CN205139706U - Automatic navigational positioning system of guide transport vechicle - Google Patents
Automatic navigational positioning system of guide transport vechicle Download PDFInfo
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- CN205139706U CN205139706U CN201520925165.XU CN201520925165U CN205139706U CN 205139706 U CN205139706 U CN 205139706U CN 201520925165 U CN201520925165 U CN 201520925165U CN 205139706 U CN205139706 U CN 205139706U
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Abstract
The utility model discloses an automatic navigational positioning system of guide transport vechicle, including the magnetism nail, inertia measuring unit, the navigation controller, magnetic grid chi and on -board control device, the magnetism nail is buried underground in the subsurface, inertia measuring unit, navigation controller and on -board control device are all installed inside automated guided transporting vehicle, before the transport vechicle, the rear axle respectively is equipped with a magnetic grid chi, inertia measuring unit passes through the connection and is connected with the navigation controller, the magnetic grid chi passes through the connection and is connected with the navigation controller, the on -board control device is connected with the navigation controller, be connected with first battery and second battery on inertia measuring unit and the navigation controller respectively. The utility model discloses synthesizing magnetism nail with inertia measuring unit and using, realize the go navigation in route of transport vechicle, entire system has that the guide route is nimble, the interference killing feature is strong, job stabilization, accurate nature height and advantage with low costs, has and promote due value on automated guided transporting vehicle.
Description
Technical field
The utility model relates to a kind of navigation positioning system, particularly a kind of navigation positioning system of automatical pilot transportation vehicle, belongs to automatical pilot transportation vehicle technical field.
Background technology
At present, the navigation induction mechanism of the automatical pilot transportation vehicle in market, normally adopts the driving path of mode to transport vehicle of fixed_path guided or free path guiding to guide.Method conventional in fixed_path guided is electromagnetism guiding, and the quantities of electromagnetism guiding is large, the change in path and expansion difficulty.In free path guiding, conventional method is inertial guide, and the nucleus equipment applied in inertial guide is gyroscope, and gyroscope is more responsive to vibration, and location is not accurate enough separately, also needs other instruments to carry out auxiliary positioning.
Utility model content
The purpose of this utility model is, a kind of navigation positioning system of automatical pilot transportation vehicle is provided, it adopts electromagnetism guiding to add the navigate mode of inertial guide, by magnetic nail and the comprehensive use of Inertial Measurement Unit, the driving path of transport vehicle is navigated, flexibly, antijamming capability is strong for the change in path and expansion, and navigation precisely.
The technical solution of the utility model: a kind of navigation positioning system of automatical pilot transportation vehicle, comprise magnetic nail, Inertial Measurement Unit, navigation controller, magnetic railings ruler and on-vehicle control apparatus, magnetic nail is embedded in subsurface, Inertial Measurement Unit, navigation controller and on-vehicle control apparatus are installed in automatical pilot transportation vehicle inside, before transport vehicle, back axle is respectively provided with one piece of magnetic railings ruler, Inertial Measurement Unit is connected with navigation controller by connection, magnetic railings ruler is connected with navigation controller by connection, on-vehicle control apparatus is connected with navigation controller, Inertial Measurement Unit and navigation controller are connected to the first battery and the second battery.Adopt the mode that magnetic nail and Inertial Measurement Unit comprehensively use, electromagnetism guiding and inertial guide two kinds of guide modes are combined, make guide path more flexible, enhance antijamming capability, and there is higher accuracy; Magnetic nail, Inertial Measurement Unit, navigation controller and magnetic railings ruler are prior art, can buy in market.
In the navigation positioning system of aforesaid this automatical pilot transportation vehicle, on-vehicle control apparatus comprises Vehicle Controller, electromagnetic proportional valve, vehicle bridge and angle-position encoder, Vehicle Controller is connected with navigation controller by connection, electromagnetic proportional valve is arranged in vehicle bridge, electromagnetic proportional valve is connected with Vehicle Controller, and angle-position encoder is connected with Vehicle Controller and vehicle bridge simultaneously.Vehicle Controller exports analog signals to electromagnetic proportional valve, and for controlling solenoid-operated proportional valve opening, thus control vehicle bridge turns to and turning speed, angle-position encoder feedback vehicle bridge turning angle angle value is to Vehicle Controller, when value of feedback reach desired value then turning action complete, device is simple, and cost is low; Vehicle Controller, electromagnetic proportional valve and angle-position encoder are prior art, can buy in market.
