CN207008405U - A kind of guider of less radio-frequency automatic guide vehicle - Google Patents

Abstract

The utility model discloses a navigation device for a wireless radio frequency automatic guided vehicle, which comprises an automatic guided vehicle frame, a radio frequency identification reader is arranged at the bottom of the automatic guided vehicle frame, and each wheel of the automatic guided vehicle frame is connected Connection, the transmission device is connected to the motor, the motor is connected to the drive unit and the power source respectively, the drive unit is connected to the control unit, the control unit is connected to the power supply unit, the control unit is connected to the radio frequency identification reader through signals, and the radio frequency identification reader is connected to the RFID tag , the RFID tag is connected with the control system, and the RFID tag is arranged on the predetermined travel path. The utility model relates to a navigation device for a radio frequency automatic guided vehicle. The path positioning is changed from a track type to a discrete point, thereby reducing maintenance costs, and can be adjusted flexibly and changeably.

Description

A navigation device for a radio frequency automatic guided vehicle

technical field

The utility model belongs to the technical field of electromechanical control, in particular to a navigation device for a radio frequency automatic guided vehicle.

Background technique

With the development of new guidance technology and the improvement of industrial automation level, automatic guided vehicles have been widely used in industrial production in recent years. With the rapid development of networking, industrial informatization, and warehousing and logistics industries, their importance is showing a trend of strengthening. The guiding device is mainly responsible for realizing the position identification and path planning of the guiding vehicle, and it is the core system of the automatic guiding vehicle to transmit position information and provide motion signals to the guiding vehicle in an instant and effectively.

At present, there are many types of automatic guided vehicle positioning and navigation systems in industrial production. Their types and main characteristics are as follows: electromagnetic guidance, magnetic tape guidance, laser guidance, visual guidance and other methods are widely used. Among them, the tape guidance technology is similar to the electromagnetic guidance technology, which realizes navigation and positioning by continuously tracking the information of the path track through the internal sensors of the guidance vehicle. The metal wires are buried under the ground, and the magnetic field signal of the magnetic tape is sensed by the magnetic guidance sensor of the trolley to realize the automatic guidance function of the trolley. The electromagnetic guidance line can hardly be changed, resulting in poor flexibility. Although the magnetic tape is easy to change the line, it is often lost due to the long path. It causes serious wear and tear and requires regular maintenance and replacement; laser guidance constitutes a guidance system through laser scanners and laser positioning marks, which has the characteristics of high positioning accuracy, but its relatively high cost and high equipment precision are not suitable for large-scale industrial applications ;Vision guidance is based on image processing or machine vision principles, relying on high-precision CCD and computer recognition system, which has the characteristics of high precision and flexible path setting, but its manufacturing cost and maintenance cost are high, and it has certain restrictions on the working environment. Requirements, the need to establish a database or identification software to be used in conjunction with it, these factors limit its general application in the general industrial field.

Utility model content

The purpose of the utility model is to provide a navigation device for a radio frequency automatic guided vehicle, which solves the problem that the navigation path in the existing positioning and navigation device is difficult to change and difficult to maintain.

The technical solution adopted by the utility model is a navigation device for a radio frequency automatic guided vehicle, including an automatic guided vehicle frame, the bottom of the automatic guided vehicle frame is provided with a radio frequency identification reader, each of the automatic guided vehicle frame The wheels are all connected to the transmission device, the transmission device is connected to the motor, the motor is connected to the drive unit and the power source respectively, the drive unit is connected to the control unit, the control unit is connected to the power supply unit, the control unit is connected to the radio frequency identification reader through signals, and the radio frequency identification reading The device is connected with the RFID tag, the RFID tag is connected with the control system, and the RFID tag is arranged on the predetermined travel path.

The utility model is also characterized in that:

RFID tags include RFID start tags, RFID turn tags, RFID forward tags, RFID stop tags;

Among them, the RFID start tag contains two consecutive instructions, one is to start the guided vehicle to move forward, and the other is to continue to move in a straight line until the next tag is searched;

The RFID steering tag contains two consecutive instructions to ensure that the vehicle body continues to move forward for a short distance after the steering is completed, so as to avoid the RFID steering tag from interfering with the reading process of the guiding vehicle to read the next RFID tag;

The RFID forward tag is used to provide the control system with the speed and distance of the guided vehicle, which is a preset distance or infinitely long until the guided vehicle detects the next RFID tag;

The RFID stop tag controls the guided vehicle to stop.

