CN106444790A - Industrial AGV system based on PLC control - Google Patents
Industrial AGV system based on PLC control Download PDFInfo
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- CN106444790A CN106444790A CN201611127657.XA CN201611127657A CN106444790A CN 106444790 A CN106444790 A CN 106444790A CN 201611127657 A CN201611127657 A CN 201611127657A CN 106444790 A CN106444790 A CN 106444790A
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- 238000004891 communication Methods 0.000 claims abstract description 21
- OJIJEKBXJYRIBZ-UHFFFAOYSA-N cadmium nickel Chemical compound [Ni].[Cd] OJIJEKBXJYRIBZ-UHFFFAOYSA-N 0.000 claims description 3
- 238000003860 storage Methods 0.000 claims description 3
- 230000036461 convulsion Effects 0.000 claims 1
- 230000008901 benefit Effects 0.000 abstract description 5
- 230000004888 barrier function Effects 0.000 description 13
- 238000005516 engineering process Methods 0.000 description 10
- 229910018487 Ni—Cr Inorganic materials 0.000 description 5
- 238000013461 design Methods 0.000 description 5
- 238000004519 manufacturing process Methods 0.000 description 5
- 239000002253 acid Substances 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 3
- 229910052744 lithium Inorganic materials 0.000 description 3
- 238000007726 management method Methods 0.000 description 3
- 230000003287 optical effect Effects 0.000 description 3
- 230000001133 acceleration Effects 0.000 description 2
- 239000000969 carrier Substances 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000003745 diagnosis Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 230000006855 networking Effects 0.000 description 2
- 238000003825 pressing Methods 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- VNNRSPGTAMTISX-UHFFFAOYSA-N chromium nickel Chemical compound [Cr].[Ni] VNNRSPGTAMTISX-UHFFFAOYSA-N 0.000 description 1
- 238000011109 contamination Methods 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000010365 information processing Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 239000003595 mist Substances 0.000 description 1
- 230000004899 motility Effects 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
- G05D1/0236—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons in combination with a laser
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- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Optics & Photonics (AREA)
- Electromagnetism (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention relates to an industrial AGV system based on PLC control. The industrial AGV system comprises a power supply module. The power supply module is connected with a master control module, a guide module, a safety module, a communication module and a drive module. The master control module is connected with the guide module, the safety module, an auxiliary module, the communication module, the drive module and a display module. The industrial AGV system is flexible in working manner, high in navigation precision and good in economic benefits.
Description
Technical field
The invention belongs to Factory Logistics conveying technology field, and in particular to a kind of industrial AGV system based on PLC control.
Background technology
Automatic guided vehicle-AGV（Automated Guided Vehicles ）Hereinafter referred to as AGV, is a kind of installation automatically
Guiding device, can travel along specified guided path, and with safeguard protection and transfer function unmanned automatically
Change carrying vehicle, automatic guided vehicles ystem technology is sensor technology, Programmable Technology, the information processing technology, electromechanical integration
The multi-disciplinary research such as technology is successfully embodied a concentrated reflection of, and AGV product major function is the automated information for achieving workpiece transmission
Execute and management, therefore AGV system also has become as flexible manufacturing system（FMS）, must in automated warehousing logistics system
A few part, to the research of AGV from initial traditional type orientation dispensing, rapidly develop into have robot interface, by
The automobile assembly line field of complicated computer controls, AGV has become as an independent system, it is also possible to which being integrated into other is
In system, or become the tie between each relatively independent automated production, at present, the more application of AGV mobile robot
In workshop condition, some working environments are more severe, use PLC as AGV control system for the complex environment of plant
Master controller complete the speed of service to AGV, guiding and Heading control and be undoubtedly a kind of extraordinary selection, be based on this
The situation of kind, we design a kind of industrial AGV system based on PLC control.
Content of the invention
The invention aims to overcoming the deficiencies in the prior art, and provide a kind of flexible working mode, navigation accuracy
High, the good in economic efficiency industrial AGV system based on PLC control.
The object of the present invention is achieved like this：A kind of industrial AGV system based on PLC control, it includes supply module,
Described supply module is connected with main control module, guiding module, security module, communication module and drive module, described master control
Module is connected with guiding module, security module, supplementary module, communication module, drive module and display module.
Described main control module is FX3U type PLC.
Described display module is GT27 array of touch screen.
Described supply module is nickel-cadmium storage battery.
Described drive module is AC servo motor.
Described security module direction of advance is non-contact laser anticollision sensor, contact bumper bar, retrogressing side
To for contact bumper, emergency stop switch.
