CN105807759A - Automated guided vehicle control system and automated guided vehicle control method - Google Patents
Automated guided vehicle control system and automated guided vehicle control method Download PDFInfo
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- CN105807759A CN105807759A CN201410832711.5A CN201410832711A CN105807759A CN 105807759 A CN105807759 A CN 105807759A CN 201410832711 A CN201410832711 A CN 201410832711A CN 105807759 A CN105807759 A CN 105807759A
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Abstract
The invention provides an automated guided vehicle control system which comprises a control module and a vehicle-borne module. The control module comprises a switch unit for transmitting a start signal or a stop signal, a micro processing unit for encoding the start signal or the stop signal, and a command transmitting unit for sending the encoded start signal or the encoded stop signal. The vehicle-borne module comprises a signal receiving unit for receiving the signal sent by the command transmitting unit, a micro processing unit for decoding the signal received by the signal receiving unit, and a signal transmitting unit for sending a corresponding start or stop control signal to an automated guided vehicle according to the decoded signal. The invention also provides an automated guided vehicle control method. The above automated guided vehicle control system can control the stop or start of the automated guided vehicle, thus the stop of the automated guided vehicle at all stops is not needed, and the efficiency of logistics is improved.
Description
Technical field
The present invention relates to automatic guided vehicle technical field, particularly relate to a kind of control system started or stoped that can control automatic guided vehicle and control method.
Background technology
Automatic guided vehicle (AutomatedGuidedVehicle is called for short AGV) magnetically or optically waits homing guidance device, the transport vehicle that can travel along predefined paths for being equipped with electricity.At present, AGV has been widely used in manufacturing industry.In use, AGV it is frequently necessary to rest in the website specified, and coordinates other equipment to work, completes hauling operation.Existing AGV generally can stop at each website, so there will be the situation that the website that need not stop also is stopped, causing the waste in certain man-hour and reducing logistic efficiency.
Summary of the invention
In view of above-mentioned condition, it is necessary to provide a kind of AGV AGV started or stoped that can control to control system.
A kind of automatic guided vehicle controls system, and it includes controlling module and vehicle-mounted module, and this control module includes: switch element, is used for triggering an enabling signal or a stop signal；Microprocessing unit, for being encoded enabling signal or stop signal；Instruction sending unit, is used for the enabling signal after sending coding or stop signal.This vehicle-mounted module includes: signal receiving unit, for receiving the signal that this instruction sending unit sends；Microprocessing unit, for decoding the signal that this signal receiving unit receives；Signal transmitting unit, corresponding starts or stops control signal for sending to an automatic guided vehicle according to decoded signal.
A kind of automatic guided vehicle control method, including: one controls module triggers a switching signal；This switching signal is encoded, forms command signal；Send the command signal after coding to a vehicle-mounted module；This command signal is decoded；Command signal according to decoding sends and controls the control signal that an automatic guided vehicle starts or stops.
A kind of automatic guided vehicle control method, including: one controls module triggers a switching signal；This switching signal is encoded, forms command signal；Send the command signal after coding to a vehicle-mounted module；This command signal is decoded；Positional information and work state information in conjunction with decoded command signal and an automatic guided vehicle, judge whether this automatic guided vehicle stops or starting, when judging that this automatic guided vehicle can stop or starting, then enter next step, when judging that this automatic guided vehicle cannot stop or starting, then flow process terminates；Stop or startup control signal to the transmission of this automatic guided vehicle according to the result judged.
Above-mentioned automatic guided vehicle controls system, owing to arranging control module and vehicle-mounted module, by controlling the signal that module sends, it is possible to controls automatic guided vehicle and stops or starting, therefore, it is possible to control automatic guided vehicle without all stopping at all websites, improves logistic efficiency.
Accompanying drawing explanation
Fig. 1 is the module diagram of the AGV control system of embodiment of the present invention.
Fig. 2 is that AGV shown in Fig. 1 controls the system control AGV method flow diagram started.
Fig. 3 is that AGV shown in Fig. 1 controls the system control AGV method flow diagram stopped.
