CN206440283U - A kind of automatical pilot transportation vehicle controller and automatical pilot transportation vehicle - Google Patents
A kind of automatical pilot transportation vehicle controller and automatical pilot transportation vehicle Download PDFInfo
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- CN206440283U CN206440283U CN201720134085.1U CN201720134085U CN206440283U CN 206440283 U CN206440283 U CN 206440283U CN 201720134085 U CN201720134085 U CN 201720134085U CN 206440283 U CN206440283 U CN 206440283U
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Abstract
The utility model provides a kind of automatical pilot transportation vehicle controller and automatical pilot transportation vehicle, wherein, the automatical pilot transportation vehicle controller be provided with image collecting device and on rear side of Chinese herbaceous peony side magnetic navigation sensor, the car magnetic navigation sensor, magnetic navigation sensor is respectively provided with LED source group on the right side of magnetic navigation sensor and car on the left of car.The automatical pilot transportation vehicle controller and automatical pilot transportation vehicle provided by the utility model embodiment, can make staff grasp the transport condition of automatical pilot transportation vehicle traveling during automatical pilot transportation vehicle traveling.
Description
Technical field
The utility model is related to field of sensing technologies, in particular to a kind of automatical pilot transportation vehicle (Automated
Guided Vehicle, AGV) controller and AGV.
Background technology
At present, AGV refers to that being equipped with electricity magnetically or optically waits homing guidance device, can travel along defined guide path,
Transport vehicle with safeguard protection and various transfer functions.AGV homing guidance mode has many kinds, for example：Direct coordinate
Formula, electromagnetism guiding type, tape guidance formula, optical navigation formula, laser leading formula, inertial navigation formula and vision guided navigation formula.It is existing
The more commonly used AGV homing guidance modes are tape guidance modes.
In correlation technique, tape guidance mode is that magnetic navigation sensor is installed on AVG and is connected with magnetic navigation sensor
Controller, tape is pasted on the road surface that AGV is travelled, so as to sense by the magnetic navigation sensor that is set on AGV on road surface
The magnetic strength induction signal of tape is pasted, and the magnetic strength induction signal sensed is passed into controller, AGV row is controlled by controller
Sail, realize the tape guiding to AGV.
During the utility model is realized, utility model people has found that at least there are the following problems in the prior art：
During guiding AGV travelings by magnetic navigation sensor, AGV actual travel situation only has AGV controller
It is clear, and staff can not grasp the transport condition of AGV travelings due to cannot effectively indicate.
Utility model content
In view of this, the purpose of the utility model embodiment is to provide a kind of AGV controllers and AGV, to be travelled in AGV
During make staff grasp AGV traveling transport condition.
In a first aspect, the utility model embodiment provides a kind of automatical pilot transportation vehicle controller, including：Controller,
First motor, the second motor, Chinese herbaceous peony side magnetic navigation sensor, car rear side magnetic navigation sensor, car left side magnetic navigation sensor, car
Right side magnetic navigation sensor, wireless communication module, landmark sensor and image collecting device；
The controller, respectively with first motor, second motor, Chinese herbaceous peony side magnetic navigation sensor, institute
State magnetic navigation sensor on rear side of car, magnetic navigation sensor, car right side magnetic navigation sensor, the channel radio on the left of the car
Believe module, the landmark sensor and the connection of described image harvester；
Magnetic navigation sensor, car left side magnetic navigation sensor on rear side of Chinese herbaceous peony side magnetic navigation sensor, the car
With magnetic navigation sensor on the right side of the car, include：Hall element, instrumentation amplifier, voltage comparator, voltage inverter, electricity
Source module, the first potentiometer, the second potentiometer and LED source group；
The Hall element, the instrumentation amplifier, the voltage comparator and the voltage inverter are sequentially connected；Institute
Power module is stated respectively with the Hall element, the instrumentation amplifier, the voltage comparator and the voltage inverter to connect
Connect；First potentiometer is connected with the instrumentation amplifier, and second potentiometer is connected with the voltage comparator；It is described
LED source group is connected with the voltage inverter；
The LED source group, including be connected respectively with the voltage inverter and send each of different colours light
LED source.
With reference in a first aspect, the utility model embodiment provide first aspect the first possible embodiment, its
In：First motor and second motor use brushless electric machine.
With reference in a first aspect, the utility model embodiment provide first aspect second of possible embodiment, its
In：The wireless communication module includes：The mobile comm unit and spare communication unit being connected respectively with the controller.
With reference in a first aspect, the utility model embodiment provide first aspect the third possible embodiment, its
In：The mobile comm unit, including：It is the mobile communication baseband processing chip that is sequentially connected, analog-to-digital conversion submodule, mobile logical
Believe radio frequency chip and mobile communication antenna；
The mobile communication baseband processing chip is also connected with the controller.