Described supplementary module is made up of control knob, sound and light alarm.
Beneficial effects of the present invention：Using PLC as main control module in the present invention, safety and stability, it is easy to safeguard, especially fits
Close practical in the environment of plant, and the common-path interference that has of PLC also allowed be entered based on the AGV dolly of PLC control and compare evil
The just task of safety and stability in bad operating mode, is in addition more commonly used using AC servo motor replacement in the present invention on the market
DC servo motor, seeming more excellent in performance in terms of control accuracy and acceleration, torque characteristics, and in the present invention
Using Ni-Cr battery group have very strong large current load ability, while also have cost advantage.Finally, the guiding of the present invention
Mode adopts laser navigation, and which motility is preferable, navigation accuracy height, in that context it may be convenient to carry out path planning, be more conform with
At present to Flexible Production and the requirement of management；Therefore a kind of industrial AGV system based on PLC control has certain popularization and answers
With value.
Description of the drawings
Fig. 1 is a kind of structural representation of the industrial AGV system based on PLC control of the present invention.
Fig. 2 is a kind of schematic diagram of the supply module of the industrial AGV system based on PLC control of the present invention.
Fig. 3 is a kind of hardware architecture diagram of the industrial AGV system based on PLC control of the present invention.
Fig. 4 is a kind of laser navigation schematic diagram of the industrial AGV system based on PLC control of the present invention.
Fig. 5 is a kind of workflow diagram of the industrial AGV system based on PLC control of the present invention.
In figure：1st, security module 2, display module 3, front-wheel 4, button 5, laser scanner 6, buzzer 7, driving
Device 8, communication module 9, master controller 10, dc-battery group 11, universal wheel.
Specific embodiment
The present invention is described further below in conjunction with the accompanying drawings.
Embodiment 1
As Figure 1-5, a kind of industrial AGV system based on PLC control, it includes supply module, and described supply module is even
Main control module, guiding module, security module, communication module and drive module is connected to, described main control module is connected with guiding mould
Block, security module, supplementary module, communication module, drive module and display module.
In the application, as described in Figure 1, in guiding module, laser scanner receives signal on existing reflecting plate to the present invention, and
Transmit a signal in main control module PLC, PLC measures changing coordinates and the course with counting of carriers in real time, then PLC will be calculated
It is sent in drive module by instruction afterwards, guides the transport condition of AGV dolly, when front has barrier to occur, safe mould
In block, avoidance sensor has a high level signal and is transferred in main control module PLC, and main control module is according to the information for receiving
Instruction AGV dolly reduces speed now, while safety and supplementary module 7 start sound and light alarm, after barrier is removed or again adjusts
After whole AGV operating path, AGV will move on, and stop or execute next work after the task that completion system is specified, this
In invention, main control module and drive module, guiding module, communication module, security module and supplementary module power supply are all from power supply
Module is provided；
As described in Figure 2, a kind of industrial AGV system based on PLC control is specific to including protecting in security module for hardware components
Dangerous thick stick, avoidance sensor 1, display module 2, driving wheel 3, button 4, laser scanner 5, buzzer 6, drive module 7, communication mould
Block 8, main control module 9, supply module 10, universal wheel 11.In AGV security module 1 of the present invention, avoidance sensor and insurance are installed
Thick stick, when front has barrier to occur, sensor has a high level signal, sends main control module 9 to, and dolly will start
Slow down, while buzzer 6 starts sound and light alarm, after barrier is removed, AGV will move on.Laser is installed on AGV sweep
Device 5 is retouched, can launch and receive the signal of existing reflector, PLC obtains the essence of each reflecting plate after algorithm is by accurate measurement
Really positional information, then drives AGV walking path；In the present invention, avoidance sensor adopts SICKS3000, is running into barrier
When, the signal for detecting is conveyed in master control system PLC, execute after being judged by PLC first slow down after cutoff command, deceleration area and
Parking area can be arbitrarily arranged in 4m radius, and S3000 is with protection distance is longer in application, multilayer proofing region, parameter set
The advantage such as can store is put, and the sensor has 7 sections of LED to show running statuses, facilitates error diagnosiss, the sensor die massing
Design is convenient for changing.
As described in Figure 3, in the present invention, supply module 5 adopts DC power supplier, and it is DC24V to power to main control module, swashs
Optical sensor and tri coloured lantern use DC24V, by inverter, are reverse into alternating current 220V voltage, and in drive module, servomotor is adopted
It is alternating current 220V voltage.