Main element symbol description
Automatic guided vehicle controls system 100
Control module 10
MCU11
Switch element 13
Instruction sending unit 15
Indicating member 17
Vehicle-mounted module 30
MCU31
Signal receiving unit 33
Information acquisition unit 35
Analyze judging unit 37
Signal transmitting unit 39
Following detailed description of the invention will be entered a step in conjunction with above-mentioned accompanying drawing and the present invention will be described.
Detailed description of the invention
Please refer to Fig. 1, the automatic guided vehicle of embodiment of the present invention controls system 100(and controls system hereinafter referred to as AGV), it is not shown that it is used for controlling AGV() suspend or start.In process of manufacture, it usually needs corresponding different processing station or process equipment, multiple stop website is set.AGV controls system 100 and rests in, for the AGV controlling to specify, the website specified or start from the website stopped.
AGV controls the vehicle-mounted module 30 that system 100 includes controlling module 10 and coordinating with control module 10.During use, control module 10 and be arranged on website place, in the present embodiment, control module 10 and be arranged in the area of safety operaton of equipment of correspondence.Vehicle-mounted module 30 is arranged on AGV.Controlling module 10 in order to send enabling signal or halt signal to vehicle-mounted module 30, vehicle-mounted module 30 is in order to receive enabling signal or halt signal, and the AGV controlling to install this vehicle-mounted module 30 accordingly starts or suspends.
Control module 10 and include microprocessing unit (microprocessorunit is called for short MCU) 11, switch element 13, instruction sending unit 15 and indicating member 17.Switch element 13 connects two outer button (not shown), respectively starts button and stop button.Switch element 13 is used for triggering a switching signal, and sends this switching signal to MCU11, and switching signal comprises enabling signal and stop signal.When started by press button, switch element 13 triggers enabling signal and sends this enabling signal to MCU11.When pressing stop button, switch element 13 triggers stop signal and sends this stop signal to MCU11.
MCU11 is programmable module, after it receives switching signal, carries out signal processing and coding, forms the command signal after coding.Owing to, in production process, the website of stop is generally multiple, and the quantity of AGV is likely to as multiple, therefore, adds station code and vehicle code, the website specified in order to realize corresponding AGV to rest in MCU11 cataloged procedure.In the present embodiment, station code and vehicle code totally 16, station code is first 13, and vehicle code is latter 3.
Instruction sending unit 15 is sent to vehicle-mounted module 30 for the command signal after being encoded by MCU11.Indicating member 17 is for indicating the controlled state to AGV.In the present embodiment, when suspending AGV, indicating member 17 shows red indication signal.When starting AGV, indicating member 17 shows green indication signal.
Vehicle-mounted module 30 includes microprocessing unit (microprocessorunit is called for short MCU) 31, signal receiving unit 33, information acquisition unit 35, analyzes judging unit 37 and signal transmitting unit 39.Signal receiving unit 33 is for receiving the command signal that instruction sending unit 15 sends.MCU31 is decoded for the command signal that signal receiving unit 33 is received.
Information acquisition unit 35 is used for positional information and the work state information of Real-time Collection AGV.Analyze the judging unit 37 positional information for gathering in conjunction with the decoded command signal of MCU31 and information acquisition unit 35, judge whether AGV stops website, in conjunction with the work state information that the decoded command signal of MCU31 and information acquisition unit 35 gather, it is judged that whether AGV starts.
Specifically, when the command signal controlling module 10 transmission is stop signal, analyze the judging unit 37 positional information in conjunction with AGV, it is judged that AGV is if appropriate for stopping this website, if the positional information of AGV is in a dockable position range, then analyzes judging unit 37 and judge that AGV can stop；If the position of AGV is not in dockable position range, then analyzes judging unit 37 and judge that AGV can not stop, until AGV arrives in dockable position range, analyze judging unit 37 and just can judge that AGV can stop.When AGV stops in dockable preset range, AGV can be further advanced by the structures such as the magnetic nail on tie surface and be accurately positioned.When the command signal controlling module 10 transmission is enabled instruction, analyze the judging unit 37 work state information according to AGV, judge that AGV is if appropriate for startup, as AGV be in the processing station corresponding with stopping website or equipment coordinate be processed time, then analyze judging unit 37 and judge that AGV can not start, in order to avoid affecting the ongoing action of AGV or so as to avoid an accident；When being in non-duty or idle condition such as AGV, then analyze judging unit 37 and judge that AGV can start.
