CN106681321A - RFID-based online scheduling control system of automatic guided vehicle - Google Patents
RFID-based online scheduling control system of automatic guided vehicle Download PDFInfo
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- CN106681321A CN106681321A CN201611167985.2A CN201611167985A CN106681321A CN 106681321 A CN106681321 A CN 106681321A CN 201611167985 A CN201611167985 A CN 201611167985A CN 106681321 A CN106681321 A CN 106681321A
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- 238000004519 manufacturing process Methods 0.000 claims abstract description 46
- 238000004891 communication Methods 0.000 claims abstract description 28
- 230000007246 mechanism Effects 0.000 claims description 23
- 230000002452 interceptive effect Effects 0.000 claims description 16
- 238000001514 detection method Methods 0.000 claims description 14
- 229920002635 polyurethane Polymers 0.000 claims description 11
- 239000004814 polyurethane Substances 0.000 claims description 11
- 238000005303 weighing Methods 0.000 claims description 10
- 230000003993 interaction Effects 0.000 claims description 5
- 230000008054 signal transmission Effects 0.000 claims description 3
- 230000009183 running Effects 0.000 abstract description 12
- 230000004048 modification Effects 0.000 description 12
- 238000012986 modification Methods 0.000 description 12
- 238000000034 method Methods 0.000 description 6
- 238000011897 real-time detection Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 238000012937 correction Methods 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 3
- 238000007689 inspection Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- RTZKZFJDLAIYFH-UHFFFAOYSA-N Diethyl ether Chemical compound CCOCC RTZKZFJDLAIYFH-UHFFFAOYSA-N 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000009826 distribution Methods 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 239000002390 adhesive tape Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000003032 molecular docking Methods 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
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- 238000012545 processing Methods 0.000 description 1
- 230000002787 reinforcement Effects 0.000 description 1
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
- G05D1/0263—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means using magnetic strips
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/12—Target-seeking control
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
- G06K17/00—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations
- G06K17/0022—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations arrangements or provisious for transferring data to distant stations, e.g. from a sensing device
- G06K17/0029—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations arrangements or provisious for transferring data to distant stations, e.g. from a sensing device the arrangement being specially adapted for wireless interrogation of grouped or bundled articles tagged with wireless record carriers
-
- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Engineering & Computer Science (AREA)
- Theoretical Computer Science (AREA)
- Electromagnetism (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention relates to an RFID-based online scheduling control system of an automatic guided vehicle (AGV). The system comprises multiple AGVs, multiple production workstation scheduling terminals and a remote control center. All the AGVs are in communication connection with the remote control center through the wireless network. All the production workstation scheduling terminals are in communication connection with the remote control center through the Ethernet network. The AGVs are connected with the production workstation scheduling terminals through navigation magnetic strips laid in a workshop. Each of the AGVs comprises a power supply, a magnetic navigation module, an RFID module, a wireless communication module and a PLC control module, wherein the power supply provides power for the AGV; and the magnetic navigation module, the RFID module and the wireless communication module are electrically connected with the PLC control module. According to the invention, the system is convenient to operate; unmanned navigation and automatic running can be achieved for the AGVs; and the AGVs are scheduled and controlled in an online manner in real time depending on the RFID signals, so the flexibility of scheduling management of the AGV management scheduling system is greatly improved.
Description
Technical field
Intelligent navigating bogie is carried the present invention relates to unmanned（That is AGV dollies）Technical field, concretely relates to one kind
The on-line scheduling control system of the unmanned carrying Intelligent navigating bogie based on RFID.
Background technology
Traditional unmanned carrying Intelligent navigating bogie（AGV dollies）All be underloading formula, by finish in advance travel route with
Driving trace, enables according to set route running, so as to realize unmanned navigation automatic running.This AGV is although can
Realize unmanned navigation, but once finish travel route track, then cannot On-line Control and the operating path for changing dolly, be small
The online scheduling of car brings inconvenience with management, is also unfavorable for the scheduling controlling at workshop scene.Therefore, exigence
Existing AGV dollies are improved and on-line scheduling control can be realized to AGV dollies.
The content of the invention
It is an object of the invention to provide a kind of on-line scheduling control of unmanned carrying Intelligent navigating bogie based on RFID
System, the system features in convenient can not only realize unmanned navigation and automatic running, while by RFID signal to AGV dollies
Can real-time online scheduling controlling multiple AGV dollies, greatly improve the flexible of AGV dolly management scheduling system management and running
Property.
