CN208922093U - Four-wheel omnidirectional AGV system with hoistable platform - Google Patents
Four-wheel omnidirectional AGV system with hoistable platform Download PDFInfo
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Abstract
The utility model proposes a kind of four-wheel omnidirectional AGV system with hoistable platform, omnidirectional AGV with 4 Mecanum wheel is research object, including master controller STM32F103RCT6, magnetoelectric transducer, lifting platform, wireless communication module, servo-driver, servo motor；Wireless communication module is to receive the instruction that remote controler is sent by WiFi, issues the master controller STM32F103RCT6 on vehicle by serial ports, the connection driving lifting platform movement after master controller STM32F103RCT6 has received a frame data every time and verified；Two magnetoelectric transducers are arranged side by side in AGV system front end, and each magnetoelectric transducer can acquire 16 location points simultaneously, then the output switch parameter in the form of open collector is to master controller STM32F103RCT6；Servo-driver connects servo motor.The utility model four-wheel Omni-mobile platform is because having good application value and higher transplantability.
Description
Technical field
The utility model belongs to field of intelligent control, more particularly relates to a kind of AGV system, four-wheel omnidirectional with hoistable platform
System.
Background technique
AGV is the abbreviation i.e. automated guided vehicle of (Automated Guided Vehicle), is referred to equipped with electromagnetism
Or the homing guidances device such as optics, it can be travelled along defined guide path, have safeguard protection and various transfer functions
Transport vehicle.
In modern society's production and living, Omni-mobile platform is just playing increasing use value.In some ratios
Such as small space or in the special occasions with compound movement path, common wheel moving platform is difficult to play a role, at this moment
Omni-mobile platform can play unique advantage.Omni-mobile platform can be realized flat while keeping itself original posture
The movement of face any direction can also be achieved zero turning radius rotary motion, to break through the limitation of narrow space.Therefore, nowadays
It is widely distributed in numerous industries such as auto industry, aircraft industry, white goods industry, machining.
With the continuous improvement of logistics system automatization level, AGV is as a kind of unmanned carrier, it has also become flexible
One of manufacture system and the key equipment of automatic stereowarehouse.Due to complexity and life of the modern industry on working space
Requirement in production to transfer equipment flexibility is higher and higher, therefore designs a kind of AGV that can be worked under various modes and have weight
Want meaning.
The research of Omni-mobile platform is not very mature in the prior art, in terms of being concentrated mainly on soccer robot,
The depth and range of research be not high.Although some stronger enterprises of the capacity of scientific research carry out many research work, domestic city
There is no mature Omni-mobile platforms to occur on field, so studying a kind of Omni-mobile platform meaning weight for meeting requirement of engineering
Greatly.But from the point of view of use form, mostly using the electromagnetism guiding AGV for belonging to fixed route guiding scope, no fixed route is autonomous
The AGV of guiding has not been reached yet practical since problems fail to be fully solved.
Utility model content
1, purpose of utility model.
The utility model proposes a kind of four-wheel omnidirectional AGV based on STM32 with hoistable platform, can be certainly to solve system
Row steadily advances along the tape laid, is worked according to instruction Omni-mobile and lifting controllable platform.
2, technical solution used by the utility model.
The utility model proposes a kind of four-wheel omnidirectional AGV system with hoistable platform, including master controller
STM32F103RCT6, magnetoelectric transducer, lifting platform, wireless communication module, servo-driver, servo motor；Wireless communication module
The instruction that remote controler is sent is received by WiFi, the master controller STM32F103RCT6 on vehicle is issued by serial ports, to master control
Connection driving lifting platform movement after device STM32F103RCT6 processed has received a frame data every time and verified；AGV system front end is side by side
Two magnetoelectric transducers are set, and each magnetoelectric transducer can acquire 16 location points simultaneously, then in the form of open collector
Output switch parameter is to master controller STM32F103RCT6；Servo-driver connects servo motor.
Further, including lithium battery, air switch, emergency stop switch, Switching Power Supply, AGV master control borad, lifting platform drive
Plate, push-rod electric machine, 4 motor servo drivers are separately connected driving motor；Master controller STM32F103RC respectively with servo
It is connected between driver, magnetoelectric transducer, lifting platform driving plate and WiFi communication module；Lithium battery is through inverter connection switch electricity
Source exports direct current supply AGV master control borad and lifting platform driving plate, magnetoelectric transducer, servo-driver；For protecting on vehicle
Electrical equipment and air switch connection switch power supply and the lifting platform driving plate master control that vehicle power supply is disconnected when vehicle idle
Device STM32F103RC processed；Emergency stop switch connection for allowing trolley to stop running immediately when trolley is debugged or is broken down
Motor servo driver；Power is electrically isolated while realizing that the solid-state relay of vulnerabilities scan forceful electric power is connect with AGV master control borad, when
AGV master control borad powers on the forceful electric power access conducting of solid-state relay, and servo-driver powers on.
