CN106708045A - Large heavy-duty unmanned navigation intelligent electric flat carriage with automatic correction function - Google Patents

本发明涉及一种具有自动纠偏功能的大型重载式无人导航智能电动平车，包括钢制载重车体、安装在载重车体底部的四组驱动轮组、安装在载重车体底部中轴线处的磁导航传感器和RFID读写器及设在载重车体上的供电电源和PLC控制箱，磁导航传感器与铺设在生产车间地面的导航磁条进行磁感应连接，RFID读写器与等间隔粘贴在导航磁条上的若干个RFID电子标签射频通信连接。磁导航传感器包括多个霍尔开关传感器、与霍尔开关传感器相对应的LED指示灯和控制芯片，霍尔开关传感器和LED指示灯均与控制芯片电连接。本AGV小车结构紧凑可靠，载重量大，且通过磁导航传感器同时实现自导航及自动纠偏的功能。

The invention relates to a large-scale heavy-duty unmanned navigation intelligent electric flat car with automatic deviation correction function, which includes a steel truck body, four sets of driving wheels installed at the bottom of the truck body, and a central axis installed at the bottom of the truck body. The magnetic navigation sensor and RFID reader at the location, the power supply and the PLC control box installed on the truck body, the magnetic navigation sensor and the navigation magnetic strip laid on the floor of the production workshop are magnetically connected, and the RFID reader is pasted with equal intervals. Several RFID electronic tags are connected by radio frequency communication on the navigation magnetic strip. The magnetic navigation sensor includes a plurality of Hall switch sensors, LED indicator lights corresponding to the Hall switch sensors and a control chip, and the Hall switch sensors and the LED indicator lights are electrically connected to the control chip. The AGV trolley has a compact and reliable structure, a large load capacity, and realizes the functions of self-navigation and automatic deviation correction at the same time through the magnetic navigation sensor.

A kind of unmanned navigation intelligent electric flatcar of large-scale heavy duty formula with automatic deviation rectifying function

Technical field

Intelligent navigating bogie is carried the present invention relates to unmanned（That is AGV dollies）Technical field, concretely relates to one kind The unmanned navigation intelligent electric flatcar of large-scale heavy duty formula with automatic deviation rectifying function.

Background technology

It is unmanned to carry Intelligent navigating bogie（Automated Guided Vehicle, AGV dollies）Be one kind with battery It is power source, equipment electromagnetism, optics or ultrasonic wave homing guidance device, can be travelled along the guide path of regulation, with stops The travelling bogie of car selection device, safety system and various mobile loading functionals.The adaptability of AGV dollies is good and reliable Property it is good, be capable of achieving production and carry function integrated and automation, with conevying efficiency is high, good energy-conserving effect, reliable operation Stabilization, using flexibility and changeability, flexible transport can be realized many advantages, such as, be widely used in various automaticities higher Manufacture field.Existing AGV dollies are conducted oneself with dignity to reduce vehicle body as far as possible, generally using underloading formula structure, load weight model It is trapped among between 50 kilograms -20 tons, transport capacity is poor, structure is more complex and high cost.In addition, the automatic deviation correction energy of AGV dollies Power is poor, or even without automatic deviation rectifying function, it is necessary to be manually monitored in real time, and it is high and largely effect on life that this results in cost of labor Produce efficiency and economic benefit.

The content of the invention

It is an object of the invention to provide a kind of unmanned navigation intelligent electric of large-scale heavy duty formula with automatic deviation rectifying function Flatcar, the electric flat carriage overall construction design is ingenious, and automation and intelligentification degree is high, the function with automatic deviation correction, and load Weight can effectively expand the use scope of electric flat carriage up to 50 tons, and also substantially increase the management and dispatching to AGV dollies Flexibility and convenience.

