibility requirement etc.).
3rd, inertial navigation mode：Inertial navigation is that gyroscope is installed on AGV, and positioning is installed on the ground of running region
Block, AGV can determine the position and side of itself by the calculating to gyroscope deviation signal and the collection of terrestrial positioning block signal
To, by integration and computing obtain speed and position, so as to achieve the purpose that to carrier navigator fix.Technique is in army
Side is relatively early to use, its major advantage is advanced technology, and positioning accuracy is high, and flexibility is strong, easy to combine and compatible, suitable application area
Extensively, used by external many AGV manufacturers.The drawback is that manufacture cost is higher, the precision and reliability and top of guiding
The accuracy of manufacture and service life of spiral shell instrument are closely related.The equipment for forming inertial navigation system is all installed in carrier, work
When do not depend on external information, also not outwardly emittance, is not easily susceptible to disturb, is a kind of autonomic navigation system.
4th, optical guidance mode：On the driving path of AGV paint or paste colour band, by CCD camera is adopted into
Colour band picture intelligence carries out simple process and realizes navigation, its flexibility is relatively good, and route setting in ground is simple and practicable, but to color
The pollution of band and mechanical wear are very sensitive, excessive to environmental requirement, and navigation reliability is poor, difficult to realize to be accurately positioned, and
And this mode is to the more demanding of controller, it is desirable to arithmetic speed than very fast, computing mode is more complicated, and uses
CCD camera and high-speed controller cause the cost of whole system too high, hardly result in universal application.
Utility model content
In view of this, the utility model provides a kind of path detection and control device for automatic Guided Vehicle, should
Device design is simple, is easy to use flexibly, and cost is relatively low and path orientation is accurate, overall structure easy to later period maintenance and
Replace.
In order to achieve the above object, the utility model provides following technical solution：
A kind of path detection and control device for automatic Guided Vehicle, the path detection device include self-navigation
Trolley, colour band, beam launcher, light wave record sensor, steering power mechanism, steering mechanical mechanism.The utility model is adopted
The direction of trolley is controlled with the mode of optical sensing, it is remained on circuit set in advance and travels.In advance automatic
The colour band for being different from road surface is coated on the road surface that navigation trolley travels in advance, which is the travel route of trolley.Set on trolley
It is equipped with beam launcher, light wave record sensor, using a period set as the cycle, light wave record sensor sensing light
Ripple is by time difference t1 and t2 caused by colour band, so that whether there occurs position offset to judge trolley.If t1>T2 is then small
Car is then deviated to t1 directions, need at this time to t2 directions change direction, light wave record sensor signal transmission to turn
To on the signal processing apparatus of actuating unit, control steering mechanical mechanism is to t2 directional steerings, until trolley is adjusted in colour band
Between part；Trolley traveling continues to move ahead at this time, without changing direction among t1 and t2 sections if t1=t2；If t1<
Then trolley is then deviated t2 to t2 directions, needs to pass signal to t1 directions adjustment direction, light wave record sensor at this time
On the defeated signal processing apparatus to steering power mechanism, control steering mechanical mechanism is to t1 directional steerings until trolley is adjusted to color
Band is middle.By the comparison of t1 and t2, whether this trolley of we can be detailed confirmation is there occurs position offset, in the event of position
Putting offset, then light wave records sensor by the signal processing apparatus in corresponding signal transmission to steering power mechanism, signal processing
Device according to the signal control steering mechanical mechanism received to the left or adjustment direction, and then control trolley to return to correctly to the right
Driving path.
Preferably, in the path detection of automatic Guided Vehicle and control device, the color of colour band is to be different from the depth on road surface
Color, such as the color of black system.
Preferably, in the path detection of automatic Guided Vehicle and control device, steering power mechanism is by the electricity that is separately provided
Machine drives.
Preferably, in the path detection of automatic Guided Vehicle and control device, steering mechanism is crank and rocker mechanism.
So the utility model design is simple, it is easy to use flexibly, cost is relatively low and path orientation is accurate, overall
Structure is easy to later period maintenance and replacement.
Brief description of the drawings
, below will be to attached drawing needed in embodiment description in order to illustrate more clearly of the utility model embodiment
It is briefly described, it should be apparent that, drawings in the following description are only the embodiment of the utility model, for this area
For those of ordinary skill, without creative efforts, it can also be obtained according to the attached drawing of offer other attached
Figure.
Fig. 1 is provided by the utility model a kind of for the path detection of automatic Guided Vehicle and the signal of control device
Figure.
