CN102411369B - Automatic guided vehicle (AGV) setting device possessing wireless communication function - Google Patents
Automatic guided vehicle (AGV) setting device possessing wireless communication function Download PDFInfo
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- CN102411369B CN102411369B CN 201110298765 CN201110298765A CN102411369B CN 102411369 B CN102411369 B CN 102411369B CN 201110298765 CN201110298765 CN 201110298765 CN 201110298765 A CN201110298765 A CN 201110298765A CN 102411369 B CN102411369 B CN 102411369B
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Abstract
An automatic guided vehicle (AGV) setting device possessing a wireless communication function is disclosed. A single chip microcomputer center control unit identifies state information data input through an AGV input signal module. On one hand, an identified state result is sent to a monitor to display. On the other hand, the AGV state information data is packaged into a data frame and the data frame is sent to a remote monitoring terminal through a wireless communication module. The single chip microcomputer center control unit reads a button value of a man-machine interaction module and generates a control instruction according to the button value and the current read AGV state information. The instruction is sent to the AGV through an output signal module. Simultaneously, the single chip microcomputer center control unit receives instruction information sent by an upper computer through the wireless communication module and generates the control instruction to output. In the invention, direct instruction setting can be performed on an operation panel terminal and state display can be performed too. An operation state of the AGV is monitored on the upper computer terminal. A target site of the AGV and a current marker can be set.
Description
Technical field
The present invention relates to a kind of automatic guided vehicle vehicle technology, specifically, design be a kind of automatic guided vehicle setting apparatus with radio communication function.
Background technology
Along with the continuous development of warehouse logistics, automatic guided vehicle (AGV) is being brought into play more and more important effect in the logistics of factory is produced.In the unattended production run, the suitable utilization of AGV can not only improve the efficient of production, can also energy-conservation production cost.And the vehicle-mounted setting apparatus of AGV, as a personal-machine interactive device, the simplicity of its operation and demonstration the rich of information then seem particularly important.
In traditional AGV setting apparatus, characterize the AGV status information with three charactrons, carry out the setting of targeted sites and current terrestrial reference with five buttons, but the status information that this equipment shows seldom, particularly when the AGV car is in operation, can only show a kind of among both of current terrestrial reference or targeted sites, if will change demonstration information action button at the scene, this is in operation for car, and to operate be danger close and inconvenient.In addition, operating personnel need understand the state of current AGV operation, must go to the scene to see demonstration information on the vehicle-mounted setting apparatus.Can not realize that operating personnel are in the monitoring of remote monitoring end to whole AGV system.Have, the button of above-mentioned two kinds of equipment all goes to finish by scanning again, for guaranteeing the real-time of system responses, needs single-chip microcomputer constantly to remove the corresponding port of inquiry button, and this is just consuming the resource of single-chip microcomputer to a certain extent.
Traditional setting apparatus has certain limitation, and operating personnel can not break away from operation site to the words that AGV carries out the change of the setting of targeted sites and terrestrial reference, and can not break away from the scene to the monitoring of whole AGV running status, can not carry out operated from a distance.
Find also do not have disclosed report at present about the automatic guided vehicle setting apparatus through the retrieval to existing document.
Summary of the invention
The objective of the invention is at the deficiencies in the prior art, a kind of automatic guided vehicle setting apparatus with radio communication function is provided, by this setting apparatus, not only can carry out direct instruction setting and state demonstration at the guidance panel end, and can pass through radio communication function, operating personnel can monitor the running status of AGV in upper computer end, and targeted sites and the current terrestrial reference (Marker) of AGV are set.
For achieving the above object, the present invention has adopted following technical scheme:
Automatic guided vehicle setting apparatus with radio communication function of the present invention comprises: single-chip microcomputer central control unit, the input signal module of AGV, output signal module, human-computer interaction module and wireless communication module; Wherein: the single-chip microcomputer central control unit is identified the status information data of importing by the input signal module of AGV, on the one hand, the state outcome that identifies is sent to watch-dog to be shown, on the other hand, the status information data of AGV is packaged into Frame, sends to the remote monitoring end by wireless communication module.In addition, the single-chip microcomputer central control unit reads out the key value of human-computer interaction module, and produces control instruction corresponding according to key value and the current AGV status information that reads, and this instruction is issued AGV by the output signal module.Simultaneously, the single-chip microcomputer central control unit receives the command information that host computer is sent by wireless communication module, and produces steering order output.
The input signal module of described AGV is set concrete signal at the setting apparatus of automatic guided vehicle, and input signal comprises following ten signal wires: 8 bit data bus of seven segment digital tubes, the address signal line of three charactrons.In order to allow single-chip microcomputer identify input signal, input signal module becomes the 24V Signal Matching of input with the optocoupler isolating chip signal of 5V.Read for single-chip microcomputer then.
