CN110320923A - A kind of AGV trolley combination anti-collision system - Google Patents
A kind of AGV trolley combination anti-collision system Download PDFInfo
- Publication number
- CN110320923A CN110320923A CN201910769267.XA CN201910769267A CN110320923A CN 110320923 A CN110320923 A CN 110320923A CN 201910769267 A CN201910769267 A CN 201910769267A CN 110320923 A CN110320923 A CN 110320923A
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- agv trolley
- module
- agv
- anticollision
- trolley
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- 238000012544 monitoring process Methods 0.000 claims abstract description 37
- 238000001514 detection method Methods 0.000 claims abstract description 19
- 238000004891 communication Methods 0.000 claims abstract description 14
- 230000008859 change Effects 0.000 claims abstract description 5
- 230000002093 peripheral effect Effects 0.000 claims abstract description 4
- 238000013507 mapping Methods 0.000 claims description 5
- 238000009826 distribution Methods 0.000 claims description 3
- 230000002265 prevention Effects 0.000 abstract description 5
- 230000007547 defect Effects 0.000 abstract description 2
- 230000006870 function Effects 0.000 description 12
- 230000004888 barrier function Effects 0.000 description 6
- 238000000034 method Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 3
- 239000012491 analyte Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 230000032258 transport Effects 0.000 description 2
- 238000013475 authorization Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
- G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- 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
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
-
- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
- G08B21/18—Status alarms
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Computer Networks & Wireless Communication (AREA)
- Business, Economics & Management (AREA)
- Emergency Management (AREA)
- Aviation & Aerospace Engineering (AREA)
- Automation & Control Theory (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The present invention relates to intelligence to carry technical field, more particularly to a kind of AGV trolley combines anti-collision system, including the AGV trolley anticollision monitoring modular for carrying out anticollision data statistics and monitoring to AGV trolley, the AGV trolley travelling track monitoring module for being used to monitor AGV trolley working trajectory carried out telecommunication with AGV trolley anticollision monitoring modular by the first remote communication module, the AGV trolley detection of obstacles module for being used to detect AGV trolley peripheral obstacle location information carried out telecommunication with AGV trolley anticollision monitoring modular by the second remote communication module, the AGV trolley information feedback module for alert and change AGV trolley travelling path being connected with AGV trolley anticollision monitoring modular；Technical solution provided by the present invention, which can effectively overcome, does not have track monitoring deviation warning function present in the prior art, do not have detection of obstacles and collision prevention function, the poor defect of safety.
Description
Technical field
Technical field is carried the present invention relates to intelligence more particularly to a kind of AGV trolley combines anti-collision system.
Background technique
With the development of social economy and the raising of industrialized level, people are higher and higher to the requirement intelligently carried, AGV
Technology becomes the hot spot of society research, and AGV trolley is can travel along defined guide path, with safeguard protection and various
The driving path of the transport vehicle of transfer function, AGV trolley can be clever according to changes such as storage goods yard requirement, technological process of productions
It is living to change, in order to protect the operational safety of AGV trolley, generally require to carry out Anti-bumping protection, but traditional AGV trolley anticollision system
System does not have track monitoring deviation warning function, does not have detection of obstacles and collision prevention function, and safety is poor, therefore, research and development
A kind of AGV trolley combination anti-collision system is the key that solve the above problems.
It is 108241372 A of CN in Authorization Notice No., is disclosed in the patent of invention that authorized announcement date is 2018.07.03
A kind of anticollision realization method and system of AGV cart system.A kind of anticollision implementation method of AGV cart system of the invention and it is
System, AGV trolley carry out obstacle detection using anti-collision detection device, when an obstacle is detected, before control AGV trolley stops
Into；And by obtaining the newest status information of AGV trolley in real time, when AGV trolley reaches control range, control range includes
Intersection or default evacuation section；Advanced regulation model is arrived first to the AGV trolley implementation for reaching control range, is reached at first
AGV trolley pass through at first, the AGV trolley reached afterwards is avoided.Anticollision detection combines the path planning of AGV cart system,
The anticollision of AGV cart system is realized, to guarantee being normally carried out for battery production.
