CN208978614U - A kind of AGV trolley based on millimetre-wave radar - Google Patents
A kind of AGV trolley based on millimetre-wave radar Download PDFInfo
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- CN208978614U CN208978614U CN201821342706.6U CN201821342706U CN208978614U CN 208978614 U CN208978614 U CN 208978614U CN 201821342706 U CN201821342706 U CN 201821342706U CN 208978614 U CN208978614 U CN 208978614U
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- millimetre
- wave radar
- agv trolley
- trolley based
- driving wheel
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
Abstract
The utility model provides a kind of AGV trolley based on millimetre-wave radar, including the vehicle frame for carrying, directive wheel for guiding, driving wheel for driving, millimetre-wave radar for the baffle of anticollision and for detecting obstacle, the directive wheel and the driving wheel are connected with the vehicle frame, one end that the vehicle frame is equipped with directive wheel is fixedly connected with the baffle, the millimetre-wave radar is set on baffle, it can reduce signal interference, it improves signal penetration capacity guidance AGV moving of car and prevents from colliding, structure is simple, manufacture difficulty is lower, convenient for promoting.
Description
Technical field
The utility model belongs to traffic and transport field, is related to a kind of AGV trolley based on millimetre-wave radar.
Background technique
((Automated Guided Vehicle) is usually travelled along trapped orbit AGV, and common anticollision device, collision-prevention device is using sharp
The technologies such as optical, electromagnetic, since signal is vulnerable to interference, penetration capacity difference energy disadvantage, so that AGV trolley is easy in work operation
There is collision phenomenon, it is therefore necessary to a kind of AGV trolley based on millimetre-wave radar be provided, avoided collision.
Utility model content
In view of this, the purpose of this utility model is to provide a kind of AGV trolley based on millimetre-wave radar.
In order to achieve the above objectives, the utility model provides the following technical solutions:
A kind of AGV trolley based on millimetre-wave radar, including for carrying vehicle frame, for guiding directive wheel, be used for
The driving wheel of driving, the millimetre-wave radar for the baffle of anticollision and for detecting obstacle, the directive wheel and the driving
Wheel is connected with the vehicle frame, and one end that the vehicle frame is equipped with directive wheel is fixedly connected with the baffle, the millimeter wave thunder
Up to being set on baffle.
It optionally, further include controller, the controller and the millimetre-wave radar, the directive wheel and the driving
Take turns signal connection.
Optionally, the driving wheel and motor are coaxially connected.
Optionally, the driving wheel is also coaxially connected with brake.
Optionally, the motor and the brake are connected with the controller in a signal way..
Optionally, millimetre-wave radar include antenna, millimetre-wave radar transmitter, antenna duplexer, electromagnetic receiver,
Signal processor and warning device, the antenna and millimetre-wave radar transmitter are connect with the antenna duplexer signal,
The antenna duplexer is connect by electromagnetic receiver with signal processor, signal processor respectively with warning device and
Controller signals connection
It optionally, further include battery for power supply, it is the battery and the directive wheel, the driving wheel, described
Millimetre-wave radar and controller circuitry connection.
Optionally, the battery is fixedly connected with the vehicle frame.
Optionally, the battery is 24V direct-flow storage battery.
Optionally, the millimetre-wave radar uses the millimeter wave frequency band of 24GHz.
The utility model has the beneficial effects that:
1, the AGV trolley based on millimetre-wave radar prevents from colliding using millimetre-wave radar, and millimetre-wave radar precision is high, resists
Interference performance is strong and detection range is remote, detects in wide-angle, and investigative range is wide, and effect speed per hour can reach 120 yards or more, round-the-clock work
Make, the bad weathers such as sleet haze sandstorm can open normal use.Penetration capacity is strong, and installation can also be completely hidden, no
Vehicle overall appearance is influenced, and millimetre-wave radar price compared with laser radar is lower.Therefore millimetre-wave radar anti-collision technique
There is very big advantage applied to AGV trolley.
2, this programme is 24GHz using millimeter wave frequency band, and frequency is lower, and wavelength is longer, and diffracting power is stronger, the loss of signal
Decay smaller, is suitable for proximity detection.Since mechanical equipment is relatively more in factory, electromagnetic interference is larger, therefore electromagnetic wave
Diffraction can reduce a part of interference, and in factory AGV trolley speed it is not high, 24GHz can satisfy the detection of short distance,
AGV trolley is avoided to collide in time.