To achieve these goals, the technical solution adopted by the present invention is that a kind of unmanned carrying based on RFID is intelligently led
The on-line scheduling control system of boat dolly, including some AGV dollies, multiple production WorkStation scheduling terminal and a remote controls
Center, all AGV dollies are communicated to connect by wireless network and remote control center, all production WorkStation scheduling terminals by with
Too net network is communicated to connect with remote control center, and all AGV dollies are with each production WorkStation scheduling terminal by being laid on
The navigation magnetic stripe of workshop is connected；The AGV dollies include load-carrying car body and the power supply electricity being arranged on load-carrying car body
Source, power-driven mechanism, servo steering mechanism, magnetic navigation module, RFID module, wireless communication module and PLC control modules, institute
Power supply is stated for AGV dollies are powered, the power-driven mechanism, servo steering mechanism, magnetic navigation module, RFID module
Electrically connected with PLC control modules with wireless communication module, it is soft that the production WorkStation scheduling terminal is provided with station terminal interaction
Part system, the remote control center is provided with remote control center interactive software system.
It is equidistant on the navigation magnetic stripe to be equipped with several RFIDs, institute as a modification of the present invention
There is RFID to be connected with RFID module radio communication, residing for the sign that is stored with RFID AGV dollies
The address coordinate coding of current location.
Used as a modification of the present invention, the AGV dollies also include the polyurethane car being arranged on load-carrying chassis of vehicle body
Wheel, the power-driven mechanism and servo steering mechanism are connected with polyurethane wheel, and the power-driven mechanism is provided with
Power motor and traveling control module, the power motor and traveling control module electrical connection, set in the servo steering mechanism
Have servomotor and a course changing control module, the servomotor and course changing control module are electrically connected, the traveling control module and
Course changing control module is connected with PLC control modules.
Used as a modification of the present invention, the magnetic navigation module uses magnetic navigation sensor, the magnetic navigation sensor
Including multiple miniature magnetic field detection sensors LED light corresponding with miniature magnetic field detection sensor and control chip, institute
Miniature magnetic field detection sensor and LED light is stated to be electrically connected with control chip.
Used as a modification of the present invention, the AGV dollies also include the weighing sensor being arranged on load-carrying car body,
The weighing sensor is electrically connected with PLC control modules.
As a modification of the present invention, all AGV of instruction are provided with the remote control center interactive software system small
The real-time routes figure of car driving path, be labeled with the real-time routes figure with the one-to-one road sign point of RFID,
The road sign point can in real time show red or green according to the driving path of AGV dollies.
Used as a modification of the present invention, the load-carrying car body of all AGV dollies is provided with the first startup/stopping with car
Button, the production WorkStation scheduling terminal is provided with the second startup/stop button for controlling all AGV dollies, the long-range control
Center interactive software system processed is provided with the three startups/stop button for controlling all AGV dollies, and described first starts/stop
Coordinated signals are used between button, the second startup/stop button and three startups/stop button, wherein, any one startup/
Stop button can control the start and stop of AGV dollies, and by controlling whether the start and stop of AGV dollies judge
Busy/the idle condition of AGV dollies.
Used as a modification of the present invention, the quantity of the magnetic navigation module is 2, is separately positioned on load-carrying car body
Front end face bottom centre position and rear end face bottom centre position, the quantity of the RFID module is 2, and one of them is arranged on
The rear portion of front end face magnetic navigation module, another is arranged on the front portion of rear end face magnetic navigation module；All magnetic navigation modules with lead
Plummet distance between boat magnetic stripe is maintained at 30-50mm, and the plummet distance between all RFID modules and RFID is protected
Hold in 30-50mm.
Used as a modification of the present invention, the magnetic navigation module is provided with least 3 LED lights, LED light
For indicating whether AGV dollies its travel route during automatic running shifts, each LED light corresponds to one
Position switch signal, magnetic navigation module is processed position switch signal transmission to PLC control modules, and issues instructions to row
Sailing control module and course changing control module makes polyurethane wheel differential steering, so as to realize rectifying a deviation to AGV dollies.
Used as a modification of the present invention, each production WorkStation scheduling terminal can be sent for calling AGV dollies
Dispatch command, dispatch command is transmitted to remote control center by Ethernet, remote control center is according to dispatch command
Control instruction is sent to the AGV dollies for being currently at idle condition, AGV dollies receive the control from remote control center and refer to
After order, the production WorkStation scheduling terminal wait loading for sending dispatch command is driven towards automatically, AGV dollies drive towards most automatically after fully loaded
Unloading destination waits unloading eventually, and next control instruction of remote control center is waited after AGV dollies original place after zero load；AGV
During automatic running, PLC control modules will at least include speed, load-carrying and position to dolly in real time by wireless network
AGV dolly information of vehicles is transferred to remote control center, to realize on-line scheduling and management of the remote control center to AGV dollies
Function.