In the navigation positioning system of aforesaid this automatical pilot transportation vehicle, the coordinate of burying underground of magnetic nail mates with the travel track of automatical pilot transportation vehicle.What magnetic was followed closely arranges technology maturation, goes between hidden, not easily contaminated and damage, and do not disturb by acousto-optic, stability is high, and cost is low.
In the navigation positioning system of aforesaid this automatical pilot transportation vehicle, adjacent magnetic nail bury the width that distance is more than or equal to 1.5 times of magnetic railings ruler induction regions underground.Magnetic nail spacing is greater than 1.5 times of magnetic railings ruler induction region width, and navigation accuracy can reduce, and be less than 1.5 times and there will be the situation that a magnetic railings ruler senses 2 magnetic nail coordinates simultaneously, this is unallowed; The technical specification that the concrete spacing of magnetic nail is followed closely according to magnetic and the debugging effect in later stage can do further adjustment.
In the navigation positioning system of aforesaid this automatical pilot transportation vehicle, the model of navigation controller is X20CP3486 controller.Bei Jialai X20CP3486 controller performance is superior, and cost is reasonable, and it is prior art, can buy in market.
In the navigation positioning system of aforesaid this automatical pilot transportation vehicle, connection is RS422 type.The transmission of RS422 interface definition connection is stable, and cost performance is high.
Compared with prior art, magnetic nail and Inertial Measurement Unit comprehensively use by the utility model, namely combine electromagnetism guiding and inertial guide two kinds of navigate modes, navigate to the driving path of transport vehicle, on-vehicle control apparatus then controls transport vehicle and turns to, change and the expansion of the guide path of system are more flexible, antijamming capability is stronger, and stability is higher, has higher accuracy, and cost is low, be suitable for applying on automatical pilot transportation vehicle.
Accompanying drawing explanation
Fig. 1 is annexation schematic diagram of the present utility model;
Fig. 2 is the annexation schematic diagram of on-vehicle control apparatus.
Being labeled as in accompanying drawing: 1-magnetic is followed closely, 2-Inertial Measurement Unit, 3-navigation controller, 4-magnetic railings ruler, 5-on-vehicle control apparatus, 6-Vehicle Controller, 7-electromagnetic proportional valve, 8-vehicle bridge, 9-angle-position encoder, 10-first battery, 11-second battery.
Embodiment
Below in conjunction with drawings and Examples, the utility model is further described.
Embodiment 1 of the present utility model: a kind of navigation positioning system of automatical pilot transportation vehicle, comprise magnetic nail 1, Inertial Measurement Unit 2, navigation controller 3, magnetic railings ruler 4 and on-vehicle control apparatus 5, magnetic nail 1 is embedded in subsurface, Inertial Measurement Unit 2, navigation controller 3 and on-vehicle control apparatus 5 are installed in automatical pilot transportation vehicle inside, before transport vehicle, back axle is respectively provided with one piece of magnetic railings ruler 4, Inertial Measurement Unit 2 is connected with navigation controller 3 by connection, magnetic railings ruler 4 is connected with navigation controller 3 by connection, on-vehicle control apparatus 5 is connected with navigation controller 3, Inertial Measurement Unit 2 and navigation controller 3 are connected to the first battery 10 and the second battery 11.Magnetic nail 1, Inertial Measurement Unit 2, navigation controller 3 and magnetic railings ruler 4 are prior art, can buy in market.
Wherein, on-vehicle control apparatus 5 comprises Vehicle Controller 6, electromagnetic proportional valve 7, vehicle bridge 8 and angle-position encoder 9, Vehicle Controller 6 is connected with navigation controller 3 by connection, electromagnetic proportional valve 7 is arranged in vehicle bridge 8, electromagnetic proportional valve 7 is connected with Vehicle Controller 6, and angle-position encoder 9 is connected with Vehicle Controller 6 and vehicle bridge 8 simultaneously.Vehicle Controller 6 exports analog signals to electromagnetic proportional valve 7, control electromagnetic proportional valve 7 aperture, thus control vehicle bridge 8 turn to and turning speed, angle-position encoder 9 feeds back vehicle bridge 8 turning angle angle value to Vehicle Controller 6, when value of feedback reach desired value then turning action complete; Vehicle Controller 6, electromagnetic proportional valve 7 and angle-position encoder 9 are prior art, can buy in market.
Further, the coordinate of burying underground of magnetic nail 1 mates with the travel track of automatical pilot transportation vehicle.Adjacent magnetic nail 1 bury the width that distance equals 1.5 times of magnetic railings ruler induction regions underground.The concrete spacing of magnetic nail 1, can do further adjustment according to the magnetic nail technical specification of 1 and the debugging effect in later stage.
In addition, the model of navigation controller 3 is X20CP3486 controller.Connection is RS422 type.