The control system includes a predetermined path input module, a path decomposition module, and an RFID tag encoding module connected in sequence, and the RFID tag encoding module is connected with the RFID tag.

The beneficial effects of the utility model are: (1) a navigation device of a radio frequency automatic guided vehicle of the utility model, the path positioning has changed from a track type to a discrete point, thereby reducing maintenance costs and can be adjusted flexibly; 2) A navigation device for a radio frequency automatic guided vehicle, which greatly reduces the production cost of an automatic guided vehicle due to the low price of radio frequency tags and readers; (3) a navigation device for a radio frequency automatic guided vehicle, suitable for Oil pollution, water pollution, severe chemical pollution and other harsh working conditions.

Description of drawings

Fig. 1 is a schematic diagram of the technical route of the navigation device of the present invention;

Fig. 2 is the structural representation of the navigation device of the present utility model;

Fig. 3 is a schematic diagram of guidance of the navigation device of the present invention.

In the figure, 1. Scheduled path input module, 2. Path decomposition module, 3. RFID tag encoding module, 4. RFID start tag, 5. RFID turn tag, 6. RFID forward tag, 7. RFID stop tag, 8. Radio frequency Identification reader, 9. Power supply unit, 10. Control unit, 11. Drive unit, 12. Motor, 13. Power source, 14. Transmission device, 15. Wheel, 16. Automatic guided vehicle frame.

detailed description

The utility model will be described in detail below in conjunction with the accompanying drawings and specific embodiments.

The utility model is a navigation device for a wireless radio frequency automatic guided vehicle, as shown in Figures 1 and 2, taking the guided vehicle with four wheels as an example in Figure 2, Figure 2 (a) is a top view, and Figure 2 (b) is a bottom view Figure, comprises automatic guided vehicle frame 16, and the bottom of automatic guided vehicle frame 16 is provided with radio frequency identification reader 8, so that read or receive the signal of RFID tag, each wheel 15 of automatic guided vehicle frame 16 is all connected with The transmission device 14 is connected, and the transmission device 14 is connected with the motor 12, that is, the motor 12 drives the wheel 15 through the transmission device 14, and the motor 12 is respectively connected with the drive unit 11 and the power source 13. The drive unit 11 mainly refers to the motor controller, and the drive unit 11 and the control The unit 10 is connected, and the control unit 10 mainly includes core circuit components such as a drive main board, a control chip, and a memory. The control unit 10 is connected to the power supply unit 9, and the power supply unit 9 is mainly responsible for supplying power to the control unit 10. The reader 8 is connected, the radio frequency identification reader 8 is connected with the RFID tag, the RFID tag is connected with the control system, and the RFID tag is arranged on a predetermined traveling path.

Among them, the RFID tags include RFID start tags 4, RFID turn tags 5, RFID forward tags 6, and RFID stop tags 7;

The RFID start tag 4 contains two consecutive instructions, one is to start the guided vehicle to move forward, and the other is to continue to move in a straight line until the next tag is searched;

The RFID steering tag 5 includes two consecutive instructions to ensure that the vehicle body continues to move forward for a short distance after the steering is completed, so as to prevent the RFID steering tag from interfering with the reading process of the guide vehicle to read the next RFID tag;

The RFID advance tag 6 is used to provide the control system with the speed and distance that the guided vehicle advances, the distance is a preset distance or infinitely long, until the guided vehicle detects the next RFID tag;

The RFID stop tag 7 controls the guide car to stop.

The RFID tags are distributed at key change points of the path according to their types, and the key change points include at least one of the path starting position, turning position, and shifting position.

The control system includes a predetermined path input module 1, a path decomposition module 2, and an RFID tag encoding module 3 connected in sequence, and the RFID tag encoding module 3 is connected with the RFID tag.