To achieve these goals, the technical solution adopted by the present invention is, a kind of large-scale heavy with automatic deviation rectifying function The unmanned navigation intelligent electric flatcar of load formula, including steel load-carrying car body, four groups of drive wheel groups installed in load-carrying vehicle bottom, peace Magnetic navigation sensor and rfid interrogator, lid at load-carrying vehicle bottom axis are located at the thickening steel of load-carrying car body top Cover plate processed, the power supply for being arranged on the load bearing cross beam of cover plate bottom and reinforcement and being arranged on load-carrying car body and PLC control Case processed, the magnetic navigation sensor carries out magnetic induction and is connected with the navigation magnetic stripe for being laid on workshop ground, and the RFID reads Write device and be connected with several RFID radio communications being pasted onto at equal intervals on navigation magnetic stripe, the navigation magnetic stripe regulation The driving trace of AGV dollies and the position of station, in the navigation magnetic stripe two at turning, turnout and at station position Side is symmetrically arranged with a pair of landmark sensors, and the power supply is respectively PLC control cabinet, four groups of drive wheel groups, magnetic navigations and passes Sensor and rfid interrogator provide power supply, four groups of drive wheel groups, magnetic navigation sensor, rfid interrogator and landmark sensors Electrically connected with PLC control cabinet, PLC control modules, wireless communication module are provided with the PLC control cabinet, the PLC controls mould Block is connected with wireless communication module；The magnetic navigation sensor includes multiple honeywell switch sensors and honeywell switch sensor Corresponding LED light and control chip, the honeywell switch sensor and LED light are electrically connected with control chip.

Used as a modification of the present invention, the drive wheel group turns including polyurethane wheel, power-driven mechanism and servo To mechanism, the power-driven mechanism includes rotation shaft of wheel, shaft coupling and drives three-in-one motor reducer, the polyurethane car Wheel is socketed in rotation shaft of wheel, described to drive three-in-one motor reducer to be connected with rotation shaft of wheel by shaft coupling；The servo Steering mechanism includes steering base, tooth sector group, turns to reductor and servomotor, and the steering base is connected to rotation shaft of wheel On, the tooth sector group is socketed on the output shaft for turning to reductor, output shaft and the steering reductor of the servomotor Flange is connected；It is described to drive three-in-one motor reducer and servomotor to be electrically connected with PLC control cabinet by wire, it is described Traveling control module and course changing control module are additionally provided with PLC control cabinet, the traveling control module and course changing control module are equal It is connected with PLC control modules.

Used as a modification of the present invention, the quantity of the magnetic navigation sensor is 2, is separately positioned on load-carrying car body Front end face bottom centre position and rear end face bottom centre position, the quantity of the rfid interrogator is 2, one of to set At the rear portion of front end face magnetic navigation sensor, another is arranged on the front portion of rear end face magnetic navigation sensor；All magnetic navigations are passed Vertical distance between sensor and navigation magnetic stripe is maintained at 30-50mm, between all rfid interrogators and RFID Vertical distance is maintained at 30-50mm.

Used as a modification of the present invention, each magnetic navigation sensor is provided with 12 LED lights, and each LED is indicated Lamp one honeywell switch sensor of correspondence, difference label 1-12 LED lights, and 1-12 LED lights are divided into three groups It is sequentially arranged on magnetic navigation sensor in order from left to right, wherein, 1-4 LED lights are one group, by this group of LED The light on and off situation of indicator lamp carries out alarm prompt come whether the travel direction to AGV dollies is to the left, and 5-7 LED lights are two Group, whether carry out alarm prompt, No. 8-12 if indicating the travel direction of AGV dollies to hit exactly by this group of light on and off of LED light LED light is three groups, indicates whether the travel direction of AGV dollies is to the right to be accused by this group of light on and off of LED light Alert prompting；Each LED light corresponds to a position switch signal, and magnetic navigation sensor gives position switch signal transmission PLC control modules are processed, and issuing instructions to traveling control module and course changing control module turns polyurethane wheel differential To so as to realize rectifying a deviation to AGV dollies.

