CN202650366U - A magnetic navigation automatic guided vehicle teaching experimental device - Google Patents
A magnetic navigation automatic guided vehicle teaching experimental device Download PDFInfo
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- CN202650366U CN202650366U CN 201220154071 CN201220154071U CN202650366U CN 202650366 U CN202650366 U CN 202650366U CN 201220154071 CN201220154071 CN 201220154071 CN 201220154071 U CN201220154071 U CN 201220154071U CN 202650366 U CN202650366 U CN 202650366U
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Abstract
The utility model provides a teaching experiment device for magnetic navigation of an automated guided vehicle. The teaching experiment device is characterized by comprising an MCU core board, a magnetic sensor module, an anticollision and position module, a motor drive module, a steering-engine drive module, a speed measurement module, a communication module, a keyboard input module, a display module, a power module, a vehicle model, an electromagnetic signal generating unit, a road model, and a computer unit with specific monitoring software. The whole teaching experiment device for magnetic navigation of an automated guided vehicle is flexibly established with great recreation space, for a user to propose and prove his idea, thereby improving his innovation ability.
Description
Technical field
The utility model relates to a kind of experiment device for teaching, particularly be a kind of magnetic navigation automatic guide vehicle experiment device for teaching.
Background technology
Automatic guided vehicle (AGV) has obtained development at full speed as a kind of mobile robot in recent years, it is mainly used in flexible manufacturing system (FMS), flexible assembly system, automatic stereowarehouse and some other industry as haulage equipment.(electromagnetic path-following system) sets up the AGV course by electromagnetic path, and electromagnetic path is layed on the floor, and automatic guided vehicle is then followed electromagnetic path to move and moved.Intelligent transportation system (Intelligent Transportation System, be called for short ITS) be the developing direction of future transportation system, and be one of the core of intelligent transportation system and gordian technique based on the intelligent automobile navigational system of road surface magnetic mark, be the research and development focus of TRANSPOWORLD developed country always.
The utility model content
The utility model needs based on present development in science and technology, a kind of magnetic navigation automatic guide vehicle experiment device for teaching is provided, it is characterized in that being formed by MCU core board, magnetic sensor module, crashproof and position module, motor drive module, servo driving module, speed measuring module, communication module, keyboard load module, display module, power module, car mould, electromagnetic signal generating means, road model, computer installation with specifically monitored software.
Wherein, described MCU core board comprises multiple single-chip microcomputer, digital quantity/analog quantity interface, I/O expansion slot, power interface.
Wherein, described Magnetic Sensor comprises magnetic field detection and signal conditioning circuit.
Wherein, described crashproof and position locating module comprises the contactless anti-bump sensor of infrared light, the position alignment sensor of AGV front.
Wherein, described motor drive module comprises direct current generator and motor-drive circuit.
Wherein, described servo driving module comprises steering wheel and driving circuit thereof.
Wherein, described speed measuring module comprise photoelectric encoder and speed measuring motor with and driving circuit.
Wherein, described communication module comprises wireless communication module and the computer serial interface based on ZigBee technology.
Wherein, described display module comprises small-sized matrix liquid-crystal display screen and several LED, and corresponding driving circuit.
Wherein, described electromagnetic signal generating means comprises two kinds of galvanomagnetic signal transmitters, A: road surface magnetic mark, B: energising magnetic guide line.
Description of drawings
Fig. 1 is experiment device for teaching scantling plan of the present utility model.
Fig. 2 is automatic guide vehicle control system structural drawing of the present utility model.
Fig. 3 is the utility model sensor placement part example schematic.
Embodiment
Below in conjunction with drawings and Examples the technical solution of the utility model is further explained.
As shown in Figure 1, the present embodiment provides a kind of magnetic navigation automatic guide vehicle instructional device, comprises automatic guide vehicle, road model, multi-purpose computer.Bury magnetic guide line and magnetic mark under the described road model underground, be used for the mark road information.Described automatic guide vehicle detects road information in real time by electromagnetic sensor, calls the Path Recognition algorithm and obtains vehicle position information, turning value, rotary speed setting value etc.Serial communication modular is used for program debug and host computer monitoring, and wireless communication module is used between vehicle and the real-time Communication for Power between vehicle and the control base station.
