CN112937725B - AGV robot capable of automatically adjusting climbing balance - Google Patents
AGV robot capable of automatically adjusting climbing balance Download PDFInfo
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- CN112937725B CN112937725B CN202110246423.1A CN202110246423A CN112937725B CN 112937725 B CN112937725 B CN 112937725B CN 202110246423 A CN202110246423 A CN 202110246423A CN 112937725 B CN112937725 B CN 112937725B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
- B62D63/025—Modular vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
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Abstract
The invention discloses an AGV robot capable of automatically adjusting climbing balance and relates to the technical field of robots. This AGV robot that can independently adjust climbing balance, including travelling car and backup pad, the top of travelling car is rotated and is connected with hydraulic telescoping rod, hydraulic telescoping rod's top is rotated with the bottom of backup pad and is connected, first data processing module and second data processing module's function is the same, first data processing module handles a plurality of first pressure sensor's detection data, judge holistic discrete rate through the variance, thereby whether reach and differ great individuality data with most data, get rid of the data of the biggest and minimum in the data again, judge once more, data variance after coming out is less than the setting value, the data that second data processing module detected a plurality of second pressure sensor of the same reason are handled, get rid of impaired component and handle subsequent influence.
Description
Technical Field
The invention relates to the technical field of robots, in particular to an AGV robot capable of automatically adjusting climbing balance and a working method thereof.
Background
The AGV is: the Automated Guided Vehicle is abbreviated as AGV, and the most common applications at present are as follows: AGV transfer robot or AGV dolly, main function is concentrated on automatic commodity circulation and is moved the transportation, and AGV transfer robot is through the automatic goods transportation to appointed place of special landmark navigation, and the most common guide mode is magnetic stripe guide, laser guidance, magnetic nail navigation, inertial navigation.
Along with the continuous development of commodity circulation trade, AVG transfer robot's demand is constantly increased, also propose higher requirement to AVG transfer robot's function simultaneously, current AGV robot can only work on the horizontal plane, when the inclined plane removes, can make the goods slope of placing on the AGV robot, drop easily, need the operator to carry out assistance-localization real-time manually or through other devices, partial AGV robot is in order to adjust inclination, inside is provided with sensor element, but when in-service use, easily because of the individual component goes wrong and leads to whole unable normal operating, overall stability is relatively poor.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides an AGV robot capable of automatically adjusting climbing balance, and solves the problems that when the existing AGV robot moves on a slope, the stability of transported goods is difficult to guarantee, and when the AGV robot which partially increases the degree of automatically adjusting the inclination degree by using a sensor element is actually used, the whole AGV robot cannot normally operate due to the fact that individual elements have problems, and the whole stability is poor.
In order to achieve the purpose, the invention is realized by the following technical scheme: an AGV robot capable of automatically adjusting climbing balance comprises a moving trolley and a supporting plate, wherein the top of the moving trolley is rotatably connected with a hydraulic telescopic rod, the top end of the hydraulic telescopic rod is rotatably connected with the bottom of the supporting plate, the bottom of the supporting plate is fixedly connected with a fixing box, the inside of the fixing box is rotatably connected with an assembly pulley through a connecting rod, the side transmission of the assembly pulley is connected with an elastic rope, two ends of the elastic rope are fixedly connected with a hook, the inside of the fixing box is movably connected with a placing box, the top and the bottom of the placing box are fixedly connected with a hanging ring, the inner surface of the hanging ring is in sliding connection with the outer surface of the hook, the top of the inner cavity of the placing box is movably connected with a heavy block through a stay cord, the inner cavity of the placing box is fixedly connected with a first pressure sensor and a second pressure sensor, the first pressure sensor and the second pressure sensor are respectively located at the equidistant positions on two sides of the heavy block, the movable trolley is characterized in that a processor is arranged in the movable trolley, the input end of the hydraulic telescopic rod is connected with the output end of the processor, a first data processing module, a second data processing module, a first data averaging module, a second data averaging module, a data comparison module, a control module, a first switch module, a second switch module and an interconnection module are arranged in the processor, the first data processing module