Relative to prior art, advantages of the present invention is as follows, and 1）The smart structural design of whole system, it is easy to maintenance and into
This is low, by remote control center and production WorkStation scheduling terminal and the mutual cooperation of AGV dollies, forms and calls AGV on demand
The intelligent distribution and management system of dolly, can effectively realize to the on-line scheduling of all AGV dollies in workshop and management and control work(
Can, drastically increase production efficiency and benefit；2）On AGV dollies set RFID module be arranged on navigation magnetic stripe on
Being used in conjunction with each other between RFID, AGV dolly current geographics are realized by using RFID wireless radio-frequencies
The real-time acquisition of position, and by the real-time routes figure of remote control center with graphic interface to the driving path of AGV dollies
Real time dynamic display is carried out, goods can be only transported compared to traditional AGV dollies, the system realizes the online of AGV dollies
Graphical real-time navigation and control；3）Each production WorkStation scheduling terminal can be needed to remote control center according to production
The dispatch command of calling AGV dollies is sent, the AGV of idle condition is currently at according to dispatch command inquiry by remote control center
Dolly, and control instruction is sent to AGV dollies, AGV dollies give birth to control instruction decoding generation target after receiving control instruction
Produce WorkStation scheduling terminal and final unloading destination；4）AGV dollies can effectively be controlled as slave computer using PLC on AGV dollies
Realize the function of unmanned navigation automatic running, and target is driven towards by the control action of PLC control modules automatically produce station and adjust
Degree terminal, is freighted, and by the load weight of weighing sensor real-time detection AGV dollies, after fully loaded, AGV dollies continue
Automatic to drive towards final unloading destination, after reaching final unloading destination and unloading, AGV dollies wait shape in original place again
State, waits next control instruction of remote control center.
Brief description of the drawings
Fig. 1 is on-line scheduling control system architecture schematic diagram of the invention.
Fig. 2 is the structural representation of navigation magnetic stripe of the invention and RFID.
Fig. 3 is the fundamental diagram of AGV dollies of the invention.
Fig. 4 is the workflow diagram of AGV dollies of the invention.
Fig. 5 is the workflow diagram that production WorkStation scheduling terminal of the invention calls AGV dollies on demand.
Fig. 6 is the workflow diagram of remote control center of the invention.
Specific embodiment
In order to deepen the understanding of the present invention and understanding, the invention will be further described below in conjunction with the accompanying drawings and introduces.
As shown in figure 1, a kind of on-line scheduling of unmanned carrying Intelligent navigating bogie based on RFID disclosed in this invention
Control system, specifically includes some AGV dollies, multiple production WorkStation scheduling terminal and a remote control center, wherein AGV
The quantity of dolly and production WorkStation scheduling terminal is set according to needs of production, and all AGV dollies pass through wireless network
Communicated to connect with remote control center, it is preferred to use frequency is the wireless signal of 177MHz, the wireless signal of the frequency has biography
Defeated distance is remote, strong antijamming capability the features such as.All production WorkStation scheduling terminals pass through ethernet network and remote control center
Communication connection, because Ethernet has communication distance remote and reliability is high, and uses ether more existing workshop
Network is to be capable of achieving telecommunication directly by means of existing Ethernet in workshop as control and communication network
With control, production cost can be effectively reduced.All AGV dollies are with each production WorkStation scheduling terminal by being laid on work car
Between navigation magnetic stripe be connected.Navigation magnetic stripe is directly attached on the ground of workshop by double faced adhesive tape, is navigated by arranging
Magnetic stripe could dictate that the course of all AGV dollies in whole workshop, and can effectively determine all productions in workshop
The position of WorkStation scheduling terminal, when using all AGV dollies by navigate magnetic stripe formed route navigation the enterprising crudely-made articles of magnetic stripe
Thing transport operation.The AGV dollies include load-carrying car body and the power supply, the power-driven machine that are arranged on load-carrying car body
Structure, servo steering mechanism, magnetic navigation module, RFID module, wireless communication module and PLC control modules, the power supply is
AGV dollies are powered, and power supply uses storage battery power supply, battery output 48V DC voltages to be changed by Switching Power Supply
24V DC voltages required for exporting each module afterwards.The power-driven mechanism, servo steering mechanism, magnetic navigation module, RFID
Module and wireless communication module are electrically connected with PLC control modules, and PLC control modules, as slave computer, are the control of AGV dollies
Core, on the one hand realizes the unmanned navigation automatic running of AGV dollies, on the other hand realizes that AGV dollies obey remote control center
Real-Time Scheduling control.The production WorkStation scheduling terminal uses station computer, and station terminal is provided with station computer
Interactive software system, production WorkStation scheduling terminal by station terminal interaction software systems respectively with AGV dollies and remote control
Center carries out information exchange, and its major function includes calling AGV dollies, loads control, Unloading Control, starting with full load and unload and stop
Only etc..The remote control center is provided with remote control center interactive software system on that computer using the computer of networking
System, remote control center by remote control center interactive software system respectively with the PLC control modules of AGV dollies and produce work
The station terminal interaction software systems of position dispatch terminal carry out information exchange.It is every in remote control center interactive software system
One production WorkStation scheduling terminal generates a numbering, the uniqueness of mark production WorkStation scheduling terminal.Remote control center
Major function includes the dynamic of all AGV dollies of real-time monitoring（Including busy/idle condition, travel route, speed, load-carrying, address
Co-ordinate position information etc.）, AGV dolly of the scheduling in idle condition travel to production WorkStation scheduling terminal, receive and process life
Produce dispatch command that WorkStation scheduling terminal sends etc..
