CN105573314A - AGV trolley control method - Google Patents
AGV trolley control method Download PDFInfo
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- CN105573314A CN105573314A CN201510627062.XA CN201510627062A CN105573314A CN 105573314 A CN105573314 A CN 105573314A CN 201510627062 A CN201510627062 A CN 201510627062A CN 105573314 A CN105573314 A CN 105573314A
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- agv dolly
- gps module
- agv
- control
- control mainboard
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
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Abstract
The invention provides an AGV trolley control method. The control method adopts a GPS navigation system and a direction automatic regulation system. Automatic operation of an AGV trolley can be realized without using prompt tone, the work mood of an operator is not influenced, and carrying efficiency of the AGV trolley can be enhanced. Multiple photoelectric sensors are installed around the AGV trolley so that the AGV trolley is enabled to automatically avoid obstacles and prevent collisions. Direction automatic regulation of the AGV trolley is realized by utilizing the direction automatic regulation system, and a location signal is inputted via an input device so that the AGV trolley is enabled to reach different locations by changing the input signal anytime.
Description
Technical field
The present invention relates to equipment technology field of transport, particularly a kind of control method of AGV dolly.
Background technology
Along with industrial expansion, the use of automatic guided vehicle is more and more frequent.Automatic guided vehicle, the music that can only send mechanical ring or some cantus firmus by hummer carries out auditory tone cues, can not independent navigation, inefficiency, and has increased the weight of the stress of operator, not easily promotes.
Summary of the invention
Technical matters to be solved by this invention is to provide a kind of control method of AGV dolly.
In order to realize the object solved the problems of the technologies described above, present invention employs following technical scheme:
A control method for AGV dolly, by arranging multiple photoelectric sensor around AGV dolly, for detecting surrounding obstacles situation when AGV carriage walking; AGV dolly arranges control mainboard, and for receiving the detection signal of photoelectric sensor, and control AGV dolly turns to walking, circumvents obstacle; AGV dolly is arranged GPS module with input media and make GPS module with control mainboard be connected, in GPS module, AGV dolly destination information is inputted by input media, this destination information is transferred to control mainboard by GPS module, enables control mainboard control AGV carriage walking to destination;
Specific works step is:
Step one, in GPS module, input AGV dolly destination information by input media, and start AGV dolly;
After step 2, control mainboard receive the destination information of GPS module transmission, AGV dolly is driven to walk to destination by control steer motor and driving motor work;
When step 3, AGV carriage walking, photoelectric sensor work also detects surrounding obstacles information, the complaint message detected is fed back to control mainboard simultaneously;
Step 4, control mainboard in the process of walking to destination, revise route, avoiding obstacles according to the complaint message control AGV dolly of photo-sensor feedback in advance;
Step 5, control mainboard adjust direction of motion according to the destination information of GPS module transmission when AGV dolly departs from original course line, and final control AGV carriage walking is to destination.
Concrete: described AGV dolly, comprise chassis, housing and button, described chassis upper has groove, on the left of described groove, driven shaft is set, on the right side of groove, main drive shaft is set, in the middle of groove, GPS module is set, charge power supply and control mainboard, described driven shaft rear and front end installing wheel, weld with turning-bar in the middle of driven shaft, the first gear is installed on described turning-bar top, described first gear engages with straight-tooth bar one end, the described straight-tooth bar other end and the second gears meshing, described second gear is connected with steer motor, described main drive shaft rear and front end installing wheel, in the middle of main drive shaft, the 3rd gear is installed, described 3rd gear and the 4th gears meshing, described 4th gear is connected with driving motor, described GPS module and input media are electrically connected, described control mainboard respectively with photoelectric sensor, GPS module, pilot lamp, steer motor and driving motor are electrically connected, the output interface of described charge power supply by wire respectively with control mainboard, pilot lamp, steer motor is connected with driving motor, the input interface of charge power supply is connected with charging inlet by wire, described emergency stop switch is connected with charge power supply output terminal, described button is arranged on input media bottom, button and input media are electrically connected, described photoelectric sensor is arranged on housing surrounding.
Preferably, described main drive shaft is connected with chassis respectively by bearing with driven shaft, and described number of bearings is four.
Preferably, described photoelectric sensor quantity is no less than four.
Preferably, described emergency stop switch is on the right side of housing upper, and described pilot lamp is on rear side of emergency stop switch, and described input media is on the left of housing.
Preferably, described GPS module and driving motor are fixed on rear side of groove, and described charge power supply and control mainboard are fixed on front side of groove, and described steer motor is fixed in the middle of groove.
These technical schemes, the technical scheme comprising improvement and the technical scheme improved further also can combine mutually or combine, thus reach better technique effect.
By adopting technique scheme, the present invention has following beneficial effect:
Compared with prior art, this control method adopts GPS navigation system and automatic direction regulating system, the automatic operation of AGV dolly just can be realized without prompt tone, the job morale of operator can not be affected, improve the handling efficiency of AGV dolly simultaneously, around AGV dolly, multiple photoelectric sensor is installed, make the automatic avoiding obstacles of AGV dolly, prevent the generation of colliding, utilize automatic direction regulating system to AGV dolly automatic direction regulating, input location signal by input media, input signal can be changed at any time and arrive different location by AGV dolly.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention.