As described in Figure 4, in the present invention guiding module using German SICK company NAV300 laser orientation system realizing
, it is made up of laser scanner, reflecting plate.Laser scanner is made up of laser head and base, and wherein base includes transmitting
Device, reception device and computing element；Its positioning principle is laser scanner according to certain 360 degree of whole scans of frequency, essence
The spatial coordinate location per block reflector is really measured, and the coordinate information of each reflector is stored in main control module PLC of the present invention
In, PLC carries out guiding calculating according to the control program that has write, and the signal of laser scanner is converted into the control for driving AGV
Order, revises own coordinate position in real time by associated reflector in the process of walking, and adjustment AGV next step is moved accordingly
Make.
As described in Figure 5, a kind of industrial AGV system based on PLC control, workflow starts button for pressing touch screen,
Program starts initialization, and PLC is according to the control program output command adapted thereto that has write, and corresponding display lamp is lit, if just
Chang Ze carries out next step, and on AGV car, whether the avoidance sensor detection front of front end has barrier, carries out if not next
Step, the frequency that the laser scanner that AGV vehicle body top is installed is required according to control constantly launches laser wire harness to surrounding, and receives
The laser beam for being reflected by reflector, through PLC logical operationss, draws AGV current location and course, works as AGV
When being close to destination address, PLC sends deceleration instruction by computing to drive module, if exceeding target location, AGV dolly is certainly
Dynamic quick deceleration is to stopping.After reaching destination address, speed reduces to 0, and the process completes a complete control flow.
Embodiment 2
As Figure 1-5, a kind of industrial AGV system based on PLC control, it includes supply module, and described supply module is even
Main control module, guiding module, security module, communication module and drive module is connected to, described main control module is connected with guiding mould
Block, security module, supplementary module, communication module, drive module and display module, described main control module is FX3U type PLC, institute
The display module that states is GT27 array of touch screen, and described supply module is nickel-cadmium storage battery, and described drive module is exchange
Servomotor, described security module direction of advance is non-contact laser anticollision sensor, contact bumper bar, retrogressing side
To for contact bumper, emergency stop switch, described supplementary module is made up of control knob, sound and light alarm.
The invention mainly comprises supply module, main control module, drive module, security module, display module, supplementary module,
Each module major function is：Supply module：AGV mobile robot supply module provides reliable and stable work electricity for whole system
Source, supply module need to consider voltage, current range, power supply discharge and recharge time, the basic parameter such as service life.In the market
AGV has Ni-Cr battery, lead-acid battery and lithium battery etc. using more accumulator, and wherein Ni-Cr battery and lead-acid battery are accounted for
Than being about 84%, lithium battery accounting is about 9%, and lead-acid battery does not apply to hot environment, does not also possess large current charge ability and has
Acid mist corrosion contamination, the current price of lithium battery is as many as 1.4-1.75 times of other accumulator, and the life-span of Ni-Cr battery is long,
Can be with overdischarge, in the system, AGV is equipped with 24V nickel chromium triangle Fast Charge Battery, and charging interval and working time ratio are up to 1：6-
8.
Main control module：Using PLC as AGV main control module be by PLC industrial control field stability, safety,
Reliability, capacity of resisting disturbance outstanding representation, Single PLC price height, but easy to use, control function is easily realized, PLC is using tight
The production technology of lattice, manufacture is using modern large scale integrated circuit technology, and internal circuit design is using advanced anti-interference
Technology, with very high reliability, from the point of view of the external circuit of PLC, the control system that constituted using PLC, and the connecing of same size
Tentaculum system is compared, and fault rate is relatively also very low, additionally, PLC carry hardware fault self detecting function, when breaking down can and
When send a warning.
Guiding module：Guiding used in the system adopts las er-guidance, installs laser and send out on the tangible AGV car of las er-guidance
Penetrating and reception device, corresponding laser-bounce plate is placed in AGV running orbit both sides, controller swashing according to AGV bus equipment
It is poor through the speed of light x time of baffle reflection to reception device that optical transmitting set sends signal, calculates AGV dolly by geometrical principle
Position and attitude, afterwards determine AGV running orbit.Therefore laser navigation mode is adopted, it is not necessary to lay Magnet on ground
And track, flexibility is relatively strong and precision is also very high.
