Butt joint system of AMR trolley and movable gun rack

Abstract

The utility model discloses a docking system of an AMR trolley and a mobile gun rack, which comprises the AMR trolley loaded with a charging module and the mobile gun rack, proximity sensors are symmetrically arranged on the left side and the right side of an induction surface of the AMR trolley, the mobile gun rack is provided with a docking surface, and the induction surface is close to the docking surface, so that the proximity sensors on the two sides detect distance values between the proximity sensors and the docking surface; the AMR trolley is further internally provided with a double-channel AD converter connected with the proximity sensors, the double-channel AD converter receives the distance value, converts the distance value into a digital signal and transmits the digital signal to a controller of the AMR trolley, and the controller judges the parallelism of the induction face and the butt joint face according to the difference value of the distance values of the proximity sensors on the two sides. According to the butt joint system of the AMR trolley and the movable gun rack, the distance value is measured through the two proximity sensors, the detection precision is high, the automation degree is high, and manual intervention adjustment is not needed.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of autonomous mobile robot, especially to a docking system of AMR dolly and mobile gun rack. BACKGROUND

[0002] In the charging industry, the movable charging is completed by separating AMR, charging module and mobile gun rack. AMR is used as a carrying function, and needs to carry the mobile gun rack to the set position, and then carries the charging module to the position of the mobile gun rack. At this time, the AMR and the mobile gun rack need to be accurately docked.

[0003] In the docking process of AMR and mobile gun rack, the existing method is to position by radar and vision. First, the AMR moves to the approximate position of the mobile gun rack by radar, finds the specific position of the mobile gun rack by camera, adjusts the angle of the AMR to be parallel to the mobile gun rack (by IMU sensor on the AMR), and then walks a distance to reach the vicinity of the gun rack. Through actual operation, the angle deviation of AMR3 is relatively large, and the front and back distance of the gun rack is relatively large, which needs the participation of personnel to accurately adjust the docking position, which cannot meet the requirements. UTILITY MODEL CONTENT

[0004] The technical problem to be solved by the utility model is that the docking of the AMR dolly and the mobile gun rack is not accurate in the prior art. The utility model provides a docking system of AMR dolly and mobile gun rack, which measures the distance value by using two proximity sensors, has high detection accuracy and high automation degree, and does not need manual intervention for adjustment.

[0005] The utility model adopts the technical scheme that a docking system of AMR dolly and mobile gun rack comprises an AMR dolly loaded with a charging module and a mobile gun rack, proximity sensors are symmetrically arranged on the left and right sides of the sensing surface of the AMR dolly, the mobile gun rack has a docking surface, the sensing surface is close to the docking surface, the proximity sensors on the two sides detect the distance value from the docking surface, the AMR dolly further has a dual-channel A / D converter connected with the proximity sensors, the dual-channel A / D converter receives the distance value, converts the distance value into a digital signal and transmits the digital signal to the controller of the AMR dolly, and the controller determines the parallelism of the sensing surface and the docking surface according to the difference between the distance values of the proximity sensors on the two sides.

[0006] Further, in order to detect the relative position of the sensing surface and the docking surface, the difference between the distance values of the two proximity sensors is less than 10mm, and the sensing surface is parallel to the docking surface.

[0007] Further, in order to adjust the relative position of the induction surface and the docking surface to the parallel position, the controller of the AMR trolley controls the AMR trolley to move according to the difference of the distance values of the proximity sensors, so as to adjust the relative position of the induction surface and the docking surface.

[0008] Further, in order to control the docking accuracy of the induction surface and the docking surface, the distance values of the two proximity sensors are 10-20mm, and the AMR trolley is docked with the mobile gun rack.

[0009] Further, in order to facilitate detection and docking, the induction surface and the docking surface are both vertical planes.

[0010] Further, in order to improve the detection accuracy, the proximity sensor is a metal proximity sensor, and the docking surface is a metal docking surface.

