CN111026113A - Travelling bogie system based on laser guide - Google Patents
Travelling bogie system based on laser guide Download PDFInfo
- Publication number
- CN111026113A CN111026113A CN201911229825.XA CN201911229825A CN111026113A CN 111026113 A CN111026113 A CN 111026113A CN 201911229825 A CN201911229825 A CN 201911229825A CN 111026113 A CN111026113 A CN 111026113A
- Authority
- CN
- China
- Prior art keywords
- laser
- collecting
- trolley
- control
- acquisition
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
- 230000000875 corresponding effect Effects 0.000 claims description 8
- 238000004891 communication Methods 0.000 claims description 4
- 230000009471 action Effects 0.000 claims description 3
- 230000008901 benefit Effects 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000011161 development Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention provides a laser guide-based transport trolley system, which comprises a trolley module and a laser system, wherein the trolley module comprises a transport system, a master control system and an acquisition system, and the laser system comprises a turntable control system and an emission system; the transmitting system transmits laser signals, the collecting system is used for collecting the laser signals, and when the turntable control system detects that the collecting system does not receive the laser signals, the turntable control system works to drive the transmitting system to adjust the angle until the collecting system is detected to collect the laser signals and then stops working; after the acquisition system receives the received laser signal, the master control system converts the laser signal into a control command to control the operation of the transportation system; the collection system is multiple. The invention greatly reduces the investment and has wider application prospect.
Description
Technical Field
The invention relates to the field of transport vehicle equipment, in particular to a transport vehicle system based on laser guidance.
Background
In the factory production, in order to increase production efficiency, reduce manpower resources's waste, often use the transport vechicle in the product handling, along with the development of science and technology, the automated guided transport vechicle obtains extensive application.
An Automated Guided Vehicle (AGV) refers to a transport vehicle equipped with an automatic guide device, which can travel along a predetermined path and fulfill a job request. The AGV system main body is a vehicle, and can expand equipment such as a roller, a manipulator, a large platform and the like according to the requirements of field operation. The AGV system can realize unmanned driving, can replace human work in places where people are not suitable for working and even in environments where people cannot work, and has the advantages of fatigue resistance, positioning accuracy, no danger and the like, so that the AGV system is widely applied to many fields.
The existing automatic guided transport vehicle has a plurality of guiding modes, wherein the laser guiding stability is good and widely applied, but the existing laser guided transport vehicle is provided with a plurality of reflectors in advance on a driving path, a laser emitter and a receiver are arranged on an AGV system, so that the laser emitter and the receiver continuously emit laser to the reflectors around in the driving process and receive the reflected laser, then an AGV control system calculates the position of the AGV in a global coordinate through trigonometric operation according to the received coordinates (at least 3) of the known reflectors, and the guiding is realized.
Disclosure of Invention
In view of this, the invention provides a laser guidance-based transportation trolley system to solve the technical problems of high manufacturing cost and severe environmental requirements of the existing automatic guidance transportation trolley.
The technical scheme of the invention is realized as follows:
a laser guide-based transportation trolley system comprises a trolley module and a laser system, wherein the trolley module comprises a transportation system, a master control system and an acquisition system, and the laser system comprises a turntable control system and a transmitting system;
the transmitting system transmits a laser signal, the collecting system is used for collecting the laser signal, and when the turntable control system detects that the collecting system does not receive the laser signal, the turntable control system works to drive the transmitting system to adjust the angle until the collecting system detects that the collecting system collects the laser signal and then stops working;
after the acquisition system receives and receives the laser signal, the master control system converts the laser signal into a control command and controls the transportation system to operate;
the collection system is multiple.
Preferably, the turntable control system includes a first main module, a first shaft clamp system and a rotating motor, the first main module is configured to detect whether the acquisition system receives the laser signal and send a corresponding control command, the first shaft clamp system generates a corresponding action command according to the control command, and the rotating motor is controlled to operate through the action command.
Preferably, the acquisition module adopts a microprocessor STM32F 407.
Preferably, the main control system comprises a main control board, a second shaft card system and an input system, wherein the second shaft card system and the input system are arranged on the main control board, and the input system is in communication connection with the acquisition system.
Preferably, the main control board adopts a bottom board with the model of HIO-1006.