With reference in a first aspect, the utility model embodiment provide first aspect the 4th kind of possible embodiment, its
In：The spare communication unit, including：The satellite navigation system baseband processing chip that is sequentially connected, analog-to-digital conversion subelement, defend
Star navigation system radio frequency chip and satellite navigation system antenna；
The satellite navigation system baseband processing chip is also connected with the controller.
With reference in a first aspect, the utility model embodiment provide first aspect the 5th kind of possible embodiment, its
In：Described image harvester uses camera.
With reference in a first aspect, the utility model embodiment provide first aspect the 6th kind of possible embodiment, its
In：Chinese herbaceous peony side magnetic navigation sensor, magnetic navigation sensor on rear side of the car, magnetic navigation sensor and described on the left of the car
Magnetic navigation sensor is respectively further comprised on the right side of car：Sensor alloy shell；
The instrumentation amplifier, the voltage comparator, the voltage inverter, the power module, first electricity
Position device and second potentiometer are located in the sensor alloy shell；The Hall element is located at outside the sensor alloy
Shell exterior bottom, the LED source group is located at the sensor alloy shell outside top.
With reference in a first aspect, the utility model embodiment provide first aspect the 7th kind of possible embodiment, its
In：In the LED source group, adjacent LED light source is the LED source for sending different colours；
The LED source, including：Red light-emitting diode light source, blue light-emitting diode light source, white light emitting diode
Light source and yellow light-emitting diode light source.
With reference in a first aspect, the utility model embodiment provide first aspect the 8th kind of possible embodiment, its
In：Chinese herbaceous peony side magnetic navigation sensor, magnetic navigation sensor on rear side of the car, magnetic navigation sensor and described on the left of the car
Magnetic navigation sensor on the right side of car, is respectively further comprised：
It is connected respectively with the Hall element, the instrumentation amplifier, the voltage comparator and the voltage inverter
Secondary cell.
Second aspect, the utility model embodiment also provides a kind of automatical pilot transportation vehicle, including above-mentioned homing guidance
Transport vehicle controller.
AGV controllers and AGV that the utility model embodiment is provided, by setting image collecting device and in Chinese herbaceous peony side magnetic
Magnetic navigation sensor is respectively provided with hair on the right side of magnetic navigation sensor, car left side magnetic navigation sensor and car on rear side of navigation sensor, car
Optical diode light source group, effective travel situations phase indicated without can determine that AGV can not be obtained with staff in correlation technique
Chinese herbaceous peony side magnetic navigation sensor is arranged on when advancing, retreating, turning left and turning right than, AGV, magnetic navigation sensor, car on rear side of car
The LED source group of magnetic navigation sensor can send light respectively on the right side of left side magnetic navigation sensor and car, in AGV rows
Staff can effectively be indicated during sailing；Moreover, image collecting device can gather AGV traveling image, and lead to
Cross wireless communication module the AGV collected traveling images are sent at staff, staff is grasped AGV in real time
Travel situations；Furthermore, each LED source group includes each light emitting diode light for sending different colours light respectively
Source so that the light that each LED source group is sent is colourful more eye-catching, and the instruction to staff is brighter
Really.
To enable above-mentioned purpose of the present utility model, feature and advantage to become apparent, preferred embodiment cited below particularly, and
Coordinate appended accompanying drawing, be described in detail below.
Brief description of the drawings
In order to illustrate more clearly of the technical scheme of the utility model embodiment, it will use below required in embodiment
Accompanying drawing be briefly described, it will be appreciated that the following drawings illustrate only some embodiments of the present utility model, therefore should not be by
Regard the restriction to scope as, for those of ordinary skill in the art, on the premise of not paying creative work, may be used also
To obtain other related accompanying drawings according to these accompanying drawings.
Fig. 1 shows a kind of structural representation for AGV controllers that the utility model embodiment is provided；
Fig. 2 shown in the AGV controllers that the utility model embodiment is provided, the structural representation of magnetic navigation sensor
Figure；
Fig. 3 shown in the AGV controllers that the utility model embodiment is provided, the structural representation of mobile comm unit
Figure；
Fig. 4 shown in the AGV controllers that the utility model embodiment is provided, the structural representation of spare communication unit
Figure.