The AGV dollies also include being arranged on polyurethane wheel on load-carrying chassis of vehicle body, the power-driven mechanism and
Servo steering mechanism is connected with polyurethane wheel, so as to control the speed and travel direction of AGV dollies.The power drive
Mechanism is provided with power motor and traveling control module, the power motor and traveling control module electrical connection, traveling control mould
Block provides drive signal for power motor, and in order that power motor can operate steadily reliability, can be in traveling control mould
Frequency converter is set on block, so as to realize VFC to power motor.The servo steering mechanism is provided with servomotor and turns
To control module, the servomotor and course changing control module are electrically connected, and course changing control module provides driving letter for servomotor
Number, control the steering of AGV dollies.In addition, the traveling control module and course changing control module are connected with PLC control modules
Connect, the travel speed and turn signal of AGV dollies are sent into PLC control modules carries out centralized Control.
In addition, the loading capacity in order to improve existing AGV dollies, for the load-carrying body construction of AGV dollies, is held by design
Weigh crossbeam, reinforcement and the heavily loaded function of AGV dollies is realized using measures such as high-strength polyurethane tires, so that
The characteristics of load-carrying body construction of AGV dollies has large-scale heavy duty, realizes the loading capacity of AGV dollies up to 50 tons.
Additionally, the AGV dollies also include being arranged on weighing sensor on load-carrying car body, the weighing sensor with
PLC control modules are electrically connected.Weighing sensor can be on real-time detection AGV dollies load weight, when the load weight on car
Higher limit is reached, that is, is considered as fully loaded, and sent full signal and give PLC control modules, and when unloaded, the load weight on car is
When zero, that is, it is considered as completion of discharge, and sends airborne signals and give PLC control modules.It is small so as to realize AGV by weighing sensor
The function of loading control, Unloading Control, starting with full load and unloading stopping of car.
Further, the load-carrying car body of all AGV dollies is provided with the first startup/stop button with car, the production
WorkStation scheduling terminal is provided with the second startup/stop button for controlling all AGV dollies, the remote control center interactive software
System is provided with the three startups/stop button for controlling all AGV dollies, and the first startup/stop button, second start/
Stop button and the 3rd startup/stop button correspond to each other, and the first startup/stop button, the second startup/stop button
Coordinated signals are used and three startups/stop button between.Wherein, corresponding with the first startup/stop button the second startup/
Stop button and three startups/stop button, it is small that any one the startup/stop button in these three buttons can control AGV
The start and stop of car.And by controlling whether the start and stop of AGV dollies judge busy/idle conditions of AGV dollies,
When i.e. AGV dollies start, then PLC control modules feed back to one busy signal of remote control center, represent that AGV dollies are in busy
State；And if AGV dollies are not activated by, being necessarily in halted state, then now PLC control modules just feed back to remote control
One, the center signal in spare time, represents that AGV dollies are in idle condition.When having multiple AGV dollies in workshop while being in
During idle condition, remote control center can be according to the numbering of the production WorkStation scheduling terminal of calling AGV dollies, automatic selected distance
The production WorkStation scheduling terminal is nearest and in an AGV dolly outermost, in idle condition, dispatches the AGV small
Car automatic running is to the production WorkStation scheduling terminal.