Preferably, the second axis card system includes 2 FPGA modules for converting the laser signal into the control command.
Has the advantages that:
the invention sets a trolley module and a laser system, wherein the trolley module comprises a transportation system, a master control system and an acquisition system, and the laser system comprises a turntable control system and a transmitting system; through set up a plurality of collection systems on the dolly module, revolving stage control system realizes the adjustment to the transmitting system angle simultaneously, can accomplish the guide well, saves the link that sets up the reflector panel on the road surface along the way for this system can also satisfy some inconvenient places that set up the reflector panel when keeping the advantage of original laser guidance mode, greatly reduced the input moreover, has comparatively extensive application prospect.
Drawings
Fig. 1 is a schematic structural diagram of a laser guide-based transport trolley system.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1, an embodiment of the present invention provides a laser guidance-based transportation trolley system, including a trolley module and a laser system, where the trolley module includes a transportation system, a master control system and a collection system, and the laser system includes a turntable control system and an emission system;
the transmitting system transmits laser signals, the collecting system is used for collecting the laser signals, and when the turntable control system detects that the collecting system does not receive the laser signals, the turntable control system works to drive the transmitting system to adjust the angle until the collecting system is detected to collect the laser signals and then stops working;
after the acquisition system receives the received laser signal, the master control system converts the laser signal into a control command to control the operation of the transportation system;
the plurality of acquisition systems are matched with the rotary table control system, so that the acquisition systems can read and receive laser signals conveniently.
The turntable control system comprises a first main module, a first shaft card system and a rotating motor, wherein the first main module is used for detecting whether the acquisition system receives a laser signal and sending a corresponding control command, the first shaft card system generates a corresponding action command according to the control command, and the rotating motor is controlled to work through the action command. The rotary table can be divided into a hydraulic rotary table and an electric rotary table according to a driving mode, the hydraulic rotary table is better than the electric rotary table in the overall control level, but a hydraulic station is required to be arranged, the requirement on oil liquid filtering accuracy is high, the maintenance is difficult, the price is high, and the movement is not convenient, so that the electric rotary table which is easy to maintain, quick in dynamic response and capable of meeting the requirement on positioning accuracy is selected.
The acquisition module adopts a microprocessor STM32F407, and a CAN (controller area network) controller is arranged in the processor, so that the communication between a control system and a control master station (formed by a PLC development system) is more conveniently realized.
The main control system comprises a main control board, a second shaft card system and an input system, wherein the second shaft card system and the input system are arranged on the main control board, and the input system is in communication connection with the acquisition system.
The main control board adopts a bottom board with the model number of HIO-1006.
The second shaft card system comprises 2 FPGA modules, and the main function of the second shaft card system is to convert received signals into PWM pulse wave signals and convert laser signals into control commands.
The laser emission system is fixedly arranged at one position, the laser emission system emits guide laser according to a target path preset by the system, the trolley module receives the guide laser, and when the laser receiver at the middle layer receives the laser, the trolley goes to a destination according to the guide; when the trolley travels to a low-lying zone, the top layer laser receiver receives signals and transmits corresponding instructions to the laser emission system, the system adjusts the laser emission position until the laser receiver positioned in the middle layer receives the signals, and then the trolley continues to move according to the received signals; similarly, when the trolley travels to an uphill road, the laser receiver at the bottom layer receives the signal and transmits a corresponding instruction to the laser emitting system, the system adjusts the laser emitting position until the laser receiver at the middle layer receives the signal, and then the trolley continues to move according to the received signal.
Finally, it is to be noted that: the above description is only a preferred embodiment of the present invention, and is only for the purpose of illustrating the technical solutions of the present invention, and not for the purpose of limiting the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention shall fall within the protection scope of the present invention.
Claims (6)
1. A laser guide-based transportation trolley system is characterized by comprising a trolley module and a laser system, wherein the trolley module comprises a transportation system, a master control system and a collection system, and the laser system comprises a turntable control system and a transmitting system;
the transmitting system transmits a laser signal, the collecting system is used for collecting the laser signal, and when the turntable control system detects that the collecting system does not receive the laser signal, the turntable control system works to drive the transmitting system to adjust the angle until the collecting system detects that the collecting system collects the laser signal and then stops working;
after the acquisition system receives and receives the laser signal, the master control system converts the laser signal into a control command and controls the transportation system to operate;
the collection system is multiple.
