CN105717921A - Automated guided vehicle (AGV) system - Google Patents
Automated guided vehicle (AGV) system Download PDFInfo
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- CN105717921A CN105717921A CN201410711675.7A CN201410711675A CN105717921A CN 105717921 A CN105717921 A CN 105717921A CN 201410711675 A CN201410711675 A CN 201410711675A CN 105717921 A CN105717921 A CN 105717921A
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Abstract
The invention discloses an automated guided vehicle (AGV) system, comprising a vehicle-mounted control system and a ground control system, wherein the vehicle-mounted control system comprises a GPS (Global Positioning System), a power management module, a driving module, a wireless transceiving module A and a ranging module connected to a control module A separately and the control module A; the ground control system comprises a ground navigation system and a scheduling management system; the scheduling management system comprises a microcomputer, a mobile terminal, a control module B, a communication module, a storage module and a wireless transceiving module B; the mobile terminal, the communication module, the storage module and the wireless transceiving module B are separately connected to the control module B; the control module B is connected to the microcomputer; and the microcomputer is connected to the ground navigation system. The AGV system realizes an AGV navigation mode without laid tracks, can simultaneously schedule a plurality of AGVs without mutual collision, save laying cost and time of navigation tracks, reduces the cost and improves the production efficiency.
Description
Technical field
The present invention relates to a kind of automaton, specifically a kind of automatic guided vehicleAGVSystem.
Background technology
Automatic guided vehicle refers to and is equipped with homing guidance device, it is possible to travels by the guide path of regulation, has safeguard protection and the transport vehicle of various transfer function.But, the navigation mode of existing automatic guided vehicle mainly adopts track to carry out the rail type navigation mode of travel route guiding, the Electrified track magnetic orbital of rail type navigation mode and metal track two class, electromagnetic path navigation mode is to utilize to be laid on electromagnetic path on the ground to arrange travel route, and the information that automatic guided vehicle then detects electromagnetic path according to the sensor disposed on it is navigated；Metal rail channel type navigation mode is to utilize to be laid on ground or aerial metal track to arrange form route, and automatic guided vehicle is pressed the constraint of metal track completely and travelled.When using rail type navigation mode, the location that automatic guided vehicle reaches operation website is simply accurate, but also exist in such event following two problem: one, once transport path changes, need again to lay track, substantial amounts of time and efforts will be wasted, illustrate that this rail type air navigation aid is suitable only for the mode of production that path is fixing；Two, track is required height in the position that operation website relative activity is equipped and direction, automatic guided vehicle and working equipment just can be made accurately to carry out material exchange.
Summary of the invention
It is an object of the invention to provide a kind of automatic guided vehicleAGVSystem, it is achieved that without the automatic guided vehicle navigation mode laying track, multiple automatic guided vehicle can being dispatched without there is mutual collision simultaneously, saving laying expense and the time of navigation track, having saved cost, improve production efficiency.
For achieving the above object, the present invention provides following technical scheme:
A kind of automatic guided vehicleAGVSystem, including vehicle control syetem and ground control system；Described vehicle control syetem includes GPS locating module, power management module, driving module, controls modules A, radio receiving transmitting module A and range finder module, described GPS locating module, power management module, driving module, radio receiving transmitting module A and range finder module are connected with control module respectively, described power management module is for detecting the electricity of automatic guided vehicle, and the charging process of automatic guided vehicle is also managed by described power management module；Described ground control system includes ground-control guidance system and dispatching management information system, described dispatching management information system includes microcomputer, mobile terminal, control module B, communication module, memory module and radio receiving transmitting module B, described mobile terminal, communication module, memory module and radio receiving transmitting module B are connected with control module B respectively, described control module B is connected with microcomputer, and microcomputer is connected with ground-control guidance system.
As the further scheme of the present invention: described control modules A is sent to communication module by the position signalling of the radio receiving transmitting module A vehicle control syetem detected by GPS locating module, position signalling is sent after receiving the position signalling of vehicle control syetem to microcomputer and carries out position display by described communication module, the position signalling of vehicle control syetem is mated by described microcomputer with ground-control guidance system, thus realizing the management and running of automatic guided vehicle.
As the further scheme of the present invention: after described mobile terminal inputs instruction to microcomputer, described Microcomputer control is controlled module B and sends control signal and be transferred to the radio receiving transmitting module A of vehicle control syetem by communication module, described radio receiving transmitting module A passes to control modules A after receiving control signal, described control modules A detects further according to the control signal received and controls to drive the running status of module, and described memory module controls module B, control modules A, the instruction driving module and mobile terminal and information for preserving.