Used as a modification of the present invention, the power supply includes industrial non-maintaining 48V lead-acid batteries or lithium electricity Pond group, Switching Power Supply, voltage isolation module and voltage acquisition module, the battery pack export 48V DC voltages, by switch electricity The 24V DC voltages to required for each module are exported after being isolated through overvoltage isolation module after the conversion of source, the voltage is adopted Collect the current voltage of module Real-time Collection battery pack, and feed back information to PLC control modules, when PLC control modules are monitored The current voltage value of battery pack is when will be less than normal working voltage, immediately alarm indication power supply not enough power supply, while will The feedback of the information of not enough power supply and controls AGV dollies automatic runnings extremely to the host computer of control centre after current task is completed Charging station charges；After AGV dollies complete to charge, come back to normally travel path and sent by PLC control modules and charge Completion information to control centre host computer, while wait host computer control instruction；The power supply is arranged on drawer type Battery pack is installed in case, and the PLC control cabinet uses drawer-type structure, consequently facilitating dismounting assembling and maintenance.

Used as a modification of the present invention, the surrounding of the load-carrying car body is provided with protection coaming plate, positioned at rear ends Protection coaming plate be provided with barrier close to monitor and audible-visual annunciator, and be equipped with the protection coaming plate of surrounding parking by Button and emergency stop push button, the barrier close to monitor, audible-visual annunciator, stop button and emergency stop push button with PLC control modules are connected.

Used as a modification of the present invention, the wireless communication module uses 177MHz radio receiving transmitting modules, under the frequency Communication anti-interference capability is most strong, and communication distance is farthest, and will not produce signal interference or letter with other controlled in wireless dynamoelectric equipments Number mutually string phenomenon；And can also avoid building wireless 177MHz base stations in either inside, effectively reduce electric flat carriage Control system's development cost, improves the Stability and dependability of control system wireless communication transmissions.

Used as a modification of the present invention, the RFID internal memory contains the ground for showing electric flat carriage current location Reason position coordinate data, the rfid interrogator reads the geographical position coordinates number in RFID by RF-wise According to, and PLC control modules are sent the data in real time.

Used as a modification of the present invention, the AGV dollies also include the weighing sensor being arranged on load-carrying car body, institute The quantity of weighing sensor is stated for 4, the surrounding of load-carrying car body is separately positioned on, all weighing sensors pass through A/D moduluss of conversion Block is electrically connected with PLC control modules.Weighing sensor can be on real-time detection car load weight, when load weight reaches on car During higher limit, that is, it is considered as fully loaded, and sends full signal and give PLC control modules；When unloaded, when the load weight on car is 0, It is considered as completion of discharge, and also sends airborne signals and gives PLC control modules.

Used as a modification of the present invention, the contact site between the tooth sector group and steering base is provided with gear bracket Disk, the gear pallet is provided with intermeshing steering gear wheel and turns to little gear, and the steering gear wheel and steering are small Gear constitutes tooth sector group, and axis and the axis of steering base of the steering gear wheel coincide, and turn to canine tooth Wheel and steering base drive connection, the little gear that turns to are set on the output shaft for turning to reductor.

Relative to prior art, AGV dollies proposed by the invention are by the magnetic navigation sensor for setting and the magnetic stripe that navigates And landmark sensor can realize the whole unmanned self-navigation traveling intervened, at the same AGV dollies by magnetic navigation sensor and The mutual cooperation of PLC control modules possesses accurate self deviation-correcting function, it is travelled rail along correct from start to finish Mark carries out goods conveying；And by RFID card reader and RFID with the use of and PLC control modules and nothing Line communication module with the use of on-line monitoring can be carried out to the information of vehicles and travel route of AGV dollies using control centre, Can effectively realize carrying out all AGV dollies of workshop remote online real-time navigation and control, be greatly improved in workshop The convenience and intelligent of the on-line scheduling of all AGV dollies and management, so as to drastically increase production efficiency and benefit, and And it is also beneficial to realize information-based, the intelligent and modernization of the online management scheduling of all AGV dollies in workshop；AGV dollies Using vehicle-mounted PLC control modules as slave computer, can stability and high efficiency control AGV dollies realize the work(of unmanned navigation automatic running Can, while realizing entering row set control to four-wheel dynamic Control+course changing control with the pattern of vulnerabilities scan forceful electric power, more pacify Entirely, it is reliable；In addition, by using steel load-carrying car body, will cover the cover plate for being located at load-carrying car body top carries out thickening treatment, and Load bearing cross beam and reinforcement are set in the bottom of cover plate, while also using high-strength polyurethane wheel so that the load-carrying of AGV dollies Amount runs safe flexibility and reliability up to 50 tons.