As shown in Fig. 2 equidistant on the navigation magnetic stripe be equipped with several RFIDs, all RFID electronics
Label is connected with RFID module radio communication, is stored with the RFID and characterizes current location residing for AGV dollies
Address coordinate is encoded.The RFID module is RFID read-write module, can read corresponding address from each RFID
Codes co-ordinates simultaneously send PLC control modules to such that it is able to the travel route of real-time detection AGV dollies, to the position of AGV dollies
Carry out precise positioning.
The magnetic navigation module uses magnetic navigation sensor, the magnetic navigation sensor to be passed including multiple miniature magnetic field detections
The sensor LED light corresponding with miniature magnetic field detection sensor and control chip, the miniature magnetic field detection sensor and
LED light is electrically connected with control chip.Control chip enters to the magnetic field signal detected by miniature magnetic field detection sensor
Row treatment, while controlling the light on and off of LED light according to magnetic field signal.Each miniature magnetic field detection sensor is navigated for detection
A sampled point of magnetic field signal on magnetic stripe, each sampled point has signal to be all the way correspondingly outputting in control chip, control
Chip is controlled according to per signal all the way come the light on and off to LED light.
Specifically, the quantity of the magnetic navigation module is 2, the front end face bottom interposition of load-carrying car body is separately positioned on
Put with rear end face bottom centre position, the quantity of the RFID module is 2, and one of them is arranged on front end face magnetic navigation module
Rear portion, another is arranged on the front portion of rear end face magnetic navigation module.Magnetic navigation module and RFID module in AGV dollies is entered
Row is arranged in pairs, and is individually positioned in the rear ends of AGV dollies, so can effectively ensure the levels of precision that magnetic navigation is advanced,
The current location of AGV dollies can be also accurately positioned simultaneously, effectively improve the driving path real-time detection to AGV dollies
Accuracy.In addition, in order to ensure magnetic navigation module and the detection accuracy of RFID module, by all magnetic navigation modules and navigation magnetic
The plummet distance that plummet distance between bar is maintained between 30-50mm, and all RFID modules and RFID is protected
Hold in 30-50mm.
The magnetic navigation module is provided with least 3 LED lights, and LED light is used to indicate AGV dollies in automatic row
Whether its travel route shifts during sailing, and each LED light corresponds to a position switch signal, magnetic navigation module
Position switch signal transmission is processed to PLC control modules, and issues instructions to travel control module and course changing control mould
Block makes polyurethane wheel differential steering, so as to realize rectifying a deviation to AGV dollies.When AGV trolley travellings, inside magnetic navigation sensor
Continuous multiple sampled point output signals above navigation magnetic stripe, and light on and off by LED light carry out intuitive judgment AGV
Deviation position of the dolly relative to navigation magnetic stripe.When the driving path of AGV dollies is consistent with the lead track of navigation magnetic stripe, by
The top of navigation magnetic stripe, the magnetic that the miniature magnetic field detection sensor of sensor middle is measured are exactly in magnetic navigation sensor
Field signal is maximum, and I/O mouthfuls of control chip collects this several signals, and finds that current AGV dollies are in traveling road through treatment
In the middle of footpath, and light several LED lights in an intermediate position and carry out position instruction effect, while sending position switch signal
The signal is processed to PLC control modules, AGV dollies keep former driving trace to continue to move ahead.And work as the deviation of AGV dollies and lead
During the track of boat magnetic stripe, magnetic navigation sensor is no longer on because magnetic navigation sensor detects maximum magnetic induction signal
Centre, control chip I/O mouthfuls collects this several signals and the position of current AGV dollies is found through processing with track position
Deviation and light the LED light of relevant position, while transmit position switching signal to PLC control modules to the signal at
Reason, PLC control modules send corresponding control instruction to traveling control module and course changing control module control respectively power motor and
Servomotor carries out differential correction control, so that it is guaranteed that AGV dollies advance along the track of navigation magnetic stripe.
Further, 12 LED lights are set on magnetic navigation sensor, respectively label 1-12 LED lights,
And 1-12 LED lights are sequentially arranged on magnetic navigation sensor in order from left to right.When magnetic navigation sensor is being led
During the surface centre position of boat magnetic stripe, it is lit positioned at middle 5-7 LED lights, represents that current AGV dollies do not occur
Skew.And during AGV dolly automatic runnings, if AGV dollies there occurs skew, can by 1-4 LED lights whether
Light or 8-12 LED lights whether light and judge that AGV dollies are to the left or to the right.Shifted when AGV dollies
When, corresponding control instruction is sent by PLC control modules AGV dollies are entangled to traveling control module and course changing control module
Partially, and when 5-7 LED lights are lighted again, show that car body has completed automatic deviation correction, now stop being responsible for watching for steering
Motor rotation is taken, and keeps the driving trace of AGV dollies to continue to move ahead.
