CN106681321B - The on-line scheduling control system of unmanned carrying Intelligent navigating bogie based on RFID - Google Patents
The on-line scheduling control system of unmanned carrying Intelligent navigating bogie based on RFID Download PDFInfo
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- CN106681321B CN106681321B CN201611167985.2A CN201611167985A CN106681321B CN 106681321 B CN106681321 B CN 106681321B CN 201611167985 A CN201611167985 A CN 201611167985A CN 106681321 B CN106681321 B CN 106681321B
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- 238000004519 manufacturing process Methods 0.000 claims abstract description 45
- 238000004891 communication Methods 0.000 claims abstract description 27
- 230000007246 mechanism Effects 0.000 claims description 21
- 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 10
- 239000004814 polyurethane Substances 0.000 claims description 10
- 238000005303 weighing Methods 0.000 claims description 10
- 230000003993 interaction Effects 0.000 claims description 5
- 238000012512 characterization method Methods 0.000 claims description 3
- 238000000465 moulding Methods 0.000 claims description 2
- JOYRKODLDBILNP-UHFFFAOYSA-N Ethyl urethane Chemical compound CCOC(N)=O JOYRKODLDBILNP-UHFFFAOYSA-N 0.000 claims 1
- 230000008054 signal transmission Effects 0.000 claims 1
- 230000006872 improvement Effects 0.000 description 10
- 238000010586 diagram Methods 0.000 description 6
- 238000000034 method Methods 0.000 description 6
- 238000011897 real-time detection Methods 0.000 description 6
- 238000012937 correction Methods 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
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- 238000012360 testing method Methods 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
- 238000012545 processing Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
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- 238000003860 storage Methods 0.000 description 1
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Classifications
-
- 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
-
- 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
Abstract
The on-line scheduling control system of the present invention relates to a kind of unmanned carrying Intelligent navigating bogie based on RFID, including several AGV trolleies, multiple production WorkStation scheduling terminals and a remote control center, all AGV trolleies are communicated to connect by wireless network and remote control center, all production WorkStation scheduling terminals are communicated to connect by ethernet network and remote control center, and all AGV trolleies are connected with each production WorkStation scheduling terminal by being laid on the navigation magnetic stripe of workshop；The AGV trolley includes power supply, magnetic navigation module, RFID module, wireless communication module and PLC control module, the power supply is that AGV trolley is powered, and the magnetic navigation module, RFID module and wireless communication module are electrically connected with PLC control module.The system features in convenient can not only realize unmanned navigation and automatic running to AGV trolley, while rely on the multiple AGV trolleies of RFID signal real-time online scheduling controlling, greatly improve the flexibility of AGV trolley management scheduling system management and running.
Description
Technical field
Intelligent navigating bogie (i.e. AGV trolley) technical field is carried the present invention relates to unmanned, concretely relates to one kind
The on-line scheduling control system of unmanned carrying Intelligent navigating bogie based on RFID.
Background technique
Traditional unmanned carrying Intelligent navigating bogie (AGV trolley) is all underloading formula, by finish in advance travel route with
Driving trace enables according to set route running, to realize unmanned navigation automatic running.This AGV is although can
It realizes unmanned navigation, but once finishes travel route track, then On-line Control and the operating path of trolley can not be changed, be small
The online scheduling and management of vehicle bring inconvenience, are also unfavorable for the scheduling controlling at workshop scene.Therefore, urgent need
Existing AGV trolley is improved and can realize on-line scheduling control to AGV trolley.
Summary of the invention
The on-line scheduling control of the purpose of the present invention is to provide a kind of unmanned carrying Intelligent navigating bogie based on RFID
System, the system features in convenient can not only realize unmanned navigation and automatic running to AGV trolley, while rely on RFID signal
Can the multiple AGV trolleies of real-time online scheduling controlling, greatly improve the flexible of AGV trolley management scheduling system management and running
Property.
