CN211765978U - Anticollision unmanned transport vehicle - Google Patents
Anticollision unmanned transport vehicle Download PDFInfo
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- CN211765978U CN211765978U CN202020076781.3U CN202020076781U CN211765978U CN 211765978 U CN211765978 U CN 211765978U CN 202020076781 U CN202020076781 U CN 202020076781U CN 211765978 U CN211765978 U CN 211765978U
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Abstract
The utility model discloses an anti-collision unmanned carrying vehicle, wherein a cage controller is arranged on a cage and comprises a storage battery and a wireless discharge circuit, a platform controller is arranged on a platform and comprises a wireless charging circuit, a power supply control circuit, a control drive circuit and a vehicle-mounted power supply, a first sensing device is arranged at the head of the platform and is powered by the vehicle-mounted power supply, a second sensing device is arranged at the tail of the platform or/and the side part of the vehicle body, when the cage is arranged on the trolley, the wireless charging circuit is opposite to the wireless discharging circuit and inducts and receives the electric energy emitted by the wireless discharging circuit, the power supply control circuit converts the electric energy received by the wireless charging circuit and transmits the electric energy to the second induction device to start the second induction device, and the sensing range of the second sensing device is controlled, and the driving circuit is controlled to control the power system of the vehicle platform to act according to the detection signals of the first sensing device or/and the second sensing device. The detection range is adjusted according to the size of the anti-collision unmanned conveying vehicle, so that the obstacles can be effectively avoided, and the operation safety is improved.
Description
Technical Field
The utility model relates to an unmanned transport technology field especially relates to an anticollision unmanned transport vehicle that can adjust induction range according to the cage size of difference.
Background
Unmanned carrier usually collocates with the cage in order to carry the goods to be removable connection structure between the saddle of unmanned carrier and the cage mostly, consequently, can directly lift empty cage off from the saddle and carry the cage that loads the goods on the saddle when getting in the goods, when unmanned carrier moves to the position of getting in the goods, can directly lift the cage that loads the goods off from the saddle, make unmanned carrier can collocate various cages, use more in a flexible way.
Generally, the size of the bed of the automated guided vehicle is much smaller than that of the cage, and whether the cage is supported by the bed and the size of the cage during the operation of the automated guided vehicle significantly affect the collision avoidance path of the automated guided vehicle. At present, in order to avoid collision of the unmanned carrying vehicle with other personnel, equipment or obstacles in the operation process, collision sensing devices are generally arranged on a vehicle platform or/and a cage, and when the collision sensing devices are collided, a controller can control the unmanned carrying vehicle to stop operation so as to avoid falling off of goods or damage of goods and the unmanned carrying vehicle; however, the existing mode cannot enable the unmanned transport vehicle to avoid obstacles in advance so as to avoid collision, and the induction range cannot be adjusted according to different cage sizes.
Therefore, there is a need to provide an anti-collision unmanned transport vehicle capable of adjusting the sensing range according to different cage sizes to avoid collision, so as to solve the above problems in the prior art.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a can adjust response range's crashproof unmanned transport vehicle according to the cage size of difference.
In order to achieve the above purpose, the technical scheme of the utility model is that: the anti-collision unmanned conveying vehicle comprises a vehicle platform, a cage detachably mounted on the vehicle platform, a cage controller, a vehicle platform controller, a first sensing device and a second sensing device; the cage controller is installed on the cage and comprises a storage battery and a wireless discharge circuit, and the wireless discharge circuit is used for transmitting the electric energy of the storage battery; the vehicle platform controller is arranged on the vehicle platform and comprises a wireless charging circuit, a power supply control circuit, a control driving circuit and a vehicle-mounted power supply, wherein the power supply control circuit is used for converting and outputting the electric energy received by the wireless charging circuit; the first sensing device is arranged at the head of the trolley and is electrically connected with the vehicle-mounted power supply and the control driving circuit; the second sensing device is arranged at the tail or/and the side part of the vehicle body of the vehicle platform and is electrically connected with the control driving circuit; when the cage is installed on the trolley, the wireless charging circuit is opposite to the wireless discharging circuit and inducts and receives electric energy emitted by the wireless discharging circuit, the power supply control circuit converts the electric energy received by the wireless charging circuit and transmits the electric energy to the second induction device to start the second induction device, the induction range of the second induction device is controlled according to voltage or current obtained by conversion of the electric energy, and the control driving circuit controls the power system of the trolley to act according to detection signals of the first induction device or/and the second induction device.
