CN208796109U - A kind of back carried automated guided vehicle of multisensor perception - Google Patents
A kind of back carried automated guided vehicle of multisensor perception Download PDFInfo
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- CN208796109U CN208796109U CN201821548723.5U CN201821548723U CN208796109U CN 208796109 U CN208796109 U CN 208796109U CN 201821548723 U CN201821548723 U CN 201821548723U CN 208796109 U CN208796109 U CN 208796109U
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- car body
- control device
- automated guided
- guided vehicle
- leading flank
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Abstract
The utility model discloses a kind of back carried automated guided vehicle of multisensor perception, includes car body, control device, power supply, magnetic navigation device, running gear and reader device；Wherein, the leading flank center position of the car body is provided with supplied laser navigation apparatus, which connects control device, and the leading flank of car body, between left and right every being evenly equipped with multiple electronic knock-proof devices, multiple electronic knock-proof device connects control device.By the way that supplied laser navigation apparatus and multiple electronic knock-proof devices are arranged on the leading flank of car body, supplied laser navigation apparatus is accurately positioned come guidance machine people walking the location of robot using the not diversity of laser, multiple electronic knock-proof devices comprehensively incude the barrier on the transporting direction of AGV transport vehicle, when sensing barrier, AGV transport vehicle stops transport, after barrier is removed, AGV transport vehicle continues to transport, to avoid AGV transport vehicle from colliding during transportation damage, the safety of transport is improved.
Description
Technical field
The utility model relates to means of transport field technology, the back carried for referring in particular to a kind of multisensor perception draws automatically
Lead transport vehicle.
Background technique
AGV (Automated Guided Vehicle, it may be assumed that automated guided vehicle), which refers to, is equipped with electricity magnetically or optically certainly
The transport vehicle of dynamic guiding device, it can be travelled along defined guide path.
In the prior art, AGV trolley is in along fixed course driving process, and different directions is be easy to cause to travel or not
AGV trolley with route running in intersection, or when AGV trolley take goods point take goods during, be easy to cause AGV trolley with
Cargo or wall collide, influence AGV trolley using safe.In the prior art usually only on AGV trolley leading flank
One infrared inductor is installed, there is dead angles for sensing area, can not comprehensively incude, to cause AGV trolley
Collision, it is also possible to the cargo on vehicle be made to cause to damage.
Utility model content
In view of this, the utility model is in view of the existing deficiencies of the prior art, main purpose is to provide one kind and senses more
The back carried automated guided vehicle of device perception, efficiently solving existing AGV trolley sensing area, there is dead angles, can not
Comprehensive induction, thus the problem of causing the collision of AGV trolley.
To achieve the above object, the utility model is using following technical solution:
A kind of back carried automated guided vehicle of multisensor perception, includes car body, control device, power supply, magnetic conductance
Navigate device, running gear and reader device；The top of the car body has objective table；The power supply and control device are all set in vehicle
In vivo, which connects control device；The magnetic navigation device is set to the front side bottom of car body and connects control device；The walking
Device is set to the bottom of car body and connects control device；The reader device is set to the front side of car body and connects control device；
Wherein, the leading flank center position of the car body is provided with supplied laser navigation apparatus, which connects control device, and vehicle
For the leading flank of body between left and right every being evenly equipped with multiple electronic knock-proof devices, multiple electronic knock-proof device connects control device.
As a preferred embodiment, the electronic knock-proof device is three, wherein an electronic knock-proof device is set to car body
Leading flank center position and be located at the underface of supplied laser navigation apparatus, another two electronic knock-proof device tilts setting outwardly respectively
It is placed in the two sides of car body leading flank.
As a preferred embodiment, the electronic knock-proof device is industrial infrared sensor.
As a preferred embodiment, the industrial infrared sensor uses the sensor of model PX-22.
As a preferred embodiment, the leading flank of the car body and trailing flank are provided with electronics crash bar.
As a preferred embodiment, the power supply is lead storage battery.
As a preferred embodiment, the magnetic navigation device includes magnetic navigation sensor and magnetic stripe, the magnetic stripe and magnetic navigation
Sensor is connected, and magnetic navigation sensor is connected with control device.