Other advantages, target and feature of the utility model will be explained in the following description to a certain extent
It states, and to a certain extent, based on will be apparent to those skilled in the art to investigating hereafter, or
Person can be instructed from the practice of the utility model.The target of the utility model and other advantages can be said by following
Bright book is achieved and obtained.
Detailed description of the invention
It is practical to this below in conjunction with attached drawing in order to keep the purpose of this utility model, technical solution and advantage clearer
It is novel to be preferably described in detail, in which:
Fig. 1 is the AGV vehicle structure schematic diagram provided by the embodiment of the utility model based on millimetre-wave radar.
Fig. 2 is millimetre-wave radar structural schematic diagram provided by the embodiment of the utility model.
Fig. 3 is AGV trolley travelling status diagram provided by the embodiment of the utility model.
Specific embodiment
Illustrate the embodiments of the present invention below by way of specific specific example, those skilled in the art can be by this theory
Content disclosed by bright book understands other advantages and effect of the utility model easily.The utility model can also be by addition
Different specific embodiments are embodied or practiced, and the various details in this specification can also be based on different viewpoints and answer
With carrying out various modifications or alterations under the spirit without departing from the utility model.It should be noted that institute in following embodiment
The diagram of offer only illustrates the basic conception of the utility model in a schematic way, in the absence of conflict, following embodiment and
Feature in embodiment can be combined with each other.
Wherein, the drawings are for illustrative purposes only and are merely schematic diagrams, rather than pictorial diagram, should not be understood as to this
The limitation of utility model；In order to better illustrate the utility model embodiment, the certain components of attached drawing have omission, amplification or contracting
It is small, do not represent the size of actual product；It will be understood by those skilled in the art that certain known features and its explanation may in attached drawing
Omission will be understood by.
The same or similar label correspond to the same or similar components in the attached drawing of the utility model embodiment；It is practical at this
In novel description, it is to be understood that if having the instructions such as term " on ", "lower", "left", "right", "front", "rear" orientation or
Positional relationship is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of describing the present invention and simplifying the description,
Rather than the device or element of indication or suggestion meaning must have a particular orientation, be constructed and operated in a specific orientation, because
The terms describing the positional relationship in the drawings are only for illustration for this, should not be understood as limiting the present invention, for
For those skilled in the art, the concrete meaning of above-mentioned term can be understood as the case may be.
Fig. 1-Fig. 3 is please referred to, the element numbers in attached drawing respectively indicate:
Baffle 1, directive wheel 2, battery 3, vehicle frame 4, driving wheel 5, brake 6, motor 7, controller 8, millimeter wave thunder
Up to 9.
Inventor's discovery millimetre-wave radar short, bandwidth (frequency range is big) with wavelength, the strong feature of penetration capacity, this
A little features form the advantage of millimetre-wave radar:
1, penetration capacity is strong, is protected from weather influences.Atmosphere has attenuation, millimetre-wave radar to the propagation of radar
No matter the decaying in pure air or in misty rain, flue dust, pollution is all weaker than infrared ray, microwave etc., has stronger wear
Saturating ability.Millimetre-wave radar wave beam is narrow, bandwidth, high resolution, in atmospheric window frequency range not by being influenced tool on daytime and night
There is round-the-clock feature.
2, compact is compact, and accuracy of identification is higher.Millimetre wavelength is short, and antenna aperture is small, and component size is small, this makes
It is small light-weight to obtain millimetre-wave radar system bulk, is easily mounted on vehicle.For identical object, the sectional area of millimetre-wave radar
Greatly, sensitivity is higher, detectable and positioning Small object.
3, remote perception and detection can be achieved.Millimetre-wave radar is divided into remote radar (LRR) and short distance radar
(SRR), due to millimeter wave decay in an atmosphere it is weak, it is possible to detection perceive farther distance, medium and long distance radar can
To achieve over the perception and detection of 200m.
The multinomial advantage of millimetre-wave radar, accounting is larger in automobile anti-collision sensor at present, according to the data of IHS,
Millimeter wave/microwave radar+camera accounting in automobile anti-collision sensor has reached 70%.And millimetre-wave radar is also used for nothing
In man-machine anti-collision early warning, and automobile and aircraft are rail-free operation.AGV is usually travelled along trapped orbit, common anticollision dress
Sharp optical, electromagnetic etc., but the advantage based on millimetre-wave radar are set, inventor considers millimetre-wave radar anticollision device, collision-prevention device being applied to AGV
In trolley, AGV trolley is avoided to collide in the process of moving.