Described output signal module, output signal comprises: add (Plus), subtract (Minus) and set (Set), function switch key (Function), reset button (Reset).Output signal end at single-chip microcomputer adds a Darlington transistor array, and the power supply of Darlington transistor array is 24V, so just makes the 24V Signal Matching of output signal and AGV.
Described human-computer interaction module comprises the demonstration and two parts of input of setting button of charactron.Display module adopts 9 seven segment digital tubes to characterize the status information of AGV.The scanning unification of the driving of charactron and button is finished by MAX6954.MAX6954 and single-chip microprocessor MCU are carried out data communication by the SPI interface.
The described wireless communication module status information that AGV is current sends to the remote monitoring end.The status information that need to send comprises: the ground scale value of the vehicle present position that reads in the blink states of charactron, the targeted sites information of setting input, the terrestrial reference current of living in of setting output, the targeted sites that reads in the driving process, the driving process, and the error code when running into mistake.Carry out exchanges data by the SCI mouth between wireless communication module and the single-chip microcomputer.
According to above-mentioned technical scheme, the present invention compared with prior art has following effect:
Can set nearly 30 take-off points;
In taking off owing to various abnormal conditions, AGV behind the running rail, when getting back to the AGV pendulum on the guide wire again, can set AGV present located terrestrial reference website;
Description of drawings
Fig. 1 is the structured flowchart of whole setting apparatus system.
Fig. 2 is the man-machine interaction panel of setting apparatus system.
Embodiment
Below embodiments of the invention are elaborated, present embodiment is that prerequisite is implemented with the technical solution of the present invention, provided detailed embodiment and concrete operating process, but protection scope of the present invention is not limited to following embodiment.
Present embodiment provides a kind of setting apparatus with automatic guide vehicle of radio communication function, its system architecture diagram comprises as shown in Figure 1: single-chip microcomputer central control unit, the input signal module of AGV, the output signal module, human-computer interaction module and wireless communication module; Wherein: the single-chip microcomputer central control unit is identified the status information data of importing by the input signal module of AGV, on the one hand, the state outcome that identifies is sent to watch-dog to be shown, on the other hand, the status information data of AGV is packaged into Frame, sends to the remote monitoring end by wireless communication module.In addition, the single-chip microcomputer central control unit reads out the key value of human-computer interaction module, and produces control instruction corresponding according to key value and the current AGV status information that reads, and this instruction is issued AGV by the output signal module of setting apparatus system.Simultaneously, the single-chip microcomputer central control unit receives the command information that host computer is sent by wireless communication module, and produces steering order output.
As a concrete case study on implementation, this setting apparatus system carries out validation test at widely used certain brand AGV on the current market, and interactive signal defined declaration each other is as follows:
Input signal module: at the concrete signal of the type setting apparatus of automatic guided vehicle, input signal comprises following ten signal wires: 8 bit data bus (7SEG_a, 7SEG_b, the 7SEG_c of seven segment digital tubes, 7SEG_d, 7SEG_e, 7SEG_f, 7SEG_g, 7SEG_dp), the address signal line of three charactrons (7SEG_data_address1,7SEG_data_address3,7SEG_data_address3).The output signal of AGV is 24V, in order to allow single-chip microcomputer identify input signal, with the optocoupler isolating chip 24V Signal Matching of input is become the signal of 5V in the input signal module.Read for single-chip microcomputer then.
The output signal module: output signal is described as follows: add (Plus), subtract (Minus) and set (Set), function switch key (Function), reset button (Reset).The high level signal of considering the AGV end is 24V, the output signal of single-chip microcomputer pin need be matched to the signal of 24V through conversion, so the output signal end at single-chip microcomputer adds a Darlington transistor array, the power supply of Darlington transistor array is 24V, so just makes the 24V Signal Matching of output signal and AGV.
Human-computer interaction module: comprise the demonstration and two parts of input of setting button of charactron.Consider the cost of characteristics and the system of AGV status data, display module adopts 9 seven segment digital tubes to characterize the status information of AGV.The scanning unification of the driving of charactron and button is finished by MAX6954.MAX6954 and single-chip microprocessor MCU are carried out data communication by the SPI interface.In the present embodiment, MAX6954 is configured to drive 7 sections charactrons shows, and word is set, and right demonstration number is 9, and the external key quantity of scanning is 5.Corresponding function is respectively function switch key (Function), adds (Plus), subtracts (Minus) and sets (Set), reset button (Reset).The mutual panel of human-computer interaction module as shown in Figure 2, five button inputs are arranged, three charactron display boxes (being respectively targeted sites display box, current terrestrial reference display box, error code display box), two pilot lamp (power light and at the line index pilot lamp).