Signal transmitting unit 39 stops for sending to AGV after the judged result passing through analysis judging unit 37 or starts control signal, so that AGV can stop according to control signal or startup.
A kind of AGV control method, including: one controls module triggers a switching signal；This switching signal is encoded, forms command signal；Send the command signal after coding to a vehicle-mounted module；This command signal is decoded；Positional information and work state information in conjunction with decoded command signal and an AGV, judge whether this AGV stops or starting, when judging that this AGV can stop or starting, then enter next step, when judging that this AGV cannot stop or starting, then flow process terminates；Stop or startup control signal to this AGV transmission according to the result judged.
Below to adopting the above-mentioned control method control AGV concrete steps started or stoped to be described.
Refer to Fig. 2, control the AGV step started and include:
Step S101: trigger and start button.
Step S102:MCU11 is encoded according to the enabling signal of switch element, forms command signal.
Step S103: instruction sending unit 15 sends the command signal after coding.
Step S104: signal receiving unit 33 receives command signal.
The command signal that signal receiving unit 33 is received by step S105:MCU31 is decoded.
Step S106: analyze the work state information of the AGV that judging unit 37 gathers in conjunction with the decoded command signal of MCU31 and information acquisition unit 35, judge whether AGV starts, if analyzing judging unit 37 to judge that AGV can start, then enter next step, if analyzing judging unit 37 to judge that AGV cannot start, then flow process terminates, and AGV will not start.
Step S107: signal transmitting unit 39 sends and starts control signal.
Refer to Fig. 3, control the AGV step stopped and including:
Step S201: trigger stop button.
Step S202:MCU11 is encoded according to the stop signal of switch element, forms command signal.
Step S203: instruction sending unit 15 sends the command signal after coding.
Step S204: signal receiving unit 33 receives command signal.
The command signal that signal receiving unit 33 is received by step S205:MCU31 is decoded.
Step S206: analyze the positional information of the AGV that judging unit 37 gathers in conjunction with the decoded command signal of MCU31 and information acquisition unit 35, judge whether AGV stops, if analyzing judging unit 37 to judge that AGV can stop, then enter next step, if analyzing judging unit 37 to judge that AGV cannot stop, then flow process terminates, and AGV will not stop.
Step S207: signal transmitting unit 39 sends and stops control signal.
AGV in present embodiment controls system 100, owing to being respectively provided with control module 10 and vehicle-mounted module 30 on website and AGV, by controlling the signal that module 10 sends, AGV can be controlled stop website or start from the website stopped, therefore avoid AGV all to stop at all websites, improve logistic efficiency.Owing to information acquisition unit 35 can gather position and the duty of AGV so that comparatively accurately stop website during stopping, safer during startup, it is to avoid error starting.
It is appreciated that indicating member 17 can omit, does not indicate startup/time-out AGV also may be used.
It is appreciated that, when not needing to consider AGV stop position and duty, information acquisition unit 35 can be omitted and analyze judging unit 37, operator are by triggering startup/stop button again after the state of AGV is understood, now, after MCU31 decoding, signal transmitting unit 39 directly according to decoded command signal, sends the control signal started or stoped.
It addition, those skilled in the art also can do other change in spirit of the present invention, certainly, these changes done according to present invention spirit, all should be included in present invention scope required for protection.
Claims (10)
1. an automatic guided vehicle controls system, it is characterised in that: this automatic guided vehicle controls system and includes controlling module and vehicle-mounted module, and this control module includes:
Switch element, is used for triggering an enabling signal or a stop signal；
Microprocessing unit, for being encoded this enabling signal or this stop signal；
Instruction sending unit, is used for the enabling signal after sending coding or stop signal,
This vehicle-mounted module includes:
Signal receiving unit, for receiving the signal that this instruction sending unit sends；
Microprocessing unit, for decoding the signal that this signal receiving unit receives；
Signal transmitting unit, corresponding starts or stops control signal for sending to an automatic guided vehicle according to decoded signal.