2. The laser guidance-based transportation trolley system according to claim 1, wherein the turntable control system comprises a first main module, a first shaft clamp system and a rotating motor, the first main module is used for detecting whether the laser signal is received by the acquisition system and sending a corresponding control command, the first shaft clamp system generates a corresponding action command according to the control command, and the rotating motor is controlled to work through the action command.
3. The laser guidance-based transport trolley system as claimed in claim 1, wherein the acquisition module employs a microprocessor STM32F 407.
4. The laser guidance-based transportation trolley system as claimed in claim 1, wherein the main control system comprises a main control board, a second axle card system arranged on the main control board, and an input system, and the input system is in communication connection with the acquisition system.
5. The laser guidance-based transport cart system of claim 1, wherein the master control board is a type HIO-1006 backplane.
6. The laser guidance-based transport cart system of claim 4, wherein the second axis card system comprises 2 FPGA modules for converting the laser signals to the control commands.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911229825.XA CN111026113A (en) | 2019-12-04 | 2019-12-04 | Travelling bogie system based on laser guide |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911229825.XA CN111026113A (en) | 2019-12-04 | 2019-12-04 | Travelling bogie system based on laser guide |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111026113A true CN111026113A (en) | 2020-04-17 |
Family
ID=70204257
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911229825.XA Withdrawn CN111026113A (en) | 2019-12-04 | 2019-12-04 | Travelling bogie system based on laser guide |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111026113A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112783153A (en) * | 2020-12-18 | 2021-05-11 | 苏州寻迹智行机器人技术有限公司 | Novel laser navigation system |
-
2019
- 2019-12-04 CN CN201911229825.XA patent/CN111026113A/en not_active Withdrawn
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112783153A (en) * | 2020-12-18 | 2021-05-11 | 苏州寻迹智行机器人技术有限公司 | Novel laser navigation system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109323696B (en) | Indoor positioning navigation system and method for unmanned forklift | |
| CN105501863B (en) | One kind is based on pinpoint single track logistic car and its control method in greenhouse | |
| CN204241966U (en) | A vision-guided self-propelled trolley | |
| CN106314594A (en) | Storage and transfer robot used for modern logistics industry | |
| CN105467892B (en) | One kind is based on greenhouse inner groovy single track automated job car and its control method | |
| CN208522506U (en) | Self-propelling device and wireless charging system based on self-propelling device | |
| CN107161644B (en) | The control method of intelligent carriage logistics system | |
| CN110356824A (en) | Automatic guided transport vehicle and its path planning method | |
| US11426862B2 (en) | Guiderail for underslung robot, underslung robot and operating system thereof | |
| CN212637735U (en) | Heavy load omnidirectional carrying type AGV | |
| CN111620022A (en) | Control system of special storage carrier | |
| CN107830832A (en) | Workpiece profile scanning system and method | |
| CN113184678A (en) | Automatic cruise-based intelligent hoisting system for tunnel inner pipe sheets and working method thereof | |
| CN206710891U (en) | A kind of visual guidance car based on Quick Response Code | |
| CN107515605A (en) | A kind of AGV dolly navigation methods and systems based on ultrasonic ranging | |
| CN105731260A (en) | Automatic driving system and method of rubber tyred gantry container crane | |
| CN111026113A (en) | Travelling bogie system based on laser guide | |
| CN108958269B (en) | Inertial navigation magnetic stripe hybrid navigation AGV system | |
| CN114212432A (en) | An optoelectronic positioning system applied to a four-way shuttle in a warehouse | |
| CN205311599U (en) | Single track commodity circulation car of accurate positioning for industrialized agriculture | |
| CN107817803A (en) | The control system and its control method of a kind of secondary accurate positioning suitable for AGV | |
| CN110244727A (en) | An AGV system and method based on two-dimensional code positioning and navigation | |
| CN112123328B (en) | Man-machine cooperation control method and system | |
| CN217893074U (en) | UWB-based automatic following road cone transfer robot | |
| CN217674774U (en) | Photoelectric positioning system applied to warehouse four-way shuttle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20200417 |
|
| WW01 | Invention patent application withdrawn after publication |