Brief description of the drawings

Fig. 1 is the structural representation one of the preferred embodiment of the present invention.

Fig. 2 is the structural representation two of the preferred embodiment of the present invention.

Fig. 3 is the structural representation of the drive wheel group of the preferred embodiment of the present invention.

In figure：1- load-carrying car bodies, 2- drive wheel groups, 3- load bearing cross beams, 4- reinforcements, 5- protection coaming plates, 6- drawer types electricity Pond group installs case, 7- weighing sensors, 8- barriers close to monitor, 9- audible-visual annunciators, 10-PLC control cabinets, 11- cover plates, 12- magnetic navigation sensors, 13-RFID read write lines, 14- polyurethane wheels, 15- drives three-in-one motor reducer, 16- servos electricity Machine, 17- shaft couplings, 18- rotation shaft of wheel, 19- steering bases, 20- turns to reductor, and 21- turns to gear wheel, and 22- turns to little gear, 23- gear pallets, 24- charging plugs, 25- power lines spring contraction volume.

Specific embodiment

In order to deepen the understanding of the present invention and understanding, the invention will be further described below in conjunction with the accompanying drawings and introduces.

Such as Fig. 1-Fig. 3, a kind of unmanned navigation intelligent electric flatcar of large-scale heavy duty formula with automatic deviation rectifying function, including Steel load-carrying car body 1, four groups of drive wheel groups 2 installed in the bottom of load-carrying car body 1, at the bottom axis of load-carrying car body 1 Magnetic navigation sensor 12 and rfid interrogator 13, lid be located at the thickening steel cover plate 11 at the top of load-carrying car body 1, be arranged on cover plate The load bearing cross beam 3 and reinforcement 4 of 11 bottoms and the power supply being arranged on load-carrying car body 1 and PLC control cabinet 10.Wherein, Steel load-carrying car body 1 uses steel member case girder structure, thickening steel cover plate 11 is provided with the top of load-carrying car body 1, as AGV The loading platform of dolly, and many load-carrying crossbeams and reinforcement 4 are set in the bottom of loading platform, so as to improve load-carrying car body 1 Load weight.The magnetic navigation sensor 12 carries out magnetic induction and is connected with the navigation magnetic stripe for being laid on workshop ground, institute State navigation magnetic stripe and define the driving trace of AGV dollies and the position of station, AGV dollies may be such that by magnetic navigation sensor 12 Self-navigation traveling can be carried out on navigation magnetic stripe, without artificial interference.In addition, at turning, turnout and work The navigation magnetic stripe both sides of bit positions are symmetrically arranged with a pair of landmark sensors, for for AGV dollies provide turning, shunting or stop The signals such as stop bit, so as to aid in magnetic navigation sensor 12 for AGV dollies provide accurate driving trace and traveling is acted.It is described Rfid interrogator 13 is connected with several RFID radio communications being pasted onto at equal intervals on navigation magnetic stripe, wherein, RFID internal memory contains the geographical position coordinates data for showing electric flat carriage current location, and the rfid interrogator 13 leads to The geographical position coordinates data that RF-wise is read in RFID are crossed, to realize the real time running route to AGV dollies It is monitored there is provided foundation.The power supply is respectively PLC control cabinet 10, four groups of drive wheel groups 2, magnetic navigation sensors 12 Power supply is provided with rfid interrogator 13.Four groups of drive wheel groups 2, magnetic navigation sensor 12, rfid interrogator 13 and terrestrial reference are passed Sensor is electrically connected with PLC control cabinet 10, and PLC control modules, wireless communication module are provided with the PLC control cabinet 10, described PLC control modules are connected with wireless communication module.PLC control modules, as slave computer, are the control core of AGV dollies, a side The unmanned navigation automatic running of AGV dollies is realized in face, on the other hand realizes that AGV dollies obey the Real-Time Scheduling of remote control center Control.All information of vehicles of AGV dollies can be sent to control centre by PLC control modules by wireless communication module, so that It is easy to build electric flat carriage control system, centralized intelligence, information control is carried out to all AGV dollies in workshop, realizes car Between material transportation operation automation and intelligentification management and control.The wireless communication module uses 177MHz radio receiving transmitting modules, and this is frequently Communication anti-interference capability is most strong under rate, and communication distance is farthest, and with other controlled in wireless dynamoelectric equipments signal will not be produced to disturb Or the phenomenon that signal is mutually gone here and there；And can also avoid building wireless 177MHz base stations in either inside, effectively reduce electronic Flatcar control system's development cost, improves the Stability and dependability of control system wireless communication transmissions.