Further, servo-driver is 4, using SGD7S-2R8A00A002.
Further, magnetoelectric transducer uses MGS-H16, with guide magnetic strip at a distance of 5-30mm.
Further, wireless telecommunications use ESP8266 module.
Further, each angle in lifting platform bottom be arranged 4 diameter 127mm, can around wheel axis rotation, around roller axle center
Rotation and 45 ° of Mecanum wheel that 3 freedom degrees are rotated around wheel and ground contact points, each motor independently drive one
Mecanum wheel, car body moving direction are driven jointly by roller setting angle and wheel steering.
3, technical effect caused by the utility model.
(1) the utility model is described using the omnidirectional AGV with 4 Mecanum wheel as research object including master control borad,
WiFi module, tape detection, the Hardware Design including lifting platform control and servo drive circuit, realization are with STM32
The kinetic control system of core.
(2) this four-wheel Omni-mobile platform of the utility model design is because having good application value and higher shifting
Plant property, can provide some references for relevant automatic transportation manufacturing field.
Detailed description of the invention
Fig. 1 is system overall framework figure.
Fig. 2 is vehicle electrical schematic diagram.
Fig. 3 is master control borad power management.
Fig. 4 24V turns 5V power circuit.
Fig. 5 5V turns 3.3V power circuit.
Fig. 6 5V turns -5V power circuit.
Fig. 7 outer clock circuit.
Fig. 8 reset circuit.
Fig. 9 pull-up circuit.
Figure 10 shift register connection circuit.
Figure 11 optical coupling isolation circuit.
Figure 12 controls the hardware circuit of lifting platform rise movement.
Figure 13 D/A converting circuit.
Figure 14 D/A converting circuit.
Specific embodiment
Embodiment 1
This system selects STM32F103RCT6 as main control chip, which has the FLASH and 48K of 256K byte
The SRAM of byte, system clock frequency reach as high as 72MHz, and it is a which, which is also integrated with built-in peripheral resources abundant,
High-performance, low cost, low-power consumption microcontroller chip, can preferably meet the design requirement of system.As shown in Figure 1, when being
On system when electricity operation, wireless communication module can constantly receive the instruction that remote controler is sent by WiFi, and module is by received finger
It enables and the master controller STM32F103RCT6 on vehicle is issued by serial ports, received every time to master controller STM32F103RCT6
After one frame data and verification pass through, data content is just parsed, the operational mode of following trolley is determined with this；If tracking mould
Formula then handles the data that magnetoelectric transducer acquisition is come in, obtains the spin rate control quantity of 4 motors, and pass through 4 external road DA
Conversion circuit becomes analog voltage, is converted into being added to the control voltage of 4 servo-driver revolving speed control terminals via conditioning circuit；
If remote control mode, then continue to parse this frame data, three values of available control omnidirectional moving control each motor later
The process of revolving speed is as tracking mode；The tracking of trolley or Omni-mobile and lifting under remote control mode are just realized in this way
The normal work of platform.
1, vehicle power management
If Fig. 2 is the electrical schematic diagram of trolley, system is 2500W's through peak power output by 48V lithium battery power supply
Switching Power Supply and servo-driver in inverter conversion output 220V single-phase alternating current feed system.It is set in forceful electric power route
Air switch and emergency stop switch are set, the electrical equipment and disconnect vehicle when vehicle idle that air switch is used to protect on vehicle
Power supply, emergency stop switch are used to allow trolley to stop running immediately when trolley is debugged or is broken down；Solid-state relay is strong and weak
It is electrically isolated while realizing the device of vulnerabilities scan forceful electric power, within the system, only when the positive often-have-electricity of master control borad, solid-state relay
Forceful electric power access could be connected, servo-driver could be powered on normally；Switching Power Supply exports 24V direct current supply master control borad and liter
Platform driving plate drops, and the latter is used to control lifting of lifting table；Meanwhile master control borad respectively with servo-driver, lifting platform driving plate, magnetic
Necessary light current route is connected between electric transducer and WiFi communication module, chapters and sections below can be referring again on mainboard in system
Power supply design.