[0011] Further, in order to provide more docking modes, the proximity sensor is a magnetic sensor or a photoelectric sensor.

[0012] Compared with the prior art, the utility model has the beneficial effects that:

[0013] 1、 the utility model discloses the docking system of AMR trolley and mobile gun rack, and the relative distance of induction surface and docking surface is detected through the proximity sensor, and the signal is converted to the AMR trolley through the double -channel A / D converter, and the relative position of induction surface and docking surface is controlled and adjusted by the AMR trolley, and the detection accuracy is high, and the docking position is accurate, and the cost is low.

[0014] 2、 the utility model discloses the docking system of AMR trolley and mobile gun rack, and metal proximity sensor is used as detection element, and is easy to cooperate with the mobile gun rack of metal, and the detection is accurate, can reach millimeter level positioning, and the cost is low. DRAWINGS

[0015] The utility model is further explained below in combination with the drawings and examples.

[0016] Figure 1 It is the three-dimensional structure schematic diagram of the docking system of AMR trolley and mobile gun rack of the utility model;

[0017] Figure 2 It is the front view of Figure 1 ;

[0018] Figure 3 It is the three-dimensional structure schematic diagram of AMR trolley;

[0019] In the drawing: 1, AMR trolley, 11, induction surface, 2, mobile gun rack, 21, docking surface, 3, proximity sensor. DETAILED DESCRIPTION

[0020] The utility model will be described further in detail in combination with the drawings. These drawings are all simplified schematic diagrams, and only schematically show the basic structure of the utility model, so they only show the structure related to the utility model.

[0021] In the description of the utility model, it needs to be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the utility model and simplifying the description, and does not indicate or imply that the indicated device or element must have a particular orientation, be constructed and operated in a particular orientation, so it cannot be understood as a limitation on the utility model. In addition, the features limited by "first" and "second" can be explicitly or implicitly included one or more features. In the description of the utility model, unless otherwise stated, the meaning of "a plurality of" is two or more.

[0022] In the description of the utility model, it needs to be explained that, unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connection" should be understood broadly, for example, it can be fixed connection, or detachable connection, or integrally connected; it can be mechanical connection, or electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, or the communication inside two elements. For ordinary skilled persons in the art, the specific meaning of the above terms in the utility model can be understood according to the specific circumstances.

[0023] As Figures 1 to 3 As shown in the figure, an AMR trolley and mobile gun rack docking system, including the AMR trolley 1 loaded with charging module and mobile gun rack 2. The AMR trolley 1 is an autonomous mobile robot trolley, and the mobile gun rack 2 and the AMR trolley 1 are conventional devices, and the structure and working principle thereof will not be described here.

[0024] The left and right sides of the sensing surface 11 of the AMR trolley 1 are symmetrically provided with proximity sensors 3, and the mobile gun rack 2 has a docking surface 21. The sensing surface 11 and the docking surface 21 are both vertical planes, which can more easily ensure the flatness of the control AMR trolley 1 and the mobile gun rack 2, and more easily realize the docking of the AMR trolley 1 and the mobile gun rack 2.

[0025] Preferably, in order to ensure detection accuracy, the proximity sensor 3 adopts a metal proximity sensor, and the docking surface 21 is a metal docking surface 21, which is more sensitive to detection and easier to adjust the position of the AMR trolley 1. The metal proximity sensor belongs to a distance sensor, and the maximum sensing distance is 50mm.