To achieve the goals above, the technical solution adopted by the present invention is, a kind of unmanned carrying based on RFID is intelligently led
The on-line scheduling control system of boat trolley, including the long-range control of several AGV trolleies, multiple production WorkStation scheduling terminals and one
Center, all AGV trolleies are communicated to connect by wireless network and remote control center, all production WorkStation scheduling terminals by with
Too net network and remote control center communicate to connect, and all AGV trolleies are with each production WorkStation scheduling terminal by being laid on
The navigation magnetic stripe of workshop is connected；The AGV trolley includes load-carrying car body and the power supply being arranged on load-carrying car body electricity
Source, power-driven mechanism, servo steering mechanism, magnetic navigation module, RFID module, wireless communication module and PLC control module, institute
Stating power supply is that AGV trolley is powered, the power-driven mechanism, servo steering mechanism, magnetic navigation module, RFID module
It is electrically connected with PLC control module with wireless communication module, it is soft that the production WorkStation scheduling terminal is equipped with station terminal interaction
Part system, the remote control center is equipped with remote control center interactive software system, on the load-carrying car body of all AGV trolleies
Equipped with the first starting with vehicle/stop button, the production WorkStation scheduling terminal is equipped with the second of all AGV trolleies of control and opens
Dynamic/stop button, the remote control center interactive software system are equipped with the third starting/stopping for controlling all AGV trolleies
Button, using linkage control between first starting/stop button, the second starting/stop button and third starting/stop button
System, wherein the start and stop of the controllable AGV trolley of any one starting/stop button, and pass through control AGV trolley
Start and stop whether judge busy/idle state of AGV trolley.
As an improvement of the present invention, equidistant on the navigation magnetic stripe to be equipped with several RFID electronic label, institute
There is RFID electronic label to connect with RFID module radio communication, is stored in the RFID electronic label locating for characterization AGV trolley
The address coordinate of current location encodes.
As an improvement of the present invention, the AGV trolley further includes the polyurethane vehicle 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 equipped with
Power motor and traveling control module, the power motor and traveling control module are electrically connected, and are set in the servo steering mechanism
Have a servo motor and course changing control module, the servo motor and the electrical connection of course changing control module, the traveling control module with
Course changing control module is connected with PLC control module.
As an improvement 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.
As an improvement of the present invention, the AGV trolley further includes the weighing sensor being arranged on load-carrying car body, institute
Weighing sensor is stated to be electrically connected with PLC control module.
As an improvement of the present invention, it is equipped in the remote control center interactive software system and indicates that all AGV are small
The real-time routes figure of vehicle driving path, be labeled on the real-time routes figure with the one-to-one road sign point of RFID electronic label,
The road sign point can be red or green according to the driving path real-time display of AGV trolley.
As an improvement of the present invention, the quantity of the magnetic navigation module is 2, before being separately positioned on load-carrying car body
End bottom middle position and rear end face bottom middle position, the quantity of the RFID module is 2, one of to be arranged preceding
The rear portion of end face magnetic navigation module, the front of rear end face magnetic navigation module is arranged in another；All magnetic navigation modules and navigation
Plummet distance between magnetic stripe is maintained at 30-50mm, and the plummet distance between all RFID modules and RFID electronic label is kept
In 30-50mm.
As an improvement of the present invention, the magnetic navigation module is equipped at least three LED light, and LED light is used
Whether shift in instruction AGV trolley its travel route during automatic running, each LED light corresponds to a position
Switching signal is set, position switch signal is transferred to PLC control module and handled by magnetic navigation module, and issues instructions to traveling
Control module and course changing control module make polyurethane wheel differential steering, rectify a deviation to realize to AGV trolley.
