CN114413925A - Unmanned vehicle for conveying path planning and operation method thereof - Google Patents
Unmanned vehicle for conveying path planning and operation method thereof Download PDFInfo
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- CN114413925A CN114413925A CN202210201747.8A CN202210201747A CN114413925A CN 114413925 A CN114413925 A CN 114413925A CN 202210201747 A CN202210201747 A CN 202210201747A CN 114413925 A CN114413925 A CN 114413925A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
- G01C21/1652—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments with ranging devices, e.g. LIDAR or RADAR
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a path planning unmanned vehicle for conveying, which comprises a vehicle body, wherein a controller and a braking device are arranged in the vehicle body, a turning device is arranged on the braking device, the braking device and the turning device are respectively used for driving the vehicle body to move and turn, a control panel is arranged at one end of the vehicle body, a conveying device is arranged on the vehicle body, a workpiece is arranged on the conveying device, a support is arranged on the vehicle body, the height of the support is higher than the highest height of the workpiece and the conveying device, the conveying device penetrates through the support, and a laser radar and an IMU sensor are arranged on the support. Control panel and controller electric connection, the controller passes through the serial ports and links to each other with laser radar, IMU sensor, arresting gear and conveyer, carries out the transmission of data. The unmanned vehicle achieves the purpose of automatically transporting workpieces and can avoid obstacles automatically.
Description
Technical Field
The invention belongs to the field of unmanned vehicle control, and particularly relates to an unmanned vehicle for conveying path planning and an operation method thereof.
Background
At present, the mobile robot technology is developed rapidly, and with the increasing application scenes and modes of the robot, various mobile robots are needed to be grown far away, and an unmanned vehicle is one of the mobile robots.
However, no device for applying the unmanned vehicle path planning system to production and living exists in the prior art.
Disclosure of Invention
In view of the above problems in the prior art, an object of the present invention is to provide a transportation unmanned vehicle and an operation method thereof.
The invention provides the following technical scheme:
a route planning unmanned vehicle for conveying comprises a vehicle body, wherein a controller and a braking device are installed in the vehicle body, a turning device is installed on the braking device, a control panel is installed at one end of the vehicle body, a conveying device is installed on the vehicle body, a workpiece is arranged on the conveying device, a support is installed on the vehicle body, the height of the support is higher than the highest height of the workpiece and the conveying device, the conveying device penetrates through the support, and a laser radar and an IMU sensor are installed on the support; control panel and controller electric connection, the controller passes through the serial ports and links to each other with laser radar, IMU sensor, arresting gear and conveyer, carries out the transmission of data.
The braking device comprises a power source installed in the vehicle body symmetrically, a belt pulley four is installed on the power source, transmission shafts of four corners of the vehicle body are symmetrically penetrated, a belt pulley three and two sides are installed on the transmission shafts, the belt pulley four is respectively in meshing transmission with two belt pulleys of two sides through a belt two, the transmission shafts are movably installed in an outer shaft, the other end of each transmission shaft is provided with a gear one, the gear one is meshed with a gear two, the gear two is installed on a connecting shaft, the other end of each connecting shaft is provided with a belt pulley two, the outer shaft is installed on a protective cover, a protective cover is installed on the protective cover, wheels are movably installed on the shaft, and the wheel one side is provided with a belt pulley one, and the belt pulley one is in transmission connection with the belt pulley two through the belt one.
Concretely, the turning device is including being located between belt pulley three and the protection casing and installing outer epaxial belt pulley five, and the motor of symmetrical installation on the automobile body is one, install the action wheel on the motor one, the action wheel is connected through three transmissions of belt with two belt pulleys five on one side respectively.
Specifically, conveyer is including installing the mounting panel on the automobile body, the symmetry evenly is equipped with a plurality of recess on the mounting panel, and linear guide installs on the recess, install the transportation subassembly on the mounting panel, on the transportation subassembly was arranged in to the work piece, passed the transportation subassembly and installed the mobile device on the mounting panel, the connecting plate symmetry is installed on linear guide, and the clamp splice passes through the pillar and installs on the connecting plate, the connecting plate is all installed on the mobile device through the fixed block, mobile device makes the connecting plate move in opposite directions or dorsad.