and the second data processing module have the same working principle, the output end of the first pressure sensor is connected with the input end of the first data processing module, the output end of the second pressure sensor is connected with the input end of the second data processing module, a plurality of fixing boxes are arranged, a plurality of first pressure sensors and a plurality of second pressure sensors are arranged in the fixing boxes, and the first data processing module and the second data processing module are arranged in the processor, the first data processing module is used for processing the detection data of the first pressure sensors, judging the integral discrete rate through variance to obtain whether individual data with a larger difference with most data exists or not, removing the maximum data and the minimum data in the data, judging again until the variance of the data is smaller than a set value, and similarly, the second data processing module is used for processing the data detected by the second pressure sensors, removing the subsequent influence of damaged elements and ensuring the accuracy;
the working method of the first data processing module comprises the following steps:
s1: acquiring detection data of a plurality of first pressure sensors, and sequencing the detection data according to the size to obtain a sequence { A };
s2: calculating the variance S of the sequence { A } 2 ；
The variance formula is: s 2 ＝[(x 1 -x) 2 +(x 2 -x) 2 +…+(x n -x) 2 ]/n，x i (i is 1, 2 … … n) is detected data of the first pressure sensor, x is an average value of all detected data, S 2 Is the variance;
s3: specifying a constant value K, if S 2 >Or K, the two numbers located at the top and the last in the number series { a } are removed, and step S2 is repeated;
if S 2 <K, the output sequence { A }.
Preferably, the hydraulic telescopic rods comprise first hydraulic telescopic rods and second hydraulic telescopic rods, the input ends of the first hydraulic telescopic rods are connected with the output end of the first switch module, and the input ends of the second hydraulic telescopic rods are connected with the output end of the second switch module.
Preferably, the output end of the first data processing module is connected with the input end of the first data averaging module, the output end of the first data averaging module is connected with the input end of the data comparison module, the output end of the second data processing module is connected with the input end of the second data averaging module, and the output end of the second data averaging module is connected with the input end of the data comparison module.
Preferably, the output end of the data comparison module is connected with the input end of the control module, the input ends of the first switch module and the second switch module are connected with the output end of the control module, the first switch module and the second switch module are connected with the interconnection module in a two-way mode, the first switch module and the second switch module are in three states of working in the positive direction, working in the negative direction and stopping working, the AGV robot is divided into a moving trolley and a supporting plate, the moving trolley and the supporting plate are connected through a hydraulic telescopic rod, the hydraulic telescopic rod comprises a first hydraulic telescopic rod and a second hydraulic telescopic rod, the first hydraulic telescopic rod is controlled through the first switch module, the second hydraulic telescopic rod is controlled through the second switch module, the first switch control module and the second switch control module are connected through the interconnection module, the first switch control module and the second switch control module are synchronously opened or closed through the interconnection module, when the movable trolley is in an opening state, the working states of the first hydraulic telescopic rod and the second hydraulic telescopic rod are opposite, the inclination degree between the support plate and the movable trolley is adjusted by controlling the first hydraulic telescopic rod and the second hydraulic telescopic rod, the support plate is kept in a horizontal state, meanwhile, the stress balance of the support plate is guaranteed, and the integral stability is further improved;
the working mode of the interconnection module is as follows:
when one of the first switch module and the second switch module is in a positive working state, controlling the other one to be in a negative working state;
when one of the first switch module and the second switch module is in a reverse direction working state, controlling the other one to be in a positive direction working state;
when one of the first switch module and the second switch module is in a stop working state, the other one is controlled to be in a stop working state.
Preferably, the top of the movable trolley is fixedly connected with a supporting rod, the top end of the supporting rod is rotatably connected with the bottom of the supporting plate, and the supporting rod is located in the middle of the first hydraulic telescopic rod and the second hydraulic telescopic rod.
Preferably, the spring is fixedly connected inside the fixed box, the pressing plate is abutted to the side face of the placing box, and the side face of the pressing plate is fixedly connected with one end of the spring.