Fig. 2 is partial sectional view of the present invention.
In figure: 1 chassis, 2 housings, 3 photoelectric sensors, 4 buttons, 5 input medias, 6 pilot lamp, 7 emergency stop switchs, 8 charging inlets, 9 wheels, 10 bearings, 11 straight-tooth bars, 12 turning-bars, 13 first gears, 14 driven shafts, 15 second gears, 16 steer motor, 17GPS module, 18 driving motors, 19 main drive shafts, 20 the 3rd gears, 21 the 4th gears, 22 charge power supplies, 23 control mainboard, 24 grooves.
Embodiment
Below in conjunction with drawings and Examples, further explanation is explained to this patent.But the protection domain of this patent is not limited to concrete embodiment.
Embodiment 1
As shown in drawings, the control method of a kind of AGV dolly of this patent, by arranging multiple photoelectric sensor 3 around AGV dolly, for detecting surrounding obstacles situation when AGV carriage walking; AGV dolly is arranged and controls mainboard 23, for receiving the detection signal of photoelectric sensor 3, and control AGV dolly turns to walking, circumvents obstacle; AGV dolly is arranged GPS module 17 with input media 5 and make GPS module 17 with control mainboard 23 be connected, in GPS module 17, AGV dolly destination information is inputted by input media 5, GPS module 17 this destination information is transferred to control mainboard 23, make control mainboard 23 can control AGV carriage walking to destination.
Specific works step is:
Step one, in GPS module 17, input AGV dolly destination information by input media, and start AGV dolly;
After step 2, control mainboard 23 receive the destination information of GPS module 17 transmission, worked by control steer motor 16 and driving motor 18 and drive AGV dolly to walk to destination;
When step 3, AGV carriage walking, photoelectric sensor 3 works and detects surrounding obstacles information, is fed back to by the complaint message detected simultaneously and controls mainboard 23;
Step 4, control complaint message control AGV dolly that mainboard 23 feeds back according to photoelectric sensor 3 in the process of walking to destination, revise route in advance, avoiding obstacles;
The destination information that step 5, control mainboard 23 transmit according to GPS module 17 when AGV dolly departs from original course line adjusts direction of motion, and final control AGV carriage walking is to destination.
Wherein, AGV dolly comprises chassis 1, housing 2 and button 4, top, chassis 1 has groove 24, driven shaft 14 is set on the left of groove 24, main drive shaft 19 is set on the right side of groove 24, in the middle of groove 24, GPS module 17 is set, charge power supply 22 and control mainboard 23, driven shaft 14 rear and front end installing wheel 9, weld with turning-bar 12 in the middle of driven shaft 14, the first gear 13 is installed on turning-bar 12 top, first gear 13 engages with straight-tooth bar 11 one end, straight-tooth bar 11 other end engages with the second gear 15, second gear 15 is connected with steer motor 16, realize the tuning of AGV dolly, main drive shaft 19 rear and front end installing wheel 9, in the middle of main drive shaft 19, the 3rd gear 20 is installed, 3rd gear 20 engages with the 4th gear 21, 4th gear 21 is connected with driving motor 18, GPS module 17 and input media 5 are electrically connected, control mainboard 23 respectively with photoelectric sensor 3, GPS module 17, pilot lamp 6, steer motor 16 and driving motor 18 are electrically connected, achieve operation and the monitoring of AGV dolly, the output interface of charge power supply 22 by wire respectively with control mainboard 23, pilot lamp 6, steer motor 16 is connected with driving motor 18, the input interface of charge power supply 22 is connected with charging inlet 8 by wire, emergency stop switch 7 is connected with charge power supply 22 output terminal, in an emergency situation, AGV dolly can be made to stop fast, button 4 is arranged on input media 5 bottom, button 4 and input media 5 are electrically connected, photoelectric sensor 3 is arranged on housing 2 surrounding, main drive shaft 19 is connected with chassis 1 respectively by bearing 10 with driven shaft 14, bearing 10 quantity is four, GPS module 17 and driving motor 18 are fixed on rear side of groove 24, charge power supply 22 and control mainboard 23 are fixed on front side of groove 24, steer motor 16 is fixed in the middle of groove 24, emergency stop switch 7 is in housing 2 upper right, pilot lamp 6 is on rear side of emergency stop switch 7, input media 5 is on the left of housing 2, location signal is inputted by input media 5, input signal can be changed at any time and arrive different location by AGV dolly.