The magnetic navigation sensor 12 includes multiple honeywell switch sensors LED corresponding with honeywell switch sensor Indicator lamp and control chip, the honeywell switch sensor and LED light are electrically connected with control chip.The magnetic navigation is passed The quantity of sensor 12 is 2, is separately positioned on front end face bottom centre position and the rear end face bottom interposition of load-carrying car body 1 Put, the quantity of the rfid interrogator 13 is 2, and one of them is arranged on the rear portion of front end face magnetic navigation sensor 12, another The individual front portion for being arranged on rear end face magnetic navigation sensor 12.In addition, the lead between all magnetic navigation sensors 12 and navigation magnetic stripe Vertical distance is maintained at 30-50mm so that the magnetic induction intensity between magnetic navigation sensor 12 and navigation magnetic stripe is not influenceed by distance, Vertical distance between all rfid interrogators 13 and RFID is maintained at 30-50mm, also causes rfid interrogator 13 The data in RFID can effectively be read.

Preferably, each magnetic navigation sensor 12 is provided with 12 LED lights, and each LED light correspondence one is suddenly That switch sensor, difference label 1-12 LED lights, and 1-12 LED lights are divided into three groups from left to right by suitable Sequence is sequentially arranged on magnetic navigation sensor 12, wherein, 1-4 LED lights are one group, by the bright of this group of LED light Situation of going out carries out alarm prompt come whether the travel direction to AGV dollies is to the left, and 5-7 LED lights are two groups, by the group Whether the light on and off of LED light hit exactly the travel direction that indicates AGV dollies carries out alarm prompt, and 8-12 LED lights are Three groups, indicate whether the travel direction of AGV dollies is to the right to carry out alarm prompt by this group of light on and off of LED light.Each LED light corresponds to a position switch signal（That is the low and high level signal of honeywell switch sensor）, magnetic navigation sensor 12 are processed position switch signal transmission to PLC control modules, and issue instructions to travel control module and course changing control Module makes polyurethane wheel differential steering, so as to realize rectifying a deviation to AGV dollies.