Preferably, the inside of the placing box is fixedly connected with a limiting cylinder, the side surface of the pressing plate is fixedly connected with a limiting column, and the outer surface of the limiting column is in sliding connection with the inner surface of the limiting cylinder.
Preferably, the link of placing roof portion and top all is provided with two, and every assembly pulley all includes two pulleys, and the side of every pulley all is provided with the recess with the surface sliding connection of elasticity rope, and the innermost of recess is the concave line, and the distance length of furthest between two concave lines of every group, the twice of elasticity rope diameter and the couple diameter twice and with place the case with the same one side distance between two links equal.
Preferably, the working method of the AGV robot includes the following steps:
firstly, placing goods on a supporting plate, driving a moving trolley, driving a supporting rod and a hydraulic telescopic rod to move by the moving trolley, and driving the supporting plate to move by the supporting rod and the hydraulic telescopic rod to transport the goods;
step two, when the inclination degree of the moving trolley passing through the road surface changes, the inclination degree of the support rod is driven to change, the support plate is driven to rotate, the support plate drives the fixed box to incline, the fixed box drives the placing box to incline through the spring and the elastic rope, because the weight block is connected with the top of the inner surface of the placing box through the elastic rope, when the placing box inclines, the pressure exerted by the weight block on the first pressure sensors is different from the pressure exerted on the second pressure sensors, the pressure data received by the plurality of first pressure sensors are all transmitted to the first data processing module, the processed data are transmitted to the first data averaging module to obtain an average value P1, the pressure data received by the plurality of second pressure sensors are all transmitted to the second data processing module, the processed data are transmitted to the second data averaging module to obtain an average value P2, and P1 and P2 are all transmitted to the data comparison module;
thirdly, the data comparison module compares P1 with P2, if P1 is less than P2, the control module sends signals to the first switch module and the second switch module, so that the first switch module is in a reverse working state, the second switch module is in a forward working state, the first hydraulic telescopic rod contracts, the second hydraulic telescopic rod extends to drive the support plate to rotate, the higher side of the support plate rotates downwards, and the lower side of the support plate rotates upwards;
if the P1 is greater than the P2, the control module sends signals to the first switch module and the second switch module, so that the first switch module is in a positive working state, the second switch module is in a negative working state, the first hydraulic telescopic rod extends, the second hydraulic telescopic rod contracts and drives the support plate to rotate, the higher side of the support plate rotates downwards, and the lower side of the support plate rotates upwards;
if the P1 is P2, the control module sends a signal to the first switch module and the second switch module, so that the first switch module and the second switch module are both in a stop working state.
The invention provides an AGV robot capable of automatically adjusting climbing balance. Compared with the prior art, the method has the following beneficial effects:
1. the AGV robot capable of autonomously adjusting climbing balance is provided with a plurality of first pressure sensors and a plurality of second pressure sensors, a first data processing module and a second data processing module are arranged in a processor, the functions of the first data processing module and the second data processing module are the same, the first data processing module processes the detection data of the plurality of first pressure sensors, the integral dispersion rate is judged through variance, so that individual data with larger difference with most data is obtained, the maximum data and the minimum data in the data are removed, the judgment is carried out again until the data variance after the data variance is smaller than a set value, similarly, the second data processing module processes the data detected by the plurality of second pressure sensors, the subsequent influence of damaged elements is removed, the accuracy is ensured, and the problem that when the AGV robot which automatically adjusts the inclination degree by increasing sensor elements is actually used is solved, the problem that the whole cannot normally operate and the whole stability is poor is easily caused by the problem of individual elements.