As an improvement of the present invention, each production WorkStation scheduling terminal can be sent for calling AGV trolley
Dispatch command, dispatch command is transmitted to by remote control center by Ethernet, remote control center is according to dispatch command
Control instruction is issued to the AGV trolley for being currently at idle state, AGV trolley receives the control from remote control center and refers to
After order, the production WorkStation scheduling terminal waiting loading for issuing dispatch command is driven towards automatically, AGV trolley drives towards most automatically after fully loaded
Unloading destination waits unloading eventually, and AGV trolley original place waits next control instruction of remote control center after zero load；AGV
For trolley during automatic running, PLC control module will include at least speed, load-carrying and position by wireless network in real time
AGV trolley information of vehicles is transferred to remote control center, to realize on-line scheduling and management of the remote control center to AGV trolley
Function.
Compared with the existing technology, advantages of the present invention is as follows, the 1) smart structural design of whole system, it is easy to maintain and at
This is low, by the mutual cooperation of remote control center and production WorkStation scheduling terminal and AGV trolley, forms calling AGV on demand
The intelligent distribution and management system of trolley can effectively realize on-line scheduling and control function to AGV trolleies all in workshop
Can, greatly improve production efficiency and benefit；2) RFID module being arranged on AGV trolley and be arranged in navigation magnetic stripe on
Being used in conjunction with each other between RFID electronic label, by realizing AGV trolley current geographic using RFID wireless radio-frequency
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 trolley
Real time dynamic display is carried out, can only transport cargo compared to traditional AGV trolley, this system realizes the online of AGV trolley
Graphical real-time navigation and control；3) each production WorkStation scheduling terminal can be according to production needs to remote control center
The dispatch command for issuing calling AGV trolley is currently at the AGV of idle state by remote control center according to dispatch command inquiry
Trolley, and control instruction is issued to AGV trolley, AGV trolley gives birth to control instruction decoding generation target after receiving control instruction
Produce WorkStation scheduling terminal and final unloading destination；4) it uses PLC as slave computer on AGV trolley, AGV trolley can be effectively controlled
It realizes the function of unmanned navigation automatic running, and target is driven towards by the control action of PLC control module automatically and produces station tune
Terminal is spent, is freighted, by the load weight of weighing sensor real-time detection AGV trolley, after fully loaded, AGV trolley continues
Automatically final unloading destination is driven towards, after reaching final unloading destination and unloading, AGV trolley is in original place again and waits shape
State waits next control instruction of remote control center.
Detailed description of the invention
Fig. 1 is on-line scheduling control system architecture schematic diagram of the invention.
Fig. 2 is the structural schematic diagram of navigation magnetic stripe and RFID electronic label of the invention.
Fig. 3 is the working principle diagram of AGV trolley of the invention.
Fig. 4 is the work flow diagram of AGV trolley of the invention.
Fig. 5 is the work flow diagram that production WorkStation scheduling terminal of the invention calls AGV trolley on demand.
Fig. 6 is the work flow diagram of remote control center of the invention.
