CN103197676B - Automatic guided vehicle (AGV) control method capable of carrying out multi-functional set on single site - Google Patents
Automatic guided vehicle (AGV) control method capable of carrying out multi-functional set on single site Download PDFInfo
- Publication number
- CN103197676B CN103197676B CN201310080232.8A CN201310080232A CN103197676B CN 103197676 B CN103197676 B CN 103197676B CN 201310080232 A CN201310080232 A CN 201310080232A CN 103197676 B CN103197676 B CN 103197676B
- Authority
- CN
- China
- Prior art keywords
- agv
- website
- switch
- setting
- site
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Abstract
The invention relates to an automatic guided vehicle (AGV) control method capable of carrying out multi-functional set on a single site. The AGV control method is mainly characterized by comprising the following steps: setting site functions of sites where an AGV passes, and saving parameters of the site functions in a the AGV vehicle-mounted controller; and when the AGV vehicle-mounted controller controls the AGV to reach a certain site, carrying out the corresponding function according to the type of the site. The AGV control method is reasonable in design. The site functions of the sites where the AGV vehicle-mounted controller passes are set through an AGV handheld setter, including the stopping time of the AGV at the site, the actions of the AGV at the site, the driving direction when the AGV passes by the site, the driving speed when the AGV passes by the site and the like. Control functions of driving routes of different AGVs are achieved, requirements of different users, and execution efficiency of all the AGVs is improved. The AGV control method capable of carrying out multi-functional set on the single site has the advantages of being simple in control method, convenient to maintain and manage, wide in applied range and the like.
Description
Technical field
The invention belongs to automatic guided vehicle technical field, especially a kind of AGV control method can carrying out multi-functional setting to single-site.
Background technology
Automatic guided vehicle (Automated Guided Vehicle is called for short AGV) refers to and is equipped with the homing guidance such as electromagnetism or optics device, can travel along the guide path of regulation and have the transport vehicle of safeguard protection and various transfer function.In AGV control system, the action of AGV dolly realizes controlling by Vehicle Controller, vehicle-mounted control passes through navigation website according to certain course, current or next step action is performed according to the function of this navigation website, the function of these navigation websites pre-sets, and the n-back test of the corresponding AGV of each website, its Problems existing is: cannot to the course of different AGV dolly, speed, directions etc. control flexibly and effectively, its AGV control mode is complicated, efficiency is low, website number is many, be difficult to the demand meeting variation application.
Summary of the invention
The object of the invention is to overcome the deficiencies in the prior art, provide a kind of reasonable in design, control simple, execution efficiency high and applied widely give multi-purpose AGV control method to separate site each in AGV course.
The present invention solves its technical matters and takes following technical scheme to realize:
An AGV control method for multi-functional setting can be carried out single-site, comprise the following steps:
Step 1: setting AGV dolly through the website function of website, and website functional parameter is kept in AGV Vehicle Controller;
When step 2:AGV Vehicle Controller control AGV dolly arrives certain website, perform corresponding function according to this type of site.
And described step 1 is carried out setting by the hand-held setting apparatus of AGV to AGV Vehicle Controller and is realized, and the hand-held setting apparatus of described AGV adopts wired mode or wireless mode to realize communication function.
And described type of site is all the website that can carry out setting, or comprises and can carry out the website set and the website that can not set.
And, described setting AGV dolly through the website function of website be that the website that can set is set.
And described step 1 comprises following processing procedure:
(1) use the license number toggle switch of AGV hand-held setting apparatus arrange needed for the license number of AGV dolly is set, use station number toggle switch that the required station number arranged is set, use down time toggle switch that the required down time arranged is set;
(2) use the holding function of the AGV holding function switch setting website of the hand-held setting apparatus of AGV;
(3) this website functional parameter is preserved by AGV Vehicle Controller.
And, described step (2) and step (3) between also comprise the step using the inspection button on AGV hand-held setting apparatus to check each website function setting, as found mistake, then reset this website function.
And described AGV holding function switch includes but not limited to a kind of in following switch or their combination: stopping/craspedodrome switch, left lateral/right lateral switch, two bit rate switches, advance/laggard switch, the effective switch of towbar, website ignores switch and obstacle sensor ignores switch.