Drive module:Current more use DC servo motor in AGV drive system, AC servo motor and step
Stepper motor, DC servo motor produces electromagnetic interference due to safeguarding inconvenience, easily, and motor is obvious in terms of control accuracy
Not as AC servo motor superior performance, therefore drive module of the present invention adopts AC servo, is compared to direct current and watches
Motor is taken, AC servo motor simple structure, control accuracy are with height, and torque characteristics are more preferable, and acceleration is higher, and overload capacity is more
By force.
Communication module:Communication module is mainly used in realizing AGV dolly with AGV dispatching management information system information exchange, the system
Middle communication module adopts wireless communication mode, WLAN not only support full duplex communication pattern and also with networking flexibility,
Transfer rate is high, the advantages of be easy to extension, install convenient, be highly suitable for the follow-up networking communication of AGV.
Security module:For guaranteeing AGV inherently safe in running, the particularly safety of Field Force and various kinds of equipment
Safety, being provided with software and hardware protection in system includes fault detect and Processing Algorithm, various types of contacts, contactless
Anticollision sensor, is simultaneously installed with contact peace once being close to barrier and can send sound and light alarm, emergent stopping instruction in time
Full thick stick, it is ensured that personnel and equipment safety.
Display module：In the present system display module use one piece of touch screen, can provide powerful object be used for operation join
Number is arranged and adjustment, manually or automatically model selection, path planning and the functions such as display, and can show that AGV is little in real time
Car running status, can show word, the picture prompting of correlation when breaking down.Staff can according to prompting information,
Exclude corresponding fault.
Supplementary module:In system design, the auxiliary element such as corresponding button switch, buzzer, alarm lamp is in AGV system
Vital effect being played in function, being provided with emergency stop switch in the periphery of AGV, press emergency stop switch any time, AGV is immediately
Out of service, tri coloured lantern and buzzer all can carry out sound and light alarm in the case of any operation exception of equipment, to remind week
Side staff.
In the application, as described in Figure 1, in guiding module, laser scanner receives signal on existing reflecting plate to the present invention, and
Transmit a signal in main control module PLC, PLC measures changing coordinates and the course with counting of carriers in real time, then PLC will be calculated
It is sent in drive module by instruction afterwards, guides the transport condition of AGV dolly, when front has barrier to occur, safe mould
In block, avoidance sensor has a high level signal and is transferred in main control module PLC, and main control module is according to the information for receiving
Instruction AGV dolly reduces speed now, while safety and supplementary module 7 start sound and light alarm, after barrier is removed or again adjusts
After whole AGV operating path, AGV will move on, and stop or execute next work after the task that completion system is specified, this
In invention, main control module and drive module, guiding module, communication module, security module and supplementary module power supply are all from power supply
Module is provided；
As described in Figure 2, a kind of industrial AGV system based on PLC control is specific to including protecting in security module for hardware components
Dangerous thick stick, avoidance sensor 1, display module 2, driving wheel 3, button 4, laser scanner 5, buzzer 6, drive module 7, communication mould
Block 8, main control module 9, supply module 10, universal wheel 11.In AGV security module 1 of the present invention, avoidance sensor and insurance are installed
Thick stick, when front has barrier to occur, sensor has a high level signal, sends main control module 9 to, and dolly will start
Slow down, while buzzer 6 starts sound and light alarm, after barrier is removed, AGV will move on.Laser is installed on AGV sweep
Device 5 is retouched, can launch and receive the signal of existing reflector, PLC obtains the essence of each reflecting plate after algorithm is by accurate measurement
Really positional information, then drives AGV walking path；In the present invention, avoidance sensor adopts SICKS3000, is running into barrier
When, the signal for detecting is conveyed in master control system PLC, execute after being judged by PLC first slow down after cutoff command, deceleration area and
Parking area can be arbitrarily arranged in 4m radius, and S3000 is with protection distance is longer in application, multilayer proofing region, parameter set
The advantage such as can store is put, and the sensor has 7 sections of LED to show running statuses, facilitates error diagnosiss, the sensor die massing
Design is convenient for changing.
As described in Figure 3, in the present invention, supply module 5 adopts DC power supplier, and it is DC24V to power to main control module, swashs
Optical sensor and tri coloured lantern use DC24V, by inverter, are reverse into alternating current 220V voltage, and in drive module, servomotor is adopted
It is alternating current 220V voltage.
As described in Figure 4, in the present invention guiding module using German SICK company NAV300 laser orientation system realizing
, it is made up of laser scanner, reflecting plate.Laser scanner is made up of laser head and base, and wherein base includes transmitting
Device, reception device and computing element；Its positioning principle is laser scanner according to certain 360 degree of whole scans of frequency, essence
The spatial coordinate location per block reflector is really measured, and the coordinate information of each reflector is stored in main control module PLC of the present invention
In, PLC carries out guiding calculating according to the control program that has write, and the signal of laser scanner is converted into the control for driving AGV
Order, revises own coordinate position in real time by associated reflector in the process of walking, and adjustment AGV next step is moved accordingly
Make.