In figure mark for：
1st, automatic Guided Vehicle；2nd, colour band；3rd, beam launcher；4th, light wave record sensor；5th, steering power mechanism；
6th, steering mechanical mechanism.
Embodiment
In order to make it easy to understand, clearly and completely embodiment is carried out to the technical solution of the utility model below in conjunction with the accompanying drawings
Description, it is clear that the described embodiments are only a part of the embodiments of the utility model, instead of all the embodiments.It is based on
Embodiment in the utility model, those of ordinary skill in the art are obtained all without making creative work
Other embodiment, shall fall within the protection scope of the present invention.
It is a kind of path detection and control device for automatic Guided Vehicle provided by the utility model referring to Fig. 1, bag
Include automatic Guided Vehicle 1, colour band 2, beam launcher 3, light wave record sensor 4, steering power mechanism 5, steering mechanical machine
Structure 6.Automatic Guided Vehicle 1 is along pre-set route running, and pre-set route is by being different from the colour band 2 of road surface color
Show, light wave record sensor 4 transfers signals to the signal processing apparatus in steering power mechanism 5 after detecting offset signal
On, steering power mechanism 5 directly distributes the driving power of trolley, receives control turn after the signal that signal processing apparatus is sent
Turned to mechanical mechanism 6, and then control trolley adjustment direction.
It is a kind of path detection and control device for automatic Guided Vehicle provided by the utility model referring to Fig. 1, bag
Include automatic Guided Vehicle 1, colour band 2, beam launcher 3, light wave record sensor 4, steering power mechanism 5, steering mechanical machine
Structure 6.Automatic Guided Vehicle 1 is along pre-set route running, and pre-set route is by being different from the colour band 2 of road surface color
Show, light wave record sensor 4 transfers signals to the signal processing device in steering power mechanism 5 after detecting offset signal
Put, steering power mechanism 5 is driven by the motor being separately provided, and receives control turn after the signal that signal processing apparatus is sent
To 6 left and right turn of mechanical mechanism, and then control trolley adjustment direction.
The foregoing description of the disclosed embodiments, enables professional and technical personnel in the field to realize or new using this practicality
Type.A variety of modifications to embodiment will be apparent for those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present utility model.Therefore, originally
Utility model is not intended to be limited to embodiment illustrated herein, and is to fit to and the principles and novel features disclosed herein
Consistent most wide scope.
Claims (4)
1. a kind of path detection and control device for automatic Guided Vehicle, it is characterised in that including automatic Guided Vehicle
(1), colour band (2), beam launcher (3), light wave record sensor (4), steering power mechanism (5), steering mechanical mechanism
(6), the beam launcher (3) be arranged on the automatic Guided Vehicle (1) bottom and with the automatic Guided Vehicle (1)
Direction of advance it is vertical, light wave record sensor (4) is arranged on the bottom centerline of the automatic Guided Vehicle (1) simultaneously
It is consistent with the direction of advance of the automatic Guided Vehicle (1), setting signal processing unit on the steering power mechanism (5), institute
Steering power mechanism (5) is stated respectively with light wave record sensor (4), the steering mechanical mechanism (6) to be connected.
2. the path detection and control device according to claim 1 for automatic Guided Vehicle, it is characterised in that described
Steering power mechanism (5) is distributed from the driving power of automatic Guided Vehicle (1), is connected with the steering mechanical mechanism (6).
3. the path detection and control device according to claim 1 for automatic Guided Vehicle, it is characterised in that described
Steering power mechanism (5) is driven by the motor being separately provided, and is connected with the steering mechanical mechanism (6).
4. the path detection and control device according to claim 1 for automatic Guided Vehicle, it is characterised in that described
Steering mechanical mechanism (6) is crank and rocker mechanism, is connected with the deflecting roller of automatic Guided Vehicle (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721170934.5U CN207337209U (en) | 2017-09-13 | 2017-09-13 | A kind of path detection and control device for automatic Guided Vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721170934.5U CN207337209U (en) | 2017-09-13 | 2017-09-13 | A kind of path detection and control device for automatic Guided Vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207337209U true CN207337209U (en) | 2018-05-08 |
Family
ID=62368649
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721170934.5U Expired - Fee Related CN207337209U (en) | 2017-09-13 | 2017-09-13 | A kind of path detection and control device for automatic Guided Vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207337209U (en) |
-
2017
- 2017-09-13 CN CN201721170934.5U patent/CN207337209U/en not_active Expired - Fee Related
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180508 Termination date: 20200913 |
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| CF01 | Termination of patent right due to non-payment of annual fee |