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An intelligent omnidirectional AGV trolley and its control method

A small car and intelligent technology, applied in the direction of position/direction control, vehicle position/route/height control, control/regulation system, etc., can solve the problems of human injury, achieve the effect of prolonging service life, reducing costs, and saving space routes

Active Publication Date: 2020-07-14
UNIV OF ELECTRONICS SCI & TECH OF CHINA
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0009] These problems have brought a lot of inconvenience to the use of AGV, especially, if the goods moved by the AGV are some corrosive or toxic goods, when the object being hit is a person, it will cause great harm to the person

Method used

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  • An intelligent omnidirectional AGV trolley and its control method
  • An intelligent omnidirectional AGV trolley and its control method
  • An intelligent omnidirectional AGV trolley and its control method

Examples

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Effect test

Embodiment 2

[0065] Embodiment 2 This embodiment provides another implementation of an intelligent omnidirectional AGV trolley, the technical solution of which is the same as that of Embodiment 1, and the specific settings also include:

[0066] The main control unit 8 is composed of a UNO module and a mega2560 controller, wherein the UNO module is connected to the navigation sensor unit 7, the UNO module receives the signal sent by the 16-bit navigation sensor unit 7, and the 16-bit magnetic navigation sensor used in the navigation of the AGV The unit can accurately detect the position of the magnetic strip, so that the AGV will not deviate from the track during operation.

[0067] In addition, in order to reduce the CPU computing resources of the mega2560 main control board and improve the overall performance of the system, an Arduino UNO control board is added for auxiliary calculation to collect 16-bit magnetic navigation sensor signals.

[0068] The control program is encapsulated in ...

Embodiment 3

[0072] Embodiment 3 This embodiment provides a third implementation of an intelligent AGV omnidirectional trolley, and its technical solution is as in Embodiment 2. During the specific implementation process, it also includes:

[0073] The driving device adopts a spring anti-vibration device, the motor unit 4 and the omnidirectional wheel unit 1 are fixed, the spring is sleeved on the cylinder, and the wheel train is sleeved on the cylinder for connection;

[0074] as follows Figure 8 As shown, the spring anti-vibration device is to put the spring on the cylinder on the shell of the AGV. Figure 4 The parts are installed in the motor and then inserted into the cylinder. The top of the cylinder is threaded and connected with nuts. The spring supports the parts. If vibration occurs, the universal wheel will slide on the cylinder. This assembly is helpful shockproof.

[0075] The above methods help to protect the carried items from being dumped during operation, reduce the vib...

Embodiment 4

[0080] Embodiment 4 This embodiment provides an intelligent omnidirectional AGV car control method, including

[0081] The first step is to send a signal to the AGV car through the remote control, and the main control unit 8 of the AGV car decodes the sent information and runs the corresponding command;

[0082] If the stop signal is sent, the AGV car will stop;

[0083] If the signal sent is to run to the specified position, the AGV car will start the running self-check;

[0084] In the second step, the AGV trolley receives the control instruction that the trolley runs to the specified position, and the main control unit 8 judges the forward direction in the following manner:

[0085] According to the intersecting control algorithm, the magnetic navigation sensor of the navigation sensor unit 7 at the front lower middle part of the compartment 9 detects the number a, and the magnetic navigation sensor of the navigation sensor unit 7 at the rear lower middle part of the compa...

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Abstract

The invention provides an intelligent omnidirectional AGV trolley and a control method, comprising a driving device, an ultrasonic sensor unit (2), a motion indicator unit (5), a navigation sensor unit (7), a main control unit (8), a carriage (9) ), the compartment (9) is a box with a certain height, and the chassis of the compartment (9) is a cube with four corners removed, and the driving device includes an omnidirectional wheel unit (1), a motor drive unit (3) . The motor unit (4), the driving device is installed on the chassis of the compartment (9), the main control unit (8) is installed in the compartment (9), and there are four ultrasonic sensor units (2). Through the structural design of the AGV trolley, the present invention realizes the in-situ rotation of the AGV trolley in a narrow space or even zero radius, and realizes the movement of the AGV trolley in a designated direction by giving different x, y, and θ.

Description

technical field [0001] The invention belongs to the technical field of automatic control, and in particular relates to an intelligent omnidirectional AGV trolley and a control method thereof. Background technique [0002] In the era of rapid technological development, artificial intelligence system technology has become the focus of scientists around the world. As one of the products of artificial intelligence technology, AGV has been widely used in warehousing, manufacturing, dangerous place operations and special industries. [0003] For example, in some automotive fields, such as the wiring of Chevrolet, Toyota and other automobile factories, it has been widely used. After using the AGV trolley as the assembly line of the carrier, it not only reduces the assembly time, but also reduces the failure rate. [0004] AGV, which is equipped with electromagnetic or optical components, can walk along the planned path, has transportation functions and safety protection functions, ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B62D63/02B62D63/04G05D1/00G05D1/02
Inventor 周训郐黄大贵李洋洋李有铖王学猛文豪
Owner UNIV OF ELECTRONICS SCI & TECH OF CHINA
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