2. The AGV robot capable of automatically adjusting climbing balance comprises a moving trolley and a support plate, the moving trolley is connected with the support plate through a hydraulic telescopic rod, the hydraulic telescopic rod comprises a first hydraulic telescopic rod and a second hydraulic telescopic rod, the first hydraulic telescopic rod is controlled by a first switch module, the second hydraulic telescopic rod is controlled by a second switch module, the first switch control module and the second switch control module are connected through an interconnection module, the first switch control module and the second switch control module are synchronously opened or closed through the interconnection module, when the AGV robot is in an opening state, the first hydraulic telescopic rod and the second hydraulic telescopic rod are in opposite working states, the inclination degree between the support plate and the moving trolley is adjusted by controlling the first hydraulic telescopic rod and the second hydraulic telescopic rod, and the AGV robot is ensured to keep in a horizontal state, the support plate is balanced in stress, the overall stability is further improved, and the problem that the stability of transported goods is difficult to guarantee when the existing AGV robot moves on a slope is solved.
3. This AGV robot that can independently adjust climbing balance through placing between case and the fixed case and connecting in coordination through spring and elasticity rope, plays the cushioning effect, reduces the influence that produces because of the vibrations of device itself to first pressure sensor and second pressure sensor's detection data, and the clamp plate is connected with placing the case through spacing section of thick bamboo and spacing post in coordination, improves the clamp plate and places the stability between the case.
Drawings
FIG. 1 is an external view of the present invention;
FIG. 2 is a system schematic block diagram of a processor of the present invention;
FIG. 3 is a schematic diagram of a system connection of a first switch module, an interconnect module, and a second switch module according to the present invention;
FIG. 4 is a flow diagram of a first data processing module according to the present invention;
FIG. 5 is a schematic view of the internal structural connections of the retaining box of the present invention;
FIG. 6 is a schematic view of the structural connection of the holding tank and the pressure plate of the present invention.
In the figure: 1. moving the trolley; 2. a support plate; 3. a hydraulic telescopic rod; 31. a first hydraulic telescopic rod; 32. a second hydraulic telescopic rod; 4. a fixed box; 5. a pulley block; 6. an elastic cord; 7. hooking; 8. placing the box; 9. hanging a ring; 10. a weight block; 11. a first pressure sensor; 12. a second pressure sensor; 13. a processor; 131. a first data processing module; 132. a second data processing module; 133. a first data averaging module; 134. a second data averaging module; 135. a data comparison module; 136. a control module; 137. a first switch module; 138. a second switch module; 139. an interconnect module; 14. a support bar; 15. a spring; 16. pressing a plate; 17. a limiting cylinder; 18. a limiting column.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-6, in the embodiment of the present invention: an AGV robot capable of automatically adjusting climbing balance comprises a moving trolley 1 and a supporting plate 2, wherein the top of the moving trolley 1 is rotatably connected with a hydraulic telescopic rod 3, the top end of the hydraulic telescopic rod 3 is rotatably connected with the bottom of the supporting plate 2, the bottom of the supporting plate 2 is fixedly connected with a fixing box 4, the inside of the fixing box 4 is rotatably connected with a pulley block 5 through a connecting rod, the side surface of the pulley block 5 is in transmission connection with an elastic rope 6, two ends of the elastic rope 6 are both fixedly connected with hooks 7, the inside of the fixing box 4 is movably connected with a placing box 8, the top and the bottom of the placing box 8 are both fixedly connected with hanging rings 9, the inner surface of each hanging ring 9 is in sliding connection with the outer surface of each hook 7, the top of the inner cavity of the placing box 8 is movably connected with a heavy block 10 through a pull rope, the inner cavity of the placing box 8 is fixedly connected with a first pressure sensor 11 and a second pressure sensor 12, the first pressure sensor 11 and the second pressure sensor 12 are respectively located at equal distance positions on two sides of the heavy block 10, the mobile trolley 1 is internally provided with a processor 13, the input end of the hydraulic telescopic rod 3 is connected with the output end of the processor 13, the processor 13 is internally provided with a first data processing module 131, a second data processing module 132, a first data averaging module 133, a second data averaging module 134, a data comparison module 135, a control module 136, a first switch module 137, a second switch module 138 and an interconnection module 139, the first data processing module 131 and