Specifically, the transportation assembly includes that the symmetry installs the backup pad on the mounting panel one, connect through a plurality of support column between the backup pad one, be located under the work piece and the symmetry install space bar on the mounting panel, just the support column one passes the space bar, all be equipped with the gyro wheel between backup pad one and the space bar and between the space bar, gyro wheel movable mounting is on support column one, the peak point of gyro wheel apart from the mounting panel is higher than the peak of space bar apart from the mounting panel, the work piece is arranged in on the gyro wheel.
Specifically, the moving device comprises dust covers symmetrically installed on the installation plate, the main wheel is movably installed on the dust cover on one side through a main wheel shaft, the idler wheel is movably installed on the dust cover on the other side through an idler wheel shaft, the main wheel and the idler wheel are in transmission connection through a belt four, a motor two is installed on the main wheel, and the fixing blocks on the two sides are installed on the upper side and the lower side of the belt four respectively.
Specifically, the transportation subassembly includes that the symmetry installs backup pad two on the mounting panel, is located just install under the work piece the synchronous belt subassembly on the mounting panel, be connected through two of a plurality of support columns between backup pad two and the synchronous belt subassembly, the clamp splice is arranged in on the synchronous belt subassembly, just the pillar is the return bend.
Specifically, the power source is a motor III.
Specifically, the controller is connected with a laser radar, an IMU sensor, a power source, a motor I (501), a motor II (6093) and a brake machine contained in a synchronous belt assembly (6047) through serial ports to transmit data.
Based on the device, the invention also provides an operation method for planning the unmanned vehicle by using the conveying path, which comprises the following steps:
s1, firstly, placing the workpiece on a conveying device, and controlling the second motor to rotate by the controller to drive the fourth belt to transmit, so that the fixed blocks are driven to move oppositely or reversely, the workpiece is clamped, and the workpiece is ensured not to fall off when the unmanned vehicle runs;
s2, establishing an environment sensing system through a laser radar and an IMU sensor to form an autonomous decision making system, and controlling the unmanned vehicle to go straight or turn through controlling a power source and a motor I;
s3, the power source drives the fourth belt pulley, so that the third belt pulley is driven, the first gear is driven, the second gear is driven by meshing, the first belt pulley is driven, so that the wheels are driven to rotate, and the vehicle body moves linearly;
s4, the motor drives the driving wheel to drive the belt pulley V, and the belt pulley V drives the outer shaft to rotate so as to drive the whole wheel to rotate and enable the vehicle body to turn;
s5, when the unmanned vehicle reaches the destination, the controller starts the second motor to drive the fourth belt to transmit, so that the fixed blocks are driven to move oppositely or reversely, and the workpiece is loosened;
and S6, simultaneously starting a brake of the synchronous belt assembly, so that the synchronous belt assembly drives the workpiece to move to the next process.
The invention has the beneficial effects that:
1. the unmanned vehicle achieves the purpose of autonomous workpiece transportation and can avoid obstacles autonomously;
2. the unmanned vehicle for transporting can be suitable for transporting workpieces of different sizes.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
FIG. 1 is a front view of the present invention;
FIG. 2 is an internal structural view of the vehicle body of the present invention;
FIG. 3 is a front view of the braking device of the present invention;
FIG. 4 is a cross-sectional view taken at B-B of FIG. 3;
FIG. 5 is a top view of a transporter in accordance with one embodiment of the invention;
FIG. 6 is a cross-sectional view taken at A-A in FIG. 5;
fig. 7 is a top view of a second embodiment of the present invention.