Wireless communication module: the status information that AGV is current sends to the remote monitoring end.The status information that need to send comprises: the ground scale value of the vehicle present position that reads in the blink states of charactron, the targeted sites information of setting input, the terrestrial reference current of living in of setting output, the targeted sites that reads in the driving process, the driving process, and the error code when running into mistake.Carry out exchanges data by the SCI mouth between wireless communication module and the single-chip microcomputer.
In the present embodiment, the connection description between above-mentioned each module is as follows: the input signal module of AGV and single-chip microcomputer central control unit are by wired connection, and the signal wire of connection always has 11, and 11 input signals with AGV are corresponding one by one respectively; Also be wired connection between output signal and the single-chip microcomputer central control unit, public 5 of wiring, corresponding respectively at five signals of output signal module; The single-chip microcomputer central control unit links to each other with the single-chip microcomputer SPI mouth that passes through of human-computer interaction module, and the button look-at-me that MAX6954 is arranged again is to receive an external interrupt mouth of single-chip microcomputer; Single-chip microcomputer central control unit and wireless communication module are that the SCI mouth by single-chip microcomputer links to each other.
When the above-mentioned setting apparatus of present embodiment used, concrete operations were as follows:
The target setting website:
1 under the state that AGV stops, and presses the Function key, carries out input state and switches;
2 work as " targeted sites display box " is shown as
The time, and first charactron
The Set key is pressed in flicker;
3 " targeted sites display boxes " are shown as
The time, but second and the 3rd charactron numerical value flicker.Can press Up key or down key input Target Station point value this moment.Press the Up key herein three times, the input targeted sites is No. 3 websites.At this moment, " targeted sites display box " is shown as
, and
Flicker;
4 press the Set key, preserve the input data.The targeted sites frame is shown as
, and
Flicker;
5 double-click the Function key, and state is switched to the wait starting state, and at this moment, " targeted sites display box " is shown as
, do not have the data flicker.
So far, targeted sites is set and is finished.
Set current terrestrial reference:
1 under the AGV halted state, double-clicks the Function key, carries out input state and switches;
2 are shown as in " current terrestrial reference demonstration " frame
And during three radix point flickers, can press Up key or current ground of down key input scale value this moment.Press the Up key herein, current ground of input scale value is 8.At this moment, " targeted sites display box " is shown as
, three radix point flickers;
3 press the Set key, preserve the current site information of input.
The information that reports an error shows:
If AGV has run into abnormal conditions in the process of operation, in the error code of man-machine interaction panel, can demonstrate the error code that causes abnormal conditions automatically, detecting the AGV front end as sensor has barrier to block, and then the error code frame is shown as
If AGV is in normal operating condition, then the error code frame is shown as
, expression does not have wrong the generation.
The monitoring of AGV running status shows:
After targeted sites input effectively, and after AGV starts, setting apparatus sends and shows that the terrestrial reference pulse combined instructs to AGV, and this moment, single-chip microcomputer can read AGV present located landmark information from signal input part, and the result is placed in " current terrestrial reference demonstration " frame of man-machine interface and shows.Then, setting apparatus sends display-object website pulse combined and instructs to AGV, and single-chip microcomputer can read AGV present located landmark information from signal input part, and the result is shown in " current terrestrial reference demonstration " frame.Setting apparatus is constantly to switch two kinds of pulse combined outputs, the current state of returning AGV that so just can be real-time the cycle with 50ms.
Meanwhile, single-chip microcomputer is packaged into Frame with targeted sites and the current landmark information that reads, and sends to remote supervisory and control(ling) equipment by radio communication.