As a preferred embodiment, the reader device includes RFIF card reader and RFID card reader, the RFIF card reader
It is set on the leading flank of car body, which is set to vehicle body.
As a preferred embodiment, the running gear includes universal driven wheel and multiple reversible driving wheels, this ten thousand
Each edge of the bottom of car body is respectively arranged to driven wheel, multiple reversible driving wheel is set to the bottom of car body
Two sides, and reversible driving wheel is located between former and later two corresponding universal driven wheels, each reversible driving wheel difference
It is individually driven and is rotated by a motor.
The utility model has clear advantage and beneficial effect compared with prior art, specifically, by above-mentioned technology
Known to scheme:
By the way that supplied laser navigation apparatus and multiple electronic knock-proof devices, supplied laser navigation apparatus benefit are arranged on the leading flank of car body
The location of robot is accurately positioned come guidance machine people walking, multiple electronic knock-proof devices pair with the not diversity of laser
Barrier on the transporting direction of AGV transport vehicle is comprehensively incuded, and when sensing barrier, AGV transport vehicle stops fortune
Defeated, after barrier is removed, AGV transport vehicle continues to transport, so that AGV transport vehicle be avoided to collide during transportation damage
With the damage of cargo, the safety of transport is improved.
For the structure feature and effect for more clearly illustrating the utility model, come with reference to the accompanying drawing with specific embodiment pair
The utility model is described in detail.
Detailed description of the invention
Fig. 1 is the perspective view of the preferred embodiment of the utility model；
Fig. 2 is the perspective view of the preferred embodiment hidden parts car body of the utility model.
Description of drawing identification:
10, car body 11, objective table
12, electronics crash bar 20, control device
30, power supply 40, magnetic navigation device
50, running gear 51, universal driven wheel
52, reversible driving wheel 53, motor
60, reader device 61, RFIF card reader
62, RFID card reader 70, supplied laser navigation apparatus
80, electronic knock-proof device.
Specific embodiment
It please refers to shown in Fig. 1 to Fig. 2, that show the specific structures of the preferred embodiment of the utility model, include
Car body 10, control device 20, power supply 30, magnetic navigation device 40, running gear 50 and reader device 60.
The top of the car body 10 has objective table 11, and car body 10 is welded using carbon constructional quality steel, and there is card in welding position
Falcon docking, firm in structure, the leading flank of car body 10 and trailing flank are provided with electronics crash bar 12.The power supply 30 and control device
20 are all set in car body 10, which connects control device 20, and control device 20 includes control button and touch screen etc..Electricity
Using lead-acid battery as power supply, the rechargeable chemical energy that converts electrical energy into of this kind of battery is stored in battery, puts in source 30
The chemical energy stored in battery is converted into electric energy supply AGV when electric, charging and discharging can be repeated multiple times.
The magnetic navigation device 40 is set to the front side bottom of car body 10 and connects control device 20, the magnetic navigation device 40
Including magnetic navigation sensor (not shown) and magnetic stripe (not shown), which is connected with magnetic navigation sensor, magnetic navigation
Sensor is connected with control device 20.
The running gear 50 is set to the bottom of car body 10 and connects control device 20, and the running gear 50 includes ten thousand
To driven wheel 51 and multiple reversible driving wheels 52, which is respectively arranged at each corner of the bottom of car body 10
Place, which is respectively arranged at the two sides of the bottom of car body 10, and reversible driving wheel 52 respectively corresponds and is located at
Between the universal driven wheel 51 of two of front and back, each reversible driving wheel 52 is individually driven by a motor 53 and is rotated.It is above-mentioned
Reversible driving wheel 52 is four, corresponding, and motor 53 is four, and each motor 53 drives 52 turns of corresponding reversible driving wheel
Dynamic, so that four-wheel differentia drives, four wheels are dynamic, and approach angle and departure angle are adapted to site of deployment up to 10 degree
Slope change.Reversible driving wheel 52 is Big Diameter Rubber tire, and frictional force is big, and elasticity is high, can easily cross width 10mm
Ground clearance.Four reversible driving wheels 52 can pivot turn, be suitable for the conditional application environment in space
The reader device 60 is set to the front side of car body 10 and connects control device 20, and the reader device 60 includes RFIF
Card reader 61 and RFID card reader 62, the RFIF card reader 61 are set on the leading flank of car body, the RFID card reader 62 setting
Inside car body 10, RFID is one and is easily manipulated, simple and practical and flexibility application particularly suitable for automation control
Technology.Can freely work under various adverse circumstances: short-range radio frequency product is not afraid of the rugged environments such as grease stain, dust pollution,
Bar code can be substituted.