the second data processing module 132 have the same working principle, the output end of the first pressure sensor 11 is connected with the input end of the first data processing module 131, the output end of the second pressure sensor 12 is connected with the input end of the second data processing module 132, the fixing box 4 is provided with a plurality of hydraulic telescopic rods 3, each hydraulic telescopic rod 3 comprises a first hydraulic telescopic rod 31 and a second hydraulic telescopic rod 32, the input end of the first hydraulic telescopic rod 31 is connected with the output end of the first switch module 137, the input end of the second hydraulic telescopic rod 32 is connected with the output end of the second switch module 138, the output end of the first data processing module 131 is connected with the input end of the first data averaging module 133, the output end of the first data averaging module 133 is connected with the input end of the data comparison module 135, the output end of the second data processing module 132 is connected with the input end of the second data averaging module 134, the output end of the second data averaging module 134 is connected with the input end of the data comparison module 135, the output end of the data comparison module 135 is connected with the input end of the control module 136, the input ends of the first switch module 137 and the second switch module 138 are connected with the output end of the control module 136, the first switch module 137 and the second switch module 138 are bidirectionally connected with the interconnection module 139, the first switch module 137 and the second switch module 138 have three states of positive direction work, negative direction work and stop work, the top of the movable trolley 1 is fixedly connected with a supporting rod 14, the top end of the supporting rod 14 is rotatably connected with the bottom of the supporting plate 2, the supporting rod 14 is located in the middle of a first hydraulic telescopic rod 31 and a second hydraulic telescopic rod 32, a spring 15 is fixedly connected inside the fixed box 4, a pressing plate 16 is abutted to the side face of the placing box 8, the side face of the pressing plate 16 is fixedly connected with one end of the spring 15, a limiting cylinder 17 is fixedly connected inside the placing box 8, a limiting column 18 is fixedly connected to the side face of the pressing plate 16, the outer surface of the limiting column 18 is slidably connected with the inner surface of the limiting cylinder 17, two hanging rings 9 arranged on the top and the top of the placing box 8 are provided, each pulley block 5 comprises two pulleys, a groove slidably connected with the outer surface of the elastic rope 6 is arranged on the side face of each pulley, the innermost side of each groove is a concave line, and the farthest distance between the two concave lines of each group is long, The sum of the diameter twice of the elastic rope 6 and the diameter twice of the hook 7 is equal to the distance between the two hanging rings 9 on the same side of the placing box 8;
the working method of the first data processing module 131 comprises the following steps:
s1: acquiring detection data of a plurality of first pressure sensors 11, and sequencing the detection data according to the size to obtain a sequence { A };
s2: calculating the variance S of the sequence { A } 2 ；
The variance formula is: s 2 ＝[(x 1 -x) 2 +(x 2 -x) 2 +…+(x n -x) 2 ]/n，x i (i is 1, 2 … … n) is the detection data of the first pressure sensor 11, x is the average value of the detection data, S 2 Is the variance;
s3: specifying a constant value of K, if S 2 >Or K, the two numbers located at the top and the last in the number series { a } are removed, and step S2 is repeated;
if S 2 <K, the output sequence { A };
the interconnect module 139 operates as follows:
when one of the first switch module 137 and the second switch module 138 is in the positive direction working state, the other one is controlled to be in the negative direction working state;
when one of the first switch module 137 and the second switch module 138 is in the reverse direction working state, the other one is controlled to be in the positive direction working state;
when one of the first switch module 137 and the second switch module 138 is in the off state, the other is controlled to be in the off state;
the working method of the AGV robot comprises the following steps of:
firstly, goods are placed on a supporting plate 2, a moving trolley 1 is driven, the moving trolley 1 drives a supporting rod 14 and a hydraulic telescopic rod 3 to move, and the supporting rod 14 and the hydraulic telescopic rod 3 drive the supporting plate 2 to move so as to transport the goods;