Embodiment
It is new below in conjunction with this practicality to make the purpose, technical scheme and advantage of the utility model embodiment clearer
Accompanying drawing in type embodiment, the technical scheme in the utility model embodiment is clearly and completely described, it is clear that described
Embodiment be only a part of embodiment of the utility model, rather than whole embodiment.Generally here described in accompanying drawing
It can arrange and design with a variety of configurations with the component of the utility model embodiment shown.Therefore, below to
The detailed description of the embodiment of the present utility model provided in accompanying drawing is not intended to limit claimed model of the present utility model
Enclose, but be merely representative of selected embodiment of the present utility model.Based on embodiment of the present utility model, those skilled in the art exist
The every other embodiment obtained on the premise of not making creative work, belongs to the scope of the utility model protection.
At present, tape guidance mode is that magnetic navigation sensor and the control being connected with magnetic navigation sensor are installed on AVG
Device, tape is pasted on the road surface that AGV is travelled, and magnetic is pasted on road surface so as to sense by the magnetic navigation sensor set on AGV
The magnetic strength induction signal of band, and the magnetic strength induction signal sensed is passed into controller, AGV traveling is controlled by controller, is realized
AGV tape is guided.During guiding AGV travelings by magnetic navigation sensor, AGV actual travel situation only has
AGV controller understands, and staff can determine that AGV travel situations due to cannot effectively indicate, not.Based on this,
A kind of AGV controllers and AGV that the application is provided.
It should be noted that in description of the present utility model, term " " center ", " on ", " under ", it is "left", "right", " perpendicular
Directly ", the orientation or position relationship of the instruction such as " level ", " interior ", " outer " are, based on orientation shown in the drawings or position relationship, to be only
Described for the ease of description the utility model and simplifying, rather than to indicate or imply that signified device or element must have specific
Orientation, with specific azimuth configuration and operation, therefore it is not intended that to limitation of the present utility model.In addition, term " the
One ", " second ", " the 3rd " are only used for describing purpose, and it is not intended that indicating or implying relative importance.
In addition, in description of the present utility model, unless otherwise clearly defined and limited, term " installation ", " connected ",
" connection " should be interpreted broadly, for example, it may be being fixedly connected or being detachably connected, or be integrally connected；Can be
Mechanically connect or electrically connect；Can be joined directly together, can also be indirectly connected to by intermediary, can be two
The connection of element internal.For the ordinary skill in the art, with concrete condition above-mentioned term can be understood in this practicality
Concrete meaning in new.
Embodiment
Referring to Fig. 1, the present embodiment provides a kind of AGV controllers, including：Controller 100, the first motor 102, the second motor
104th, Chinese herbaceous peony side magnetic navigation sensor 106, car rear side magnetic navigation sensor 108, car left side magnetic navigation sensor 110, car right side
Magnetic navigation sensor 112, wireless communication module 114, landmark sensor 116 and image collecting device 118；
Controller noted above 100, respectively with above-mentioned first motor 102, above-mentioned second motor 104, the magnetic navigation of above-mentioned Chinese herbaceous peony side
Magnetic navigation sensor 108, above-mentioned car left side magnetic navigation sensor 110, above-mentioned car right side magnetic conductance on rear side of sensor 106, above-mentioned car
Boat sensor 112, above-mentioned wireless communication module 114, above-mentioned landmark sensor 116 and above-mentioned image collecting device 118 are connected.
Controller noted above 100, for being controlled to above-mentioned first motor 102 and above-mentioned second motor 104, so as to pass through
Above-mentioned first motor 102 and above-mentioned second motor 104 adjust the AGV speed of service and traveling posture.
Above-mentioned first motor 102 and above-mentioned second motor 104, for receiving the control instruction that controller noted above 100 is sent,
According to the control instruction control AGV received differential travel speed and steering driving.
Magnetic navigation sensor 108, the left side magnetic navigation of above-mentioned car on rear side of above-mentioned Chinese herbaceous peony side magnetic navigation sensor 106, above-mentioned car
Magnetic navigation sensor 112 on the right side of sensor 110, above-mentioned car, is respectively used to when AGV advances, retreats, turns left and turned right to control
Device 100 transmits AGV running state datas so that controller 100 obtains current AGV actual travel situation.
Magnetic navigation sensor 108, the left side magnetic navigation of above-mentioned car on rear side of above-mentioned Chinese herbaceous peony side magnetic navigation sensor 106, above-mentioned car
Magnetic navigation sensor 112 on the right side of sensor 110, above-mentioned car, is separately positioned on AGV front side, rear side, left side and right side, each
Magnetic navigation sensor is owned by 24 sampled points being evenly arranged, and can detect continuous 6 to 8 sampled points above navigation magnetic stripe
Output signal；It is additionally, since and AGV running status is detected using four magnetic navigation sensors, can not only detects
AGV horizontal operation deviation, moreover it is possible to detection angles deviation, so as to the operation posture of reflection AGV comprehensively.
