CN208255665U - Shatter-resistant, the AGV remote controller for vehicle with human bioequivalence function - Google Patents
Shatter-resistant, the AGV remote controller for vehicle with human bioequivalence function Download PDFInfo
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- CN208255665U CN208255665U CN201721859105.8U CN201721859105U CN208255665U CN 208255665 U CN208255665 U CN 208255665U CN 201721859105 U CN201721859105 U CN 201721859105U CN 208255665 U CN208255665 U CN 208255665U
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Abstract
A kind of shatter-resistant, the AGV remote controller for vehicle with human bioequivalence function, including remote controller casing, it is characterised in that: the quadrangle of remote controller casing is provided with strong magnet；The human body touch sensing module of manual operation remote controler is determined whether in being internally provided with for the position that remote controller casing is grasped for manpower, and human body touch sensing module enters MCU through piece machine I/O port.The utility model has a significant advantage that (1), overall cost do not increase significantly；(2), the function of realizing shatter-resistant, false triggering detection, to guarantee that remote controler is handed down to the real effectiveness of AGV data；(3), the personnel that may cause due to the appearance of false triggering and property loss are avoided.
Description
Technical field
The utility model relates to AGV(Automated Guided Vehicle to imply that " automated guided vehicle ") it is automobile-used distant
Prevent remote controler from dropping the detection processing of ground and false triggering in control device (hereinafter referred to as remote controler) use process, more specifically
It is that a kind of adsorbing metal using strong magnet acts on, prevents remote controler from dropping, using human body identification sensor, hardware interface, with
And program is handled and is had an impact so that will not operate normally to AGV when false triggering occurs.
Background technique
It in the development of modernization industry, advocates efficiently, quickly, reliably, by people, the solution from simple work is come out for promotion.
Robot gradually appears in each work position instead of people.Robot has programmable, tunable operation and based on sensing
The features such as device controls, automatic guiding carriage (Automated Guided Vehicle abbreviation AGV) is the one of mobile robot
Kind, be modernization industry, the important equipment in logistics system, predominantly all kinds of materials of storage and transportation, be system flexibility, it is integrated,
Efficient operation provides important guarantee.
Remote controler is debugging AGV system early period and an important component in actual use, more particularly to only with distant
The car body that the links such as the transport and installation of the large-scale valuable components such as the AGV, such as aero-engine of control device control use.
Remote controler in normal use process, the remote controler of domestic existing AGV system producer production in operation precision and
Use what typically there is no problem on practicability.But cause when there are operator's accidental falls or exterior object scraping collision etc.
When remote controller operation bar is by abnormal operation, the rocking bar location information of mistake can be also handed down to AGV by remote controler, and car body is caused to be transported
There is very large deviation in walking along the street diameter and speed, cause the loss of personnel or property.The manufacturer of some AGV is above-mentioned in order to solve
Problem when key is pressed always, just thinks that remote controler is sent often by the way of increasing a non-self-lock-ing key
It is effective to the data information of AGV, the case where remote controler false triggering data distributing can be reduced in this way, but can not be fully solved
This problem, and finger will press always the key in actual use, it is inconvenient for operation.When remote controler is dropped, still have
Certain probability can encounter the position of non-self-lock-ing key, so that error message is handed down to AGV by remote controler.
Summary of the invention
Goal of the invention:
The utility model provides a kind of shatter-resistant, the AGV remote controller for vehicle with human bioequivalence function, and the purpose is to prevent from being remotely controlled
Device is dropped, and when the false triggering caused by non-artificial operation occurs in remote controler, error message will not be handed down to AGV.
Technical solution:
A kind of shatter-resistant, the AGV remote controller for vehicle with human bioequivalence function, including remote controller casing, it is characterised in that: distant
The quadrangle of control device shell is provided with strong magnet.