The leading flank center position of the car body 10 is provided with supplied laser navigation apparatus 70, the supplied laser navigation apparatus 70 connection control
Device 20, supplied laser navigation apparatus 70 are accurately positioned come guidance machine people the location of robot using the not diversity of laser
Walking.Supplied laser navigation apparatus 70 is mounted on robot front, rotates a circle every several ms, issues the laser through ovennodulation,
It is demodulated when receiving the reflected light of modulated reflecting plate, so that it may effective signal to be obtained, by laser head lower angular
The encoder of data, the rotation speed of laser when computer can read in the reflection signal received at that time in time.And car body 10
Leading flank between left and right every being evenly equipped with multiple electronic knock-proof devices 80, multiple electronic knock-proof device 80 connects control device 20,
The electronic knock-proof device 80 is three, wherein an electronic knock-proof device 80 is set to the leading flank center position of car body 10 and position
In the underface of supplied laser navigation apparatus 70, another two electronic knock-proof device 80 tilt respectively outwardly be set to car body leading flank
Two sides, in the present embodiment, electronic knock-proof device 80 are industrial infrared sensor, specifically, electronic knock-proof device 80 is adopted
With the sensor of model PX-22, in AGV operational process, can electronic knock-proof device 80 it is open when, be able to detect that AGV is transported
Barrier in line direction a certain range (adjustable) carries out sound-light alarm prompt, while AGV slows down or stop evacuation, works as barrier
After hindering object to be removed, trolley starts automatically.When having obstacle in direction of travel distance 1m, AGV automatic retarding, when obstacle distance is small
When 0.5m, AGV automatic stopping；After removing the barrier before AGV, AGV will continue to run.
The design focal point of the utility model is:
By the way that supplied laser navigation apparatus and multiple electronic knock-proof devices, supplied laser navigation apparatus benefit are arranged on the leading flank of car body
The location of robot is accurately positioned come guidance machine people walking, multiple electronic knock-proof devices pair with the not diversity of laser
Barrier on the transporting direction of AGV transport vehicle is comprehensively incuded, and when sensing barrier, AGV transport vehicle stops fortune
Defeated, after barrier is removed, AGV transport vehicle continues to transport, so that AGV transport vehicle be avoided to collide during transportation damage
With the damage of cargo, the safety of transport is improved.
The above descriptions are merely preferred embodiments of the present invention, not makees to the technical scope of the utility model
Any restrictions, therefore any trickle amendment made by the above technical examples according to the technical essence of the present invention, equivalent change
Change and modify, is still within the scope of the technical solutions of the present invention.
Claims (9)
1. a kind of back carried automated guided vehicle of multisensor perception, includes car body, control device, power supply, magnetic navigation
Device, running gear and reader device；The top of the car body has objective table；The power supply and control device are all set in car body
Interior, which connects control device；The magnetic navigation device is set to the front side bottom of car body and connects control device；Walking dress
It installs the bottom for being placed in car body and connects control device；The reader device is set to the front side of car body and connects control device；Its
Be characterized in that: the leading flank center position of the car body is provided with supplied laser navigation apparatus, which connects control device,
And the leading flank of car body, between left and right every being evenly equipped with multiple electronic knock-proof devices, multiple electronic knock-proof device connects control device.
2. a kind of back carried automated guided vehicle of multisensor perception according to claim 1, it is characterised in that: institute
Stating electronic knock-proof device is three, wherein an electronic knock-proof device is set to the leading flank center position of car body and leads positioned at laser
The underface of boat device, another two electronic knock-proof device tilt the two sides for being set to car body leading flank outwardly respectively.
3. a kind of back carried automated guided vehicle of multisensor perception according to claim 1, it is characterised in that: institute
Electronic knock-proof device is stated as industrial infrared sensor.