[0026] The AMR trolley 1 walks to the mobile gun rack 2 until the induction surface 11 is close to the docking surface 21, and the proximity sensors 3 on both sides detect the distance value from the docking surface 21. The AMR trolley 1 also has a dual-channel A / D converter with the proximity sensors 3, which receives the distance value and converts it into a digital signal and transmits it to the controller of the AMR trolley 1. The proximity sensors 3 are modulated into digital signals by a 10-bit dual-channel A / D converter, with an accuracy of 0.05 mm. The dual-channel A / D converter receives the data signal of the metal proximity sensor in real time, and when the distance of any metal proximity sensor from the docking surface 21 is less than 50 mm, the dual-channel A / D converter automatically receives the signal and makes a judgment. If the difference between the distance values of the two proximity sensors 3 is greater than 10 mm, it is considered that the docking surface 21 and the induction surface 11 are not parallel, at which time a signal is sent to the controller of the AMR trolley 1, and the AMR trolley 1 will automatically adjust the position. During the adjustment of the position of the AMR trolley 1, the proximity sensors 3 and the dual-channel A / D converter monitor and output signals in real time. Until the difference between the distance values of the two sensors is less than 10 mm, it is considered that the docking surface 21 and the induction surface 11 are parallel.

[0027] If the distance values of the two proximity sensors 3 are 10-20 mm, the AMR trolley 1 is docked with the mobile gun rack 2. If the distance value is greater than 20 mm, the AMR trolley 1 needs to continue to move until the distance value of the proximity sensor 3 is less than 20 mm.

[0028] Through the two metal sensors, the AMR trolley 1 can accurately sense the left and right distances and parallelism from the gun rack 1, with a sensing accuracy of 0.05 mm.

[0029] Of course, the proximity sensors 3 can be selected as magnetic sensors and photoelectric sensors. Although the magnetic guide element is easily disturbed by the metal box to cause changes in the magnetic field, and the photoelectric sensor has relatively high requirements for the light environment and the surface of the reflecting object, both of them still can realize the above detection function.

[0030] In summary, the docking system of the AMR trolley and the mobile gun rack uses two proximity sensors to measure the distance value, has high detection accuracy and high automation degree, and does not need manual intervention for adjustment.

[0031] The above describes the ideal embodiments of the present utility model as an inspiration, and through the above description, relevant personnel can make various changes and modifications without deviating from the technical idea of the present utility model. The technical scope of the present utility model is not limited to the contents in the specification, and must be determined by the scope of the claims.

Claims

1. A docking system of an AMR trolley and a mobile gun carriage, comprising an AMR trolley (1) loaded with a charging module and a mobile gun carriage (2), characterized in that, The AMR trolley (1) is provided with proximity sensors on both sides of the sensing surface (11), the mobile gun rack (2) has a docking surface (21), the sensing surface (11) is close to the docking surface (21), the proximity sensors (3) on both sides detect the distance value from the docking surface (21), the AMR trolley (1) is further provided with a dual-channel A / D converter connected with the proximity sensors (3), the dual-channel A / D converter receives the distance value and converts it into a digital signal and transmits it to the controller of the AMR trolley (1), the controller determines the parallelism of the sensing surface (11) and the docking surface (21) according to the difference between the distance values of the proximity sensors (3) on both sides.

2. The AMR trolley and mobile gun rest docking system of claim 1, wherein, The difference between the distance values of the two proximity sensors (3) is less than 10mm, and the sensing surface (11) is parallel to the docking surface (21).

3. The AMR trolley and mobile gun rest docking system of claim 2, wherein, The controller of the AMR trolley (1) controls the movement of the AMR trolley (1) according to the difference between the distance values of the proximity sensors (3), so as to adjust the relative position of the sensing surface (11) and the docking surface (21).

4. The AMR trolley and mobile gun rest docking system of claim 2, wherein, The distance values of the two proximity sensors (3) are 10-20mm, and the AMR trolley (1) is docked with the mobile gun rack (2).

5. The AMR trolley and mobile gun mount docking system of claim 1, wherein, The sensing surface (11) and the docking surface (21) are both vertical planes.

6. The AMR trolley and mobile gun mount docking system of claim 5, wherein, The proximity sensors (3) are metal proximity sensors, and the docking surface (21) is a metal docking surface (21).

7. The AMR trolley and mobile gun mount docking system of claim 5, wherein, The proximity sensors (3) are magnetic sensors or photoelectric sensors.

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