Additionally, being provided with the reality for indicating all AGV dollies driving paths in the remote control center interactive software system
When route map, real-time routes figure is that the route walked according to each AGV dolly is planned in advance, then by draw
Mode be arranged in remote control center interactive software.And it is labeled with and RFID on the real-time routes figure
One-to-one road sign point, the road sign point can in real time show red or green according to the driving path of AGV dollies.Work as AGV
When dolly is travelled along navigation magnetic stripe, the address coordinate inside RFID is read by RFID module and is encoded, and controlled by PLC
Molding block is sent to remote control center interactive software system, and then remote control center interactive software system compiles address coordinate
Code is compiled out, and the corresponding road sign point on real-time routes figure is shown as into red by original green modification, so that using one
The red road sign point of consecutive represents the route that AGV dollies are passed by, so as to show all AGV of workshop with graphic interface
The current instant position information of dolly.
As shown in Figure 3-4, start/stop by the first startup/stop button, the second startup/stop button and the 3rd and press
Either button in the middle of button starts a certain AGV dolly, and the PLC control modules of AGV dollies first carry out self-inspection and initialize and wait
Treat the control instruction of remote control center.After control instruction is received by wireless communication module, PLC control modules are to control
Instruction is compiled and generates the final unloading for needing the target driven towards production WorkStation scheduling terminal and arrival being needed after being fully loaded with
Destination, then send control signal carries out normally travel to traveling control module driving power motor.While PLC control modules
Speed, load-carrying and address coordinate positional information are obtained, and starts the radio communication subprogram in wireless communication module by wireless
Serial ports sends the information such as speed, load-carrying and position to remote control center.In addition, also passing through magnetic navigation module and RFID moulds respectively
The driving trace drift condition and current instant position information of block real-time monitoring AGV dollies, magnetic navigation module Real-time Feedback position
Switching signal judges whether AGV dollies deviate navigation magnetic by position switch signal to PLC control modules, PLC control modules
Bar is travelled, and when PLC control modules detect AGV dollies and deviate navigation magnetic stripe, traveling control is given by sending control signal
Module and course changing control module control respectively power motor and servomotor carry out differential correction control so that pass through servomotor
Turned to polyurethane wheel, while whether real-time detection AGV dollies travel direction has rectified a deviation, one is straight if not rectifying a deviation
Untill travel direction correction is completed, PLC control modules stop row course changing control after the travel direction of AGV dollies has been rectified a deviation
Control to course changing control module, so as to continue normally travel along the track of navigation magnetic stripe.Travelled to target life in AGV dollies
Stopped after product WorkStation scheduling terminal and wait prestowage, reality is carried out by the weighing sensor on load-carrying car body during loading
When weigh load weight, and load weight onboard is when having reached higher limit, that is, be considered as it is fully loaded, and send full signal to
PLC control modules, so that drive AGV dollies to be travelled towards final unloading destination, it is in the process of moving, on the one hand small to AGV
The travel direction of car rectify a deviation and real-time detection AGV dollies current location information, on the other hand by wireless communication module
Speed, load-carrying and address coordinate positional information are sent to remote control center.Final unloading destination is reached when AGV dollies
When stop and wait to be unloaded, and in uninstall process, when the load weight on car is zero, that is, be considered as completion of discharge, and send
Airborne signals give PLC control modules, and PLC control modules control AGV dollies original place waits the control instruction of remote control center.
As shown in figure 5, after production WorkStation scheduling terminal starts, station terminal interaction software systems complete self-inspection initialization,
Then user input calling parameter is waited（Quantity and time including required AGV dollies）, after calling parameter input is finished,
System build calling parameter simultaneously generates dispatch command, dispatch command is sent into remote control center by Ethernet, by remote
Process control center is terminal distribution AGV dollies according to the numbering of production WorkStation scheduling terminal.Be provided with the system with
Too Network Communication subprogram, system will first carry out signal procedure initialization, seek when being connected with remote control center telecommunication
After finding the IP of remote control center, carry out communication protocol with remote control center and shake hands, finally by network by dispatch command
Send remote control center to.When there is AGV dollies to reach the terminal, AGV dollies are in parking waiting loading condition, Yong Huwei
AGV dollies carry out goods loading and in AGV dollies full load, complete the call scheduling of the production WorkStation scheduling terminal of this time.