And the treatment step of described step 2 is: when AGV Vehicle Controller control AGV dolly arrives certain website, judge the type of this website, if this website is the website that can not set, then perform this action according to the fixed function control AGV dolly of this website; If when this website is the website that can set, AGV Vehicle Controller transfers the functional parameter of this website, and control AGV dolly performs the function of this website.
Advantage of the present invention and good effect are:
The present invention is reasonable in design, by AGV hand-held setting apparatus, AGV Vehicle Controller is arranged its website function through website, comprise the down time of AGV dolly at this website, the action at our station and direction of traffic, road speed etc. by this website, realize the controlling functions to different AGV trolley travelling route, meet the needs of different user, improve the execution efficiency of each AGV dolly, have control method simple, be convenient to maintenance and management, the feature such as have wide range of applications.
Accompanying drawing explanation
Fig. 1 is the machine shell panel schematic diagram of the hand-held setting apparatus of AGV used in the present invention;
Fig. 2 is the control circuit block scheme of the hand-held setting apparatus of AGV used in the present invention;
Fig. 3 is the circuit block diagram of AGV Vehicle Controller used in the present invention.
Embodiment
Below in conjunction with accompanying drawing, the embodiment of the present invention is further described:
An AGV control method for multi-functional setting can be carried out single-site, comprise the following steps:
Step 1: setting AGV dolly through the website function of website, and website functional parameter to be kept in AGV Vehicle Controller.
This step is carried out setting by the hand-held setting apparatus of AGV to AGV Vehicle Controller and is realized.
As shown in Figure 1, the machine shell panel of the hand-held setting apparatus of AGV is provided with two license number displays 1, two station number displays 2, four down time display 3, AGV holding function display lamp 4, working station indicator 6, function button 5, toggle switch 7 and AGV holding function switch 8, wherein, working station indicator comprises power light (PWR), run indicator (RUN), check pilot lamp (CHK), pilot lamp (SET) is set, make mistakes pilot lamp (ERR) and normal pilot lamp (OK), AGV holding function display lamp comprises advance, laggard, left lateral, right lateral, stop, towbar, website is ignored and obstacle sensor pilot lamp, and function button comprises the inspection button that two move up and down selection, exit button, confirm button and preserve button, toggle switch comprises two license number toggle switchs (license number setting), two station number toggle switchs (station number setting) and four toggle switch down times (setting down time), AGV holding function switch (AGV action setting) comprises stopping/craspedodrome switch, left lateral/right lateral switch, two rate selection switches, advance/laggard switch, effectively/towbar switch, ignore/website switch and ignore/obstacle sensor switch.
As shown in Figure 2, control circuit in casing comprises microprocessor and data transmission device, microprocessor is connected with data transmission device and realizes the data communication facility with AGV Vehicle Controller, microprocessor is respectively by I/O interface and license number display simultaneously, station number display, stand-by time display, AGV holding function display lamp, license number toggle switch, station number toggle switch, down time toggle switch, AGV holding function switch and function button are connected, microprocessor receives license number toggle switch, station number toggle switch, down time toggle switch, function button also detects AGV holding function switch and completes corresponding set-up function, and result will be set by license number display, station number display, stand-by time display, AGV holding function display lamp shows, be transferred in AGV vehicle-mounted control by data transmission device simultaneously.Microprocessor adopts single-chip microcomputer to realize, and data transmission device both can adopt wireless data transmission device, also can adopt wired data transfer device.
As shown in Figure 3, AGV Vehicle Controller is by microprocessor, data transmission device, actuating unit is entered in front and back, work instruction tower lamp, towbar device, drive motor interface, navigation sensor, site sensor, obstacle avoidance sensor, external control interface, external control is fed back, microprocessor is connected with data transmission device and realizes the data communication facility with the hand-held setting apparatus of AGV, microprocessor and navigation sensor simultaneously, site sensor, obstacle avoidance sensor, external control interface is connected realization to the collection of external data and measuring ability, actuating unit is entered in microprocessor and front and back, work instruction tower lamp, towbar device, the corresponding controlling functions of drive motor Interface realization.Microprocessor is connected with external signal interface and external control signal feedback module, when peripheral control unit (as PLC) sends corresponding steering order by external control signal interface to microprocessor, after the instructions such as speed, fork, stopping, front startup, rear startup, microprocessor exports corresponding instruction feedback signal by external control signal feedback module.Data transmission device in AGV Vehicle Controller is identical with the communication mode of the hand-held setting apparatus of AGV, both can adopt wireless data transmission device, also can adopt wired data transfer device.