Preferably, the utility model discloses it is a plurality of to have the second induction system, each the second induction system install respectively in the rear of a vehicle and the automobile body lateral part of ride.
Preferably, the sensing range of the second sensing device is adjustable.
Preferably, the wireless discharging circuit sets different discharging powers according to different cage sizes, and the power supply control circuit converts the electric energy received by the wireless charging circuit and controls the induction range of the second induction device according to the obtained voltage or current.
Preferably, when the size of the cage is smaller than a preset value, the wireless discharge circuit has a preset first output power, and when the size of the cage is larger than the preset value, the wireless discharge circuit has a preset second output power, wherein the second output power is larger than the first output power.
Preferably, when the voltage or the current converted by the power control circuit is smaller than a preset value, the second sensing device is controlled to detect within a first sensing range, and when the voltage or the current converted by the power control circuit is larger than the preset value, the second sensing device is controlled to detect within a second sensing range, wherein the second sensing range is larger than the first sensing range.
Preferably, the power supply control circuit includes an on-off switch disposed on a power supply loop of the second sensing device, the power supply control circuit controls the on-off switch to be closed when receiving the electric energy transmitted by the wireless charging circuit, and the power supply control circuit controls the on-off switch to be opened when not receiving the electric energy transmitted by the wireless charging circuit.
Preferably, the first sensing device is a camera with a wide-angle lens.
Preferably, the second sensing device is an infrared sensor.
Preferably, when at least one of the first sensing device and the second sensing device detects an obstacle, the control driving circuit controls the power system to stop operating.
Compared with the prior art, the collision-proof unmanned conveying vehicle has the advantages that the first sensing device and the second sensing device are respectively arranged on the vehicle platform, and the first sensing device is continuously powered through the vehicle-mounted power supply on the vehicle platform, so that the first sensing device is always in an open state; when the cage is installed on the trolley, the wireless charging circuit on the trolley is charged through the wireless discharging circuit on the cage, the power supply control circuit converts electric energy received by the wireless charging circuit and transmits the electric energy to the second induction device to start the second induction device, so that the first induction device and the second induction device are started simultaneously to detect, and the power supply control circuit can control the induction range of the second induction device according to voltage or current obtained by conversion of the power supply control circuit, namely, the induction range of the second induction device is adjusted according to different cage sizes, so that the detection range can be adjusted according to different avoidance spaces required by the anti-collision unmanned carrier, obstacles can be effectively avoided in the running process of the anti-collision unmanned carrier, and the running safety of the anti-collision unmanned carrier is improved; in addition, the storage battery on the cage frame supplies power to the second induction device to start the second induction device, so that the structure of the control circuit is greatly simplified, and the production cost is reduced.
Drawings
Fig. 1 is a schematic structural view of the collision-proof unmanned conveying vehicle of the present invention.
Fig. 2 is a block diagram of the collision-proof automated guided vehicle of the present invention.
Detailed Description
Embodiments of the present invention will now be described with reference to the drawings, wherein like element numerals represent like elements throughout.
Referring first to fig. 1-2, the collision avoidance vehicle 100 of the present invention includes a cage 110 and a platform 120 detachably connected to each other, wherein the cage 110 has different sizes, and the platform 120 can be used with the cage 110 having different sizes. The collision avoidance automated guided vehicle 100 further includes a cage controller 130, a vehicle platform controller 140, a first sensing device 150 and a second sensing device 160, wherein the first sensing device 150 is mounted at the head of the vehicle platform 120; the second sensing device 160 is mounted at the rear end or/and the side portion of the body of the cart 120, and when the cart 120 does not carry the cage 110, the volume of the cart 120 itself is small, so only the first sensing device 150 is turned on, and after the cage 110 is mounted on the cart 120, the space occupied by the collision avoidance vehicle 100 is large due to the large size of the cage 110, so that the second sensing device 160 needs to be turned on again to perform detection together with the first sensing device 150. And the utility model discloses in, when cage 110 installed in ride 120, supply power so that it starts through cage 110 to the second induction system 160 on ride 120, when cage 110 was not installed, second induction system 160 can not start for control is simpler.