Above-mentioned image collecting device 118, the traveling image for gathering AGV.Above-mentioned image collecting device 118 can be used
Existing any camera that can be acquired to image, is no longer repeated one by one here.
Above-mentioned wireless communication module 114, the traveling image of the AGV for image collecting device 118 to be collected is sent to
On staff's computing device on duty, so that AGV traveling image shows are made into work to staff by computing device
Personnel can understand AGV travel situations in real time.
Above-mentioned landmark sensor 116, for detecting other specific marks on AGV travel routes in addition to magnetic stripe guide wire
Will, such as turning mark, cross buck sign, go out station indicator etc..
In addition to above-mentioned device, AGV controllers also include：The flash interface being connected with controller 100 (does not show in Fig. 1
Go out), the flash interface is used to insert safety digital storage card (Secure Digital Memory Card, SD card).Work as flash memory
After interface insertion SD card, the view data that AGV controllers are collected can be stored by SD card, so that staff can
To be analyzed by the view data stored in SD card AGV transport condition.
Magnetic navigation sensor structure shown in Figure 2, in one embodiment, above-mentioned Chinese herbaceous peony side magnetic navigation sensing
Magnetic navigation sensor on the right side of magnetic navigation sensor, above-mentioned car left side magnetic navigation sensor and above-mentioned car, is wrapped on rear side of device, above-mentioned car
Include：Hall element 200, instrumentation amplifier 202, voltage comparator 204, voltage inverter 206, power module 208, the first current potential
Device 210, the second potentiometer 212 and LED source group 214；
Above-mentioned Hall element 200, above-mentioned instrumentation amplifier 202, above-mentioned voltage comparator 204 and above-mentioned voltage inverter
206 are sequentially connected；Above-mentioned power module 208 respectively with above-mentioned Hall element 200, above-mentioned instrumentation amplifier 202, above-mentioned voltage ratio
Connected compared with device 204 and above-mentioned voltage inverter 206；Above-mentioned first potentiometer 210 is connected with above-mentioned instrumentation amplifier 202, above-mentioned
Second potentiometer 212 is connected with above-mentioned voltage comparator 204；Above-mentioned LED source group 214 and above-mentioned voltage inverter
206 connections；
Above-mentioned Hall element 200, the position for detecting magnetic stripe on AGV travel routes, guiding AGV is transported on travel route
OK.And in order to which the position for the magnetic stripe for detecting Hall element 200 feeds back to controller, it is necessary to be passed in the magnetic navigation of above-mentioned Chinese herbaceous peony side
On rear side of sensor, above-mentioned car on the right side of magnetic navigation sensor, above-mentioned car left side magnetic navigation sensor and above-mentioned car in magnetic navigation sensor
It is respectively arranged instrumentation amplifier 202, voltage comparator 204 and voltage inverter 206 to use cooperatively with Hall element 200, is formed
The sensing circuit of each magnetic navigation sensor.The output end of voltage reversal device 206 is the output end of AGV magnetic navigation sensors, with
Controller is connected, and the magnetic stripe position for Hall element 200 to be detected feeds back to controller.
Above-mentioned power module 208, for above-mentioned Hall element 200, above-mentioned instrumentation amplifier 202, above-mentioned voltage ratio compared with
Device 204 and above-mentioned voltage inverter 206 provide electricity.
Above-mentioned first potentiometer 210 and above-mentioned second potentiometer 212, can be used instrument respectively according to the control of controller
The output voltage of amplifier 202 and voltage comparator 204 is adjusted, so that magnetic navigation sensor is adapted to the AGV of different model
Controller, the magnetic stripe position on controller feedback AGV travel routes into the AGV controllers of different model.
Above-mentioned LED source group 214, including be connected respectively with above-mentioned voltage inverter and send different colours light
Each LED source, during for advancing, retreating, turn left and turning right in AGV, be arranged on Chinese herbaceous peony side magnetic navigation sensor,
The LED source of magnetic navigation sensor, car left side magnetic navigation sensor and above-mentioned car right side magnetic navigation sensor on rear side of car
LED source group 214 in group can send light respectively, by the traveling process such as AGV advance, retrogressing, left-hand rotation and right-hand rotation
In staff is effectively indicated, make staff grasp AGV transport condition.
Preferably, in above-mentioned LED source group, adjacent LED light source is the hair for sending different colours
Optical diode light source；Above-mentioned LED source, includes but is not limited to：Red light-emitting diode light source, the pole of blue light emitting two
Pipe light source, white light emitting diode light source and yellow light-emitting diode light source.