3, the type selecting of main component
The type selecting of 3.1 servo units
In view of the load-carrying and working performance of four-wheel AGV trolley, this system has selected Σ -7 series of peace river motor to watch
Unit is taken, wherein servo-driver model SGD7S-2R8A00A002, the applicable capacity motor of maximum is 400W, interface type packet
Analog quantity voltage and pulse train command type are included, input and output terminals can be distributed by having, and set maximum speed, frequency dividing output
The functions such as encoder pulse and pressure stopping；Servo motor model number is SGM7J-04AFC6E, and there are 24 incrementals serially to compile
Code device, advanced automatic regulating function are the motors of a kind of middle inertia, high speed
The type selecting of 3.2 magnetoelectric transducers
MGS-H16 is that one kind can be mounted on unpiloted AGV trolley, the magnetic steering sensing for magnetic track navigation
Device, for the Shi Yaoyu guide magnetic strip that works at a distance of 5-30mm, each sensor has 16 switching values with NPN collector open loop manner
Output pin.If trolley offsets by track in the process of running, 16 bit switch amounts have one or more states and change
Become, system can issue various instructions according to the difference of these switching value combined codes, enable trolley correctly along rail running.
Sensor can carry out offset detection to the magnetic field for being higher than 6GS at test surface, and the price of the type sensor is far below similar import
Product has high cost performance.
The moving component of 3.3 AGV Omni-mobiles
System selects 45 ° of Mecanum wheel of 4 diameter 127mm, this is the critical component that trolley realizes Omni-mobile.
Mecanum wheel has around wheel axis rotation, rotates 3 freedom around roller axis rotation and around wheel and ground contact points
Degree.Each motor independently drives a Mecanum wheel, and car body moving direction is determined jointly by roller setting angle and wheel steering
It is fixed.
4 master control borad power managements
Master control borad must have reliable power supply supply and protection as the most important control section of system such as the brain of people
Measure, the cabling that when design need to reasonably select power supply chip, arrange pcb board, when use, which will be carried out, is isolated work with forceful electric power route
Make, to avoid the interference even short trouble in forceful electric power source, ensures that trolley operates normally.
As shown in figure 3, work electricity of the 24V Switching Power Supply as magnetoelectric transducer, servo-driver interface and lifting platform
Source；5V is changed by LM2596-5, supplies and turns -5V power module, indicator elment and other chips on mainboard；Pass through
5V is converted into 3.3V power supply master controller STM32F103RCT6 minimum system by AZ1117H3.3.
24V turns 5V power supply, because there is the indicator elments such as many logical process chips and LED, buzzer same on master control borad
When work, so power supply chip will also be capable of providing sufficiently large output electric current while keeping output voltage stabilization,
LM2596-5 only needs few peripheral components that can constitute the driving current of efficient voltage regulator circuit and highest output 3A, meets master
Control the power requirement of plate.As shown in figure 4, the E1 in the circuit is the filter capacitor of input terminal, L1 and E2 constitute Switching Power Supply LC
Filter circuit, D5 constitute clamp circuit, and D4 is work light.
5V turns 3.3V power supply, though most of letter on mainboard can be supplied by the 5V voltage that LM2596-5 voltage stabilizing chip generates
Number processing module, but since LM2596-5 itself is switching type power supply chip, output voltage have certain ripple, and main control
Requirement of the device STM32F103RCT6 to working power is 2.0V~3.6V, it is clear that such 5V voltage is unsatisfactory for requiring, to guarantee
The reliably working of master controller STM32F103RCT6 needs further to handle 5V voltage.AZ1117H-3.3 voltage stabilizing chip
3.3V voltage can be provided, in normal working conditions, highest can provide the output electric current of 1A, due to master controller
The operating current of STM32F103RCT6 usually not more than 200mA, so the chip meets the requirements.
As shown in figure 5, LED powers on indicator light as master controller STM32F103RCT6, the 10UF tantalum capacitor of input terminal,
For filtering out the alternating component in 5V power supply, filtering effect is can be enhanced after in parallel with output capacitor C2 in voltage-stabiliser tube IN4733
Fruit eliminates the coupling by power supply, keeps output voltage more stable.