When AGV trolley travellings, continuous multiple sampled points of the internal vertical of magnetic navigation sensor 12 above navigation magnetic stripe Output signal, and by LED light light on and off come intuitive judgment AGV dollies relative to navigation magnetic stripe deviation position.Work as AGV When the driving path of dolly is consistent with the lead track of navigation magnetic stripe, because magnetic navigation sensor 12 is exactly in navigation magnetic stripe Top, the magnetic field signal that the miniature magnetic field detection sensor of sensor middle is measured is maximum, and I/O mouthfuls of control chip is collected The low and high level signal of a few road honeywell switch sensors of correspondence, and find that current AGV dollies are in the middle of driving path through treatment, And light several LED lights in an intermediate position and carry out position instruction effect, while sending position switch signal gives PLC controls Molding block is processed the signal, and AGV dollies keep former driving trace to continue to move ahead.And work as AGV dollies and deviate navigation magnetic stripe Track when, be no longer in magnetic navigation sensor 12 because magnetic navigation sensor 12 detects maximum magnetic induction signal Between, the control chip I/O mouthfuls of low and high level signal for collecting a few road honeywell switch sensors of correspondence, and found through treatment current The position of AGV dollies and track position deviation and light the LED light of relevant position, while transmitting position switching signal The signal is processed to PLC control modules, PLC control modules send corresponding control instruction and give traveling control module and steering Control module control respectively power motor and servomotor 16 carry out differential correction control, so that it is guaranteed that AGV dollies along navigation magnetic Advance the track of bar.

Therefore, when AGV dollies shift, corresponding control instruction is sent by PLC control modules and is controlled to traveling Module and course changing control module are rectified a deviation to AGV dollies, and when 5-7 LED lights are lighted again, show car body Automatic deviation correction is completed, the servomotor 16 for now stopping being responsible for turning to is rotated, and before keeping the driving trace of AGV dollies to continue OK.

Specifically, the drive wheel group 2 includes polyurethane wheel 14, power-driven mechanism and servo steering mechanism, it is described Power-driven mechanism includes rotation shaft of wheel 18, shaft coupling 17 and drives three-in-one motor reducer 15, the polyurethane wheel 14 It is socketed in rotation shaft of wheel 18, it is described to drive three-in-one motor reducer 15 to be connected with rotation shaft of wheel 18 by shaft coupling 17.Institute Stating servo steering mechanism includes steering base 19, tooth sector group, steering reductor 20 and servomotor 16, and the steering base 19 connects It is connected in rotation shaft of wheel 18, the tooth sector group is socketed on the output shaft for turning to reductor 20, the servomotor 16 Output shaft is connected with the flange of reductor 20 is turned to.Contact site between the tooth sector group and steering base 19 is provided with gear Pallet 23, the gear pallet 23 is provided with intermeshing steering gear wheel 21 and turns to little gear 22, the steering canine tooth Wheel 21 and the steering composition tooth sector group of little gear 22, the axis of the steering gear wheel 21 and the axis phase of steering base 19 Overlap, and turn to gear wheel 21 and be connected with steering base 19, the little gear 22 that turns to is set in steering reductor 20 On output shaft.The AGV dollies can realize full steering by four groups of navigation magnetic stripes of drive wheel group 2 and magnetic navigation sensor 12 Function, reduces vehicle body deadweight, and using the power drive shape for driving three-in-one motor reducer 15 in every group of drive wheel group 2 Formula, substantially increases transmission efficiency, and the motion state of each wheel is separate, and so as to realize 4 wheel driven, earth-grasping force is stronger, dolly fortune Row is steady reliable, with stronger climbing capacity and ensures that vehicle sustains loading capacity high.

It is described to drive three-in-one motor reducer 15 and servomotor 16 to be electrically connected with PLC control cabinet 10 by wire, Traveling control module and course changing control module, the traveling control module and course changing control are additionally provided with the PLC control cabinet 10 Module is connected with PLC control modules, and the travel speed and turn signal of AGV dollies are sent into PLC control modules is collected Middle control.Wherein, it is described to drive three-in-one motor reducer 15 and traveling control module electrical connection, control module is travelled to drive Three-in-one motor reducer 15 provides drive signal, and in order that the three-in-one motor reducer 15 must be driven can to operate steadily It is reliable, frequency converter can be set in traveling control module, so as to driving three-in-one motor reducer 15 to realize VFC.Institute Servomotor 16 and the electrical connection of course changing control module are stated, course changing control module is that servomotor 16 provides drive signal, controls AGV The steering of dolly.