Claims (6)
1. a control method for AGV dolly, is characterized in that: by arranging multiple photoelectric sensor around AGV dolly, for detecting surrounding obstacles situation when AGV carriage walking; AGV dolly arranges control mainboard, and for receiving the detection signal of photoelectric sensor, and control AGV dolly turns to walking, circumvents obstacle; AGV dolly is arranged GPS module with input media and make GPS module with control mainboard be connected, in GPS module, AGV dolly destination information is inputted by input media, this destination information is transferred to control mainboard by GPS module, enables control mainboard control AGV carriage walking to destination;
Specific works step is:
Step one, in GPS module, input AGV dolly destination information by input media, and start AGV dolly;
After step 2, control mainboard receive the destination information of GPS module transmission, AGV dolly is driven to walk to destination by control steer motor and driving motor work;
When step 3, AGV carriage walking, photoelectric sensor work also detects surrounding obstacles information, the complaint message detected is fed back to control mainboard simultaneously;
Step 4, control mainboard in the process of walking to destination, revise route, avoiding obstacles according to the complaint message control AGV dolly of photo-sensor feedback in advance;
Step 5, control mainboard adjust direction of motion according to the destination information of GPS module transmission when AGV dolly departs from original course line, and final control AGV carriage walking is to destination.
2. the control method of AGV dolly according to claim 1, it is characterized in that: described AGV dolly, comprise chassis, housing and button, described chassis upper has groove, on the left of described groove, driven shaft is set, on the right side of groove, main drive shaft is set, in the middle of groove, GPS module is set, charge power supply and control mainboard, described driven shaft rear and front end installing wheel, weld with turning-bar in the middle of driven shaft, the first gear is installed on described turning-bar top, described first gear engages with straight-tooth bar one end, the described straight-tooth bar other end and the second gears meshing, described second gear is connected with steer motor, described main drive shaft rear and front end installing wheel, in the middle of main drive shaft, the 3rd gear is installed, described 3rd gear and the 4th gears meshing, described 4th gear is connected with driving motor, described GPS module and input media are electrically connected, described control mainboard respectively with photoelectric sensor, GPS module, pilot lamp, steer motor and driving motor are electrically connected, the output interface of described charge power supply by wire respectively with control mainboard, pilot lamp, steer motor is connected with driving motor, the input interface of charge power supply is connected with charging inlet by wire, described emergency stop switch is connected with charge power supply output terminal, described button is arranged on input media bottom, button and input media are electrically connected, described photoelectric sensor is arranged on housing surrounding.
3. the control method of AGV dolly according to claim 2, it is characterized in that: described main drive shaft is connected with chassis respectively by bearing with driven shaft, described number of bearings is four.
4. the control method of AGV dolly according to claim 2, is characterized in that: described photoelectric sensor quantity is no less than four.
5. the control method of AGV dolly according to claim 2, is characterized in that: described emergency stop switch is on the right side of housing upper, and described pilot lamp is on rear side of emergency stop switch, and described input media is on the left of housing.
6. the control method of AGV dolly according to claim 2, is characterized in that: described GPS module and driving motor are fixed on rear side of groove, described charge power supply and control mainboard and be fixed on front side of groove, and described steer motor is fixed in the middle of groove.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201510627062.XA CN105573314A (en) | 2015-09-29 | 2015-09-29 | AGV trolley control method |
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| CN201510627062.XA CN105573314A (en) | 2015-09-29 | 2015-09-29 | AGV trolley control method |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106391626A (en) * | 2016-11-17 | 2017-02-15 | 浙江国自机器人技术有限公司 | Water replenishing method and water replenishing truck for photovoltaic panel cleaning machines |
| CN106774349A (en) * | 2017-03-14 | 2017-05-31 | 广州市井源机电设备有限公司 | A kind of safety detection device of AGV |
| CN110377035A (en) * | 2019-07-09 | 2019-10-25 | 浙江大学 | A kind of remote-controlled trolley with adaptive illumination functions |
| CN111377316A (en) * | 2018-12-28 | 2020-07-07 | 浙江绿炳畅智能科技有限公司 | Automatic elevator control system that passes in and out of freight robot |
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| JPH0869323A (en) * | 1994-06-23 | 1996-03-12 | Toyota Motor Corp | Drive controller for unmanned car |
| CN101770236A (en) * | 2008-12-31 | 2010-07-07 | 吉林市北华航天科技有限公司 | Control system of sanitation robot |
| EP2500871A1 (en) * | 2011-03-18 | 2012-09-19 | The Raymond Corporation | Integration of an autonomous industrial vehicle into an asset management system |
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| CN106391626A (en) * | 2016-11-17 | 2017-02-15 | 浙江国自机器人技术有限公司 | Water replenishing method and water replenishing truck for photovoltaic panel cleaning machines |
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| CN111377316A (en) * | 2018-12-28 | 2020-07-07 | 浙江绿炳畅智能科技有限公司 | Automatic elevator control system that passes in and out of freight robot |
| CN110377035A (en) * | 2019-07-09 | 2019-10-25 | 浙江大学 | A kind of remote-controlled trolley with adaptive illumination functions |
| CN110377035B (en) * | 2019-07-09 | 2020-11-06 | 浙江大学 | But remote control dolly with self-adaptation illumination function |
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Application publication date: 20160511 |