The concrete grammar of this step comprises following content:
1, use the license number toggle switch of AGV hand-held setting apparatus arrange needed for the license number of AGV dolly is set, use station number toggle switch that the required station number arranged is set, use down time toggle switch that the required down time arranged is set.
In an AGV control system, website can be all the website (can carry out multi-functional setting to website) that can carry out multi-functional setting to website, also can comprise the website (can carry out multi-functional setting to website) that can carry out multi-functional setting to website and the website (fixed function) that can not set.Wherein, the website that can not set is solidified in advance by AGV Vehicle Controller, and these websites enjoy the control right of priority to AGV dolly, do not set the function of above-mentioned website by the hand-held setting apparatus of AGV.
In the present embodiment, the license number scope of AGV dolly is 00 to 99, and the station number scope that can set is: 14 to 61, and the scope of down time is: 01-9999 second.The station number that can not set is 0 to 13, website 0 to 13 to be solidificated in AGV controller (wherein in advance, the function of website 0 is: in speed, the function of website 1 is: speed is low, the function of website 2 is: stop, the function of website 3 is: speed is high, the function of website 4 is: fork right lateral website, the function of website 5 is: fork left lateral website, the function of website 6 is: commutation is entered in front and back, the function of website 7 is: towbar liter, the function of website 8 is: for subsequent use, the function of website 9 is: towbar falls, website, the function of 10 is: shielding obstacle sensor, the function of website 11 is: shielding obstacle sensor is removed, the function of website 12 is: ignore website and read in, the function of website 13 is: ignore website and read in releasing).
2, the holding function of the AGV holding function switch setting website of the hand-held setting apparatus of AGV is used.
The hand-held setting apparatus of AGV comprises following functions switch:
Stopping/craspedodrome switch: after switch is pushed position of rest, AGV dolly will stop at our station, and down time is set by [down time] toggle switch, maximum 9990 seconds, after expiration, AGV dolly will start automatically, when pushing 0000, being and manually starting.When switch being pushed craspedodrome position, then for keeping straight on, AGV dolly does not stop at our station.
Left lateral/right lateral switch: when this switch pushes assigned direction, AGV dolly will run along direction initialization (left lateral or right lateral) after our station, until next time changes direction.
Speed switch: speeds control is set by two, left and right switch, and left-handed opening is SPEED1, and right switch is SPEED2, works as SPEED1=1, SPEED2=1 is high speed, about 30 ms/min of speed; SPEED1=1, SPEED2=0 are middling speed, about 22 ms/min of speed; SPEED1=0, SPEED2=1 are low speed, about 15 ms/min of speed.(Speed Setting can not be SPEED1=0, SPEED2=0.Speed Setting refers to by after this website, the speed that AGV dolly will run.）
Advance/laggard switch: direction change-over switch.The change of direction setting refers to will change traffic direction at this website.This setting needs AGV dolly will perform under our station stops.
The effective switch of towbar: after this switch pushes active position, the towbar of AGV dolly will rise at this website, to drag goods.After this switch pushes non-effective position, the towbar of AGV dolly will be fallen at this website, to stop dragging goods.The rise of towbar and fall time are approximately 3 seconds.This setting needs AGV dolly will perform under our station stops.
Website ignores switch: this switch pushes ignore bit's postpone, and AGV dolly will after this website, and the website function signal of reading is no longer valid, until website ignores cancellation.
Obstacle sensor ignores switch: this switch pushes ignore bit's postpone, and AGV dolly will after this website, and the obstacle sensor of direct of travel will be temporarily ineffective, until obstacle sensor ignores cancellation.
3, after completing above-mentioned set-up function, the function setting of each website can be checked by the inspection button (about two check button) in function button.Errors excepted, repeat website function setting, confirm and preserve, this website function originally arranged will be modified, and send corresponding controling parameters simultaneously, realize the set-up function to AGV trolley travelling circuit to AGV Vehicle Controller.
4, finally preserved by the website functional parameter of AGV Vehicle Controller by this.