As described in Figure 5, a kind of industrial AGV system based on PLC control, workflow starts button for pressing touch screen,
Program starts initialization, and PLC is according to the control program output command adapted thereto that has write, and corresponding display lamp is lit, if just
Chang Ze carries out next step, and on AGV car, whether the avoidance sensor detection front of front end has barrier, carries out if not next
Step, the frequency that the laser scanner that AGV vehicle body top is installed is required according to control constantly launches laser wire harness to surrounding, and receives
The laser beam for being reflected by reflector, through PLC logical operationss, draws AGV current location and course, works as AGV
When being close to destination address, PLC sends deceleration instruction by computing to drive module, if exceeding target location, AGV dolly is certainly
Dynamic quick deceleration is to stopping.After reaching destination address, speed reduces to 0, and the process completes a complete control flow.
Claims (7)
1. a kind of industrial AGV system based on PLC control, it includes supply module, it is characterised in that：Described supply module is even
Main control module, guiding module, security module, communication module and drive module is connected to, described main control module is connected with guiding mould
Block, security module, supplementary module, communication module, drive module and display module.
2. a kind of industrial AGV system based on PLC control as claimed in claim 1, it is characterised in that：Described main control module
For FX3U type PLC.
3. a kind of industrial AGV system based on PLC control as claimed in claim 1, it is characterised in that：Described display module
For GT27 array of touch screen.
4. a kind of industrial AGV system based on PLC control as claimed in claim 1, it is characterised in that：Described supply module
For nickel-cadmium storage battery.
5. a kind of industrial AGV system based on PLC control as claimed in claim 1, it is characterised in that：Described drive module
For AC servo motor.
6. a kind of industrial AGV system based on PLC control as claimed in claim 1, it is characterised in that：Described security module
Direction of advance is non-contact laser anticollision sensor, contact bumper bar, and direction of retreat is contact bumper, jerk is opened
Close.
7. a kind of industrial AGV system based on PLC control as claimed in claim 1, it is characterised in that：Described supplementary module
It is made up of control knob, sound and light alarm.
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|---|---|---|---|
| CN201611127657.XA CN106444790A (en) | 2016-12-09 | 2016-12-09 | Industrial AGV system based on PLC control |
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| CN201611127657.XA CN106444790A (en) | 2016-12-09 | 2016-12-09 | Industrial AGV system based on PLC control |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106950912A (en) * | 2017-04-13 | 2017-07-14 | 无锡职业技术学院 | Control system at the top of AGV intelligent vehicles |
| CN107272710A (en) * | 2017-08-08 | 2017-10-20 | 河海大学常州校区 | A kind of medical merchandising machine people system and its control method of view-based access control model positioning |
| CN107422729A (en) * | 2017-06-03 | 2017-12-01 | 广东华创智能装备有限公司 | A kind of AGV dollies with safety detection function |
| CN107992054A (en) * | 2017-12-17 | 2018-05-04 | 上海物景智能科技有限公司 | A kind of method and system of the positioning of robot |
| CN108681447A (en) * | 2018-05-16 | 2018-10-19 | 首都师范大学 | A kind of Automatic parameter selection method of robot obstacle-avoiding |
| CN111717858A (en) * | 2020-06-09 | 2020-09-29 | 安徽意欧斯物流机器人有限公司 | Forklift AGV safety control system |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106950912A (en) * | 2017-04-13 | 2017-07-14 | 无锡职业技术学院 | Control system at the top of AGV intelligent vehicles |
| CN107422729A (en) * | 2017-06-03 | 2017-12-01 | 广东华创智能装备有限公司 | A kind of AGV dollies with safety detection function |
| CN107272710A (en) * | 2017-08-08 | 2017-10-20 | 河海大学常州校区 | A kind of medical merchandising machine people system and its control method of view-based access control model positioning |
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| CN108681447A (en) * | 2018-05-16 | 2018-10-19 | 首都师范大学 | A kind of Automatic parameter selection method of robot obstacle-avoiding |
| CN111717858A (en) * | 2020-06-09 | 2020-09-29 | 安徽意欧斯物流机器人有限公司 | Forklift AGV safety control system |
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Application publication date: 20170222 |