It please refers to Fig.1 to Fig.3, a kind of AGV trolley based on millimetre-wave radar is provided, including the vehicle frame 4 for carrying, use
Directive wheel 2 in guiding, the driving wheel 5 for driving, the millimetre-wave radar for the baffle 1 of anticollision and for detecting obstacle
9, the directive wheel 2 and the driving wheel 5 are connected with the vehicle frame 4, and the vehicle frame 4 is equipped with one end and the institute of directive wheel 2
It states baffle 1 to be fixedly connected, the millimetre-wave radar 9 is set on baffle 1.
Further, the AGV trolley based on millimetre-wave radar further includes controller 8, the controller 8 and the millimeter wave
Radar 9, the directive wheel 2 and the connection of 5 signal of the driving wheel, the driving wheel 5 and motor 7 are coaxially connected, the drive
Driving wheel 5 is also coaxially connected with brake 6, and the motor 7 and the brake 6 are connect with 8 signal of controller.When
When millimetre-wave radar 9 is detected apart from barrier farther out, then controls driving wheel 5 and continue along rail running, it is closer apart from barrier
When then control brake 6 in time brake, when millimetre-wave radar 9 detect apart from barrier certain distance and need after the track that renews
When driving, control directive wheel 2 is turned to, and is avoided collision.
Preferably, referring to Fig. 2, millimetre-wave radar 9 includes antenna, millimetre-wave radar transmitter, antenna duplexer, electricity
Magnetic wave receiver, signal processor and warning device, the antenna and millimetre-wave radar transmitter are opened with antenna transmitting-receiving
OFF signal connection, the antenna duplexer are connect by electromagnetic receiver with signal processor, signal processor respectively with
Warning device and the connection of 8 signal of controller.Antenna uses built-in 24GHz micro-strip array antenna, can be used for sending and receiving
The millimeter-wave signal of 24GHz frequency range；Transmitter and receiver is using meaning row semiconductor 24GHz emittor/receiver MMIC
(SG24T1, SG24R1 etc.), have the characteristics that it is low cost and high performance, signal processor use MSP430F149IPM single-chip microcontroller,
Feature is that processing capacity is strong, arithmetic speed is fast and super low-power consumption etc..Controller mainly includes motion controller and extension control on vehicle
Device two parts processed, the present embodiment uses Siemens SIMATIC S7-200SMART controller, small in size, and cost performance is high, combines
Motion control portion and extension control section, both are used to control the moving cell and safe unit of AGV trolley, it is small to be also used for AGV
Communication channel between vehicle motion controller and central control computer completes the systems such as operation monitoring and the task distribution of AGV
Function.During the work time, the oscillator in millimetre-wave radar 9 can generate the signal that a frequency gradually increases at any time, this
It after a signal encounters barrier, can rebound back, time delay is 2 times of distance/lighies velocity.Return to the waveform of the waveform and sending that come
Between have a difference on the frequency, this difference on the frequency and time delay are in a linear relationship: object is remoter, and the time that the wave of return receives gets over
Evening, then it is bigger with the frequency difference of incidence wave.The two frequencies are done into a subtraction, so that it may obtain the two frequency
Difference frequency (difference frequency), by judge difference frequency height it may determine that barrier distance.Around this principle to AGV
Anticipation warning is made, AGV trolley carries out anticollision processing.Millimetre-wave radar transmitter emits millimeter wave by antenna, and receiver connects
A millimeter wave reflection signal is received, signal is transmitted to the surrounding's physical environment that can get AGV trolley after signal processor enhanced processing
Information (relative distance, relative velocity, angle, traffic direction between barrier etc.), by controlling after data information integrated treatment
Device controls trolley early warning, and is turned to, slowed down or emergency brake.The antenna that the millimetre-wave radar uses is in millimeter wave
Inside radar installations, the form of antenna uses Section of Microstrip Antenna Array, which includes transmitting antenna and receiving antenna
Two modules, the two modules work independently, will not have an impact to rest part.
Referring to Fig. 3, millimetre-wave radar 9 ranging and test the speed by millimeter wave, travel along guide rail or
Braking, and AGV trolley running condition information is transmitted to by communication link by control centre.
Specifically, the AGV trolley based on millimetre-wave radar further includes the battery 3 for power supply, the battery 3 and institute
State directive wheel 2,8 circuit connection of the driving wheel 5, the millimetre-wave radar 9 and the controller, the battery 3 and institute
It states vehicle frame 4 to be fixedly connected, the battery 3 is 24V direct-flow storage battery 3, and the millimetre-wave radar 9 uses the millimeter wave of 24GHz
Frequency range.