5V turns -5V power supply, and WRA0505CS is Width funtion input, and the DC-DC module electricity of the positive and negative doubleway output of pressure stabilizing is isolated
Source, the stability and Ripple Noise of output voltage meet the requirement as amplifier positive-negative power.As shown in fig. 6, circuit generates
The positive-negative power of ± 5V voltage as amplifier in conditioning circuit, two 0.1UF tantalum capacitors are for exporting filtering, and LED is as producing
Raw -5V power supply indicator.
5 master controller STM32F103RCT6 minimum systems
5.1 outer clock circuit
As shown in fig. 7, minimum system selects external 8M without source crystal oscillator as clock source, two 22pF capacitors are starting of oscillation electricity
Hold, and the 1M resistance connect is mainly used to generate negative-feedback, guarantees that the amplifier of pin inner portions at this can work in high-gain
Linear zone, while metering function is played, it prevents output signal from excessively driving to crystal oscillator, guarantees crystalchecked work.
8.2 reset circuits, reset circuit is for transporting CPU and various parts since the original state of program setting
Row, outside the REST pin of master controller STM32F103RCT6 plus a low level signal can cause to reset.It is illustrated in figure 8
The integral form electrification reset circuit of use, wherein R5 makes REST maintain high level as pull-up resistor, capacitor play elimination by
The effect of key movement shake, has the effect of hardware filtering.
In addition, to realize that master controller STM32F103RCT6 and ESP8266 module carry out serial communication, by module
UTXD, URXD foot are coupled with the PA10 of master controller STM32F103RCT6, PA9 foot.
6 tape detection circuits
In order to obtain accurate location information, AGV needs the tape signal of acquisition 32 points of body structure in real time.By
16 location points, then the output switch parameter in the form of open collector can be acquired simultaneously in each magnetoelectric transducer, therefore
Two magnetoelectric transducers are arranged side by side in trolley front end.As shown in figure 9, A1 to A16 is the output pin of sensor, external 10K
Pull-up resistor to export high level, wherein the case where 16 LED indicator lights are used to intuitive display sensor acquisition signal,
When certain sampled point detects magnetic field signal, corresponding pin exports low level, and at this moment the LED light of the position can be lighted.
Figure 10 is the connection circuit of the left end AGV magnetoelectric transducer and two shift registers.74LS165 is that eight parallel-by-bits are defeated
The shift register for entering complementary Serial output, when 7 feet generate negative pulse, the deposit of eight bit parallel data of register input terminal, it
During clock pins generate eight pulses afterwards, eight bit parallel datas are successively exported from Q7 foot, if keeping the 2nd or the 15th foot is high electricity
It is flat, the chip can be disabled；Two panels 74LS165 is cascaded by DS foot and Q7 foot, can expand the width of data acquisition in this way.
In actual hardware circuit, each sensor occupies two panels 74LS165, and two magnetoelectric transducers need 4 altogether on trolley
Piece 74LS165,1 foot of each shift register are connected to the PC0 of master controller STM32F103RCT6, and clock pins are all connected to
PC1 need to only control the two pins of master controller STM32F103RCT6 by above-described timing in this way and generate low and high level,
Master controller STM32F103RCT6 can be allowed to receive the signal of this 32 location points, it is seen that can greatly save master control in this way
Device STM32F103RCT6 pin resource processed.
7 lifting platform hardware circuits
The function of the partial circuit is the landing movement for allowing master controller STM32F103RCT6 that can control lifting platform, is risen
Drop platform motor operating voltage is 24V, to be isolated with master controller STM32F103RCT6；During rise, it is necessary to assure
The signal of decline control terminal does not generate interference, otherwise similarly；When lifting platform reaches high spacing place, still deposited even if hoisting the signal
Lifting platform is not responding to, and low spacing place is similarly.
Figure 11 show optical coupling isolation circuit, which completes the conversion of electrical-optical-electrical with single channel optocoupler PC817, makes
Input and output are mutually isolated, have good electrical isolation and anti-interference ability, because the input terminal of photo-coupler belongs to current mode
The low-resistance element of work, thus the circuit also has very strong common mode inhibition capacity.Illustrated circuit, which is served only for generating, rises control
Signal, UP_S are connected to master controller STM32F103RCT6 pin, and when the foot is set as high level, light emitting diode is lighted, light
The conducting of coupling output end, the end UP is divided to obtain 5V, as high level by 24V；If UP_S foot is low level, optocoupler output is turned off,
The end UP exports low level.