step two, when the inclination degree of the moving trolley 1 passing through the road surface changes, the inclination degree of the support rod 14 is driven to change, the support plate 2 is driven to rotate, the support plate 2 drives the fixing box 4 to incline, the fixing box 4 drives the placing box 8 to incline through the spring 15 and the elastic rope 6, because the weight 10 is connected with the top of the inner surface of the placing box 8 through the elastic rope 6, when the placing box 8 inclines, the pressure applied to the first pressure sensor 11 by the weight 10 is different from the pressure applied to the second pressure sensor 12, the pressure data received by the plurality of first pressure sensors 11 is transmitted to the first data processing module 131, the processed data is transmitted to the first data averaging module 133, the average value P1 is obtained, the pressure data received by the plurality of second pressure sensors 12 is transmitted to the second data processing module 132, the processed data is transmitted to the second data averaging module 134, the obtained mean values P2, P1 and P2 are all transmitted to the data comparison module 135;
step three, the data comparison module 135 compares the P1 with the P2, if the P1 is less than the P2, the control module 136 sends a signal to the first switch module 137 and the second switch module 138, so that the first switch module 137 is in a reverse working state, the second switch module 138 is in a forward working state, the first hydraulic telescopic rod 31 is contracted, the second hydraulic telescopic rod 32 is extended to drive the support plate 2 to rotate, the higher side of the support plate 2 rotates downwards, and the lower side of the support plate 2 rotates upwards;
if the P1 is greater than the P2, the control module 136 sends a signal to the first switch module 137 and the second switch module 138, so that the first switch module 137 is in a positive working state, the second switch module 138 is in a negative working state, the first hydraulic telescopic rod 31 extends, the second hydraulic telescopic rod 32 contracts, the support plate 2 is driven to rotate, the higher side of the support plate 2 rotates downwards, and the lower side of the support plate 2 rotates upwards;
if P1 is equal to P2, the control module 136 sends a signal to the first switch module 137 and the second switch module 138, so that both the first switch module 137 and the second switch module 138 are in a stop state.
And those not described in detail in this specification are well within the skill of those in the art.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (9)
1. The utility model provides a can be from the balanced AGV robot of independent adjustment climbing which characterized in that: the trolley comprises a trolley (1) and a support plate (2), wherein the top of the trolley (1) is rotatably connected with a hydraulic telescopic rod (3), the top end of the hydraulic telescopic rod (3) is rotatably connected with the bottom of the support plate (2), the bottom of the support plate (2) is fixedly connected with a fixed box (4), the inside of the fixed box (4) is rotatably connected with a pulley block (5) through a connecting rod, the side surface of the pulley block (5) is rotatably connected with an elastic rope (6), both ends of the elastic rope (6) are fixedly connected with hooks (7), the inside of the fixed box (4) is movably connected with a placing box (8), the top and the bottom of the placing box (8) are fixedly connected with hanging rings (9), the inner surface of each hanging ring (9) is slidably connected with the outer surface of the hook (7), and the top of the inner cavity of the placing box (8) is movably connected with a heavy block (10) through a pull rope, the inner cavity of the placing box (8) is fixedly connected with a first pressure sensor (11) and a second pressure sensor (12), the first pressure sensor (11) and the second pressure sensor (12) are respectively located at the equidistant positions of two sides of the heavy block (10), a processor (13) is arranged inside the mobile trolley (1), the input end of the hydraulic telescopic rod (3) is connected with the output end of the processor (13), a first data processing module (131), a second data processing module (132), a first data averaging module (133), a second data averaging module (134), a data comparison module (135), a control module (136), a first switch module (137), a second switch module (138) and an interconnection module (139) are arranged inside the processor (13), and the first data processing module (131) and the second data processing module (132) have the same working principle, the output end of the first pressure sensor (11) is connected with the input end of a first data processing module (131), the output end of the second pressure sensor (12) is connected with the input end of a second data processing module (132), and a plurality of fixed boxes (4) are arranged;
the working method of the first data processing module (131) comprises the following steps:
s1: acquiring detection data of a plurality of first pressure sensors (11), and sequencing the detection data according to the size to obtain a sequence { A };
s2: calculating the variance S of the sequence { A } 2 ；
The variance formula is: s 2 ＝[(x 1 -x) 2 +(x 2 -x) 2 +…+(x n -x) 2 ]/n，x i (i is 1, 2 … … n) is detected data of the first pressure sensor (11), x is an average value of all detected data, S 2 Is the variance;
s3: specifying a constant value of K, if S 2 K, removing the first and last two numbers in the sequence { a }, and repeating step S2;
if S 2 < K, output sequence { A }.