When step 2:AGV Vehicle Controller control AGV dolly arrives certain website, AGV can perform corresponding function according to this type of site.
In this step, AGV dolly AGV Vehicle Controller at an arrival website time, AGV Vehicle Controller judges that this website to carry out the website set and the website that can not set, if when this website is the website that can set, AGV Vehicle Controller performs corresponding action according to the function of solidification, otherwise AGV Vehicle Controller calls the functional parameter of this website of preservation, perform corresponding action.Such as, the down time of AGV dolly at this website, the action at our station and direction of traffic, road speed etc. by this website.
In this step, also can be all the website that can carry out setting at the website of AGV course.
This AGV control method according to actual needs, can carry out function setting to the website of AGV dolly process, and each AGV dolly is different according to function, the function of website of process be also not quite similar, thus meet the needs of the different disposal of AGV dolly.
It is emphasized that; embodiment of the present invention is illustrative; instead of it is determinate; therefore the present invention is not limited to the embodiment described in embodiment; every other embodiments drawn by those skilled in the art's technical scheme according to the present invention, belong to the scope of protection of the invention equally.
Claims (6)
1. can carry out an AGV control method for multi-functional setting to single-site, it is characterized in that: comprise the following steps:
Step 1: setting AGV dolly through the website function of website, and website functional parameter is kept in AGV Vehicle Controller; This step comprises following processing procedure:
(1) use the license number toggle switch of AGV hand-held setting apparatus arrange needed for the license number of AGV dolly is set, use station number toggle switch that the required station number arranged is set, use down time toggle switch that the required down time arranged is set;
(2) use the holding function of the AGV holding function switch setting website of the hand-held setting apparatus of AGV;
(3) this website functional parameter is preserved by AGV Vehicle Controller;
Step 1 set AGV dolly through the website function of website be that the website that can set is set;
When step 2:AGV Vehicle Controller control AGV dolly arrives certain website, perform corresponding function according to this type of site.
2. the AGV control method can carrying out multi-functional setting to single-site according to claim 1, it is characterized in that: described step 1 is carried out setting by the hand-held setting apparatus of AGV to AGV Vehicle Controller and realized, and the hand-held setting apparatus of described AGV adopts wired mode or wireless mode to realize communication function.
3. the AGV control method can carrying out multi-functional setting to single-site according to claim 1, is characterized in that: described type of site is all the website that can carry out setting, or comprises and can carry out the website set and the website that can not set.
4. the AGV control method can carrying out multi-functional setting to single-site according to claim 1, it is characterized in that: described processing procedure (2) and processing procedure (3) between also comprise the processing procedure using the inspection button on AGV hand-held setting apparatus to check each website function setting, as found mistake, then reset this website function.
5. the AGV control method can carrying out multi-functional setting to single-site according to claim 1, is characterized in that: described AGV holding function switch comprises a kind of in following switch or their combination: stopping/craspedodrome switch, left lateral/right lateral switch, two bit rate switches, advance/laggard switch, the effective switch of towbar, website ignores switch and obstacle sensor ignores switch.