Figure 12 is the hardware circuit that control is risen, wherein CN1, and CN2 is respectively the relay for controlling ascending, descending movement, as long as
Some relay coil obtains electric, and lifting platform carries out corresponding actions.In the figure, when UP input high level, tri- pole NPN
Pipe Q2 conducting, 24V power supply forms access over the ground by R1, R2 and Q2, since the pressure drop on R1 makes Vgs < 0 of p-type metal-oxide-semiconductor,
Metal-oxide-semiconductor conducting, output end CN1-14 are connected to 24V, so that relay CN1 coil obtains electric, lifting platform rise.In the circuit of the left side
CN2-1 and CN2-9 is the normally-closed contact of relay CN2, and purpose of design is to guarantee that relay CN2 must not when lifting platform rises
Electricity excludes two relays while obtaining electric situation, i.e. realization interlock function；If rolling during rise, under crane
Wheel has touched lifting position-limit switch, has been shorted the base emitter-base bandgap grading of triode, triode is caused to turn off, the access over the ground of 24V power supply
It is just to sever immediately upon impact by the firing pin, Vgs becomes 0, and metal-oxide-semiconductor immediately turns off, and the coil losing electricity of relay CN1 causes normal open switch CN1-8 and CN-
12 disconnect, and thus prevent platform from continuing to rise from hardware.The parallel-connection structure of C1 and 1N5819 can make voltage more stable, have
Conducive to lifting platform smooth working.
It can to sum up obtain, when lifting platform does not reach high limit, as long as UP_S is arranged to high level, while DOWN_S
It is arranged to low level, lifting platform just rises, and by being reversed when declining；It is only all low electricity in UP_S and DOWN_S
Usually, lifting platform does not work.UP_S is connected to PA6 foot in actual hardware circuit, DOWN_S is connected to PA7 foot.
8 servo drive circuits
Servo drive unit wiring, servo-driver is powered by the alternating current 220V that inverter generates as seen from Figure 13, is driven
Dynamic device exports three-phase electric drive AC servo motor, while motor speed is fed back to servo-driver to be formed pair by encoder
The closed-loop control of motor speed.
Signal harness between driver and master control borad includes 24V power and ground, main to transmit servo motor switch control
Signal S-ON processed, motor speed control signal V-REF, forbid being driven forward signal P-OT and forbid being driven reverse signal N-
OT。
8.1 conditioning circuit
The motor speed control mode of Systematic selection is analog voltage control, i.e., by changing servo-driver speed control
The voltage at end changes motor speed.If Figure 14 is the 1st number analog conversion circuit of system, using 12 analog-digital chips
DAC7512, as operating voltage 5V, for output voltage range between 0~5V, master controller STM32F103RCT6 passes through PB2
Motor control amount is passed to external DA circuit conversion into analog voltage v by pinout1, later by conditioning circuit shown in Fig. 3 .12
Processing obtains control voltage vmoto1, this namely above saves the motor speed instruction V-REF mentioned, and voltage value is bigger, motor speed
It is faster, the positive and negative decision motor speed direction of voltage.
The purpose for designing conditioning circuit is that the voltage of 0~5V is converted into positive and negative section symmetrically to control voltage.In Figure 14,
It first passes through+5V to divide to obtain+2.5V voltage, obtains -2.5V using phase inverter, obtain servo motor finally by add circuit
The control voltage of speed.In the circuit, D/A output voltage Vout and the operation relation of control voltage Vmoto are
As it can be seen that the voltage for being actually added to control terminal is -5V, and motor can be with reversed maximum speed when D/A output voltage is 0
Operation, when DA output is+5V, motor is run with positive maximum speed, so need to consider control terminal voltage in software design
The selection of digital output when being 0.Because DA chip is 12 digital analog converters, the maximum number amount that can be properly received is
4095, so system should select 2047 to be used as a reference value, it is also contemplated that the factors such as electronic component actual parameter and environment temperature
Influence, 4 a reference values must after actually debugging reselection, but will not be very big with 2047 difference.
Wireless telecommunications use ESP8266 module, and a kind of serial ports WiFi communication module can use 3.3V power supply power supply, small in size,
It is low in energy consumption, support transparent transmission, packet loss phenomenon is not serious, can be developed by the AT command set that official integrates, side easy to operate
Just.