But the anticollision realization method and system of this AGV cart system does not have track monitoring deviation warning function, does not have
There are detection of obstacles and collision prevention function, safety is poor.
Summary of the invention
(1) the technical issues of solving
For disadvantages mentioned above present in the prior art, the present invention provides a kind of AGV trolleies to combine anti-collision system, can
Effectively overcome and do not have track monitoring deviation warning function present in the prior art, does not have detection of obstacles and anticollision function
Can, the poor defect of safety.
(2) technical solution
To achieve the goals above, the present invention is achieved by the following technical programs:
A kind of AGV trolley combination anti-collision system, including the AGV for carrying out anticollision data statistics and monitoring to AGV trolley
Trolley anticollision monitoring modular is carried out telecommunication with the AGV trolley anticollision monitoring modular by the first remote communication module
It is logical with the AGV trolley anticollision monitoring modular for monitoring the AGV trolley travelling track monitoring module of AGV trolley working trajectory
Cross the AGV trolley barrier for detecting AGV trolley peripheral obstacle location information that the second remote communication module carries out telecommunication
Hinder analyte detection module, what is be connected with the AGV trolley anticollision monitoring modular is used for alert and change AGV trolley travelling
The AGV trolley information feedback module in path, what is be connected with the AGV trolley anticollision monitoring modular is used to store the small car data of AGV
The AGV trolley data memory module of information.
Preferably, first remote communication module, the second remote communication module are GPRS module.
Preferably, the AGV trolley travelling track monitoring module includes AGV trolley track mapping module, the positioning of AGV trolley
Module, AGV trolley deviation warning module.
Preferably, the AGV trolley detection of obstacles module include ultrasonic distance measuring module, AGV trolley it is anti-collision air-bed,
AGV trolley processor.
Preferably, the ultrasonic distance measuring module model AJ-SR04M, the AGV trolley processor model are
STM32F103, the ultrasonic distance measuring module and AGV trolley processor are electrically connected.
Preferably, the ultrasonic distance measuring module, AGV trolley are anti-collision air-bed is equipped with eight, the ultrasonic distance measurement mould
Four sides of AGV trolley and four corners of side are arranged in block distribution, and the anti-collision air-bed height of the AGV trolley is greater than
The height of ultrasonic distance measuring module.
(3) beneficial effect
Compared with prior art, the present invention provides a kind of AGV trolleies to combine anti-collision system, the beneficial effects are as follows:
The cartographic information that AGV trolley track mapping module in AGV trolley travelling track monitoring module works to AGV trolley obtains
And update, AGV trolley locating module are monitored the location information of AGV trolley, or detect AGV trolley in positional deviation
It when figure, is alarmed by AGV trolley deviation warning module, so that staff handles it in time, prevents AGV trolley from occurring
Collision, so that AGV trolley combination anti-collision system has the function of track monitoring deviation warning；In AGV trolley detection of obstacles module
Ultrasonic distance measuring module the barrier of four corners of four sides of AGV trolley and side is detected, and will test
Information is transmitted to AGV trolley processor, if the distance apart from barrier is more than preset value, AGV trolley processor controls AGV trolley
Drive system and steering system make a response, avoided, prevent from colliding, AGV trolley is anti-collision air-bed further to AGV trolley
It is protected, so that AGV trolley combination anti-collision system has detection of obstacles and collision prevention function, security performance is improved.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is overall structure diagram of the invention；
Fig. 2 is AGV trolley travelling track monitoring modular structure schematic diagram of the invention；
Fig. 3 is AGV trolley detection of obstacles modular structure schematic diagram of the invention.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
Every other embodiment obtained without creative efforts, shall fall within the protection scope of the present invention.
