The invention discloses a rail-crossing AGV (Automatic Guided Vehicle) and a control method. The technical problems that an existing rail-crossing AGV is poor in vehicle rail and groove passing capacity, large in jolting amplitude and incapable of safely and stably completing transportation are solved. Driving wheels of the over-rail AGV are installed on the front side and the rear side of a vehicle body in a grouped mode, supporting wheels are located between the two sets of driving wheels, distance measuring sensors are installed on the driving wheels in the front row and detect the height change of the road surface on the advancing road, and a control system controls the vehicle body to decelerate to the preset speed when the distance detected by the distance measuring sensors is increased or decreased. And according to the distance between the front-row driving wheel and the last supporting wheel and the distance between the front-row driving wheel and the rear-row driving wheel, the width sum of the groove and the track and the preset speed, the ascending and descending time of the front-row driving wheel, the supporting wheels and the rear-row driving wheel is calculated, and the corresponding wheels are controlled to ascend and descend at the corresponding time. The device can smoothly and stably pass through a groove, a vehicle rail and a groove area in a garage, and has high practicability.

    本发明公开了一种过轨AGV及控制方法。现有过轨AGV通过车轨和沟槽能力差,颠簸幅度大,无法安全平稳完成运输的技术问题。本发明过轨AGV的驱动轮分组安装在车体前后两侧,支撑轮位于两组驱动轮中间,测距传感器安装在前排驱动轮上,测距传感器对行进路上路面高度变化进行检测,控制系统在测距传感器检测的距离增大或缩小时,控制车体减速至预设速度,根据前排驱动轮与末位支撑轮和后排驱动轮间的距离、沟槽和车轨宽度和以及预设速度,计算前排驱动轮、支撑轮以及后排驱动轮上升和下落的时间,在对应的时间控制对应轮上升和下落。本发明能够顺利平稳的通过库内的沟槽、车轨和沟槽区域,具有较强实用性。


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    Title :

    Track-crossing AGV and control method


    Additional title:

    一种过轨AGV及控制方法


    Contributors:
    SHI SHIXI (author) / MA SENYUE (author) / YAN FEI (author) / ZHOU FEIHU (author) / GAO FENG (author) / YANG SHUWANG (author) / HUANG KUN (author)

    Publication date :

    2023-07-25


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR / B60S SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR , Warten, Reinigen, Instandsetzen, Unterstützen, Anheben oder Rangieren von Fahrzeugen, soweit nicht anderweitig vorgesehen / B62D MOTOR VEHICLES , Motorfahrzeuge



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