Alternatively, above-mentioned first motor 102 and above-mentioned second motor 104 use brushless electric machine.
Wireless communication module 114, can use any ZigBee protocol (zigbee) equipment and Wireless Fidelity (WIreless-
Fidelity, WI-FI) equipment, WLAN is formed, is no longer repeated one by one here.
In summary, the AGV controllers that the present embodiment is provided, by setting image collecting device and in the magnetic navigation of Chinese herbaceous peony side
Magnetic navigation sensor is respectively provided with luminous two on the right side of magnetic navigation sensor, car left side magnetic navigation sensor and car on rear side of sensor, car
Pole pipe light source group, compared with staff in correlation technique can not obtain effectively travel situations of the instruction without can determine that AGV,
AGV is arranged on Chinese herbaceous peony side magnetic navigation sensor, magnetic navigation sensor on rear side of car when advancing, retreating, turning left and turning right, on the left of car
The LED source group of magnetic navigation sensor can send light respectively on the right side of magnetic navigation sensor and car, be run in AGV
Staff can effectively be indicated in journey；Moreover, image collecting device can gather AGV traveling image, and pass through nothing
The AGV collected traveling images are sent at staff by line communication module, staff is grasped AGV row in real time
Sail situation；Furthermore, each LED source group includes each LED source for sending different colours light respectively, makes
The light that sends of each LED source group is colourful more eye-catching, to the instruction of staff definitely.
In correlation technique, AGV can not be interacted with long-range computing device in the process of moving, in order that AGV exists
Interacted during traveling with remote computing device, above-mentioned wireless communication module also includes：It is connected respectively with controller noted above
Mobile comm unit and spare communication unit.
The structure of above-mentioned mobile comm unit shown in Figure 3, above-mentioned mobile comm unit includes：The shifting being sequentially connected
Dynamic communications baseband process chip 302, analog-to-digital conversion submodule 304, mobile communication radio frequency chip 306 and mobile communication antenna 308；
Above-mentioned mobile communication baseband processing chip 302 is also connected with controller noted above.
Mobile communication baseband processing chip 302, for being modulated processing to view data, will have been carried out after modulation treatment
View data be sent to analog-to-digital conversion submodule 304, the view data after modulation is transmitted in the mobile communication network.
Analog-to-digital conversion submodule 304, for carrying out digital-to-analogue conversion, and the picture number that digital-to-analogue conversion is finished to view data
According to being sent to mobile communication radio frequency chip 306；
Wherein, analog-to-digital conversion submodule 304, believes for the signal for carrying view data to be converted into simulation from data signal
Number so that view data can be transmitted in the mobile communication network.
Mobile communication radio frequency chip 306, the view data for digital-to-analogue conversion to be finished is sent out by mobile communication antenna 308
It is sent to staff's remote computing device on duty so that remote computing device shows AGV real time running mistake to staff
Journey, allows staff to understand AGV travel situations and state in real time.
Above-mentioned view data, is the AGV traveling procedural images that AGV image capture module is collected.
In summary, view data is sent to staff's computing device on duty by mobile comm unit, makes image
The transmission range of data is not limited by WLAN, and transmission range is wider, makes staff can by remote computing device
To understand AGV transport condition in real time, carried out without staff in AGV working sites on duty, it is to avoid staff entrance
High-risk, the AGV working sites of high pollution, it is ensured that the safety of staff.
In one embodiment, the structure of above-mentioned spare communication unit shown in Figure 4, above-mentioned spare communication unit
Including：Satellite navigation system baseband processing chip 402, analog-to-digital conversion subelement 404, the satellite navigation system radio frequency being sequentially connected
Chip 406 and satellite navigation system antenna 408；
Above-mentioned satellite navigation system baseband processing chip 402 is also connected with controller noted above.
Satellite navigation system baseband processing chip 402, for being modulated processing to view data, will have been carried out at modulation
View data after reason is sent to analog-to-digital conversion subelement 404 so that view data after the modulation quilt in satellite communication network
Transmission.
Analog-to-digital conversion subelement 404, for carrying out digital-to-analogue conversion, and the picture number that digital-to-analogue conversion is finished to view data
According to being sent to satellite navigation system radio frequency chip 406；
Wherein, analog-to-digital conversion subelement 404, believes for the signal for carrying view data to be converted into simulation from data signal
Number so that view data can be transmitted in satellite communication network.
Satellite navigation system radio frequency chip 406, the view data for digital-to-analogue conversion to be finished passes through satellite navigation system
Antenna 408 is sent to staff's remote computing device on duty so that remote computing device shows AGV reality to staff
When travel process, staff is understood AGV travel situations in real time.