Then the state for waiting incoming call parameter is come back to, thinks that call scheduling next time is prepared.
As shown in fig. 6, after remote control center starts, remote control center interactive software system completes self-inspection initialization,
Then the information of vehicles on the one hand waiting AGV dollies to transmit（Including speed, load-carrying and position etc.）, on the other hand also wait for
The dispatch command that production WorkStation scheduling terminal transmission comes.When the information of vehicles for having AGV dollies is transmitted, the system docking
The information of vehicles for receiving is parsed and is extracted speed, load-carrying and the important information of position three, at the same drive pattern engine with
Graphic interface show AGV dollies relevant information, it is most important that start real-time routes figure with using patterned interface come
Show the real time running route of AGV dollies.Additionally, the system can also in real time be refreshed to the information of vehicles of AGV dollies, will
The real time position Dynamic Announce of AGV dollies on real-time routes figure, so as to make user intuitively observe the row of each AGV dolly
Sail state.And when have production WorkStation scheduling terminal transmission come dispatch command when, the system receive and parse through the dispatch command from
And the numbering of information according to included in dispatch command and corresponding production WorkStation scheduling terminal inquires about institute in workshop
There are the AGV dollies for being currently at idle condition, and generate scheduling controlling instruction and be sent to apart from this by radio communication subprogram
Production WorkStation scheduling terminal is nearest and in AGV dollies outermost, in idle condition.The system with AGV dollies
When carrying out wireless data transmission, first signal procedure is initialized, then compile scheduling controlling instruction generation communication
Signal, after the wireless communication protocol of system and AGV dollies has completed to shake hands, system will include scheduling control by wireless serial
The signal of communication for making instruction is sent to AGV dollies, after signal of communication is successfully received when the PLC control modules of AGV dollies, is
System terminates the scheduling controlling to AGV dollies.
It should be noted that above-described embodiment, not for limiting protection scope of the present invention, in above-mentioned technical proposal
On the basis of done equivalents or replacement each fall within the scope that the claims in the present invention are protected.Word "comprising" is not excluded for
There is element or step not listed in the claims.Word first, second and third use do not indicate that any order,
These words can be construed to title.
Technological means disclosed in the present invention program is not limited only to the technological means disclosed in above-mentioned implementation method, also includes
Constituted technical scheme is combined by above technical characteristic.It should be pointed out that for those skilled in the art
For, under the premise without departing from the principles of the invention, some improvements and modifications can also be made, these improvements and modifications are also considered as
Protection scope of the present invention.
Claims (10)
1. a kind of on-line scheduling control system of the unmanned carrying Intelligent navigating bogie based on RFID, it is characterised in that：If including
Dry platform AGV dollies, multiple production WorkStation scheduling terminal and a remote control center, all AGV dollies by wireless network with
Remote control center is communicated to connect, and all production WorkStation scheduling terminals are by ethernet network and remote control center communication link
Connect, all AGV dollies are connected with each production WorkStation scheduling terminal by being laid on the navigation magnetic stripe of workshop；It is described
AGV dollies include load-carrying car body and be arranged on load-carrying car body power supply, power-driven mechanism, servo steering mechanism,
Magnetic navigation module, RFID module, wireless communication module and PLC control modules, the power supply are powered for AGV dollies,
The power-driven mechanism, servo steering mechanism, magnetic navigation module, RFID module and wireless communication module control mould with PLC
Block is electrically connected, and the production WorkStation scheduling terminal is provided with station terminal interaction software systems, is set on the remote control center
There is remote control center interactive software system.
2. the on-line scheduling control system of the unmanned carrying Intelligent navigating bogie of RFID is based on as claimed in claim 1, and it is special
Levy and be, it is equidistant on the navigation magnetic stripe to be equipped with several RFIDs, all RFIDs and RFID moulds
Block radio communication is connected, and is stored with the RFID and is characterized the address coordinate coding of current location residing for AGV dollies.
3. the on-line scheduling control system of the unmanned carrying Intelligent navigating bogie of RFID is based on as claimed in claim 1, and it is special
Levy and be, the AGV dollies also include being arranged on polyurethane wheel on load-carrying chassis of vehicle body, the power-driven mechanism and watch
Take steering mechanism to be connected with polyurethane wheel, the power-driven mechanism is provided with power motor and traveling control module,
The power motor and traveling control module electrical connection, the servo steering mechanism are provided with servomotor and course changing control mould
Block, the servomotor and course changing control module are electrically connected, the traveling control module and course changing control module with PLC controls
Module is connected.