Embodiment 2 of the present utility model: a kind of navigation positioning system of automatical pilot transportation vehicle, comprise magnetic nail 1, Inertial Measurement Unit 2, navigation controller 3, magnetic railings ruler 4 and on-vehicle control apparatus 5, magnetic nail 1 is embedded in subsurface, Inertial Measurement Unit 2, navigation controller 3 and on-vehicle control apparatus 5 are installed in automatical pilot transportation vehicle inside, before transport vehicle, back axle is respectively provided with one piece of magnetic railings ruler 4, Inertial Measurement Unit 2 is connected with navigation controller 3 by connection, magnetic railings ruler 4 is connected with navigation controller 3 by connection, on-vehicle control apparatus 5 is connected with navigation controller 3, Inertial Measurement Unit 2 and navigation controller 3 are connected to the first battery 10 and the second battery 11.Magnetic nail 1, Inertial Measurement Unit 2, navigation controller 3 magnetic railings ruler 4 are prior art, can buy in market.
Wherein, on-vehicle control apparatus 5 comprises Vehicle Controller 6, electromagnetic proportional valve 7, vehicle bridge 8 and angle-position encoder 9, Vehicle Controller 6 is connected with navigation controller 3 by connection, electromagnetic proportional valve 7 is arranged in vehicle bridge 8, electromagnetic proportional valve 7 is connected with Vehicle Controller 6, and angle-position encoder 9 is connected with Vehicle Controller 6 and vehicle bridge 8 simultaneously.Vehicle Controller 6 exports analog signals to electromagnetic proportional valve 7, control electromagnetic proportional valve 7 aperture, thus control vehicle bridge 8 turn to and turning speed, angle-position encoder 9 feeds back vehicle bridge 8 turning angle angle value to Vehicle Controller 6, when value of feedback reach desired value then turning action complete; Vehicle Controller 6, electromagnetic proportional valve 7 and angle-position encoder 9 are prior art, can buy in market.
Further, the coordinate of burying underground of magnetic nail 1 mates with the travel track of automatical pilot transportation vehicle.Adjacent magnetic nail 1 bury the width that distance equals 2 times of magnetic railings ruler induction regions underground.The concrete spacing of magnetic nail 1, can do further adjustment according to the magnetic nail technical specification of 1 and the debugging effect in later stage.
In addition, the model of navigation controller 3 is X20CP3486 controller.Connection is RS422 type.
Embodiment 3 of the present utility model: a kind of navigation positioning system of automatical pilot transportation vehicle, comprise magnetic nail 1, Inertial Measurement Unit 2, navigation controller 3, magnetic railings ruler 4 and on-vehicle control apparatus 5, magnetic nail 1 is embedded in subsurface, Inertial Measurement Unit 2, navigation controller 3 and on-vehicle control apparatus 5 are installed in automatical pilot transportation vehicle inside, before transport vehicle, back axle is respectively provided with one piece of magnetic railings ruler 4, Inertial Measurement Unit 2 is connected with navigation controller 3 by connection, magnetic railings ruler 4 is connected with navigation controller 3 by connection, on-vehicle control apparatus 5 is connected with navigation controller 3, Inertial Measurement Unit 2 and navigation controller 3 are connected to the first battery 10 and the second battery 11.Magnetic nail 1, Inertial Measurement Unit 2, navigation controller 3 and magnetic railings ruler 4 are prior art, can buy in market.
Wherein, on-vehicle control apparatus 5 comprises Vehicle Controller 6, electromagnetic proportional valve 7, vehicle bridge 8 and angle-position encoder 9, Vehicle Controller 6 is connected with navigation controller 3 by connection, electromagnetic proportional valve 7 is arranged in vehicle bridge 8, electromagnetic proportional valve 7 is connected with Vehicle Controller 6, and angle-position encoder 9 is connected with Vehicle Controller 6 and vehicle bridge 8 simultaneously.Vehicle Controller 6 exports analog signals to electromagnetic proportional valve 7, control electromagnetic proportional valve 7 aperture, thus control vehicle bridge 8 turn to and turning speed, angle-position encoder 9 feeds back vehicle bridge 8 turning angle angle value to Vehicle Controller 6, when value of feedback reach desired value then turning action complete; Vehicle Controller 6, electromagnetic proportional valve 7 and angle-position encoder 9 are prior art, can buy in market.
Further, the coordinate of burying underground of magnetic nail 1 mates with the travel track of automatical pilot transportation vehicle.Adjacent magnetic nail 1 bury the width that distance equals 1.5 times of magnetic railings ruler induction regions underground.The concrete spacing of magnetic nail 1, can do further adjustment according to the magnetic nail technical specification of 1 and the debugging effect in later stage.