Detailed Description
Example one
As shown in fig. 1-2, the invention provides a route planning unmanned vehicle for conveying, which comprises a vehicle body 1, wherein a controller 2 and a braking device 4 are installed in the vehicle body 1, the braking device 4 is provided with a turning device 5, the braking device 4 and the turning device 5 are respectively used for driving the vehicle body 1 to move and turn, one end of the vehicle body 1 is provided with a control panel 3, the vehicle body 1 is provided with a conveying device 6, a workpiece 9 is arranged on the conveying device 6, a support 7 is installed on the vehicle body 1, the height of the support 7 is higher than the highest height of the workpiece 9 and the conveying device 6, the conveying device 6 penetrates through the support 7, and the support 7 is provided with a laser radar 8 and an IMU sensor 10.
The hybrid path planning algorithm applied in the controller 2 is a hybrid path planning algorithm disclosed in "unmanned vehicle path planning and autonomous obstacle avoidance algorithm research" by the university of beijing traffic university master academic paper.
Referring to fig. 2 to 4, the braking device 4 includes a power source 412 symmetrically installed in the vehicle body 1, a pulley 410 is installed on the power source 412, the transmission shafts 408 symmetrically penetrate through four corners of the vehicle body 1, belt pulleys three 409 are mounted on the transmission shafts 408, the belt pulleys four 410 on two sides are respectively meshed with the belt pulleys three 409 on two sides for transmission through a belt two 411, the transmission shafts 408 are movably mounted in an outer shaft 413 through bearing assemblies, and the other end of the transmission shaft 408 is welded with a first gear 406, the first gear 406 is meshed with a second gear 407, the second gear 407 is mounted on a connecting shaft 413, a second belt pulley 404 is mounted at the other end of the connecting shaft 413, an outer shaft 413 is mounted on the protective cover 401, a shaft 414 is mounted on the protective cover 401, the wheels 402 are movably mounted on the shaft 414, and a first belt pulley 403 is installed on one side of the wheel 402, and the first belt pulley 403 is in transmission connection with a second belt pulley 404 through a first belt 405.
The power source 412 drives the fourth belt pulley 410, so as to drive the third belt pulley 409, so as to drive the first gear 406, and the second belt pulley 407 is engaged to drive the first belt pulley 403, so as to drive the wheel 402 to rotate, so as to make the vehicle body 1 perform linear motion. The power source 412 is a third motor.
Turning device 5 is including being located between three 409 of belt pulleys and the protection casing 401 and installing five 502 of belt pulleys on outer axle 413, and the symmetry is installed motor 501 on the automobile body, install the action wheel on motor 501, the action wheel passes through three 503 transmission connections of belt with two five 502 of belt pulleys on one side respectively.
The first motor 501 drives the driving wheel to drive the fifth belt pulley 502, and the fifth belt pulley 502 drives the outer shaft 413 to rotate, so that the whole wheel 402 is driven to rotate, and the vehicle body 1 is driven to turn.
Referring to fig. 5 to 6, the transporting device 6 includes a mounting plate 601 mounted on the vehicle body 1, a plurality of grooves 602 are symmetrically and uniformly formed on the mounting plate 601, linear guide rails 603 are mounted on the grooves 602, a transporting assembly 604 mounted on the mounting plate 601, the workpieces 9 are placed on the transporting assembly 604, a moving device 609 penetrates through the transporting assembly 604 and is mounted on the mounting plate 601, connecting plates 606 are symmetrically mounted on the linear guide rails 603, clamping blocks 607 are mounted on the connecting plates 606 through pillars 605 for clamping the workpieces 9, the connecting plates 606 are mounted on the moving device 609 through fixing blocks 608, and the moving device 609 enables the connecting plates 606 to move towards or away from each other.