As shown in Figure 2, described automatic guide vehicle comprises MCU core board 1, magnetic sensor module 2, motor drive module 3, servo driving module 4,, speed measuring module 5, communication module 6, keyboard load module 7, display module 8, power module 9, crashproof and position module 10, car mould.
Described core board 1 provides various popular single-chip microcomputer sockets, satisfies the different user custom.
As shown in Figure 3, described Magnetic Sensor 2 comprises magnetic field detection and signal conditioning circuit, and the sensor placement design is for detection of magnetic guide line and road surface magnetic mark.The utility model is that sensor adopts modular design, and the user can use some sensors to build the layout of oneself, designs the control algolithm of oneself.
Described crashproof and position locating module 10 comprises the contactless anti-bump sensor of infrared light and infrared light position alignment sensor.Wherein anti-bump sensor can detect the fore-and-aft direction of carrier, the barrier of left and right directions, also can set to go slowly and stop in two sections, also be slow down in the 2m, parking in the 1m.The light frequency of emission has several, prevents the phase mutual interference between each carrier.Its mid-infrared light position alignment sensor can receive the infrared modulation signal that comprises positional information that anchor point sends.
Described motor drive module 3 comprises direct current generator and motor-drive circuit, is used for driving and the speed governing of car body.
Described servo driving module 4 comprises steering wheel and driving circuit thereof, is used for the control car body and turns to.
Described speed measuring module 5 comprise photoelectric encoder and speed measuring motor with and driving circuit, be used for the speed feedback of control algolithm.
Described communication module 6 comprises wireless communication module and the computer serial interface based on ZigBee technology, is used between vehicle and the message exchange between vehicle and control center's (computing machine).
Described keyboard load module 7 comprises 8 toggle switchs and 4 touch keys, is used for the parameter testing at experimentation.
Described display module 8 comprises small-sized matrix liquid-crystal display screen and several LED, and relevant driving circuit, is used for the experimental debugging process and shows related data and observe current state information.
Described power module 9 comprises 8.4V/2000mA Ni-MH battery, decompression voltage regulator.
Described car mould is general brougham mould.
Described electromagnetic signal generating means comprises two kinds of galvanomagnetic signal transmitters, A: the road surface magnetic mark, B: energising magnetic guide line, this is the most general path tag mode during present automatically guiding trolley research is used.
Described road model has laid the electromagnetic signal generating means, and the development environment of automatic guide vehicle is provided, and it is characterized in that road model is formed according to user's needs combination in any by different size, difform " road piece "." road piece " comprises be used to the circular arc of building bend, is used for building " abutment " and the straight-line segment on slope, and its parameter comprises road width W, length L, arc diameter D, fan angle α, gradient β etc.
Described computing machine with specifically monitored software includes the RS-232 serial ports, is used for debugged program, observes storage cart running body parameter.
The user can the complete independently automatic guide vehicle assembling process, comprise Magnetic Sensor topological design and installation, the installation of governor circuit and driving circuit, the installation of photoelectric encoder, steering wheel is installed, power supply installation etc., but the circuit of designed, designed arbitrary module wherein.The design of described road model gives the user huge imagination space with laying especially, excites the user to challenge the enthusiasm of highly difficult road.
After described automatic guide vehicle terminal installs, the specifically monitored software that to finish in the computer development environment by downloader downloads among the CPU of governor circuit, then run in described road module pilot scale, by the upper computer software in the described computing machine and the ZigBee wireless communication module on the automatic guide vehicle, the various parameters in the described automatic guide vehicle driving process are uploaded on the described computer monitoring interface.The user can enter manual mode, controls in real time automatic guide vehicle by described specifically monitored software.All data can be preserved for later stage road analysis, thereby improve control strategy and find out better control strategy, improve user's the analysis ability of pinpointing the problems and the basic Specialized Quality of paying attention to the research experiment data.
