CN107479548A - A kind of AGV trolley control systems - Google Patents
A kind of AGV trolley control systems Download PDFInfo
- Publication number
- CN107479548A CN107479548A CN201710691096.4A CN201710691096A CN107479548A CN 107479548 A CN107479548 A CN 107479548A CN 201710691096 A CN201710691096 A CN 201710691096A CN 107479548 A CN107479548 A CN 107479548A
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- control unit
- magnetic stripe
- main control
- module
- dolly
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- 238000001514 detection method Methods 0.000 claims description 11
- 230000005611 electricity Effects 0.000 claims description 8
- 230000004888 barrier function Effects 0.000 claims description 5
- 238000004891 communication Methods 0.000 claims description 4
- 230000008901 benefit Effects 0.000 abstract description 2
- 238000009776 industrial production Methods 0.000 abstract description 2
- 230000032258 transport Effects 0.000 description 3
- 230000006870 function Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 230000007812 deficiency Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
- G05D1/0263—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means using magnetic strips
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- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Electromagnetism (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a kind of AGV trolley control systems, including main control unit, dolly driver element, navigation magnetic stripe, magnetic stripe navigation sensor, magnetic stripe navigation control unit, described magnetic stripe navigation sensor on the ground is set to be used for the position for detecting navigation magnetic stripe, described magnetic stripe navigation sensor is connected with magnetic stripe navigation control unit, described magnetic stripe navigation control unit is connected by CAN with main control unit, and described main control unit is connected with dolly driver element.The advantage of the invention is that：It can be run according to default navigation magnetic stripe by route, goods is transported with dolly when facilitating industrial production；Avoidance sensor is set, obstacle during trolley travelling can be known, sends alarm in time, reminds administrative staff's processing；Offer with battery electric quantity, dolly low battery is prevented, influence to use.
Description
Technical field
The present invention relates to dolly control field, more particularly to a kind of control system of AGV dollies.
Background technology
Developing into factory using providing the foundation for intelligent carriage, uses self-navigation such as in many factory buildings, warehouse
Dolly control transport goods, be transported to another place from a place, this dolly is divided into people's industry control in the prior art
Path processed and automatic identification path, automatic identification path are extremely necessary for transporting goods, it is possible to reduce artificial parameter
Control dolly so that whole control is more intelligent, but trolley control system function of the prior art simply, control accuracy not
It is high, it is impossible to identify the demand of real work.
The content of the invention
, should it is an object of the invention to overcome the deficiencies of the prior art and provide a kind of multi-functional AGV trolley control systems
System can be run by AGV identification method automatic identifications path, and Path Recognition is accurate, and and can have obstacle
The functions such as thing identification, speed regulation.
To achieve these goals, the technical solution adopted by the present invention is：A kind of AGV trolley control systems, including master control
Unit, dolly driver element, navigation magnetic stripe on the ground is set, be magnetic stripe navigation sensor, magnetic stripe navigation control unit, described
Magnetic stripe navigation sensor be used for the position for detecting navigation magnetic stripe, described magnetic stripe navigation sensor and magnetic stripe navigation control unit
Connection, described magnetic stripe navigation control unit are connected by CAN with main control unit, and described main control unit drives with dolly
Moving cell connects.
Described main control unit connects host computer by wireless communication module.
Described main control unit is connected with avoidance sensor, and described avoidance sensor is used to detect dolly driving path
Barrier.
Described main control unit connects warning lamp and voice reminder module respectively.
Described avoidance sensor is separately positioned at dolly headstock and the tailstock.
Described main control unit connects key-press module, LCD touch screen respectively, input, display for control parameter.
The system also includes battery module, electric power detection module, and described battery module carries for each electricity consumption module of system
Power supply energy, described electric power detection module are used for the dump energy for detecting battery module, described electric power detection module and master control
Unit is connected, and dump energy threshold values is set in main control unit, when dump energy is less than electricity threshold values, main control unit control language
Sound prompting module sends alarm while uploads dump energy information into host computer.
Described dolly driver element includes electric machine controller, trolley drive motor, direction adjustment module, described master control
Module is connected with electric machine controller, direction adjustment module respectively, and described electric machine controller is connected with trolley drive motor, its
In, described electric machine controller controls the movement velocity of dolly, direction regulation mould by controlling the operation of trolley drive motor
Block adjusts the traffic direction of dolly for receiving the direction Regulate signal of main control module.
The advantage of the invention is that：It can be run by route according to default navigation magnetic stripe, be used when facilitating industrial production
Dolly transports goods；Avoidance sensor is set, obstacle during trolley travelling can be known, sends alarm in time, reminds management
Personnel are handled；Offer with battery electric quantity, dolly low battery is prevented, influence to use.