Referring now to fig. 1-2, the cage controller 130 is mounted to the cage 110 and includes a battery 131 and a wireless discharge circuit 132, the wireless discharge circuit 132 being configured to emit electrical energy from the battery 131. The vehicle platform controller 140 is installed on the vehicle platform 120, and the vehicle platform controller 140 includes a vehicle-mounted power supply 141, a wireless charging circuit 142, a power supply control circuit 143, and a control drive circuit 144; the power control circuit 143 is configured to convert the electric energy received by the wireless charging circuit 142 and output the electric energy to the second sensing device 160 to start the second sensing device 160, and control the sensing range of the second sensing device 160 according to the converted voltage or current; the vehicle-mounted power supply 141 is used for supplying power to the first induction device 150; in addition, the first sensing device 150 and the second sensing device 160 are also electrically connected to the control driving circuit 144, respectively. In the present invention, when the cage 110 is mounted on the platform 120, the wireless charging circuit 142 is opposite to the wireless discharging circuit 132 and senses and receives the electric energy transmitted by the wireless discharging circuit 132, and the power control circuit 143 converts the electric energy received by the wireless charging circuit 142 and outputs the converted electric energy to the second sensing device 160 to start the second sensing device 160; when the cage 110 is detached from the platform 120, the second sensing device 160 is powered off and stops operating. The control driving circuit 144 controls the operation of the power system 170 of the automated guided vehicle 100 according to the detection signals of the first sensing device 150 and/or the second sensing device 160, so as to achieve collision avoidance of the automated guided vehicle 100.
With continued reference to fig. 1-2, in a preferred embodiment of the present invention, the first sensing device 150 is powered by the vehicle-mounted power source 141 on the platform 120, so that it is always in an open state, when the cage 110 is not carried on the platform 120, the size of the platform 120 itself is small, and at this time, the collision avoidance requirement can be satisfied only by the detection signal of the first sensing device 150. When the cage 110 is carried on the cart bed 120, since the size of the cage 110 is much larger than that of the cart bed 120, the second sensing device 160 needs to be turned on to be matched with the first sensing device 150 for detection, and the second sensing device 160 assists in detecting a blind spot area that cannot be detected by the first sensing device 150, so that the operation safety of the collision avoidance vehicle 100 is ensured.
With continued reference to fig. 1, in a preferred embodiment of the present invention, a plurality of second sensing devices 160 are provided, each second sensing device 160 is respectively installed at the rear end and the side portion of the body of the vehicle platform 120, and the sensing range of each second sensing device 160 is adjustable, specifically, when the cage 110 is loaded on the vehicle platform 120, the second sensing device 160 is controlled to adjust the sensing range according to the size of the cage 110, when the size of the cage 110 is smaller, the second sensing device 160 is controlled to detect within a relatively smaller sensing range, and when the size of the cage 110 is larger, the second sensing device 160 is controlled to detect within a relatively larger sensing range.
Referring to fig. 1-2, in the present embodiment, the wireless discharge circuit 132 of the cage controller 130 has different preset output powers corresponding to the size of the cage 110, that is, when the size of the cage 110 is smaller than the preset value, the wireless discharge circuit 132 has a preset first output power, and when the size of the cage 110 is larger than the preset value, the wireless discharge circuit 132 has a preset second output power, where the second output power is larger than the first output power. When the cage 110 is mounted on the platform 120, the wireless charging circuit 142 is opposite to the wireless discharging circuit 132 and senses and receives the electric energy transmitted by the wireless discharging circuit 132, the power control circuit 143 converts the electric energy received by the wireless charging circuit 142 and outputs the converted electric energy to the second sensing device 160 to start the second sensing device 160, meanwhile, the power control circuit 143 judges whether the converted voltage is smaller than a preset value, when the voltage converted by the power control circuit 143 is smaller than the preset value, the size of the cage 110 is relatively smaller, the required avoidance space of the collision avoidance vehicle 100 is smaller, the power control circuit 143 controls the second sensing device 160 to detect in a first sensing range, when the voltage converted by the power control circuit 143 is larger than the preset value, the size of the cage 110 is relatively larger, the required avoidance space of the collision avoidance vehicle 100 is larger, and at this time, the power control circuit 143 controls the second sensing device 160 to detect in a second sensing range, the second sensing range is greater than the first sensing range. The second sensing device 160 is charged by the storage battery 131 on the cage 110 in a wireless charging manner to be started, and a special communication circuit is not required to be arranged between the cage 110 and the trolley 120, so that the circuit structure can be greatly simplified.
Of course, the power control circuit 143 may control the second sensing device 160 by determining the converted current value, but the invention is not limited to the foregoing method, and other methods may be used to determine the size of the cage 110 to correspondingly control the second sensing device 160.