Working principle: if Fig. 1 is the overall framework of this system.When system electrification operation, wireless communication module can be continuous
The instruction that remote controler is sent by WiFi is received, the master controller on vehicle is issued in received instruction by module by serial ports
STM32F103RCT6 just parses number after master controller STM32F103RCT6 has received a frame data every time and verification passes through
According to content, the operational mode of following trolley is determined with this；If tracking mode, then the number that magnetoelectric transducer acquisition is come in is handled
According to the spin rate control quantity of 4 motors being obtained, and become analog voltage by 4 external road DA conversion circuits, via conditioning circuit
It is converted into being added to the control voltage of 4 servo-driver revolving speed control terminals；If remote control mode, then continue to parse this frame number
According to three values of available control omnidirectional moving control the process of each motor speed as tracking mode later；So just
Realize the normal work of the tracking of trolley or Omni-mobile and lifting platform under remote control mode.
Above-described embodiment is the preferable embodiment of the utility model, but the embodiments of the present invention is not by above-mentioned
The limitation of embodiment, it is made under other any spiritual essence and principles without departing from the utility model to change, modify, replacing
In generation, simplifies combination, should be equivalent substitute mode, is included within the protection scope of the utility model.
Claims (6)
1. a kind of four-wheel omnidirectional AGV system with hoistable platform, it is characterised in that: including master controller STM32F103RCT6, magnetic
Electric transducer, lifting platform, wireless communication module, servo-driver, servo motor；Wireless communication module i.e. pass through WiFi receive it is distant
The instruction that control device is sent, issues the master controller STM32F103RCT6 on vehicle by serial ports, to master controller
Connection driving lifting platform movement after STM32F103RCT6 has received a frame data every time and verified；AGV system front end is arranged side by side
Two magnetoelectric transducers, each magnetoelectric transducer can acquire 16 location points, then the switch in the form of open collector simultaneously
Amount is exported to master controller STM32F103RCT6；Servo-driver connects servo motor.
2. the four-wheel omnidirectional AGV system according to claim 1 with hoistable platform, it is characterised in that: including lithium battery, sky
Air cock, emergency stop switch, Switching Power Supply, AGV master control borad, lifting platform driving plate, push-rod electric machine, 4 motor servo drivers point
It Lian Jie not driving motor；Master controller STM32F103RC respectively with servo-driver, magnetoelectric transducer, lifting platform driving plate and
It is connected between WiFi communication module；Lithium battery is through inverter connection switch power supply output direct current supply AGV master control borad and lifting
Platform driving plate, magnetoelectric transducer, servo-driver；For protecting electrical equipment on vehicle and disconnecting vehicle when vehicle idle
The air switch connection switch power supply and lifting platform driving plate master controller STM32F103RC of power supply；For debugged in trolley
Or break down when allow trolley to stop running immediately emergency stop switch connection motor servo driver；Power is electrically isolated while realizing
The solid-state relay of vulnerabilities scan forceful electric power is connect with AGV master control borad, when the forceful electric power access that AGV master control borad powers on solid-state relay is led
Logical, servo-driver powers on.
3. the four-wheel omnidirectional AGV system according to claim 1 with hoistable platform, it is characterised in that: in lifting platform bottom
Each angle is arranged 4 diameter 127mm, can turn around wheel axis rotation, around roller axis rotation and around wheel and ground contact points
45 ° of Mecanum wheel of dynamic 3 freedom degrees, each motor independently drive a Mecanum wheel, and car body moving direction is pacified by roller
Dress angle and wheel steering drive jointly.
4. the four-wheel omnidirectional AGV system according to claim 1 with hoistable platform, it is characterised in that: servo-driver 4
It is a, using SGD7S-2R8A00A002.
5. the four-wheel omnidirectional AGV system according to claim 1 with hoistable platform, it is characterised in that: magnetoelectric transducer is adopted
With MGS-H16, with guide magnetic strip at a distance of 5-30mm.
6. the four-wheel omnidirectional AGV system according to claim 1 with hoistable platform, it is characterised in that: wireless telecommunications use
ESP8266 module.
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| CN201821822290.8U CN208922093U (en) | 2018-11-07 | 2018-11-07 | Four-wheel omnidirectional AGV system with hoistable platform |
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| CN201821822290.8U CN208922093U (en) | 2018-11-07 | 2018-11-07 | Four-wheel omnidirectional AGV system with hoistable platform |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111619699A (en) * | 2020-05-21 | 2020-09-04 | 广东博智林机器人有限公司 | AGV moving platform and control method and control device thereof |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111619699A (en) * | 2020-05-21 | 2020-09-04 | 广东博智林机器人有限公司 | AGV moving platform and control method and control device thereof |
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