Using method of the present utility model: after transport vehicle starts, the position of magnetic railings ruler 4 induced magnetism nail 1, induced signal is delivered to Inertial Measurement Unit 2, Inertial Measurement Unit 2 again by signal transmission to navigation controller 3, Vehicle Controller 6 receives the signal that navigation controller 3 is sent, and then control electromagnetic proportional valve 7, thus control vehicle bridge 8 turns to and turning speed, angle-position encoder 9 feeds back vehicle bridge 8 turning angle angle value to Vehicle Controller 6, when value of feedback reach desired value then turning action complete, navigation namely complete.
Claims (6)
1. the navigation positioning system of an automatical pilot transportation vehicle, it is characterized in that: comprise magnetic nail (1), Inertial Measurement Unit (2), navigation controller (3), magnetic railings ruler (4) and on-vehicle control apparatus (5), magnetic nail (1) is embedded in subsurface, Inertial Measurement Unit (2), navigation controller (3) and on-vehicle control apparatus (5) are installed in automatical pilot transportation vehicle inside, before transport vehicle, back axle is respectively provided with one piece of magnetic railings ruler (4), Inertial Measurement Unit (2) is connected with navigation controller (3) by connection, magnetic railings ruler (4) is connected with navigation controller (3) by connection, on-vehicle control apparatus (5) is connected with navigation controller (3), Inertial Measurement Unit (2) and navigation controller (3) are connected to the first battery (10) and the second battery (11).
2. the navigation positioning system of automatical pilot transportation vehicle according to claim 1, it is characterized in that: on-vehicle control apparatus (5) comprises Vehicle Controller (6), electromagnetic proportional valve (7), vehicle bridge (8) and angle-position encoder (9), Vehicle Controller (6) is connected with navigation controller (3) by connection, electromagnetic proportional valve (7) is arranged in vehicle bridge (8), electromagnetic proportional valve (7) is connected with Vehicle Controller (6), and angle-position encoder (9) is connected with Vehicle Controller (6) and vehicle bridge (8) simultaneously.
3. the navigation positioning system of automatical pilot transportation vehicle according to claim 1, is characterized in that: the coordinate of burying underground of magnetic nail (1) mates with the travel track of automatical pilot transportation vehicle.
4. the navigation positioning system of automatical pilot transportation vehicle according to claim 3, is characterized in that: adjacent magnetic nail (1) bury the width that distance is more than or equal to 1.5 times of magnetic railings ruler induction regions underground.
5. the navigation positioning system of automatical pilot transportation vehicle according to claim 1, is characterized in that: the model of navigation controller (3) is X20CP3486 controller.
6. the navigation positioning system of automatical pilot transportation vehicle according to claim 1, is characterized in that: connection is RS422 type.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520925165.XU CN205139706U (en) | 2015-11-19 | 2015-11-19 | Automatic navigational positioning system of guide transport vechicle |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520925165.XU CN205139706U (en) | 2015-11-19 | 2015-11-19 | Automatic navigational positioning system of guide transport vechicle |
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| CN205139706U true CN205139706U (en) | 2016-04-06 |
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| CN201520925165.XU Expired - Fee Related CN205139706U (en) | 2015-11-19 | 2015-11-19 | Automatic navigational positioning system of guide transport vechicle |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106020196A (en) * | 2016-06-28 | 2016-10-12 | 深圳市招科智控科技有限公司 | Electric control system of container automated guided transport vehicle |
| CN106272441A (en) * | 2016-10-21 | 2017-01-04 | 苏州大成电子科技有限公司 | Robot cruise site and set up method and the cruise method of coordinate system by site |
| WO2020253851A1 (en) * | 2019-06-21 | 2020-12-24 | 华为技术有限公司 | Magnetic induction communication-based vehicle control apparatus and method |
-
2015
- 2015-11-19 CN CN201520925165.XU patent/CN205139706U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106020196A (en) * | 2016-06-28 | 2016-10-12 | 深圳市招科智控科技有限公司 | Electric control system of container automated guided transport vehicle |
| CN106272441A (en) * | 2016-10-21 | 2017-01-04 | 苏州大成电子科技有限公司 | Robot cruise site and set up method and the cruise method of coordinate system by site |
| WO2020253851A1 (en) * | 2019-06-21 | 2020-12-24 | 华为技术有限公司 | Magnetic induction communication-based vehicle control apparatus and method |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160406 Termination date: 20201119 |
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| CF01 | Termination of patent right due to non-payment of annual fee |