Brief description of the drawings
Mark in the content and figure expressed below each width accompanying drawing of description of the invention is briefly described：
Fig. 1 is trolley control system structure principle chart of the present invention.
Embodiment
It is further detailed to the embodiment work of the present invention by the description to optimum embodiment below against accompanying drawing
Thin explanation.
As shown in figure 1, a kind of AGV trolley control systems, including main control unit, dolly driver element, main control unit are used for
Dolly driver element is controlled, so as to control the operation of dolly.Navigation magnetic stripe on the ground is set to be used to carry for the operation of dolly
For path, it is set is set according to the operating path for being actually needed dolly, and magnetic stripe navigation sensor is used to detect magnetic stripe orientation, its
For by the data transfer of detection, into magnetic stripe navigation control unit, magnetic stripe navigation control unit to be according to magnetic stripe navigation sensor
Data determine the adjusting parameter of the traffic direction of dolly, and are transferred to main control unit, and main control unit sends control signal to dolly
Driver element is so as to controlling the direction of trolley travelling, speed etc..
Dolly main control unit, magnetic stripe navigation control unit are realized using STM32 microprocessors, are respectively
STM32F103CBT6 and STM32F103RBT6.Main control unit is connected by wireless communication module with host computer, for reception
The order of position machine, operation enabling signal etc., or the information of dolly is uploaded into host computer, the information of dolly includes operation speed
Spend, have whether accessible, small truck position, goods transport the information such as arrive at a station.Wireless communication module using WIFI module, bluetooth,
The modes such as ZIgbee realize that host computer can be that monitoring server or intelligent hand-held terminal are used to manually monitor.
Main control unit is connected with avoidance sensor, for monitoring on trolley travelling direction whether have barrier, avoidance in real time
Sensor is separately positioned on head and the afterbody of dolly, main control unit connection warning lamp and voice reminder module, is carried for sending
Awake signal.Avoidance sensor is used for the obstruction data for detecting front side and car rear, when having barrier in front of dolly, stops fortune
OK, alarm is sent, reminds user or manager to remove or avoid dolly, or detects that rear side has barrier, then is passed through
The mode of voice reminder, rear obstacle is reminded not knock dolly.
In addition, main control unit connects key-press module, LCD touch screen respectively, input, display for control parameter.Can be with
Control parameter is inputted by key-press module or starts trolley travelling, LCD touch screen is used for man-machine interaction, the related control of touch input
Relevant parameter information is checked in parameter processed or display.
The operation of dolly realizes that battery module is system electricity consumption module for power supply, and electric power detection module is used for by power supply
The dump energy of battery module is detected, and the electric quantity data of detection is sent to main control unit, main control unit is provided with dump energy
Threshold values, when electricity is less than setting threshold values, send alarm signal and dump energy information is above-mentioned into host computer, convenient management
Person is charging battery module in time.Residual capacity measurement module can be realized using battery management system.
Dolly driver element include electric machine controller, trolley drive motor, direction adjustment module, main control module respectively with electricity
Machine controller, the connection of direction adjustment module, electric machine controller are connected with trolley drive motor, wherein, electric machine controller passes through control
To control the movement velocity of dolly, the direction that direction adjustment module is used to receive main control module is adjusted for the operation of trolley drive motor processed
Signal is saved to adjust the traffic direction of dolly, direction adjustment module is servo driving module, for adjusting the traffic direction of dolly.
Obviously present invention specific implementation is not subject to the restrictions described above, as long as employing the methodology and skill of the present invention
The improvement for the various unsubstantialities that art scheme is carried out, within protection scope of the present invention.
Claims (8)
1. a kind of AGV trolley control systems, including main control unit, dolly driver element, it is characterised in that：Also include being arranged on ground
Navigation magnetic stripe, magnetic stripe navigation sensor, magnetic stripe navigation control unit, described magnetic stripe navigation sensor on face are led for detection
The position of boat magnetic stripe, described magnetic stripe navigation sensor are connected with magnetic stripe navigation control unit, described magnetic stripe Navigation Control list
Member is connected by CAN with main control unit, and described main control unit is connected with dolly driver element.
A kind of 2. AGV trolley control systems as claimed in claim 1, it is characterised in that：Described main control unit passes through wireless
Communication module connects host computer, the control information that the operation information or reception host computer for uploading dolly issue.
A kind of 3. AGV trolley control systems as claimed in claim 1 or 2, it is characterised in that：Described main control unit and avoidance
Sensor connects, and described avoidance sensor is used to detect the barrier on dolly driving path.
A kind of 4. AGV trolley control systems as claimed in claim 3, it is characterised in that：Described main control unit connects respectively
Warning lamp, voice reminder module.