2. automatic guided vehicle as claimed in claim 1 controls system, it is characterized in that: this vehicle-mounted module also includes information acquisition unit and analyzes judging unit, this information acquisition unit is for gathering positional information and the work state information of this automatic guided vehicle, this analysis judging unit positional information for gathering in conjunction with the decoded signal of microprocessing unit of this vehicle-mounted module and information acquisition unit, judge whether this automatic guided vehicle stops, this analysis judging unit is additionally operable to the work state information gathered in conjunction with the decoded signal of microprocessing unit and the information acquisition unit of this vehicle-mounted module, judge whether this automatic guided vehicle starts, this signal transmitting unit sends for the judged result according to this analysis judging unit and stops or starting control signal.
3. automatic guided vehicle as claimed in claim 2 controls system, it is characterized in that: when the positional information that this decoded signal is stop signal and this information acquisition unit collection is in a position range that can stop, this analysis judging unit judges that this automatic guided vehicle can stop.
4. automatic guided vehicle as claimed in claim 2 controls system, it is characterized in that: when the work state information that this decoded signal is enabling signal and this information acquisition unit collection is an idle condition, this analysis judging unit judges that this automatic guided vehicle can start.
5. automatic guided vehicle as claimed in claim 1 controls system, it is characterised in that: this control module also includes indicating member, and this indicating member is for indicating the controlled state to this automatic guided vehicle.
6. automatic guided vehicle as claimed in claim 1 controls system, it is characterised in that: this switch element and starts button and a stop button is connected.
7. an automatic guided vehicle control method, including:
One controls module triggers a switching signal；
This switching signal is encoded, forms command signal；
Send the command signal after coding to a vehicle-mounted module；
This command signal is decoded；
Command signal according to decoding sends and controls the control signal that an automatic guided vehicle starts or stops.
8. an automatic guided vehicle control method, including:
One controls module triggers a switching signal；
This switching signal is encoded, forms command signal；
Send the command signal after coding to a vehicle-mounted module；
This command signal is decoded；
Positional information and work state information in conjunction with decoded command signal and an automatic guided vehicle, judge whether this automatic guided vehicle stops or starting, when judging that this automatic guided vehicle can stop or starting, then enter next step, when judging that this automatic guided vehicle cannot stop or starting, then flow process terminates；
Stop or startup control signal to the transmission of this automatic guided vehicle according to the result judged.
9. automatic guided vehicle control method as claimed in claim 8, it is characterised in that: during in the position that this decoded signal is stop signal and this automatic guided vehicle in a position range that can stop, it is judged that this automatic guided vehicle can stop.
10. automatic guided vehicle control method as claimed in claim 8, it is characterised in that: when the duty that this decoded signal is enabling signal and this automatic guided vehicle is an idle condition, it is judged that this automatic guided vehicle can start.
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| CN109254581A (en) * | 2018-08-10 | 2019-01-22 | 安徽库讯自动化设备有限公司 | A kind of AGV trolley intelligence operation regulator control system based on running state analysis |
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| CN109254581A (en) * | 2018-08-10 | 2019-01-22 | 安徽库讯自动化设备有限公司 | A kind of AGV trolley intelligence operation regulator control system based on running state analysis |
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| CN105807759B (en) | 2019-03-19 |
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Address after: 451162 the second and third floors of building B07, zone B, comprehensive bonded zone, east side of Zhenxing Road, Hangkong District, Zhengzhou City, Henan Province Patentee after: Fulian Yuzhan Technology (Henan) Co.,Ltd. Address before: 451162 the second and third floors of building B07, zone B, comprehensive bonded zone, east side of Zhenxing Road, Hangkong District, Zhengzhou City, Henan Province Patentee before: HENAN YUZHAN PRECISION TECHNOLOGY Co.,Ltd. |