Please refer to fig. 5, the transportation assembly 604 includes first supporting plates 6041 symmetrically installed on the mounting plate 601, the first supporting plates 6041 are connected by a plurality of first supporting columns 6042, and are located under the workpiece 9 and symmetrically installed on the spacing plate 6044 on the mounting plate 601, the first supporting columns 6042 penetrate the spacing plate 6044, rollers 6043 are respectively disposed between the first supporting plates 6041 and the spacing plate 6044 and between the spacing plate 6044, the rollers 6043 are movably installed on the first supporting columns 6042, a highest point of the rollers 6043 from the mounting plate 601 is higher than a highest point of the spacing plate 6044 from the mounting plate 601, and the workpiece 9 is placed on the rollers 6043.
Please refer to fig. 6, the moving device 609 includes a dust cover 6091 symmetrically installed on the mounting plate 601, the main wheel 6092 is movably installed on the dust cover 6091 on one side through a main wheel shaft, the idle wheel 6095 is movably installed on the dust cover 6091 on the other side through an idle wheel shaft, the main wheel 6092 and the idle wheel 6095 are in transmission connection through a belt four 6094, the main wheel 6092 is installed with a motor two 6093, and the fixing blocks 608 on two sides are respectively installed on the upper side and the lower side of the belt four 6094, so that the fixing blocks 608 can move in the opposite direction or in the opposite direction when the motor two 6093 rotates.
The control panel 3 is electrically connected with the controller 2, and the controller 2 is connected with the laser radar 8, the IMU sensor 10, the power source 412, the first motor 501 and the second motor 6093 through serial ports to transmit data.
Based on the device, the embodiment of the invention also provides an operation method for planning the unmanned vehicle by using the conveying path, which comprises the following steps:
firstly, a workpiece 9 is placed on a conveying device 6, a controller 2 controls a second motor 6093 to rotate and drives a fourth belt 6094 to transmit, so that a fixed block 608 is driven to move oppositely or reversely, the workpiece 9 is clamped, and the workpiece 9 is ensured not to fall off when an unmanned vehicle runs;
step two, an environment sensing system is established through the laser radar 8 and the IMU sensor 10 to form an autonomous decision system, and the unmanned vehicle is controlled to go straight or turn through controlling the power source 412 and the motor I501;
step three, the power source 412 drives the belt pulley four 410, so as to drive the belt pulley three 409, so as to drive the gear one 406, and the belt pulley two 407 is engaged to drive the belt pulley one 403, so as to drive the wheel 402 to rotate, so as to enable the vehicle body 1 to perform linear motion;
step four, the first motor 501 drives the driving wheel to drive the fifth belt pulley 502, and the fifth belt pulley 502 drives the outer shaft 413 to rotate so as to drive the whole wheel 402 to rotate and enable the vehicle body 1 to turn;
and step five, after the unmanned vehicle reaches the destination, the controller 2 starts the second motor 6093 to drive the fourth belt 6094 to transmit, so that the fixed block 608 is driven to move oppositely or reversely, and the workpiece 9 is loosened.
Example two
As shown in fig. 7, the unmanned vehicle is identical to the first embodiment except that the transportation assembly 604 is different.
Based on the device, the embodiment of the invention also provides an operation method for planning the unmanned vehicle by using the conveying path, which comprises the following steps:
firstly, a workpiece 9 is placed on a conveying device 6, a controller 2 controls a second motor 6093 to rotate and drives a fourth belt 6094 to transmit, so that a fixed block 608 is driven to move oppositely or reversely, the workpiece 9 is clamped, and the workpiece 9 is ensured not to fall off when an unmanned vehicle runs;
step two, an environment sensing system is established through the laser radar 8 and the IMU sensor 10 to form an autonomous decision system, and the unmanned vehicle is controlled to go straight or turn through controlling the power source 412 and the motor I501;
step three, the power source 412 drives the belt pulley four 410, so as to drive the belt pulley three 409, so as to drive the gear one 406, and the belt pulley two 407 is engaged to drive the belt pulley one 403, so as to drive the wheel 402 to rotate, so as to enable the vehicle body 1 to perform linear motion;
step four, the first motor 501 drives the driving wheel to drive the fifth belt pulley 502, and the fifth belt pulley 502 drives the outer shaft 413 to rotate so as to drive the whole wheel 402 to rotate and enable the vehicle body 1 to turn;
step five, after the unmanned vehicle reaches the destination, the controller 2 starts a second motor 6093 to drive a fourth belt 6094 to transmit, so that the fixed block 608 is driven to move oppositely or reversely, and the workpiece 9 is loosened;
and step six, simultaneously starting a brake of the synchronous belt assembly 6047, so that the synchronous belt assembly 6047 drives the workpiece 9 to move to the next process.
The unmanned vehicle achieves the purpose of autonomous workpiece transportation and can avoid obstacles autonomously; and the unmanned vehicle for transporting can be suitable for transporting workpieces with different sizes.
Although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. An unmanned vehicle for conveying path planning comprises a vehicle body (1), wherein a controller (2) and a braking device (4) are installed in the vehicle body (1), a turning device (5) is installed on the braking device (4),
it is characterized by also comprising
A control panel (3) is installed at one end of the vehicle body (1), a conveying device (6) is installed on the vehicle body (1), a workpiece (9) is arranged on the conveying device (6), a support (7) is installed on the vehicle body (1), the height of the support (7) is higher than the highest height of the workpiece (9) and the conveying device (6), the conveying device (6) penetrates through the support (7), and a laser radar (8) and an IMU sensor (10) are installed on the support (7); control panel (3) and controller (2) electric connection, controller (2) link to each other with laser radar (8), IMU sensor (10), arresting gear (4) and conveyer (6) through the serial ports, carry out the transmission of data.
2. The unmanned vehicle for conveying path planning according to claim 1, wherein the braking device (4) comprises power sources (412) symmetrically installed in the vehicle body (1), belt pulleys four (410) are installed on the power sources (412), transmission shafts (408) symmetrically penetrate through four corners of the vehicle body (1), belt pulleys three (409) are installed on the transmission shafts (408), the belt pulleys four (410) on two sides are respectively meshed with the two belt pulleys three (409) on two sides through a belt two (411) for transmission, the transmission shafts (408) are movably installed in an outer shaft (413), a gear one (406) is installed at the other end of the transmission shafts (408), the gear one (406) is meshed with the gear two (407), the gear two (407) is installed on a connecting shaft (413), and a belt pulley two (404) is installed at the other end of the connecting shaft (413), outer axle (413) are installed on protection casing (401), and axle (414) are installed in protection casing (401), wheel (402) movable mounting on axle (414), just wheel (402) one side is installed belt pulley (403), belt pulley (403) are through belt (405) and two (404) transmission connection of belt pulley.
3. The unmanned vehicle for conveying path planning of claim 2, wherein the turning device (5) comprises a belt pulley five (502) which is positioned between the belt pulley three (409) and the protective cover (401) and is arranged on the outer shaft (413), a motor one (501) which is symmetrically arranged on the vehicle body, driving wheels are arranged on the motor one (501), and the driving wheels are respectively in transmission connection with the two belt pulleys five (502) on one side through a belt three (503).
4. The unmanned vehicle for conveying path planning according to claim 1, the transportation device (6) comprises a mounting plate (601) arranged on the vehicle body (1), a plurality of grooves (602) are symmetrically and uniformly arranged on the mounting plate (601), linear guide rails (603) are arranged on the grooves (602), and a transportation component (604) is arranged on the mounting plate (601), the workpieces (9) are arranged on a transport assembly (604), pass through the transport assembly (604) and are mounted on a moving device (609) of a mounting plate (601), connecting plates (606) are symmetrically mounted on a linear guide rail (603), clamping blocks (607) are mounted on the connecting plates (606) through struts (605), the connecting plates (606) are all arranged on a moving device (609) through a fixed block (608), the moving device (609) moves the connecting plates (606) towards or away from each other.
5. The unmanned vehicle for conveying path planning according to claim 4, wherein the transportation assembly (604) comprises first support plates (6041) symmetrically installed on a mounting plate (601), the first support plates (6041) are connected through a plurality of first support columns (6042), a spacing plate (6044) is located under the workpiece (9) and symmetrically installed on the mounting plate (601), the first support columns (6042) penetrate through the spacing plate (6044), rollers (6043) are arranged between the first support plates (6041) and the spacing plate (6044) and between the spacing plate (6044), the rollers (6043) are movably installed on the first support columns (6042), the highest point of the rollers (6043) from the mounting plate (601) is higher than that of the spacing plate (6044) from the mounting plate (601), and the workpiece (9) is placed on the rollers (6043).
6. The unmanned vehicle for conveying with path planning of claim 4, wherein the moving device (609) comprises dust covers (6091) symmetrically installed on the installation plate (601), a main wheel (6092) is movably installed on the dust cover (6091) on one side through a main wheel shaft, an idle wheel (6095) is movably installed on the dust cover (6091) on the other side through an idle wheel shaft, the main wheel (6092) and the idle wheel (6095) are in transmission connection through a belt four (6094), a motor two (6093) is installed on the main wheel (6092), and the fixing blocks (608) on two sides are respectively installed on the upper side and the lower side of the belt four (6094).
7. The unmanned vehicle for conveying path planning according to claim 6, wherein the transportation assembly (604) comprises two support plates (6045) symmetrically mounted on a mounting plate (601), a synchronous belt assembly (6047) located right below the workpiece (9) and mounted on the mounting plate (601), the two support plates (6045) and the synchronous belt assembly (6047) are connected through a plurality of two support columns (6046), the clamping block (607) is placed on the synchronous belt assembly (6047), and the support column (605) is a bent pipe.
8. The unmanned vehicle for conveying path planning according to claim 2, wherein the power source (412) is motor three.
9. The unmanned vehicle for conveying path planning as claimed in claim 7, wherein the controller (2) is connected with the laser radar (8), the IMU sensor (10), the power source (412), the first motor (501), the second motor (6093) and a brake contained in the synchronous belt assembly (6047) through serial ports to transmit data.
10. A method of operating an unmanned vehicle for planning a route for transportation according to claim 9, comprising the steps of:
s1, firstly, placing the workpiece (9) on a conveying device (6), controlling a second motor (6093) to rotate by a controller (2), driving a fourth belt (6094) to transmit, and driving a fixing block (608) to move in opposite directions or opposite directions, so as to clamp the workpiece (9), and ensuring that the workpiece (9) cannot fall off when the unmanned vehicle runs;
s2, an environment sensing system is established through a laser radar (8) and an IMU sensor (10) to form an autonomous decision-making system, and the unmanned vehicle is controlled to go straight or turn through controlling a power source (412) and a motor I (501);
s3, the power source (412) drives the belt pulley IV (410) to drive the belt pulley III (409) to drive the gear I (406), engages with the drive gear II (407) to drive the belt pulley I (403) to drive the wheel (402) to rotate, and accordingly the vehicle body (1) moves linearly;
s4, a first motor (501) drives a driving wheel to drive a fifth belt pulley (502), the fifth belt pulley (502) drives an outer shaft (413) to rotate, and accordingly the whole wheel (402) is driven to rotate, and the vehicle body (1) is enabled to turn;
s5, when the unmanned vehicle reaches the destination, the controller (2) starts a second motor (6093) to drive a fourth belt (6094) to transmit, so that the fixed blocks (608) are driven to move oppositely or reversely, and the workpiece (9) is loosened;
and S6, simultaneously opening a brake contained in the synchronous belt assembly (6047), so that the synchronous belt assembly (6047) drives the workpiece (9) to move to the next process.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210201747.8A CN114413925A (en) | 2022-03-03 | 2022-03-03 | Unmanned vehicle for conveying path planning and operation method thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210201747.8A CN114413925A (en) | 2022-03-03 | 2022-03-03 | Unmanned vehicle for conveying path planning and operation method thereof |
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