4. the on-line scheduling control system of the unmanned carrying Intelligent navigating bogie of RFID is based on as claimed in claim 1, and it is special
Levy and be, the magnetic navigation module uses magnetic navigation sensor, the magnetic navigation sensor to be passed including multiple miniature magnetic field detections
The sensor LED light corresponding with miniature magnetic field detection sensor and control chip, the miniature magnetic field detection sensor and
LED light is electrically connected with control chip.
5. the on-line scheduling control system of the unmanned carrying Intelligent navigating bogie of RFID is based on as claimed in claim 1, and it is special
Levy and be, the AGV dollies also include the weighing sensor being arranged on load-carrying car body, the weighing sensor is controlled with PLC
Module is electrically connected.
6. the on-line scheduling control system of the unmanned carrying Intelligent navigating bogie of RFID is based on as claimed in claim 2, and it is special
Levy and be, the real-time routes figure for indicating all AGV dollies driving paths is provided with the remote control center interactive software system,
Be labeled with the real-time routes figure with the one-to-one road sign point of RFID, the road sign point can be small according to AGV
The driving path of car shows red or green in real time.
7. the on-line scheduling control system of the unmanned carrying Intelligent navigating bogie of RFID is based on as claimed in claim 1, and it is special
Levy and be, the load-carrying car body of all AGV dollies is provided with the first startup/stop button with car, the production WorkStation scheduling end
End is provided with the second startup/stop button for controlling all AGV dollies, and the remote control center interactive software system is provided with
Control the three startups/stop button of all AGV dollies, the first startup/stop button, the second startup/stop button and
Coordinated signals are used between three startups/stop button, wherein, any one startup/stop button can control AGV dollies
Start and stop, and by controlling whether the start and stop of AGV dollies judge busy/idle conditions of AGV dollies.
8. the on-line scheduling control system of the unmanned carrying Intelligent navigating bogie of RFID is based on as claimed in claim 4, and it is special
Levy and be, the quantity of the magnetic navigation module is 2, is separately positioned on the front end face bottom centre position and rear end of load-carrying car body
Face bottom centre position, the quantity of the RFID module is 2, and one of them is arranged on the rear portion of front end face magnetic navigation module,
Another is arranged on the front portion of rear end face magnetic navigation module；Plummet distance between all magnetic navigation modules and navigation magnetic stripe keeps
Plummet distance between 30-50mm, all RFID modules and RFID is maintained at 30-50mm.
9. the on-line scheduling control system of the unmanned carrying Intelligent navigating bogie of RFID is based on as claimed in claim 8, and it is special
Levy and be, the magnetic navigation module is provided with least 3 LED lights, LED light is used to indicate AGV dollies in automatic row
Whether its travel route shifts during sailing, and each LED light corresponds to a position switch signal, magnetic navigation module
Position switch signal transmission is processed to PLC control modules, and issues instructions to travel control module and course changing control mould
Block makes polyurethane wheel differential steering, so as to realize rectifying a deviation to AGV dollies.
10. the on-line scheduling control of the unmanned carrying Intelligent navigating bogie based on RFID as described in claim any one of 1-9
System, it is characterised in that each production WorkStation scheduling terminal can send the dispatch command for calling AGV dollies, lead to
Ethernet is crossed to transmit to remote control center dispatch command, remote control center according to dispatch command send control instruction to
The AGV dollies of idle condition are currently at, after AGV dollies receive the control instruction from remote control center, are driven towards automatically
The production WorkStation scheduling terminal for sending dispatch command waits loading, and AGV dollies are automatic after fully loaded drives towards final unloading destination
Unloading is waited, next control instruction of remote control center is waited after AGV dollies original place after zero load；AGV dollies are being transported automatically
During row, PLC control modules will at least include that the AGV dollies vehicle of speed, load-carrying and position is believed by wireless network in real time
Breath is transferred to remote control center, to realize on-line scheduling and management function of the remote control center to AGV dollies.
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| CN201611167985.2A CN106681321B (en) | 2016-12-16 | 2016-12-16 | The on-line scheduling control system of unmanned carrying Intelligent navigating bogie based on RFID |
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|---|---|---|---|
| CN201611167985.2A CN106681321B (en) | 2016-12-16 | 2016-12-16 | The on-line scheduling control system of unmanned carrying Intelligent navigating bogie based on RFID |
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| Publication Number | Publication Date |
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| CN106681321A true CN106681321A (en) | 2017-05-17 |
| CN106681321B CN106681321B (en) | 2019-10-11 |
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