As shown in Figure 3, the automatic guided vehicle frame 16 realizes a predetermined path under the guidance of the RFID tag, wherein the RFID start tag 4 represents the starting position of the path, and the guided vehicle is placed at this label. The radio frequency identification reader 8 obtains the electronic code of the RFID activation tag 4, starts to start, and travels in a straight line after the start, as shown in Figure 3 (a); with reference to Figure 3 (b), the RFID activation tag 4 will allow the car to continue driving , when encountering the RFID steering tag 5 during driving, after obtaining the electronic code, the control unit 10 starts to execute the steering command, and the guide vehicle usually uses the differential speed method to change the direction, so the motor 12, the transmission device 14, and the wheels 15 need to have high Referring to Figure 3(c), it is the state of the guiding car body after turning a certain angle, and the RFID steering tag 5 contains two instructions executed in sequence, the first is steering, and the second is going straight after turning A certain distance, this distance should be less than or close to the vehicle body length; With reference to Fig. 3 (d), arrive at RFID forward label 6 under the guidance of RFID turning tag 5, and obtain instruction, begin to advance the distance of a section of fixed length; Referring to Fig. 3 (e ), arrive at the predetermined position and detect the RFID stop tag 7, and complete the driving of the predetermined path. The device and method of use of the utility model are suitable for various complex paths, and its basic principle is similar to that described in the figure.

The navigation method of the navigation device of a kind of radio frequency automatic guided vehicle of the present utility model is:

(1) Write electronic code: code the RFID tag, make the electronic code in the RFID tag match the instruction, and input the matching relationship into the control unit;

(2) Read the electronic code: use the radio frequency identification reader installed under the vehicle frame to read the RFID tag arranged on the predetermined travel path;

(3) Executing motion instructions: the control unit controls the drive unit to drive the guide vehicle to move according to a predetermined trajectory according to the instruction matched by the read code.

Before step (1), path decomposition is also included: input the predetermined path information into the predetermined path input module, perform coordinate positioning and motion command transformation on the predetermined path information through the path decomposition module, and decompose it into a series of instructions.

The specific content of path decomposition includes: (1) input path; (2) initialize coordinate position; (3) extract turning node; (4) split straight path.

You can choose to stop for a period of time before and after turning. The long straight path does not need to be broken down. A certain distance should be kept between any two RFID tags during use.

Claims (3)

1. a kind of guider of less radio-frequency automatic guide vehicle, it is characterised in that including automatic guide vehicle vehicle frame (16), automatically The bottom of guiding vehicle carriage (16) is provided with radio-frequency identification reader (8), each wheel (15) of automatic guide vehicle vehicle frame (16) Be connected with transmission device (14), transmission device (14) connection motor (12), motor (12) respectively with driver element (11), power Source (13) is connected, and driver element (11) is connected with control unit (10), and control unit (10) is connected with power supply unit (9), control Unit (10) is connected by signal with radio-frequency identification reader (8), and radio-frequency identification reader (8) is connected with RFID label tag, RFID Label is connected with control system, and RFID label tag is arranged on the path of predetermined traveling.

A kind of 2. guider of less radio-frequency automatic guide vehicle according to claim 1, it is characterised in that the RFID Label includes RFID and starts label (4), RFID steering labels (5), RFID advances label (6), RFID stopping labels (7)；

Wherein, RFID startup labels (4) include two continual commands, advance first, starting guide car, second, continuing to carry out straight line Motion, untill searching next label；

RFID turns to label (5) and include two continual commands, guarantee vehicle body after the completion of steering, also continue to advance it is a bit of away from From avoiding the RFID from turning to label and read the reading process of next RFID label tag to the guide car and produce interference；

RFID advances label (6) is used for the speed and distance for providing the guide car for control system and advancing, and the distance is advance The distance or endless of setting, untill the guide car detects next RFID label tag；

RFID stops label (7) control guide car and stopped.

A kind of 3. guider of less radio-frequency automatic guide vehicle according to claim 2, it is characterised in that the control System includes predefined paths input module (1), path decomposing module (2), the RFID label tag coding module (3) being sequentially connected, RFID label tag coding module (3) is connected with the RFID label tag.