6. the AGV control method can carrying out multi-functional setting to single-site according to claim 1, it is characterized in that: the treatment step of described step 2 is: when AGV Vehicle Controller control AGV dolly arrives certain website, judge the type of this website, if this website is the website that can not set, then perform this action according to the fixed function control AGV dolly of this website; If when this website is the website that can set, AGV Vehicle Controller transfers the functional parameter of this website, and control AGV dolly performs the function of this website.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310080232.8A CN103197676B (en) | 2013-03-13 | 2013-03-13 | Automatic guided vehicle (AGV) control method capable of carrying out multi-functional set on single site |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310080232.8A CN103197676B (en) | 2013-03-13 | 2013-03-13 | Automatic guided vehicle (AGV) control method capable of carrying out multi-functional set on single site |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103197676A CN103197676A (en) | 2013-07-10 |
| CN103197676B true CN103197676B (en) | 2015-07-08 |
Family
ID=48720339
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310080232.8A Active CN103197676B (en) | 2013-03-13 | 2013-03-13 | Automatic guided vehicle (AGV) control method capable of carrying out multi-functional set on single site |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103197676B (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105807759B (en) * | 2014-12-29 | 2019-03-19 | 深圳市裕展精密科技有限公司 | Automatic guided vehicle control system and automatic guided vehicle control method |
| CN105302139B (en) * | 2015-11-02 | 2018-11-30 | 天津阿备默机器人科技有限公司 | AGV map setting method based on walking logic |
| CN109657888A (en) * | 2017-10-10 | 2019-04-19 | 杭州海康机器人技术有限公司 | A kind of AGV task creating method, device, electronic equipment and storage medium |
| CN109215359A (en) * | 2018-11-15 | 2019-01-15 | 黄石鼎信机电有限公司 | A kind of method of decentralization AGV traffic control |
| CN109857074A (en) * | 2019-02-02 | 2019-06-07 | 宁波吉利汽车研究开发有限公司 | Intelligent logistics system and workshop management system |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH11119829A (en) * | 1997-10-16 | 1999-04-30 | Nippon Steel Corp | Vehicle navigation management system |
| JP3491195B2 (en) * | 1999-10-29 | 2004-01-26 | 株式会社椿本チエイン | Railroad vehicle operation management device |
| KR100648307B1 (en) * | 1999-11-04 | 2006-11-23 | 삼성전자주식회사 | Method for controlling a system of automatic guided vehicles |
| JP5503419B2 (en) * | 2010-06-03 | 2014-05-28 | 株式会社日立製作所 | Automated guided vehicle and travel control method |
| JP5765524B2 (en) * | 2011-02-01 | 2015-08-19 | マツダ株式会社 | Transport system for automated guided vehicles |
| CN102799177A (en) * | 2011-05-23 | 2012-11-28 | 捷达世软件（深圳）有限公司 | Automated guided vehicle (AGV) control system and method |
| CN102411369B (en) * | 2011-09-28 | 2013-08-28 | 上海交通大学 | Automatic guided vehicle (AGV) setting device possessing wireless communication function |
| CN202694147U (en) * | 2012-05-02 | 2013-01-23 | 广州市远能物流自动化设备科技有限公司 | Automatic guided vehicle and driving control system of automatic guided vehicle |
-
2013
- 2013-03-13 CN CN201310080232.8A patent/CN103197676B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN103197676A (en) | 2013-07-10 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103197676B (en) | Automatic guided vehicle (AGV) control method capable of carrying out multi-functional set on single site | |
| CN104002861B (en) | The transfer and its control method of a kind of intelligent vehicle | |
| JP6109616B2 (en) | Automated guided vehicle | |
| CN202838021U (en) | Intelligent tracking remote-control trolley | |
| CN108459600A (en) | A kind of vision navigation system of AGV trolleies | |
| CN104700613A (en) | Method for leading blind man across road, mobile terminal and road indication device | |
| CN103425128A (en) | Intelligent logistics track car security system | |
| CN107092257A (en) | A kind of vehicle control syetem of AGV dollies | |
| JP5211792B2 (en) | Control method and program for automatic guided vehicle | |
| CN205121333U (en) | AGV on -board control system | |
| CN103019238A (en) | Automatic guided vehicle system based on programmable controller and control method thereof | |
| CN103777566B (en) | Lathe zero point power-off keeping method based on simple nc system 808D | |
| CN105882664A (en) | Ropeway carriage speed control method | |
| CN205809696U (en) | Cross-country heavy duty AGV | |
| CN106843228A (en) | Method and system based on mobile terminal line setting intelligent carriage walking path | |
| CN206096938U (en) | Intelligent vehicle with two -way characteristic of traveling | |
| CN203149404U (en) | AGV (Automated Guided Vehicle) hand-held setting device and AGV control system thereof | |
| CN203376643U (en) | Logistics track intelligent trolley safety system | |
| CN106652518A (en) | Vehicle coordination control system based on vehicle networking | |
| CN204965187U (en) | Tracking dolly based on machine vision | |
| JP2005225662A (en) | Truck monitoring control device, unmanned truck, transport system, and truck monitoring controlling method | |
| CN102156475A (en) | Method and device for programmably and electromagnetically guiding AGV | |
| CN205274520U (en) | Assembly line RGV commodity circulation carrier system | |
| CN202929478U (en) | Manual loading and unloading automatic guided vehicle control system | |
| CN207817529U (en) | A kind of car-mounted terminal of AGV trolleies |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |