CN208271031U - A kind of AGV trolley tracking device - Google Patents
A kind of AGV trolley tracking device Download PDFInfo
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- CN208271031U CN208271031U CN201821035172.2U CN201821035172U CN208271031U CN 208271031 U CN208271031 U CN 208271031U CN 201821035172 U CN201821035172 U CN 201821035172U CN 208271031 U CN208271031 U CN 208271031U
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- signal
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- agv trolley
- local oscillation
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Abstract
The utility model discloses a kind of AGV trolley tracking devices, including guide line and several groups signal processing unit, and every group of signal processing unit includes antenna；High-frequency amplifier；Local oscillation circuit；The output end of frequency mixer, frequency mixer forms intermediate-freuqncy signal；Intermediate frequency amplifier；Wave detector；AD converter.The utility model is by the multiple groups signal processing unit that is set on AGV trolley come the electromagnetic signal of receiving antenna, and successively after the processing of high-frequency amplifier, frequency mixer, intermediate frequency amplifier and wave detector, then digital data transmission is converted analog signals into the control unit on AGV；The multiple groups antenna of the utility model is distributed in different location so that each antenna detection to signal strength is not identical, controller judges the position of AGV trolley by signal strength, thus realize tracking guide.
Description
Technical field
The utility model relates to AGV trolley tracking technical fields, and in particular to arrive a kind of AGV trolley tracking device.
Background technique
(Automated Guided Vehicle, abbreviation AGV), also commonly referred to as AGV trolley, refer to equipped with electromagnetism or
The homing guidances device such as optics can be travelled along defined guide path, the fortune with safeguard protection and various transfer functions
Defeated vehicle.The carrier of driver is not required in industrial application, with chargeable battery for its power resources.Computer can generally be passed through
Control its travelling route and behavior, or set up its travelling route in the way of electromagnetic signal etc., signal wire sticks in ground
On plate, automatic guided vehicle then relies on message brought by signal wire to be moved and acted.
Utility model content
The purpose of the utility model is to provide a kind of AGV trolley tracking devices, can cooperate with the controller of AGV trolley,
For assisting the walking path of AGV trolley to guide.
In order to achieve the above object, providing a kind of AGV trolley tracking device in one embodiment of the utility model, including draw
Conducting wire and several groups signal processing unit, every group of signal processing unit include:
Antenna, for receiving the electromagnetic signal on guide line；
High-frequency amplifier connect the electromagnetic signal for receiving antenna with antenna and amplifies；
Local oscillation circuit, for exporting the local oscillation signal of local frequency；
Frequency mixer, the input terminal of frequency mixer are connect with the output end of high-frequency amplifier and local oscillation circuit respectively, frequency mixer
Output end forms intermediate-freuqncy signal；
Intermediate frequency amplifier connect with the output end of frequency mixer and amplifies intermediate-freuqncy signal；
Wave detector is connect for detection with the output end of intermediate frequency amplifier；
AD converter is connect with the output end of wave detector, for the analog signal of detection to be converted to digital signal.
Preferably, the local frequency of local oscillation signal is aMHz, and the signal frequency of high-frequency amplifier output is bMHz, frequency mixer
The IF signal frequency of output is cMHz.
Preferably, including three to five group signal processing units, antenna are separately mounted to the different level position of AGV trolley
On.
Preferably, including five groups of signal processing units, five antennas are evenly distributed on the radial level direction of AGV trolley
On.
Preferably, the output end of AD converter is connect with controller, and controller is also connect for dividing with each local oscillation circuit
Not Kong Zhi local oscillation circuit local frequency；Communication interface is configured on controller.
In conclusion the utility model has the advantage that
The utility model by the multiple groups signal processing unit that is set on AGV trolley come the electromagnetic signal of receiving antenna,
And successively after the processing of high-frequency amplifier, frequency mixer, intermediate frequency amplifier and wave detector, then convert analog signals into digital letter
The control unit number being transferred on AGV.