Satellite navigation system baseband processing chip 402, satellite navigation system radio frequency chip 406 and satellite navigation system antenna
408 can be respectively adopted Beidou satellite navigation system (BeiDou Navigation Satellite System, BDS), the whole world
Alignment system (Global Positioning System, GPS), GLONASS satellite navigation system (GLOBAL
NAVIGATION SATELLITE SYSTEM, GLONASS) baseband processing chip and radio frequency chip.
Certainly, in order that the view data of transmission is not obtained by foreign agencies, and in order to ensure safety when transmitting data
Property, satellite navigation system baseband processing chip is preferred to use Beidou satellite navigation system baseband processing chip；Satellite navigation system
Radio frequency chip is preferred to use Beidou satellite navigation system radio frequency chip；Satellite navigation system antenna is preferred to use Beidou satellite navigation
System antenna.
Because a BDS generation uses active location method, in the generations of BDS bis-, use passive location method, in positioning method and penetrate
A BDS generation and the generations of BDS bis- are all different in frequency transmission frequency, so in order to ensure the stability by BDS transmission data,
Beidou satellite navigation system radio frequency chip 406 should include：Big Dipper generation satellite navigation system radio frequency chip, Beidou II satellite
Navigation system radio frequency chip and power divider, Big Dipper generation satellite navigation system radio frequency chip and Beidou II satellite navigation system
System radio frequency chip is connected with analog-to-digital conversion subelement 404 respectively, and by power divider, with Beidou satellite navigation system antenna
408 connections.
Wherein, Big Dipper generation satellite navigation system radio frequency chip, for by Big Dipper generation satellite communication network by image
Data are sent to remote computing device；Beidou II satellite navigation system radio frequency chip, for passing through Beidou II satellite communication
Network sends image data to remote computing device.
By setting Big Dipper generation satellite navigation system radio frequency core respectively in Beidou satellite navigation system radio frequency chip 406
Piece and Beidou II satellite navigation system radio frequency chip so that AGV is transmitting view data by BDS to remote computing device
When, both Beidou II satellite navigation system radio frequency can also be passed through by Big Dipper generation satellite navigation system radio frequency chip
Chip sends view data to staff's remote computing device on duty, it is ensured that the stability of data transfer.
Satellite navigation system baseband processing chip 402, analog-to-digital conversion subelement 404, satellite navigation system radio frequency chip 406
With satellite navigation system antenna 408 can using existing any chip that can realize satellite communication network corresponding function or
Circuit, is no longer repeated one by one here.
In summary, can be by setting when AGV can not be interacted by mobile comm unit with remote computing device
The spare communication unit put is sent image data in remote computing device, and is avoided remote computing device and be cannot get AGV
The view data of transmission and the defect for causing staff can not be monitored to AGV transport condition；It is additionally, since standby logical
The satellite communication network that letter unit is used can cover each corner of the earth, it is possible to anywhere set up for connecing
The remote computing device of view data is received, causes data transfer without worrying AGV and remote computing device hypertelorism
The problem of loss.
In order to right to magnetic navigation sensor, car left side magnetic navigation sensor and car on rear side of Chinese herbaceous peony side magnetic navigation sensor, car
Side magnetic navigation sensor provides stronger protection, the AGV controllers that the present embodiment is provided, Chinese herbaceous peony side magnetic navigation sensor, Che Hou
Magnetic navigation sensor and car right side magnetic navigation sensor are respectively further comprised on the left of side magnetic navigation sensor, car：Outside sensor alloy
Shell；
Above-mentioned instrumentation amplifier, above-mentioned voltage comparator, above-mentioned voltage inverter, above-mentioned power module, above-mentioned first electricity
Position device and above-mentioned second potentiometer are located in the sensor alloy shell；Above-mentioned Hall element is located at outside the sensor alloy
Shell exterior bottom, above-mentioned LED source group is located at the sensor alloy shell outside top.
Description more than can be seen that on rear side of Chinese herbaceous peony side magnetic navigation sensor, car magnetic navigation sensor, on the left of car
Sensor alloy shell is used on the right side of magnetic navigation sensor and car in magnetic navigation sensor, due to the hardness of sensor alloy shell
It is higher, it is unlikely to deform when being collided with by external force extruding, it is possible to which the Chinese herbaceous peony side magnetic navigation being arranged on around AGV is sensed
Magnetic navigation sensor plays good protection work on the right side of magnetic navigation sensor, car left side magnetic navigation sensor and car on rear side of device, car
With.
In order to still make when power module breaks down above-mentioned Chinese herbaceous peony side magnetic navigation sensor, on rear side of above-mentioned car magnetic navigation pass
Magnetic navigation sensor and above-mentioned car right side magnetic navigation sensor normal work, the magnetic navigation of above-mentioned Chinese herbaceous peony side on the left of sensor, above-mentioned car
Magnetic navigation sensor on the right side of magnetic navigation sensor, above-mentioned car left side magnetic navigation sensor and above-mentioned car on rear side of sensor, above-mentioned car,
Respectively further comprise：
It is connected respectively with above-mentioned Hall element, above-mentioned instrumentation amplifier, above-mentioned voltage comparator and above-mentioned voltage inverter
Secondary cell.
Above-mentioned secondary cell, is detachably arranged in each magnetic navigation sensor, can be when power module breaks down
Each magnetic navigation sensor is powered, and when needing charging, secondary cell is pulled down and put from each magnetic navigation sensor
Enter in supporting charging box and charge, it is easy to use.
Description more than can be seen that by setting secondary cell in each magnetic navigation sensor, in power module
Each magnetic navigation sensor can still be powered by secondary cell during failure, make each magnetic navigation sensor normal work；And
Each magnetic navigation sensor uses the secondary cell being removably mounted in above-mentioned Internet of Things cloud gateway, simple in construction and user
Just.
The present embodiment also proposes a kind of AGV, includes the AGV controllers of above-described embodiment description.
AGV controllers, are controlled for the transport condition to AGV.
In summary, the AGV that the present embodiment is provided, by setting image collecting device and being sensed in the magnetic navigation of Chinese herbaceous peony side
Magnetic navigation sensor is respectively provided with light emitting diode on the right side of magnetic navigation sensor, car left side magnetic navigation sensor and car on rear side of device, car
Light source group, compared with staff in correlation technique can not obtain effectively travel situations of the instruction without can determine that AGV, AGV exists
Chinese herbaceous peony side magnetic navigation sensor, car rear side magnetic navigation sensor, car left side magnetic conductance are arranged on when advance, retrogressing, left-hand rotation and right-hand rotation
The LED source group of magnetic navigation sensor can send light respectively on the right side of boat sensor and car, during AGV travelings
Staff can effectively be indicated；Moreover, image collecting device can gather AGV traveling image, and pass through channel radio
The AGV collected traveling images are sent at staff by letter module, staff is grasped AGV traveling feelings in real time
Condition；Furthermore, each LED source group includes each LED source for sending different colours light respectively so that every
The light that individual LED source group is sent is colourful more eye-catching, to the instruction of staff definitely.
It is described above, embodiment only of the present utility model, but protection domain of the present utility model do not limit to
In this, any one skilled in the art can readily occur in change in the technical scope that the utility model is disclosed
Or replace, it should all cover within protection domain of the present utility model.Therefore, protection domain of the present utility model should be described with power
The protection domain that profit is required is defined.
Claims (10)
1. a kind of automatical pilot transportation vehicle controller, it is characterised in that including：Controller, the first motor, the second motor, Chinese herbaceous peony
It is side magnetic navigation sensor, magnetic navigation sensor on rear side of car, magnetic navigation sensor on the left of car, magnetic navigation sensor on the right side of car, wireless
Communication module, landmark sensor and image collecting device；
The controller, respectively with first motor, second motor, Chinese herbaceous peony side magnetic navigation sensor, the car
Magnetic navigation sensor, car right side magnetic navigation sensor, the radio communication mold on the left of rear side magnetic navigation sensor, the car
Block, the landmark sensor and the connection of described image harvester；
Magnetic navigation sensor, car left side magnetic navigation sensor and institute on rear side of Chinese herbaceous peony side magnetic navigation sensor, the car
Magnetic navigation sensor on the right side of car is stated, is included：Hall element, instrumentation amplifier, voltage comparator, voltage inverter, power supply mould
Block, the first potentiometer, the second potentiometer and LED source group；
The Hall element, the instrumentation amplifier, the voltage comparator and the voltage inverter are sequentially connected；The electricity
Source module is connected with the Hall element, the instrumentation amplifier, the voltage comparator and the voltage inverter respectively；Institute
State the first potentiometer to be connected with the instrumentation amplifier, second potentiometer is connected with the voltage comparator；It is described luminous
Diode light-source group is connected with the voltage inverter；
The LED source group, including be connected respectively with the voltage inverter and send each luminous of different colours light
Diode light-source.
2. automatical pilot transportation vehicle controller according to claim 1, it is characterised in that first motor and described
Two motors use brushless electric machine.
3. automatical pilot transportation vehicle controller according to claim 1, it is characterised in that the wireless communication module bag
Include：The mobile comm unit and spare communication unit being connected respectively with the controller.