As the further scheme of the present invention: the number of described range finder module is at least 2, and described range finder module is distributed in the surrounding outside automatic guided vehicle.
As the further scheme of the present invention: the range finder module on front side of described automatic guided vehicle is remote range finder module, the range finder module of described its excess-three side of automatic guided vehicle car body is closely range finder module.
As the further scheme of the present invention: described range finder module is ultrasonic type displacement transducer, described range finder module is arranged on the same level line outside automatic guided vehicle car body.
As the further scheme of the present invention: the number of described vehicle control syetem is at least one, namely the number of automatic guided vehicle is at least one.
As the further scheme of the present invention: after described mobile terminal inputs instruction to microcomputer, after the position signalling of the vehicle control syetem that described microcomputer sends according to multiple control modules A carrys out the vehicle control syetem that judging distance mobile terminal is nearest, described Microcomputer control is controlled module B and sends control signal and be transferred to the radio receiving transmitting module A of the nearest vehicle control syetem of distance mobile terminal by communication module, described radio receiving transmitting module A passes to control modules A after receiving control signal, described control modules A is further according to the control signal detection received and the running status controlling to drive module, thus realizing the management and running of automatic guided vehicle.
Compared with prior art, the invention has the beneficial effects as follows: the present invention is by the cooperation of GPS locating module and ground-control guidance system, achieve without the automatic guided vehicle navigation mode laying track, and the driving path of automatic guided vehicle can freely change, while meeting driving paths different in a large number, also save a large amount of expense laying track, high financial profit.The present invention is by the range finding of multiple ultrasonic type displacement transducers, multiple automatic guided vehicle can be dispatched simultaneously, avoid automatic guided vehicle that the phenomenon of collision mutually occurs, solve many single problems of automatic guided vehicle travel route, avoid simultaneously and set up the track that more navigates, save cost, improve production efficiency.
Accompanying drawing explanation
Fig. 1 is a kind of automatic guided vehicleAGVThe structure chart of system.
Detailed description of the invention
Below in conjunction with the embodiment of the present invention and accompanying drawing, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is only a part of embodiment of the present invention, rather than whole embodiments.Based on the embodiment in the present invention, the every other embodiment that those of ordinary skill in the art obtain under not making creative work premise, broadly fall into the scope of protection of the invention.
Referring to Fig. 1, in the embodiment of the present invention, a kind of automatic guided vehicles ystem, including vehicle control syetem and ground control system；Vehicle control syetem includes GPS locating module, power management module, driving module, controls modules A, radio receiving transmitting module A and range finder module, GPS locating module, power management module, driving module, radio receiving transmitting module A and range finder module are connected with control module respectively, power management module is for detecting the electricity of automatic guided vehicle, and the charging process of automatic guided vehicle is also managed by described power management module；Ground control system includes ground-control guidance system and dispatching management information system, dispatching management information system includes microcomputer, mobile terminal, control module B, communication module, memory module and radio receiving transmitting module B, mobile terminal, communication module, memory module and radio receiving transmitting module B are connected with control module B respectively, controlling module B to be connected with microcomputer, microcomputer is connected with ground-control guidance system.Wherein, the number of range finder module is at least 2, range finder module is distributed in the surrounding outside automatic guided vehicle and is positioned on same level line, and the range finder module on front side of automatic guided vehicle is remote range finder module, and the range finder module of its excess-three side of automatic guided vehicle car body is closely range finder module.Range finder module is ultrasonic type displacement transducer.
In the embodiment of the present invention, control modules A to be sent to communication module by the position signalling of the radio receiving transmitting module A vehicle control syetem detected by GPS locating module, position signalling is sent after receiving the position signalling of vehicle control syetem to microcomputer and carries out position display by communication module, the position signalling of vehicle control syetem is mated by microcomputer with ground-control guidance system, thus realizing the management and running of automatic guided vehicle.
After mobile terminal inputs instruction to microcomputer, Microcomputer control is controlled module B and sends control signal and be transferred to the radio receiving transmitting module A of vehicle control syetem by communication module, radio receiving transmitting module A passes to control modules A after receiving control signal, controlling the running status that modules A detects further according to the control signal received and controls to drive module, memory module controls module B, control modules A, the instruction driving module and mobile terminal and information for preserving.
Present disclosure additionally applies for multiple vehicle control syetem, namely multiple automatic guided vehicle, share a set of ground control system, its working method is: after mobile terminal inputs instruction to microcomputer, after the position signalling of the vehicle control syetem that microcomputer sends according to multiple control modules A carrys out the vehicle control syetem that judging distance mobile terminal is nearest, Microcomputer control is controlled module B and sends control signal and be transferred to the radio receiving transmitting module A of the nearest vehicle control syetem of distance mobile terminal by communication module, radio receiving transmitting module A passes to control modules A after receiving control signal, control modules A further according to the control signal detection received and the running status controlling to drive module, thus realizing the management and running of automatic guided vehicle.