2. The AGV robot capable of autonomously adjusting the climbing balance according to claim 1, wherein: the hydraulic telescopic rod (3) comprises a first hydraulic telescopic rod (31) and a second hydraulic telescopic rod (32), the input end of the first hydraulic telescopic rod (31) is connected with the output end of the first switch module (137), and the input end of the second hydraulic telescopic rod (32) is connected with the output end of the second switch module (138).
3. An AGV robot capable of autonomously adjusting climbing balance according to claim 1, wherein: the output end of the first data processing module (131) is connected with the input end of a first data averaging module (133), the output end of the first data averaging module (133) is connected with the input end of a data comparison module (135), the output end of the second data processing module (132) is connected with the input end of a second data averaging module (134), and the output end of the second data averaging module (134) is connected with the input end of the data comparison module (135).
4. An AGV robot capable of autonomously adjusting climbing balance according to claim 1, wherein: the output end of the data comparison module (135) is connected with the input end of the control module (136), the input ends of the first switch module (137) and the second switch module (138) are connected with the output end of the control module (136), the first switch module (137) and the second switch module (138) are connected with the interconnection module (139) in a bidirectional mode, and the first switch module (137) and the second switch module (138) have three states of positive working, negative working and stopping working;
the interconnection module (139) works in the following way:
when one of the first switch module (137) and the second switch module (138) is in a positive working state, the other one is controlled to be in a negative working state;
when one of the first switch module (137) and the second switch module (138) is in a reverse direction working state, the other one is controlled to be in a positive direction working state;
when one of the first switch module (137) and the second switch module (138) is in the stop state, the other is controlled to be in the stop state.
5. The AGV robot capable of autonomously adjusting the climbing balance according to claim 1, wherein: the top of the movable trolley (1) is fixedly connected with a supporting rod (14), the top end of the supporting rod (14) is rotatably connected with the bottom of the supporting plate (2), and the supporting rod (14) is located in the middle of a first hydraulic telescopic rod (31) and a second hydraulic telescopic rod (32).
6. The AGV robot capable of autonomously adjusting the climbing balance according to claim 1, wherein: the inside fixedly connected with spring (15) of fixed case (4), the side of placing case (8) has butt joint and has clamp plate (16), the side of clamp plate (16) and the one end fixed connection of spring (15).
7. An AGV robot capable of autonomously adjusting climbing balance according to claim 6, wherein: the inside fixedly connected with of placing case (8) is spacing section of thick bamboo (17), the side fixedly connected with of clamp plate (16) is spacing post (18), the surface of spacing post (18) and the internal surface sliding connection of spacing section of thick bamboo (17).
8. The AGV robot capable of autonomously adjusting the climbing balance according to claim 1, wherein: the hanging ring (9) at the top of the placing box (8) is provided with two hanging rings, each pulley block (5) comprises two pulleys, the side face of each pulley is provided with a groove which is connected with the outer surface of the elastic rope (6) in a sliding mode, the innermost side of each groove is a concave line, the farthest distance between each two concave lines of each group is equal to the distance between the two hanging rings (9) at the same side of the placing box (8), and the sum of the two times of the diameter of the elastic rope (6) and the two times of the diameter of the hook (7) is equal to the distance between the two hanging rings (9) at the same side of the placing box (8).