4. a kind of back carried automated guided vehicle of multisensor perception according to claim 3, it is characterised in that: institute
State the sensor that industrial infrared sensor uses model PX-22.
5. a kind of back carried automated guided vehicle of multisensor perception according to claim 1, it is characterised in that: institute
The leading flank and trailing flank for stating car body are provided with electronics crash bar.
6. a kind of back carried automated guided vehicle of multisensor perception according to claim 1, it is characterised in that: institute
Stating power supply is lead storage battery.
7. a kind of back carried automated guided vehicle of multisensor perception according to claim 1, it is characterised in that: institute
Stating magnetic navigation device includes magnetic navigation sensor and magnetic stripe, which is connected with magnetic navigation sensor, magnetic navigation sensor with
Control device is connected.
8. a kind of back carried automated guided vehicle of multisensor perception according to claim 1, it is characterised in that: institute
Stating reader device includes RFIF card reader and RFID card reader, which is set on the leading flank of car body, the RFID
Card reader is set to vehicle body.
9. a kind of back carried automated guided vehicle of multisensor perception according to claim 1, it is characterised in that: institute
Stating running gear includes universal driven wheel and multiple reversible driving wheels, which is respectively arranged at the bottom of car body
Each edge, multiple reversible driving wheel is set to the two sides of the bottom of car body, and reversible driving wheel is located at
Between former and later two corresponding universal driven wheels, each reversible driving wheel is individually driven by a motor and is rotated.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821548723.5U CN208796109U (en) | 2018-09-21 | 2018-09-21 | A kind of back carried automated guided vehicle of multisensor perception |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821548723.5U CN208796109U (en) | 2018-09-21 | 2018-09-21 | A kind of back carried automated guided vehicle of multisensor perception |
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| Publication Number | Publication Date |
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| CN208796109U true CN208796109U (en) | 2019-04-26 |
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| CN201821548723.5U Active CN208796109U (en) | 2018-09-21 | 2018-09-21 | A kind of back carried automated guided vehicle of multisensor perception |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112371517A (en) * | 2020-10-15 | 2021-02-19 | 北京极智嘉科技有限公司 | Article sorting system and method |
| CN112987738A (en) * | 2021-02-26 | 2021-06-18 | 深圳易行机器人有限公司 | Physical parameter checking method of AGV motion navigation core controller and AGV |
| CN113703435A (en) * | 2020-05-21 | 2021-11-26 | 恩斯迈电子(深圳)有限公司 | Vehicle dispatching system and vehicle dispatching method |
| WO2022188497A1 (en) * | 2021-03-12 | 2022-09-15 | 灵动科技（北京）有限公司 | Transfer robot, transfer system, and prompt information generation method |
| CN116176478A (en) * | 2023-02-20 | 2023-05-30 | 深圳市东京文洪印刷机械有限公司 | AGV intelligent transportation robot and intelligent transportation system |
-
2018
- 2018-09-21 CN CN201821548723.5U patent/CN208796109U/en active Active
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113703435A (en) * | 2020-05-21 | 2021-11-26 | 恩斯迈电子(深圳)有限公司 | Vehicle dispatching system and vehicle dispatching method |
| CN112371517A (en) * | 2020-10-15 | 2021-02-19 | 北京极智嘉科技有限公司 | Article sorting system and method |
| CN112371517B (en) * | 2020-10-15 | 2022-06-24 | 北京极智嘉科技股份有限公司 | Article sorting system and method |
| CN112987738A (en) * | 2021-02-26 | 2021-06-18 | 深圳易行机器人有限公司 | Physical parameter checking method of AGV motion navigation core controller and AGV |
| WO2022188497A1 (en) * | 2021-03-12 | 2022-09-15 | 灵动科技（北京）有限公司 | Transfer robot, transfer system, and prompt information generation method |
| CN115072626A (en) * | 2021-03-12 | 2022-09-20 | 灵动科技（北京）有限公司 | Transfer robot, transfer system, and presentation information generation method |
| CN116176478A (en) * | 2023-02-20 | 2023-05-30 | 深圳市东京文洪印刷机械有限公司 | AGV intelligent transportation robot and intelligent transportation system |
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