In sum, it is flexible that described whole magnetic navigation automatic guide vehicle instructional device is built mode, and very large recreation space is arranged, and the user can propose and verify the idea of oneself on this device, improves self innovation ability.This device also can be used as the equipment of the education experiment of individual module content, education experiment link such as dc micro-motor, the education experiment link of ZigBee radio communication, the education experiment link of single chip madine, the education experiment link of pattern-recognition and control theory etc.
Although the utility model discloses as above with preferred embodiment; so it is not to limit the utility model; any those skilled in the art; within not breaking away from spirit and scope of the present utility model; when doing a little modification and perfect, therefore protection domain of the present utility model is worked as with being as the criterion that claims were defined.
Claims (1)
1. magnetic navigation automatic guide vehicle experiment device for teaching, formed by MCU core board, magnetic sensor module, crashproof and position module, motor drive module, servo driving module, speed measuring module, communication module, keyboard load module, display module, power module, car mould, electromagnetic signal generating means, road model and computer installation, it is characterized in that: described MCU core board comprises multiple single-chip microcomputer, digital quantity/analog quantity interface, I/O expansion slot and power interface; Described magnetic sensor module comprises magnetic field detection and signal conditioning circuit; Crashproof and position module comprises the contactless anti-bump sensor of infrared light and infrared light position alignment sensor; Described motor drive module comprises direct current generator and motor-drive circuit; Described servo driving module comprises steering wheel and driving circuit thereof; Described speed measuring module comprise photoelectric encoder and speed measuring motor with and driving circuit; Described communication module comprises based on the wireless communication module of ZigBee technology and computer serial interface; Described display module comprises small-sized matrix liquid-crystal display screen and several LED, and corresponding driving circuit; Described electromagnetic signal generating means comprises two kinds of galvanomagnetic signal transmitters, A: road surface magnetic mark, B: energising magnetic guide line.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220154071 CN202650366U (en) | 2012-04-04 | 2012-04-04 | A magnetic navigation automatic guided vehicle teaching experimental device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220154071 CN202650366U (en) | 2012-04-04 | 2012-04-04 | A magnetic navigation automatic guided vehicle teaching experimental device |
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| CN202650366U true CN202650366U (en) | 2013-01-02 |
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| CN 201220154071 Expired - Fee Related CN202650366U (en) | 2012-04-04 | 2012-04-04 | A magnetic navigation automatic guided vehicle teaching experimental device |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103578335A (en) * | 2013-03-22 | 2014-02-12 | 柳州铁道职业技术学院 | Urban rail transit vehicle-mounted photo-electric speed measurement experimental device |
| CN104153603A (en) * | 2014-07-31 | 2014-11-19 | 同济大学 | Traffic station and entering and exiting method for magnetic navigation unmanned electric intelligent vehicle |
| CN109460034A (en) * | 2018-12-18 | 2019-03-12 | 云南昆船智能装备有限公司 | A kind of composite magnetic band electromagnetism AGV guidance system device and method |
| CN111915955A (en) * | 2020-09-14 | 2020-11-10 | 天津职业技术师范大学(中国职业培训指导教师进修中心) | Intelligent networking automobile experiment teaching system |
-
2012
- 2012-04-04 CN CN 201220154071 patent/CN202650366U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103578335A (en) * | 2013-03-22 | 2014-02-12 | 柳州铁道职业技术学院 | Urban rail transit vehicle-mounted photo-electric speed measurement experimental device |
| CN104153603A (en) * | 2014-07-31 | 2014-11-19 | 同济大学 | Traffic station and entering and exiting method for magnetic navigation unmanned electric intelligent vehicle |
| CN109460034A (en) * | 2018-12-18 | 2019-03-12 | 云南昆船智能装备有限公司 | A kind of composite magnetic band electromagnetism AGV guidance system device and method |
| CN109460034B (en) * | 2018-12-18 | 2024-09-06 | 云南昆船智能装备有限公司 | Composite magnetic tape electromagnetic AGV guiding system device and method |
| CN111915955A (en) * | 2020-09-14 | 2020-11-10 | 天津职业技术师范大学(中国职业培训指导教师进修中心) | Intelligent networking automobile experiment teaching system |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130102 Termination date: 20140404 |