Claims (1)
1. the automatic guided vehicle AGV setting apparatus with radio communication function is characterized in that comprising: single-chip microcomputer central control unit, the input signal module of AGV, output signal module, human-computer interaction module and wireless communication module; Wherein: the single-chip microcomputer central control unit is identified the status information data of importing by the input signal module of AGV, on the one hand, the display part that the state outcome that identifies is sent to the charactron in the human-computer interaction module shows, on the other hand, the status information data of AGV is packaged into Frame, sends to the remote monitoring end by wireless communication module; In addition, the single-chip microcomputer central control unit reads out the key value of human-computer interaction module, and produce control instruction corresponding according to key value and the current AGV status information that reads, this instruction is issued AGV by the output signal module, simultaneously, the single-chip microcomputer central control unit receives the command information that host computer is sent by wireless communication module, and produces steering order output;
The input signal module of described AGV is set concrete signal at the setting apparatus of automatic guided vehicle, and input signal comprises following ten signal wires: 8 bit data bus of seven segment digital tubes, the address signal line of three charactrons; The input signal module of described AGV and single-chip microcomputer central control unit are by wired connection, and the signal wire of connection always has 11, and 11 input signals with AGV are corresponding one by one respectively; The input signal module of described AGV becomes the signal of 5V with the optocoupler isolating chip with the 24V Signal Matching of input, reads for the single-chip microcomputer central control unit then;
Described output signal module, its output signal comprises: add, subtract, set, function switch key, reset button; Be provided with a Darlington transistor array in the output signal module, the power supply of Darlington transistor array is 24V, makes the 24V Signal Matching of output signal and AGV; Be wired connection between described output signal module and the single-chip microcomputer central control unit, public 5 of wiring, corresponding respectively at five signals of output signal module;
Described human-computer interaction module comprises the demonstration and two parts of input of setting button of charactron, the display part of charactron adopts 9 seven segment digital tubes to characterize the status information of AGV, the scanning unification of the driving of charactron and button is finished by MAX6954, and MAX6954 and single-chip microcomputer central control unit carry out data communication by the SPI interface; The button look-at-me of described MAX6954 is to receive an external interrupt mouth of single-chip microcomputer central control unit; The mutual panel of described human-computer interaction module has five button inputs, and three charactron display boxes are targeted sites display box, current terrestrial reference display box, error code display box; Two pilot lamp are power light and at the line index pilot lamp;
The described wireless communication module status information that AGV is current sends to the remote monitoring end, the status information that needs to send comprises: the ground scale value of the vehicle present position that reads in the blink states of charactron, the targeted sites information of setting input, the terrestrial reference current of living in of setting output, the targeted sites that reads in the driving process, the driving process, and the error code when running into mistake, carry out exchanges data by the SCI mouth between wireless communication module and the single-chip microcomputer.
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| CN103197676B (en) * | 2013-03-13 | 2015-07-08 | 天津雅飞科技有限公司 | Automatic guided vehicle (AGV) control method capable of carrying out multi-functional set on single site |
| CN103558855A (en) * | 2013-11-10 | 2014-02-05 | 广西柳工路创制造科技有限公司 | Intelligent logistics tracking trolley and control system thereof |
| EP3037907A1 (en) * | 2014-12-23 | 2016-06-29 | Université Sciences Technologies Lille | Autonomously assisted and guided vehicle |
| CN106483936B (en) * | 2015-08-25 | 2019-11-22 | 上海玑智自动化科技有限公司 | The method and system of automatic monitor task |
| CN105679168A (en) * | 2015-12-04 | 2016-06-15 | 南京航空航天大学 | Teaching experimental platform simulating ramp vehicle dispatching |
| CN105692021B (en) * | 2016-03-24 | 2018-02-06 | 合肥工业大学智能制造技术研究院 | A kind of Intelligent logistics storage shuttle vehicle control and its method based on STM |
| CN108255183A (en) * | 2018-03-29 | 2018-07-06 | 广东嘉腾机器人自动化有限公司 | A kind of AGV terrestrial references card instruction system and terrestrial reference card instruction setting method |
| CN108974817B (en) * | 2018-08-29 | 2021-01-05 | 青岛港国际股份有限公司 | Automatic wharf positioning protection method, device and system |
| CN113923520B (en) * | 2021-11-25 | 2024-02-02 | 北京天创绿能科技发展有限公司 | Mobile multi-LED screen combined arrangement method and system using transport trolley |
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| CN100555142C (en) * | 2008-01-24 | 2009-10-28 | 浙江大学 | Distributed measure and control device of automatic guided vehicle and parking position control method |
| CN201597657U (en) * | 2009-11-16 | 2010-10-06 | 张越峰 | Multifunctional automatic direction vehicle |
| CN102081403B (en) * | 2009-12-01 | 2012-12-19 | 张越峰 | Automatic guidance vehicle with intelligent multi-media playing function |
| CN102103379A (en) * | 2009-12-17 | 2011-06-22 | 广州风神汽车有限公司 | Dispatching system of automated guided vehicle (AGV) |
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Application publication date: 20120411 Assignee: Zhejiang Nuoli Machinery Co., Ltd. Assignor: Shanghai Jiao Tong University Contract record no.: 2015330000281 Denomination of invention: Automatic guided vehicle (AGV) setting device possessing wireless communication function Granted publication date: 20130828 License type: Exclusive License Record date: 20151218 |
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