The multiple groups antenna of the utility model is distributed in different location so that each antenna detection to signal strength not phase
Together, so be transmitted to the control unit being used cooperatively signal strength it is also not identical.
The matched controller of the utility model judges the position of AGV trolley by signal strength, to realize that tracking draws
It leads.
Detailed description of the invention
Fig. 1 is the schematic diagram of the utility model one embodiment；
Fig. 2 is the schematic diagram of signal processing unit in the utility model one embodiment；
Fig. 3 is the location drawing of small parking stall antenna and guide line when middle part in the utility model one embodiment；
The location drawing of antenna and guide line when Fig. 4 is trolley right avertence in the utility model one embodiment.
Specific embodiment
The utility model provides a kind of AGV trolley tracking device, including guide line and several groups signal processing unit, often
Organizing signal processing unit includes:
Antenna, for receiving the electromagnetic signal on guide line；
High-frequency amplifier connect the electromagnetic signal for receiving antenna with antenna and amplifies；
Local oscillation circuit, for exporting the local oscillation signal of local frequency；
Frequency mixer, the input terminal of frequency mixer are connect with the output end of high-frequency amplifier and local oscillation circuit respectively, frequency mixer
Output end forms intermediate-freuqncy signal；
Intermediate frequency amplifier connect with the output end of frequency mixer and amplifies intermediate-freuqncy signal；
Wave detector is connect for detection with the output end of intermediate frequency amplifier；
AD converter is connect with the output end of wave detector, for the analog signal of detection to be converted to digital signal.
The guide line of the tracking device of the utility model is laid on the ground of AGV trolley traveling, and guide line can issue electricity
Magnetic signal, the electromagnetic signal can be identified by antenna.Simultaneously as the electromagnetism that the matched guide line of AGV trolley issues after being powered
Signal is distributed centered on guide line along axial direction, and the density of the remoter electromagnetic signal of distance is lower, i.e., signal strength is smaller.
Antenna is able to detect the electromagnetic signal around guide line, and is capable of detecting when signal strength.Antenna is by the height of detection
Frequency signal input mixer after high-frequency amplifier amplifies, frequency mixer also have received the local oscillation signal of local oscillation circuit simultaneously, this
Vibration signal can be a kind of intermediate-freuqncy signal, and the difference frequency signal of high-frequency signal and local oscillation signal is that the intermediate frequency of frequency mixer output is believed
Number.
The intermediate-freuqncy signal of frequency mixer output amplifies after intermediate frequency amplifier, reuses wave detector and carries out to its peak value
The analog signal of detection is finally converted to digital signal using AD converter by detection, enables matching used controller
Identify digital signal.
In one embodiment of the utility model, with reference to Fig. 1, AGV trolley tracking device can not include on AGV trolley
Control unit, the AD converter of tracking device at this time transmit a signal on the controller being used cooperatively and then pass through controller
To realize complete tracking bootup process.Since most of AGV trolley itself is configured with controller or control unit, this implementation
Example is suitable for having been already configured with the AGV trolley of controller.
In one embodiment of the utility model, with reference to Fig. 2, the AGV for installing Configuration Control Unit not yet for itself is small
For vehicle, tracking device may include a controller, and the output end of AD converter is connect with controller, controller also with local oscillator
Circuit connection is used to control the local frequency of local oscillation circuit.In addition, can be configured with communication interface on controller, convenient for
The host computer connection of AGV trolley is communicated.
In the optimal enforcement example of the utility model, the local frequency of local oscillation signal is aMHz, the letter of high-frequency amplifier output
Number frequency is bMHz, and the IF signal frequency of frequency mixer output is cMHz, wherein c=b-a.