The present invention is by the cooperation of GPS locating module and ground-control guidance system, achieve without the automatic guided vehicle navigation mode laying track, and the driving path of automatic guided vehicle can freely change, while meeting driving paths different in a large number, also save a large amount of expense laying track, high financial profit.The present invention is by the range finding of multiple ultrasonic type displacement transducers, multiple automatic guided vehicle can be dispatched simultaneously, avoid automatic guided vehicle that the phenomenon of collision mutually occurs, solve many single problems of automatic guided vehicle travel route, avoid simultaneously and set up the track that more navigates, save cost, improve production efficiency.
It is obvious to a person skilled in the art that the invention is not restricted to the details of above-mentioned one exemplary embodiment, and when without departing substantially from the spirit of the present invention or basic feature, it is possible to realize the present invention in other specific forms.Therefore, no matter from which point, embodiment all should be regarded as exemplary, and be nonrestrictive, the scope of the invention rather than described above limits, it is intended that all changes in the implication of the equivalency dropping on claim and scope included in the present invention.
In addition, it is to be understood that, although this specification is been described by according to embodiment, but not each embodiment only comprises an independent technical scheme, this narrating mode of description is only for clarity sake, description should be made as a whole by those skilled in the art, and the technical scheme in each embodiment through appropriately combined, can also form other embodiments that it will be appreciated by those skilled in the art that.
Claims (8)
1. an automatic guided vehicle AGV system, it is characterised in that include vehicle control syetem and ground control system；Described vehicle control syetem includes GPS locating module, power management module, driving module, controls modules A, radio receiving transmitting module A and range finder module, described GPS locating module, power management module, driving module, radio receiving transmitting module A and range finder module are connected with control module respectively, described power management module is for detecting the electricity of automatic guided vehicle, and the charging process of automatic guided vehicle is also managed by described power management module；Described ground control system includes ground-control guidance system and dispatching management information system, described dispatching management information system includes microcomputer, mobile terminal, control module B, communication module, memory module and radio receiving transmitting module B, described mobile terminal, communication module, memory module and radio receiving transmitting module B are connected with control module B respectively, described control module B is connected with microcomputer, and microcomputer is connected with ground-control guidance system.
2. automatic guided vehicle AGV system according to claim 1, it is characterized in that, described control modules A is sent to communication module by the position signalling of the radio receiving transmitting module A vehicle control syetem detected by GPS locating module, position signalling is sent after receiving the position signalling of vehicle control syetem to microcomputer and carries out position display by described communication module, the position signalling of vehicle control syetem is mated by described microcomputer with ground-control guidance system, thus realizing the management and running of automatic guided vehicle.
3. automatic guided vehicle AGV system according to claim 1, it is characterized in that, after described mobile terminal inputs instruction to microcomputer, described Microcomputer control is controlled module B and sends control signal and be transferred to the radio receiving transmitting module A of vehicle control syetem by communication module, described radio receiving transmitting module A passes to control modules A after receiving control signal, described control modules A is further according to the control signal detection received and the running status controlling to drive module, described memory module is used for preserving control module B, control modules A, drive instruction and the information of module and mobile terminal.
4. automatic guided vehicle AGV system according to claim 1, it is characterised in that the number of described range finder module is at least 2, and described range finder module is distributed in the surrounding outside automatic guided vehicle.
5. automatic guided vehicle AGV system according to claim 4, it is characterised in that the range finder module on front side of described automatic guided vehicle is remote range finder module, the range finder module of described its excess-three side of automatic guided vehicle car body is closely range finder module.
6. automatic guided vehicle AGV system according to claim 1, it is characterised in that described range finder module is ultrasonic type displacement transducer, described range finder module is arranged on the same level line outside automatic guided vehicle car body.
7. automatic guided vehicle AGV system according to claim 1, it is characterised in that the number of described vehicle control syetem is at least, and namely the number of automatic guided vehicle is at least.
8. automatic guided vehicle AGV system according to claim 7, it is characterized in that, after described mobile terminal inputs instruction to microcomputer, after the position signalling of the vehicle control syetem that described microcomputer sends according to multiple control modules A carrys out the vehicle control syetem that judging distance mobile terminal is nearest, described Microcomputer control is controlled module B and sends control signal and be transferred to the radio receiving transmitting module A of the nearest vehicle control syetem of distance mobile terminal by communication module, described radio receiving transmitting module A passes to control modules A after receiving control signal, described control modules A is further according to the control signal detection received and the running status controlling to drive module, thus realizing the management and running of automatic guided vehicle.