4. automatical pilot transportation vehicle controller according to claim 3, it is characterised in that the mobile comm unit, bag
Include：Mobile communication baseband processing chip, analog-to-digital conversion submodule, mobile communication radio frequency chip and the mobile communication day being sequentially connected
Line；
The mobile communication baseband processing chip is also connected with the controller.
5. automatical pilot transportation vehicle controller according to claim 3, it is characterised in that the spare communication unit, bag
Include：The satellite navigation system baseband processing chip that is sequentially connected, analog-to-digital conversion subelement, satellite navigation system radio frequency chip and defend
Star navigation system antenna；
The satellite navigation system baseband processing chip is also connected with the controller.
6. automatical pilot transportation vehicle controller according to claim 1, it is characterised in that described image harvester is used
Camera.
7. automatical pilot transportation vehicle controller according to claim 1, it is characterised in that Chinese herbaceous peony side magnetic navigation is sensed
Magnetic navigation sensor also divides on the right side of magnetic navigation sensor, car left side magnetic navigation sensor and the car on rear side of device, the car
Do not include：Sensor alloy shell；
The instrumentation amplifier, the voltage comparator, the voltage inverter, the power module, first potentiometer
It is located at second potentiometer in the sensor alloy shell；The Hall element is located at outside the sensor alloy shell
Side bottom, the LED source group is located at the sensor alloy shell outside top.
8. automatical pilot transportation vehicle controller according to claim 1, it is characterised in that in the LED source
In group, adjacent LED light source is the LED source for sending different colours；The LED source, bag
Include：Red light-emitting diode light source, blue light-emitting diode light source, white light emitting diode light source and yellow light-emitting diode light
Source.
9. automatical pilot transportation vehicle controller according to claim 1, it is characterised in that Chinese herbaceous peony side magnetic navigation is sensed
Magnetic navigation sensor on the right side of magnetic navigation sensor, car left side magnetic navigation sensor and the car, also divides on rear side of device, the car
Do not include：
Two be connected respectively with the Hall element, the instrumentation amplifier, the voltage comparator and the voltage inverter
Primary cell.
10. a kind of automatical pilot transportation vehicle, it is characterised in that including the homing guidance transport described in claim any one of 1-9
Vehicle controller.
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| CN201720134085.1U CN206440283U (en) | 2017-02-14 | 2017-02-14 | A kind of automatical pilot transportation vehicle controller and automatical pilot transportation vehicle |
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| CN201720134085.1U CN206440283U (en) | 2017-02-14 | 2017-02-14 | A kind of automatical pilot transportation vehicle controller and automatical pilot transportation vehicle |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108490960A (en) * | 2018-05-24 | 2018-09-04 | 北矿机电科技有限责任公司 | A kind of cleaning table automatic inspection device and method |
| CN108557327A (en) * | 2018-05-07 | 2018-09-21 | 北京三辰环卫机械有限公司 | Mobile dustbin, navigation methods and systems |
| CN112596521A (en) * | 2020-12-14 | 2021-04-02 | 北京航星机器制造有限公司 | Double-rudder-wheel magnetic navigation AGV deviation rectifying method and device |
| CN112722610A (en) * | 2020-12-31 | 2021-04-30 | 四川东泉机械设备制造有限公司 | Walking control method of container cover lifting machine |
-
2017
- 2017-02-14 CN CN201720134085.1U patent/CN206440283U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108557327A (en) * | 2018-05-07 | 2018-09-21 | 北京三辰环卫机械有限公司 | Mobile dustbin, navigation methods and systems |
| CN108490960A (en) * | 2018-05-24 | 2018-09-04 | 北矿机电科技有限责任公司 | A kind of cleaning table automatic inspection device and method |
| CN112596521A (en) * | 2020-12-14 | 2021-04-02 | 北京航星机器制造有限公司 | Double-rudder-wheel magnetic navigation AGV deviation rectifying method and device |
| CN112596521B (en) * | 2020-12-14 | 2023-04-11 | 北京航星机器制造有限公司 | Double-rudder-wheel magnetic navigation AGV deviation rectifying method and device |
| CN112722610A (en) * | 2020-12-31 | 2021-04-30 | 四川东泉机械设备制造有限公司 | Walking control method of container cover lifting machine |
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Address after: 100085 A, block 9, 3rd Street, Beijing, Haidian District, A910-45 Patentee after: LIAN central (Beijing) Education Technology Co., Ltd. Address before: 100085 A, block 9, 3rd Street, Beijing, Haidian District, A910-45 Patentee before: LIAN central (Beijing) Technology Co., Ltd. |
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Granted publication date: 20170825 Termination date: 20200214 |