The human body of manual operation remote controler is determined whether in being internally provided with for the position that remote controller casing is grasped for manpower
Touch sensing module, human body touch sensing module enter MCU through piece machine I/O port.
Human body touch induction module is capacitor crawl contactless humanbody touch sensing module.
Separated between human body touch induction module and remote controller casing inner wall by colloid layer.
Strong magnet is cylinder, and cylindrical strong magnet is arranged in the mounting groove of remote controller casing, cylindrical strong magnet
Top be radially provided with groove, groove passes through the center of circle at the top of strong magnet；
The bottom of mounting groove, which is provided with, holds out against spring, and there are two positioning card, two positioning for setting at the top of the inner wall of mounting groove
Card is symmetrical centered on the axis of mounting groove (as shown in Figure 7！), the distance between two positioning cards meet cylindrical strong magnet energy
It is enough to be passed through between two positioning cards；
A V-arrangement card is respectively arranged in the two sides of strong magnet, and V-arrangement card includes long card and stub, and length is blocked and the bottom end of stub passes through
Axis is flexibly connected to form v-shaped structure, and the upper ends of two long cards is connected by flexible reinforcement, the upper ends of two stubs using when resist
The bottom end of positioning card is provided with arc-shaped limit between long card and stub and pre-tightens elastic slice, and (it is to make that arc-shaped limit, which pre-tightens the effect of elastic slice,
Used time, which is compressed such that between long card and stub, forms tension, meanwhile, prevent between long card and stub angle to open excessive！) make
Used time, angle is compressed between long card and stub, and flexible reinforcement passes through groove and is stretched, and the upper surface of flexible reinforcement is lower than recessed
The upper surface of slot.
The top for holding out against spring is provided with the top plate that cylindrical strong magnet bottom is resisted when use.
Advantageous effect:
A kind of shatter-resistant, the AGV remote controller for vehicle with human bioequivalence function, have a characteristic that
1, preventing remote controller from falling designs
Strong magnet block is installed at four angles of outer casing bottom of remote controler, remote controler can be adsorbed on AGV car body, prevent distant
The case where control device is dropped.
2, human body touch detects
The inside of remote controller casing manpower grip locations, blend compounds are mounted on capacitor crawl formula human body touch sensing module
Body is spaced apart certain spacing with shell, guarantees normally detect when manpower operation, and will not introduce iron shell
Deng the interference to human body touch sensing module.
The output of human body touch sensing module enters MCU through piece machine I/O port, and the detection of human body touch sensing is carried out by software,
Determine whether remote controler is in manual operation mode.
In the case where determining to be manual operation, just remote controler rocking bar information and key information can be handed down to car body；It is non-
Caused by manual operation when false triggering, remote controler only sends heartbeat packet to AGV, and solving remote controler false triggering causes AGV improper
The problem of operation.
Compared with AGV remote controller for vehicle currently on the market, the utility model has a significant advantage that (1), overall cost do not have
There is significant increase；(2), the function of realizing shatter-resistant, false triggering detection, to guarantee that remote controler is handed down to the true of AGV data
Real validity；(3), the personnel that may cause due to the appearance of false triggering and property loss are avoided.
Detailed description of the invention
Fig. 1 is the remote controler overall outer structure chart of the utility model.
Fig. 2 is the human body induction module installation requirement block diagram of the utility model.
Fig. 3 is the circuit structure block diagram of the utility model.
Fig. 4 is the detection program flow diagram of human body induction module in the utility model.
Fig. 5 is that remote-controller data is handed down to AGV data program flow chart in the utility model.
Fig. 6 is the scheme of installation of strong magnet 2；
Fig. 7 is the installation top view of strong magnet 2；
Fig. 8 is V-arrangement card structure schematic diagram.