A kind of 5. AGV trolley control systems as claimed in claim 3, it is characterised in that：Described avoidance sensor is set respectively
Put at dolly headstock and the tailstock.
A kind of 6. AGV trolley control systems as claimed in claim 1 or 2, it is characterised in that：Described main control unit connects respectively
Key-press module, LCD touch screen are connect, input, display for control parameter.
A kind of 7. AGV trolley control systems as described in claim 1 or 3, it is characterised in that：The system also includes battery mould
Block, electric power detection module, described battery module provide electric energy for each electricity consumption module of system, and described electric power detection module is used
In the dump energy of detection battery module, described electric power detection module is connected with main control unit, is set in main control unit surplus
Remaining electricity threshold values, when dump energy is less than electricity threshold values, main control unit control voice prompting module sends alarm simultaneously
Dump energy information is uploaded into host computer.
A kind of 8. AGV trolley control systems as claimed in claim 1 or 2, it is characterised in that：Described dolly driver element bag
Electric machine controller, trolley drive motor, direction adjustment module are included, described main control module is adjusted with electric machine controller, direction respectively
Module connection is saved, described electric machine controller is connected with trolley drive motor, wherein, described electric machine controller is small by controlling
To control the movement velocity of dolly, direction adjustment module is used for the direction regulation letter for receiving main control module for the operation of car motor
Number adjust the traffic direction of dolly.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710691096.4A CN107479548A (en) | 2017-08-14 | 2017-08-14 | A kind of AGV trolley control systems |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710691096.4A CN107479548A (en) | 2017-08-14 | 2017-08-14 | A kind of AGV trolley control systems |
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| CN107479548A true CN107479548A (en) | 2017-12-15 |
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| CN201710691096.4A Pending CN107479548A (en) | 2017-08-14 | 2017-08-14 | A kind of AGV trolley control systems |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109507976A (en) * | 2018-12-28 | 2019-03-22 | 芜湖哈特机器人产业技术研究院有限公司 | A kind of AGV vehicle control syetem |
| PL424128A1 (en) * | 2017-12-29 | 2019-07-01 | Netbox Pl Spółka Z Ograniczoną Odpowiedzialnością | System for managing a fleet of self-propelled industrial vehicles and method for managing a fleet of self-propelled industrial vehicle |
| CN111474938A (en) * | 2020-04-30 | 2020-07-31 | 内蒙古工业大学 | Inertial navigation automatic guided vehicle and track determination method thereof |
| CN112859879A (en) * | 2021-02-08 | 2021-05-28 | 上海凯盛朗坤信息技术股份有限公司 | AGV transportation system |
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| KR20040002312A (en) * | 2002-06-29 | 2004-01-07 | 엘지.필립스 엘시디 주식회사 | System for automatic guided vehicle |
| CN204705894U (en) * | 2015-06-15 | 2015-10-14 | 济南大学 | Magnetic navigation AGV material handling dolly |
| CN103135548B (en) * | 2012-05-02 | 2016-08-03 | 广州市远能物流自动化设备科技有限公司 | A kind of unmanned floor truck and driving control system thereof |
| CN206231240U (en) * | 2016-09-26 | 2017-06-09 | 刘建生 | A kind of AGV dollies |
-
2017
- 2017-08-14 CN CN201710691096.4A patent/CN107479548A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20040002312A (en) * | 2002-06-29 | 2004-01-07 | 엘지.필립스 엘시디 주식회사 | System for automatic guided vehicle |
| CN103135548B (en) * | 2012-05-02 | 2016-08-03 | 广州市远能物流自动化设备科技有限公司 | A kind of unmanned floor truck and driving control system thereof |
| CN204705894U (en) * | 2015-06-15 | 2015-10-14 | 济南大学 | Magnetic navigation AGV material handling dolly |
| CN206231240U (en) * | 2016-09-26 | 2017-06-09 | 刘建生 | A kind of AGV dollies |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| PL424128A1 (en) * | 2017-12-29 | 2019-07-01 | Netbox Pl Spółka Z Ograniczoną Odpowiedzialnością | System for managing a fleet of self-propelled industrial vehicles and method for managing a fleet of self-propelled industrial vehicle |
| CN109507976A (en) * | 2018-12-28 | 2019-03-22 | 芜湖哈特机器人产业技术研究院有限公司 | A kind of AGV vehicle control syetem |
| CN111474938A (en) * | 2020-04-30 | 2020-07-31 | 内蒙古工业大学 | Inertial navigation automatic guided vehicle and track determination method thereof |
| CN112859879A (en) * | 2021-02-08 | 2021-05-28 | 上海凯盛朗坤信息技术股份有限公司 | AGV transportation system |
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Application publication date: 20171215 |
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| RJ01 | Rejection of invention patent application after publication |