In the optimal enforcement example of the utility model, tracking device includes three to five group signal processing units, and antenna is pacified respectively
On the different level position of AGV trolley.More optimized, tracking device includes five groups of signal processing units, and five antennas are equal
On the even radial level direction for being distributed in AGV trolley.After five antennas are uniformly distributed, detection electromagnetism can be carried out from different location
Signal.For example, if the signal of No. 3 antennas is most strong at this time, illustrating that AGV trolley guides when AGV trolley passes through from guide line
Line and No. 3 line positions are nearest, and trolley is located at right above guide line, when No. 2 line signals are most strong, illustrate AGV trolley guide line and No. 2
Line position is nearest, illustrates that AGV trolley has certain right avertence to move at this time.Therefore, the matched controller of tracking device receives signal
Afterwards, the deviation of trolley and the relative position with guide line can be judged according to signal strength.Therefore, the utility model follows
Mark device can be realized the tracking control of trolley again and after the controller assembling on AGV trolley.
Although being described in detail in conjunction with attached drawing to specific embodiment of the present utility model, should not be construed as pair
The restriction of the protection scope of this patent.In range described by claims, those skilled in the art are without creative labor
The dynamic various modifications that can be made and deformation still belong to the protection scope of this patent.
Claims (5)
1. a kind of AGV trolley tracking device, which is characterized in that including guide line and several groups signal processing unit, every group of signal
Processing unit includes:
Antenna, for receiving the electromagnetic signal on guide line；
High-frequency amplifier connect the electromagnetic signal for receiving antenna with antenna and amplifies；
Local oscillation circuit, for exporting the local oscillation signal of local frequency；
Frequency mixer, the input terminal of frequency mixer are connect with the output end of high-frequency amplifier and local oscillation circuit respectively, the output of frequency mixer
End forms intermediate-freuqncy signal；
Intermediate frequency amplifier connect with the output end of frequency mixer and amplifies intermediate-freuqncy signal；
Wave detector is connect for detection with the output end of intermediate frequency amplifier；
AD converter is connect with the output end of wave detector, for the analog signal of detection to be converted to digital signal.
2. AGV trolley tracking device as described in claim 1, it is characterised in that: the local frequency of the local oscillation signal is
AMHz, the signal frequency of high-frequency amplifier output are bMHz, and the IF signal frequency of frequency mixer output is cMHz.
3. AGV trolley tracking device as described in claim 1, it is characterised in that: including three to five group signal processing units, day
Line is separately mounted on the different level position of AGV trolley.
4. AGV trolley tracking device as described in claim 1, it is characterised in that: including five groups of signal processing units, five days
Line is evenly distributed on the radial level direction of AGV trolley.
5. AGV trolley tracking device as described in claim 1, it is characterised in that: the output end of the AD converter and control
Device connection, the controller also connect the local frequency for controlling local oscillation circuit with local oscillation circuit；It is configured on the controller
There is communication interface.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821035172.2U CN208271031U (en) | 2018-07-02 | 2018-07-02 | A kind of AGV trolley tracking device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821035172.2U CN208271031U (en) | 2018-07-02 | 2018-07-02 | A kind of AGV trolley tracking device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208271031U true CN208271031U (en) | 2018-12-21 |
Family
ID=64691130
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821035172.2U Active CN208271031U (en) | 2018-07-02 | 2018-07-02 | A kind of AGV trolley tracking device |
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| CN (1) | CN208271031U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111374600A (en) * | 2018-12-28 | 2020-07-07 | 珠海市一微半导体有限公司 | Self-tracing control method of sweeping robot and intelligent sweeping robot |
-
2018
- 2018-07-02 CN CN201821035172.2U patent/CN208271031U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111374600A (en) * | 2018-12-28 | 2020-07-07 | 珠海市一微半导体有限公司 | Self-tracing control method of sweeping robot and intelligent sweeping robot |
| CN111374600B (en) * | 2018-12-28 | 2021-08-24 | 珠海市一微半导体有限公司 | Self-tracing control method of sweeping robot and intelligent sweeping robot |
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