A kind of AGV trolley combination anti-collision system, as shown in Figure 1 to Figure 3, including for carrying out anticollision data to AGV trolley
The AGV trolley anticollision monitoring modular of statistics and monitoring is carried out with AGV trolley anticollision monitoring modular by the first remote communication module
The AGV trolley travelling track monitoring module for being used to monitor AGV trolley working trajectory of telecommunication, monitors with AGV trolley anticollision
The AGV for being used to detect AGV trolley peripheral obstacle location information that module is carried out telecommunication by the second remote communication module
Trolley detection of obstacles module, what is be connected with AGV trolley anticollision monitoring modular transports for alert and change AGV trolley
The AGV trolley information feedback module of walking along the street diameter, what is be connected with AGV trolley anticollision monitoring modular believes for storing the small car data of AGV
The AGV trolley data memory module of breath.
Specifically, the first remote communication module, the second remote communication module are GPRS module；AGV trolley travelling track
Monitoring modular includes AGV trolley track mapping module, AGV trolley locating module, AGV trolley deviation warning module；AGV trolley barrier
Hindering analyte detection module includes that ultrasonic distance measuring module, AGV trolley be anti-collision air-bed, AGV trolley processor；Ultrasonic distance measuring module type
It number is AJ-SR04M, AGV trolley processor model is STM32F103, and ultrasonic distance measuring module electrically connects with AGV trolley processor
It connects；Ultrasonic distance measuring module, AGV trolley are anti-collision air-bed to be equipped with eight, and AGV trolley is arranged in ultrasonic distance measuring module distribution
Four corners of four sides and side, the anti-collision air-bed height of AGV trolley are greater than the height of ultrasonic distance measuring module.
In use, what the AGV trolley track mapping module in AGV trolley travelling track monitoring module worked to AGV trolley
Cartographic information is obtained and is updated, and AGV trolley locating module is monitored the location information of AGV trolley, or detects AGV
When the figure in positional deviation of trolley, alarmed by AGV trolley deviation warning module, so that staff does source in time
Reason, prevents AGV trolley from colliding, so that AGV trolley combination anti-collision system has the function of track monitoring deviation warning；AGV is small
The barrier of ultrasonic distance measuring module in vehicle detection of obstacles module to four corners of four sides of AGV trolley and side
It is detected, and will test information and be transmitted to AGV trolley processor, if the distance apart from barrier is more than preset value, AGV trolley
The drive system and steering system of processor control AGV trolley are made a response, and are avoided, prevent from colliding, AGV trolley anticollision gas
Pad further protects AGV trolley, so that AGV trolley combination anti-collision system has detection of obstacles and collision prevention function, peace
Full performance is improved.
Present invention has disclosed the model of AGV trolley processor, ultrasonic distance measuring module, the electricity that is related in the application
The internal structure and pin function of gas element are the common knowledge of those skilled in the art, and those skilled in the art have the ability to build
Found the circuit connecting relation between above-mentioned electrical component.
The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although with reference to the foregoing embodiments
Invention is explained in detail, those skilled in the art should understand that；It still can be to aforementioned each implementation
Technical solution documented by example is modified or equivalent replacement of some of the technical features；And these modification or
Replacement, can't be such that the essence of corresponding technical solution departs from the spirit and scope of the technical scheme of various embodiments of the present invention.
Claims (6)
1. a kind of AGV trolley combines anti-collision system, it is characterised in that: including for AGV trolley carry out anticollision data statistics with
The AGV trolley anticollision monitoring modular of monitoring is carried out far with the AGV trolley anticollision monitoring modular by the first remote communication module
The AGV trolley travelling track monitoring module for being used to monitor AGV trolley working trajectory of Cheng Tongxin, is supervised with the AGV trolley anticollision
Module is surveyed to be used to detect AGV trolley peripheral obstacle location information by what the second remote communication module carried out telecommunication
AGV trolley detection of obstacles module, what is be connected with the AGV trolley anticollision monitoring modular is used for alert and change
The AGV trolley information feedback module in AGV trolley travelling path, what is be connected with the AGV trolley anticollision monitoring modular is used to store
The AGV trolley data memory module of AGV trolley data information.
2. AGV trolley according to claim 1 combines anti-collision system, it is characterised in that: first remote communication module,
Second remote communication module is GPRS module.
3. AGV trolley according to claim 1 combines anti-collision system, it is characterised in that: AGV trolley travelling track prison
Surveying module includes AGV trolley track mapping module, AGV trolley locating module, AGV trolley deviation warning module.