The power supply includes industrial non-maintaining 48V lead-acid batteries or lithium battery group, Switching Power Supply, voltage isolation Module and voltage acquisition module, the battery pack export 48V DC voltages, through overvoltage isolation mode after Switching Power Supply is changed Block exports the 24V DC voltages to required for each module after being isolated.The voltage acquisition module Real-time Collection battery pack Current voltage, and PLC control modules are fed back information to, when PLC control modules monitor that the current voltage value of battery pack will During less than normal working voltage, alarm indication power supply not enough power supply immediately, while by the feedback of the information of not enough power supply to control The host computer at center processed, and control AGV dollies automatic running to charging station to charge after current task is completed.It is complete in AGV dollies Into after charging, come back to normally travel path and charge completion information is sent to the upper of control centre by PLC control modules Position machine, while waiting the control instruction of host computer.The power supply is arranged on drawer type battery pack and installs in case 6, the PLC Control cabinet 10 uses drawer-type structure, consequently facilitating dismounting assembling and maintenance.In addition, the power supply is by being arranged on protection The charging pile in charging device electrical connection workshop on coaming plate 5 is charged, and the charging device includes charging plug 24, charges Adapter and power line spring contraction volume 25, the power line spring contraction volume 25 are fixedly mounted on the side of protection side plate, institute Power line is stated in the wire casing of power line spring contraction volume 25, the power line connects charging adapter, the charging is fitted Orchestration connects charging plug 24 by wire.

In addition, the AGV dollies also include the weighing sensor 7 being arranged on load-carrying car body 1, the weighing sensor 7 Quantity be 4, be separately positioned on the surrounding of load-carrying car body 1, all weighing sensors 7 are controlled by A/D modular converters with PLC Module is electrically connected.Weighing sensor 7 can be on real-time detection car load weight, when load weight reaches higher limit on car, It is considered as fully loaded, and sends full signal and give PLC control modules；When unloaded, when the load weight on car is 0, that is, it is considered as and unloads Load is finished, and is also sent airborne signals and given PLC control modules.Thus the loading of AGV dollies can be realized by weighing sensor 7 The function that control, Unloading Control, starting with full load and unloading stop.

Additionally, the surrounding of the load-carrying car body 1 is provided with protection coaming plate 5, set on the protection coaming plate 5 of rear ends There is barrier close to monitor 8 and audible-visual annunciator 9, and stop button is equipped with the protection coaming plate 5 of surrounding and is promptly stopped Car button, the barrier controls mould close to monitor 8, audible-visual annunciator 9, stop button and emergency stop push button with PLC Block is connected.When barrier monitors to exist around AGV dollies barrier or personnel close to monitor 8, acousto-optic report is started immediately Alert device 9 is warned, and reminds workman to note avoiding or moving away from barrier, to ensure the travel safety of AGV dollies, while can lead to Cross stop button or emergency stop push button to stop in emergency AGV dollies without influenceing the normal of AGV dollies using, effectively carry The high service life and safety and reliability of AGV dollies.

In sum, AGV dollies proposed by the invention can realize the whole unmanned self-navigation traveling intervened, while AGV dollies also have accurate self deviation-correcting function, can carry out goods conveying along correct driving trace from start to finish, and And on-line monitoring can be carried out to the information of vehicles and travel route of AGV dollies by control centre, can effectively improve in workshop Information-based, the intelligent and modernization of the online management scheduling of all AGV dollies.

It should be noted that above-described embodiment, not for limiting protection scope of the present invention, in above-mentioned technical proposal On the basis of done equivalents or replacement each fall within the scope that the claims in the present invention are protected.In the claims, it is single Word "comprising" does not exclude the presence of element not listed in the claims.

Technological means disclosed in the present invention program is not limited only to the technological means disclosed in above-mentioned implementation method, also includes Constituted technical scheme is combined by above technical characteristic.It should be pointed out that for those skilled in the art For, under the premise without departing from the principles of the invention, some improvements and modifications can also be made, these improvements and modifications are also considered as Protection scope of the present invention.