When at least one of the first sensing device 150 and the second sensing device 160 detects an obstacle within the sensing range, the control driving circuit 144 controls the power system 170 of the automated guided vehicle 100 to stop according to the detection signal, so as to prevent the automated guided vehicle 100 from colliding.
It should be understood that the first sensing device 150 is not limited to be always turned on, and the first sensing device 150 may be controlled to be turned on when the platform 120 receives a command to start operating.
Referring to fig. 1-2 again, in a preferred embodiment of the present invention, the power control circuit 143 includes an on-off switch disposed on the power supply loop of the second sensing device 160, the power control circuit 143 controls the on-off switch to be closed when receiving the electric energy transmitted by the wireless charging circuit 142, and the power control circuit 143 controls the on-off switch to be open when not receiving the electric energy transmitted by the wireless charging circuit 142. The on-off switch may be a relay switch circuit, a transistor switch circuit, or the like, so as to conveniently control the second sensing device 160, and the circuit structure is simple.
Alternatively, a mechanical switch may be provided on the power supply circuit of the second sensing device 160, and the mechanical switch is provided at a suitable position of the platform 120, and when the cage 110 is mounted on the platform 120, the mechanical switch is touched to be turned on, so that the power control circuit 143 can supply power to the second sensing device 160 to activate the second sensing device.
With reference to fig. 2, in a preferred embodiment of the present invention, the wireless discharging circuit 132 and the wireless charging circuit 142 respectively include an induction coil, and after the cage 110 is mounted on the platform 120, the wireless discharging circuit 132 is opposite to the wireless charging circuit 142, and the wireless charging circuit 142 can receive the electric energy emitted by the wireless discharging circuit 132, so that the circuit structure is simple.
Referring again to fig. 1, the first sensing device 150 of the present invention is preferably a camera with a wide-angle lens, and the second sensing device 160 is preferably an infrared sensor, but not limited thereto, and other detecting elements may be used to realize the detection.
The operation principle and process of the crash-proof automated guided vehicle 100 of the present invention will be described with reference to fig. 1-2.
The utility model discloses in, first induction system 150 is in the open mode all the time through the vehicle mounted power 141 power supply on the ride 120, consequently, when the ride 120 does not bear cage 110, the control drive circuit 144 of ride controller 140 acquires first induction system 150's detected signal in order to judge, and when first induction system 150 detected the barrier, control drive circuit 144 accuse actuating system 170 stopped the action, and then prevents the ride 120 and the collision of barrier.
When the cage 110 is mounted on the platform 120, the wireless discharging circuit 132 of the cage controller 130 is opposite to the wireless charging circuit 142 of the platform controller 140, the wireless charging circuit 142 receives the electric energy emitted by the wireless discharging circuit 132 in an induction manner, the power control circuit 143 converts the electric energy received by the wireless charging circuit 142 and outputs the electric energy to the second induction device 160 to start the second induction device 160, and at the moment, the first induction device 150 and the second induction device 160 are used for simultaneously detecting, and the positions of the rear part and the two sides of the platform 120 are detected by the second induction device 160 to make up a blind spot area which cannot be detected by the first induction device 150; meanwhile, the power control circuit 143 determines whether the size of the cage 110 is within a preset range according to the converted voltage or current, if so, the power control circuit 143 controls the second sensing device 160 to detect within a first sensing range, and when the size of the cage 110 exceeds the preset range, the second sensing device 160 is controlled to adjust to detect within a second sensing range, wherein the second sensing range is larger than the first sensing range. The control driving circuit 144 obtains the detection signals of the first sensing device 150 and the second sensing device 160 in real time to perform a judgment, and when at least one of the first sensing device 150 and the second sensing device 160 detects an obstacle, the control driving circuit 144 controls the power system 170 to stop operating.
In summary, in the collision avoidance vehicle 100 of the present invention, the first sensing device 150 and the second sensing device 160 are respectively installed on the platform 120, and the first sensing device 150 is continuously powered by the vehicle-mounted power supply 141 on the platform 120, so that the first sensing device 150 is always in an open state; when the cage 110 is mounted on the cart base 120, the wireless charging circuit 142 on the cart base 120 is charged through the wireless discharging circuit 132 on the cage 110, the power control circuit 143 converts the electric energy received by the wireless charging circuit 142 and transmits the converted electric energy to the second sensing device 160 to start the second sensing device 160, so that the first sensing device 150 and the second sensing device 160 are simultaneously started for detection, and the power control circuit 143 can control the sensing range of the second sensing device 160 according to the voltage or current obtained by conversion, that is, the sensing range of the second sensing device 160 is adjusted according to different sizes of the cage 110, so that the detection range can be adjusted according to different avoidance spaces required by the collision avoidance vehicle 100, obstacles can be effectively avoided in the operation process of the collision avoidance vehicle 100, and the operation safety of the collision avoidance vehicle is improved; in addition, the storage battery 131 on the cage 110 supplies power to the second sensing device 160 to start the second sensing device, so that the structure of the control circuit is greatly simplified, and the production cost is reduced.