9. The AGV robot capable of autonomously adjusting the climbing balance according to claim 1, wherein: the working method of the AGV robot comprises the following steps:
firstly, goods are placed on a supporting plate (2), a moving trolley (1) is driven, the moving trolley (1) drives a supporting rod (14) and a hydraulic telescopic rod (3) to move, and the supporting rod (14) and the hydraulic telescopic rod (3) drive the supporting plate (2) to move so as to transport the goods;
secondly, when the inclination degree of the movable trolley (1) passing through the road surface changes, the inclination degree of the support rod (14) is driven to change, the support plate (2) is driven to rotate, the support plate (2) drives the fixed box (4) to incline, the fixed box (4) drives the placing box (8) to incline through the spring (15) and the elastic rope (6), because the heavy block (10) is connected with the top of the inner surface of the placing box (8) through the elastic rope (6), when the placing box (8) inclines, the pressure exerted on the first pressure sensor (11) by the heavy block (10) is different from the pressure exerted on the second pressure sensor (12), the pressure data received by the plurality of first pressure sensors (11) are all transmitted to the first data processing module (131), the processed data are transmitted to the first data averaging module (133), an average value P1 is obtained, the pressure data received by the plurality of second pressure sensors (12) are all transmitted to the second data processing module (132), the processed data are transmitted to a second data averaging module (134), and the average values P2, P1 and P2 are transmitted to a data comparison module (135);
thirdly, the data comparison module (135) compares P1 with P2, if P1 is smaller than P2, the control module (136) sends signals to the first switch module (137) and the second switch module (138), so that the first switch module (137) is in a reverse direction working state, the second switch module (138) is in a positive direction working state, the first hydraulic telescopic rod (31) contracts, the second hydraulic telescopic rod (32) extends to drive the support plate (2) to rotate, the higher side of the support plate (2) rotates downwards, and the lower side of the support plate (2) rotates upwards;
if P1 is greater than P2, a control module (136) sends signals to a first switch module (137) and a second switch module (138), so that the first switch module (137) is in a positive working state, the second switch module (138) is in a negative working state, a first hydraulic telescopic rod (31) extends, a second hydraulic telescopic rod (32) contracts and drives a support plate (2) to rotate, the higher side of the support plate (2) rotates downwards, and the lower side of the support plate (2) rotates upwards;
if the P1 is equal to P2, the control module (136) sends signals to the first switch module (137) and the second switch module (138), so that the first switch module (137) and the second switch module (138) are both in a stop working state.
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| CN113778089A (en) * | 2021-09-10 | 2021-12-10 | 电子科技大学成都学院 | Intelligent luggage consigning trolley |
| CN115158503B (en) * | 2022-01-14 | 2023-07-04 | 安徽机电职业技术学院 | Multi-terrain applicable mobile robot based on intelligent optimization algorithm |
| CN114304210B (en) * | 2022-01-19 | 2022-12-13 | 湖南卡麦食品有限公司 | Surface fabric fermenting installation is used in bread processing |
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| US9586510B2 (en) * | 2015-06-25 | 2017-03-07 | Amazon Technologies, Inc. | Tilting platform for stability control |
| CN207903351U (en) * | 2017-12-28 | 2018-09-25 | 广州赛特智能科技有限公司 | A kind of merchandising machine people of autonomous control balance |
| CN207917009U (en) * | 2017-12-28 | 2018-09-28 | 广州赛特智能科技有限公司 | A kind of AGV robots from main modulation climbing balance |
| EP3560884B1 (en) * | 2018-04-23 | 2024-10-30 | Toyota Material Handling Manufacturing Sweden AB | Material handling vehicle and a material handling system comprising such a vehicle |
| CN209567002U (en) * | 2018-11-28 | 2019-11-01 | 宝鸡石油钢管有限责任公司 | A kind of laser guiding AGV trolley |
| CN109552380A (en) * | 2018-12-25 | 2019-04-02 | 杭州迅盈光电科技有限公司 | A kind of transportation robot convenient for adjusting transport tilt angle |
| DE102019129771A1 (en) * | 2019-11-05 | 2021-05-06 | Krones Aktiengesellschaft | Self-propelled transport module |
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