4. AGV trolley according to claim 1 combines anti-collision system, it is characterised in that: the AGV trolley detection of obstacles
Module includes that ultrasonic distance measuring module, AGV trolley be anti-collision air-bed, AGV trolley processor.
5. AGV trolley according to claim 4 combines anti-collision system, it is characterised in that: the ultrasonic distance measuring module type
It number is AJ-SR04M, the AGV trolley processor model is STM32F103, and the ultrasonic distance measuring module and AGV trolley are handled
Device electrical connection.
6. AGV trolley according to claim 4 combines anti-collision system, it is characterised in that: the ultrasonic distance measuring module,
AGV trolley is anti-collision air-bed to be equipped with eight, and four sides and side of AGV trolley are arranged in the ultrasonic distance measuring module distribution
Four corners, the anti-collision air-bed height of the AGV trolley be greater than ultrasonic distance measuring module height.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910769267.XA CN110320923A (en) | 2019-08-20 | 2019-08-20 | A kind of AGV trolley combination anti-collision system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910769267.XA CN110320923A (en) | 2019-08-20 | 2019-08-20 | A kind of AGV trolley combination anti-collision system |
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| CN110320923A true CN110320923A (en) | 2019-10-11 |
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| CN201910769267.XA Pending CN110320923A (en) | 2019-08-20 | 2019-08-20 | A kind of AGV trolley combination anti-collision system |
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Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20100030426A1 (en) * | 2007-03-27 | 2010-02-04 | Toyota Jidosha Kabushiki Kaisha | Collision avoidance device |
| CN103935365A (en) * | 2014-05-14 | 2014-07-23 | 袁培江 | Intelligent anti-collision system of novel automated guided vehicle for material handling |
| CN104991555A (en) * | 2015-06-22 | 2015-10-21 | 中山明杰自动化科技有限公司 | Anticollision AGV trolley with intelligent alarm device |
| CN107878429A (en) * | 2017-11-05 | 2018-04-06 | 佛山鑫进科技有限公司 | A kind of ranging and anticollision device, collision-prevention device for vehicle |
| CN109032152A (en) * | 2018-10-31 | 2018-12-18 | 东莞理工学院 | A kind of barcode scanning tracks logistics trolley and its logistics transportation method |
| CN208544702U (en) * | 2018-08-03 | 2019-02-26 | 天津杰福德自动化技术有限公司 | A kind of intelligent anticollision security system moving trolley |
| CN109683612A (en) * | 2018-12-24 | 2019-04-26 | 安徽农业大学 | The method of intelligent fishes and shrimps feeding unmanned vehicle system and car body avoidance amendment offset deviation |
-
2019
- 2019-08-20 CN CN201910769267.XA patent/CN110320923A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20100030426A1 (en) * | 2007-03-27 | 2010-02-04 | Toyota Jidosha Kabushiki Kaisha | Collision avoidance device |
| CN103935365A (en) * | 2014-05-14 | 2014-07-23 | 袁培江 | Intelligent anti-collision system of novel automated guided vehicle for material handling |
| CN104991555A (en) * | 2015-06-22 | 2015-10-21 | 中山明杰自动化科技有限公司 | Anticollision AGV trolley with intelligent alarm device |
| CN107878429A (en) * | 2017-11-05 | 2018-04-06 | 佛山鑫进科技有限公司 | A kind of ranging and anticollision device, collision-prevention device for vehicle |
| CN208544702U (en) * | 2018-08-03 | 2019-02-26 | 天津杰福德自动化技术有限公司 | A kind of intelligent anticollision security system moving trolley |
| CN109032152A (en) * | 2018-10-31 | 2018-12-18 | 东莞理工学院 | A kind of barcode scanning tracks logistics trolley and its logistics transportation method |
| CN109683612A (en) * | 2018-12-24 | 2019-04-26 | 安徽农业大学 | The method of intelligent fishes and shrimps feeding unmanned vehicle system and car body avoidance amendment offset deviation |
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Application publication date: 20191011 |