The other parts of the collision avoidance vehicle 100 according to the present invention are mounted in a conventional manner well known to those skilled in the art, and will not be described in detail herein.
The above disclosure is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the scope of the invention, therefore, the invention is not limited thereto.
Claims (10)
1. The utility model provides an anticollision unmanned transport vehicle, includes the ride and detachably install in cage on the ride, its characterized in that still includes:
the cage controller is arranged on the cage and comprises a storage battery and a wireless discharge circuit, and the wireless discharge circuit is used for transmitting the electric energy of the storage battery;
the vehicle platform controller is arranged on the vehicle platform and comprises a wireless charging circuit, a power supply control circuit, a control driving circuit and a vehicle-mounted power supply, wherein the power supply control circuit is used for converting and outputting the electric energy received by the wireless charging circuit;
the first sensing device is arranged at the head of the trolley and is electrically connected with the vehicle-mounted power supply and the control driving circuit;
the second sensing device is arranged at the tail or/and the side part of the vehicle body of the vehicle platform, and the second sensing device is electrically connected with the control driving circuit;
when the cage is installed on the trolley, the wireless charging circuit is opposite to the wireless discharging circuit and inducts and receives electric energy emitted by the wireless discharging circuit, the power supply control circuit converts the electric energy received by the wireless charging circuit and transmits the electric energy to the second induction device to start the second induction device, the induction range of the second induction device is controlled according to voltage or current obtained by conversion of the electric energy, and the control driving circuit controls the power system of the trolley to act according to detection signals of the first induction device or/and the second induction device.
2. The automated guided vehicle according to claim 1, wherein a plurality of the second sensing devices are provided, and each of the second sensing devices is mounted on a rear end and a side portion of the vehicle body deck.
3. The automated guided vehicle according to claim 1 or 2, wherein the sensing range of the second sensing device is adjustable.
4. The automated guided vehicle according to claim 3, wherein the wireless discharging circuit sets different discharging powers according to different cage sizes, and the power control circuit converts the electric energy received by the wireless charging circuit and controls the sensing range of the second sensing device according to the obtained voltage or current.
5. The automated guided vehicle of claim 4, wherein the wireless discharge circuit has a first predetermined output power when the size of the cage is smaller than a predetermined value, and a second predetermined output power when the size of the cage is larger than the predetermined value, wherein the second output power is larger than the first output power.
6. The automated guided vehicle according to claim 4, wherein the second sensing device is controlled to detect within a first sensing range when the voltage or current converted by the power control circuit is smaller than a predetermined value, and the second sensing device is controlled to detect within a second sensing range when the voltage or current converted by the power control circuit is larger than the predetermined value, the second sensing range being larger than the first sensing range.
7. The automated guided vehicle of claim 1, wherein the power control circuit comprises an on-off switch disposed on the power loop of the second sensing device, the power control circuit controls the on-off switch to close when receiving the power from the wireless charging circuit, and the power control circuit controls the on-off switch to open when not receiving the power from the wireless charging circuit.
8. The automated guided vehicle of claim 1, wherein the first sensing device is a camera having a wide angle lens.
9. The automated guided vehicle according to claim 1 or 2, wherein the second sensing device is an infrared sensor.
10. The automated guided vehicle according to claim 1 or 2, wherein the control drive circuit controls the power system to stop when at least one of the first and second sensing devices detects an obstacle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020076781.3U CN211765978U (en) | 2020-01-13 | 2020-01-13 | Anticollision unmanned transport vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020076781.3U CN211765978U (en) | 2020-01-13 | 2020-01-13 | Anticollision unmanned transport vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211765978U true CN211765978U (en) | 2020-10-27 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202020076781.3U Active CN211765978U (en) | 2020-01-13 | 2020-01-13 | Anticollision unmanned transport vehicle |
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| Country | Link |
|---|---|
| CN (1) | CN211765978U (en) |
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2020
- 2020-01-13 CN CN202020076781.3U patent/CN211765978U/en active Active
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