Finally, it is stated that above embodiments are merely intended for describing the technical solutions of the present application, but not for limiting the present application, although ginseng
The utility model is described in detail according to preferred embodiment, those skilled in the art should understand that, it can be to this
The technical solution of utility model is modified or replaced equivalently, should all without departing from the objective and range of the technical program
Cover in the scope of the claims of the utility model.
Claims (10)
1. a kind of AGV trolley based on millimetre-wave radar, which is characterized in that including the vehicle frame for carrying, leading for guiding
To wheel, the driving wheel for driving, the baffle for anticollision and the millimetre-wave radar for detecting obstacle, the directive wheel and
The driving wheel is connected with the vehicle frame, and one end that the vehicle frame is equipped with directive wheel is fixedly connected with the baffle, described
Millimetre-wave radar is set on baffle.
2. the AGV trolley based on millimetre-wave radar as described in claim 1, it is characterised in that: it further include controller, it is described
Controller is connect with the millimetre-wave radar, the directive wheel and the driving wheel signal.
3. the AGV trolley based on millimetre-wave radar as described in claim 2, it is characterised in that: the driving wheel with it is electronic
Machine is coaxially connected.
4. the AGV trolley based on millimetre-wave radar as described in claim 3, it is characterised in that: the driving wheel also with system
Dynamic device is coaxially connected.
5. the AGV trolley based on millimetre-wave radar as described in claim 4, it is characterised in that: the motor and institute
Brake is stated to be connected with the controller in a signal way..
6. the AGV trolley based on millimetre-wave radar as described in claim 2, it is characterised in that: millimetre-wave radar includes day
Line, millimetre-wave radar transmitter, antenna duplexer, electromagnetic receiver, signal processor and warning device, the antenna
And millimetre-wave radar transmitter is connect with the antenna duplexer signal, the antenna duplexer passes through electromagnetic receiver
It is connect with signal processor, signal processor is connect with warning device and controller signals respectively.
7. the AGV trolley based on millimetre-wave radar as described in claim 2, it is characterised in that: further include for power supply
Battery, the battery and the directive wheel, the driving wheel, the millimetre-wave radar and the controller circuitry connect
It connects.
8. the AGV trolley based on millimetre-wave radar as described in claim 7, it is characterised in that: the battery with it is described
Vehicle frame is fixedly connected.
9. the AGV trolley based on millimetre-wave radar as described in claim 7, it is characterised in that: the battery is that 24V is straight
Flow battery.
10. the AGV trolley based on millimetre-wave radar as described in claim 1, it is characterised in that: the millimetre-wave radar is adopted
With the millimeter wave frequency band of 24GHz.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821342706.6U CN208978614U (en) | 2018-08-20 | 2018-08-20 | A kind of AGV trolley based on millimetre-wave radar |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821342706.6U CN208978614U (en) | 2018-08-20 | 2018-08-20 | A kind of AGV trolley based on millimetre-wave radar |
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| Publication Number | Publication Date |
|---|---|
| CN208978614U true CN208978614U (en) | 2019-06-14 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201821342706.6U Active CN208978614U (en) | 2018-08-20 | 2018-08-20 | A kind of AGV trolley based on millimetre-wave radar |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110515072A (en) * | 2019-08-06 | 2019-11-29 | 南京理工大学 | AGV positioning system and method under enclosed environment based on millimetre-wave radar |
| CN112213719A (en) * | 2020-09-21 | 2021-01-12 | 南京航空航天大学 | Millimeter wave radar rotating device and target tracking method thereof |
-
2018
- 2018-08-20 CN CN201821342706.6U patent/CN208978614U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110515072A (en) * | 2019-08-06 | 2019-11-29 | 南京理工大学 | AGV positioning system and method under enclosed environment based on millimetre-wave radar |
| CN112213719A (en) * | 2020-09-21 | 2021-01-12 | 南京航空航天大学 | Millimeter wave radar rotating device and target tracking method thereof |
| CN112213719B (en) * | 2020-09-21 | 2023-09-26 | 南京航空航天大学 | Millimeter wave radar rotating device and target tracking method thereof |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20210520 Address after: 471000 in Zhuoyang science and Technology Park, Qinling Road, Jianxi District, Luoyang area, China (Henan) pilot Free Trade Zone, Luoyang City, Henan Province Patentee after: Luoyang Guohua New Energy Technology Co.,Ltd. Address before: 471023 Room 101, building 1, 66 Changxing street, Luolong District, Luoyang City, Henan Province Patentee before: LUOYANG ZHONGKE XIETONG TECHNOLOGY Co.,Ltd. |