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| CN201410711675.7A CN105717921A (en) | 2014-12-01 | 2014-12-01 | Automated guided vehicle (AGV) system |
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| CN201410711675.7A CN105717921A (en) | 2014-12-01 | 2014-12-01 | Automated guided vehicle (AGV) system |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106292661A (en) * | 2016-08-05 | 2017-01-04 | 江苏高科物流科技股份有限公司 | A kind of homing guidance control system based on wireless terminal and control method |
| CN107045349A (en) * | 2017-04-21 | 2017-08-15 | 东南大学 | A kind of indoor visual guidance AGV mission planning method |
| CN107390694A (en) * | 2017-08-01 | 2017-11-24 | 安徽福的信息技术服务有限公司 | A kind of AGV based on docking power supply dispatches system |
| CN107450567A (en) * | 2017-09-25 | 2017-12-08 | 芜湖智久机器人有限公司 | A kind of AGV trolley control systems for being used for warehouse or workshop automatic transportation |
| CN108099663A (en) * | 2017-12-20 | 2018-06-01 | 佛山市梦真营机电有限公司 | A kind of automobile-used shared battery |
| CN108974817A (en) * | 2018-08-29 | 2018-12-11 | 青岛港国际股份有限公司 | Automatic dock positions guard method, device and system |
| CN109089326A (en) * | 2018-10-15 | 2018-12-25 | 东沣管轨技术（北京）股份有限公司 | A kind of rail vehicle earth communication system transported under the control of control system |
| CN110471405A (en) * | 2018-05-10 | 2019-11-19 | 深圳市神州云海智能科技有限公司 | A kind of robot tracking charging method and robot |
| CN111862658A (en) * | 2019-04-24 | 2020-10-30 | 扬升育乐事业股份有限公司 | Self-driving running path central control device of self-driving vehicle |
| CN113219868A (en) * | 2021-04-30 | 2021-08-06 | 新兴铸管股份有限公司 | Stride flat car remote operation network intelligence control system |
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2014
- 2014-12-01 CN CN201410711675.7A patent/CN105717921A/en active Pending
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106292661A (en) * | 2016-08-05 | 2017-01-04 | 江苏高科物流科技股份有限公司 | A kind of homing guidance control system based on wireless terminal and control method |
| CN107045349A (en) * | 2017-04-21 | 2017-08-15 | 东南大学 | A kind of indoor visual guidance AGV mission planning method |
| CN107390694B (en) * | 2017-08-01 | 2020-08-11 | 安徽福的信息技术服务有限公司 | AGV dispatching system based on butt joint power supply |
| CN107390694A (en) * | 2017-08-01 | 2017-11-24 | 安徽福的信息技术服务有限公司 | A kind of AGV based on docking power supply dispatches system |
| CN107450567A (en) * | 2017-09-25 | 2017-12-08 | 芜湖智久机器人有限公司 | A kind of AGV trolley control systems for being used for warehouse or workshop automatic transportation |
| CN108099663A (en) * | 2017-12-20 | 2018-06-01 | 佛山市梦真营机电有限公司 | A kind of automobile-used shared battery |
| CN110471405A (en) * | 2018-05-10 | 2019-11-19 | 深圳市神州云海智能科技有限公司 | A kind of robot tracking charging method and robot |
| CN108974817A (en) * | 2018-08-29 | 2018-12-11 | 青岛港国际股份有限公司 | Automatic dock positions guard method, device and system |
| CN109089326A (en) * | 2018-10-15 | 2018-12-25 | 东沣管轨技术（北京）股份有限公司 | A kind of rail vehicle earth communication system transported under the control of control system |
| CN109089326B (en) * | 2018-10-15 | 2020-12-29 | 东沣管轨技术（北京）股份有限公司 | Rail transit vehicle-ground communication system under control of operation control system |
| CN111862658A (en) * | 2019-04-24 | 2020-10-30 | 扬升育乐事业股份有限公司 | Self-driving running path central control device of self-driving vehicle |
| CN111862658B (en) * | 2019-04-24 | 2021-10-01 | 扬升育乐事业股份有限公司 | Self-driving running path central control device of self-driving vehicle |
| CN113219868A (en) * | 2021-04-30 | 2021-08-06 | 新兴铸管股份有限公司 | Stride flat car remote operation network intelligence control system |
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Application publication date: 20160629 |