Specific embodiment
A kind of shatter-resistant, the AGV remote controller for vehicle with human bioequivalence function, including remote controller casing 1, in remote controller casing 1
Quadrangle be provided with strong magnet 2.It is acted on using the adsorbing metal of strong magnet, prevents remote controler from dropping；The suction of strong magnet guarantees
Remote controller casing is adsorbed on AGV car body, and when vehicle driving and when jolting, remote controler will not slide from car body.
The human body of manual operation remote controler is determined whether in being internally provided with for the position that remote controller casing 1 is grasped for manpower
Touch sensing module 3, human body touch sensing module 3 enter MCU through piece machine I/O port.Human body touch sensing module determines whether artificially
Remote controller.Human body touch induction module is mounted on the inside of remote controller casing, only outside human contact's remote controller casing
(inside is equipped with the relevant range of human body touch induction module, is determined with human body remote controller.
Human body touch induction module is capacitor crawl contactless humanbody touch sensing module.
Separated between 1 inner wall of human body touch induction module and remote controller casing by colloid layer.
Strong magnet 2 is cylinder, and cylindrical strong magnet 2 is arranged in the mounting groove 7 of remote controller casing 1, and cylindrical is strong
The top of magnet 2 is radially provided with groove 8, and groove 8 passes through the center of circle at 2 top of strong magnet；
The bottom of mounting groove 7, which is provided with, holds out against spring 9, positioning card 10 there are two settings at the top of the inner wall of mounting groove 7, and two
Positioning card 10 is symmetrical centered on the axis of mounting groove 7 (as shown in Figure 7！), the distance between two positioning cards 10 meet cylinder
Shape strong magnet 2 can pass through between two positioning cards 10；
The two sides of strong magnet 2 are respectively arranged a V-arrangement card, and V-arrangement card includes long card 11 and stub 12, long card 11 and stub 12
Bottom end is flexibly connected to form v-shaped structure by axis, and the upper end of two long card 11 is connected by flexible reinforcement 13, two stubs 12
Upper end using when resist the bottom end of positioning card 10, is provided with arc-shaped limit between long card 11 and stub 12 and pre-tightens elastic slice 14, arc
The effect of limit pre-pressing elastic slice be using when be compressed such that between long card 11 and stub 12 and form tension, meanwhile, prevent long card
What angle was opened between 11 and stub 12 is excessive！In use, angle is compressed between long card 11 and stub 12, flexible reinforcement 13 is passed through
Groove 8 is simultaneously stretched, and the upper surface of flexible reinforcement 13 is lower than the upper surface of groove 8.
The top for holding out against spring 9 is provided with the top plate 15 that cylindrical 2 bottom of strong magnet is resisted when use.
In use, as shown in fig. 6, then strong magnet 2 is pressed downward, across groove 8 so that holding out against bullet by flexible reinforcement 13
Spring 9 is compressed, and is gradually pressed between long card 11 and stub 12 during pushing, at this point, pre-tightening elastic slice 14 by maximum limit
The compression of degree, after stub 12 crosses positioning card 10, stub 12 is directed peace under the reseting elasticity effect for pre-tightening elastic slice 14
The side wall of tankage 7 keeps the top power to long card 11 and stub 12, so that strong magnet at this point, pre-tightening elastic slice 14 still is release completely
Pressure is kept between 2 and mounting groove 7, is loosed one's grip later, under the top power effect for holding out against spring 9, strong magnet 2 is above pushed up by slight,
Stop until stub 12 is moved up along the side wall of mounting groove 7 and withstands 10 bottom of positioning card, at this point, flexible reinforcement 13 is drawn
Tightly, strong magnet 2 is positioned.
In addition, to facilitate installation, can first it is as shown in Figure 7, protrude into V-arrangement card along the position of no positioning card 10,
Dotted line in the figure is the original position of groove 8, then rotates strong magnet 2, such as can be clockwise according to arrow direction in figure
Rotation is loosed one's grip later so that the stub 12 of V-arrangement card is in the lower section of positioning card 10, so as to resist 10 bottom of positioning card complete for stub 12
At positioning.
The utility model is described further with reference to the accompanying drawing:
Fig. 1 is remote controler overall outer structure chart, wherein 1 is remote controller casing, 2 be strong magnet, and 3 be human body touching sense
Module is answered, 4 operate grip locations for manpower, and 5 be pad pasting key, and 6 be three axis rocking bars.
Hand contacts when identifying the installation site and remote controller of strong magnet and human body touch induction module in figure
The position of remote controller casing.Three axis rocking bars and pad pasting key are the input unit of remote controler, for controlling AGV state and operation side
Formula.
Fig. 2, the human body touch sensing module installation that the utility model uses, in order to reduce the mistake that external disturbance causes detection
Occur the generation of detection mistake in journey, following requirement, such as Fig. 2, human body touch sensing mould are equipped with to human body touch sensing module
Block will be close to remote controller casing inner wall, with sticking double faced adhesive tape, and be fixed with hot melt adhesive, can guarantee the true stabilization of induction
Property, and the interference to capacitance touch induction module such as irony can be removed.In touch key-press detection unit and Fig. 3 in Fig. 2
Pad pasting key is corresponding.
Fig. 3, the circuit structure block diagram of the utility model, MCU is core of the invention control circuit in figure, is responsible for remote controler
The correlation functions such as calculating, control, display；Concrete function part is as follows:
1, power supply: being provided as the work of 7.4V direct-current power supply remote controler by lithium battery, will by power conversion module
7.4V is converted to 5.0V and 3.3V supply MCU and the work of each functional circuit.
2, key is third gear toggle switch, is connect with MCU by I/O port, and the information input of remote controler is responsible for, and realizes people
Machine interaction；
3, human body touch sensing module is mounted on the inner wall of remote controller casing, provides security protection for remote controler, prevents from missing
The appearance of triggering is connect by I/O port with MCU；
4, speed stage selects: speed threshold and bluetooth connection AGV of the digital encoding band switch as control AGV car body
The multiplexing gear of car body number；Speed stage selection is realized by pad pasting key.
5, Hall remote pole: entering MCU through AD Acquisition Circuit, realizes the conversion of analog quantity to digital quantity, is control wheel fortune
Dynamic core；
6, LCD LED display circuit and buzzer, be the human-computer interaction interface of remote controler, the state of display remote controller itself
With the principal states of lower end AGV car body；
7, remote controller for vehicle has 2 kinds of communication modes, is 232 communications, bluetooth communication respectively.232 communication modes: this remote controler
It is communicated with 2 tunnels 232, communication connection can be carried out with AGV car body；Bluetooth communication: pass through the wireless mould of bluetooth communication network implementations
AGV body movement and data interaction are controlled under formula.
The detection program circuit of Fig. 4 human body touch induction module, following accompanying drawings explain that the detection of AGV remote controller for vehicle touches mould
The program circuit of block:
Step 400, output level access pin of the I/O port as human body touch induction module is arranged in MCU.
Step 401, MCU detects level state by I/O port, executes step 402 if it is low level, if it is high electricity
It is flat to execute step 405, and by counter O reset.
Step 402, there is a counter inside program, counter is cumulative, executes 403；
Step 403, first judge whether counter is greater than 5, step 404 is executed if it is greater than 5, if counter is held less than 5
Row step 401.
Step 404, this step determines that human body touch induction module has detected manual operation.
Step 405, counter O reset and wait 100MS repeat step 401 operation.
Fig. 5, remote-controller data issues process in the utility model, and following accompanying drawings explains that remote controler is handed down to the remote control of AGV
The program circuit of device manipulation state:
Step 501, MCU judges whether to have detected artificial remote controller, has and executes step 502, is not carried out step
503。
Step 502, MCU is believed key-press status and the Hall remote pole of parsing at interval of 100ms by UART or bluetooth module
Breath is handed down to AGV, and executes step 501 again.
Step 503, MCU passes through UART or bluetooth module for the heartbeat packet (Hall remote pole not comprising key-press status and parsing
Information) at interval of 100ms it is handed down to AGV, and step 501 is executed again.
The utility model purport be to prevent due under abnormal condition Hall remote pole act in the case where to AGV just
Often operation has an impact, and the classification processing behaviour that validity is issued to remote-controller data is realized by hardware protection and software processing
Make；And the case where strong magnet is fixed to remote controler, prevents remote controler from dropping is installed by physics mode, to guarantee remote controler
Control information to AGV car body is safely and effectively.
Claims (5)
1. a kind of shatter-resistant, the AGV remote controller for vehicle with human bioequivalence function, including remote controller casing (1), it is characterised in that:
The quadrangle of remote controller casing (1) is provided with strong magnet (2)；
Determine whether that the human body of manual operation remote controler touches in being internally provided with for the position that remote controller casing (1) is grasped for manpower
It touches induction module (3), human body touch sensing module (3) enters MCU through piece machine I/O port.
2. shatter-resistant according to claim 1, the AGV remote controller for vehicle with human bioequivalence function, it is characterised in that: human body touching
Touching induction module is capacitor crawl contactless humanbody touch sensing module.
3. shatter-resistant according to claim 2, the AGV remote controller for vehicle with human bioequivalence function, it is characterised in that: human body touching
It touches and is separated between induction module and remote controller casing (1) inner wall by colloid layer.
4. shatter-resistant according to claim 1, the AGV remote controller for vehicle with human bioequivalence function, it is characterised in that: strong magnet
It (2) is cylinder, cylindrical strong magnet (2) setting is in the mounting groove (7) of remote controller casing (1), cylindrical strong magnet (2)
Top be radially provided with groove (8), groove (8) pass through strong magnet (2) at the top of the center of circle；
The bottom of mounting groove (7), which is provided with, to be held out against spring (9), at the top of the inner wall of mounting groove (7) there are two settings positioning card (10),
Two positioning cards (10) are symmetrical centered on the axis of mounting groove (7), and the distance between two positioning cards (10) meet cylindrical
Strong magnet (2) can pass through between two positioning cards (10)；
A V-arrangement card is respectively arranged in the two sides of strong magnet (2), and V-arrangement card includes long card (11) and stub (12), and length blocks (11) and stub
(12) bottom end is flexibly connected to form v-shaped structure by axis, and the upper end of two long card (11) is connected by flexible reinforcement (13), and two
The upper end of a stub (12) using when resist the bottom ends of positioning card (10), is provided with arc between long card (11) and stub (12) and limits
Position pre-tightens elastic slice (14), in use, angle is compressed between long card (11) and stub (12), flexible reinforcement (13) passes through groove
(8) it and is stretched, the upper surface of flexible reinforcement (13) is lower than the upper surface of groove (8).
5. shatter-resistant according to claim 1, the AGV remote controller for vehicle with human bioequivalence function, it is characterised in that: hold out against bullet
The top of spring (9) is provided with the top plate (15) that cylindrical strong magnet (2) bottom is resisted when use.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721859105.8U CN208255665U (en) | 2017-12-27 | 2017-12-27 | Shatter-resistant, the AGV remote controller for vehicle with human bioequivalence function |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201721859105.8U CN208255665U (en) | 2017-12-27 | 2017-12-27 | Shatter-resistant, the AGV remote controller for vehicle with human bioequivalence function |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110827527A (en) * | 2019-10-11 | 2020-02-21 | 湖南中联重科智能技术有限公司 | Operation rod, remote controller, remote control system and remote control method |
-
2017
- 2017-12-27 CN CN201721859105.8U patent/CN208255665U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110827527A (en) * | 2019-10-11 | 2020-02-21 | 湖南中联重科智能技术有限公司 | Operation rod, remote controller, remote control system and remote control method |
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