Specific embodiment
In order to deepen the understanding of the present invention and recognize, 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 several AGV trolleies, multiple production WorkStation scheduling terminals and a remote control center, wherein AGV
The quantity of trolley and production WorkStation scheduling terminal is set according to needs of production, and all AGV trolleies pass through wireless network
It is communicated to connect with remote control center, it is preferred to use frequency is the wireless signal of 177MHz, and the wireless signal of the frequency, which has, to be passed
The features such as defeated distance is remote, strong antijamming capability.All production WorkStation scheduling terminals pass through ethernet network and remote control center
Communication connection, since Ethernet has, communication distance is remote and reliability is high, and existing workshop mostly uses ether
Telecommunication can be realized directly by means of Ethernet existing in workshop as control and communication network in network
With control, production cost can effectively reduce.All AGV trolleies and each production WorkStation scheduling terminal are 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-sided adhesive, is navigated by arrangement
Magnetic stripe could dictate that the travelling route of all AGV trolleies in entire workshop, and can effectively determine all productions in workshop
The position of WorkStation scheduling terminal, when use, the route that is formed by navigation magnetic stripe of all AGV trolleies was in the navigation enterprising crudely-made articles of magnetic stripe
Object transport operation.The AGV trolley includes load-carrying car body and the power supply being arranged on load-carrying car body, power-driven machine
Structure, servo steering mechanism, magnetic navigation module, RFID module, wireless communication module and PLC control module, the power supply are
AGV trolley is powered, and power supply uses storage battery power supply, and battery exports 48V DC voltage, converts by Switching Power Supply
After export 24V DC voltage required for each module.The power-driven mechanism, servo steering mechanism, magnetic navigation module, RFID
Module and wireless communication module are electrically connected with PLC control module, and PLC control module is the control of AGV trolley as slave computer
Core, on the one hand realizes the unmanned navigation automatic running of AGV trolley, on the other hand realizes that AGV trolley obeys remote control center
Real-Time Scheduling control.The production WorkStation scheduling terminal uses station computer, and station terminal is equipped on station computer
Interactive software system, production WorkStation scheduling terminal are controlled with AGV trolley and remotely respectively by station terminal interaction software systems
Center carries out information exchange, and major function includes that calling AGV trolley, loading control, Unloading Control, starting with full load and unloading stop
Only etc..The remote control center is equipped with remote control center interactive software system using the computer of networking on that computer
System, remote control center by remote control center interactive software system respectively with the PLC control module of AGV trolley 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 number, the uniqueness of mark production WorkStation scheduling terminal.Remote control center
Major function includes dynamic (including busy/idle state, travel route, speed, load-carrying, address of all AGV trolleies of real-time monitoring
Co-ordinate position information etc.), the AGV trolley that is in idle condition of scheduling travels to production WorkStation scheduling terminal, receives and processes life
Produce the dispatch command etc. that WorkStation scheduling terminal is sent.
The AGV trolley further includes the polyurethane wheel being arranged on load-carrying chassis of vehicle body, the power-driven mechanism and
Servo steering mechanism is connected with polyurethane wheel, to control the speed and driving direction of AGV trolley.The power drive
Mechanism is equipped with power motor and traveling control module, the power motor and traveling control module electrical connection, traveling control mould
Block provides driving signal for power motor, and in order to enable power motor can run smoothly reliably, can control mould in traveling
Frequency converter is set on block, to realize frequency control to power motor.The servo steering mechanism is equipped with servo motor and turns
To control module, the servo motor and the electrical connection of course changing control module, course changing control module provide driving letter for servo motor
Number, control the steering of AGV trolley.In addition, the traveling control module and course changing control module are connected with PLC control module
It connects, the travel speed of AGV trolley and turn signal is sent to PLC control module and carry out centralized control.
In addition, for the load-carrying body construction of AGV trolley, being held by design to improve the loading capacity of existing AGV trolley
Weight crossbeam, reinforcing rib and the heavily loaded function that AGV trolley is realized using measures such as high-strength polyurethane tires, so that
The load-carrying body construction of AGV trolley has the characteristics that large-scale heavy duty, realizes the loading capacity of AGV trolley up to 50 tons.
In addition, the AGV trolley further includes the weighing sensor being arranged on load-carrying car body, the weighing sensor with
The electrical connection of PLC control module.Weighing sensor can load weight on real-time detection AGV trolley, when the load weight on vehicle
Reach upper limit value, that is, be considered as fully loaded, and issues full signal and give PLC control module, and when unloaded, the load weight on vehicle is
When zero, that is, it is considered as completion of discharge, and issues airborne signals and give PLC control module.To realize that AGV is small by weighing sensor
The function of loading control, Unloading Control, starting with full load and unloading and stop of vehicle.
Further, the load-carrying car body of all AGV trolleies is equipped with the first starting/stop button with vehicle, the production
WorkStation scheduling terminal is equipped with the second starting/stop button for controlling all AGV trolleies, the remote control center interactive software
System is equipped with the third starting/stop button for controlling all AGV trolleies, and first starting/stop button, the second starting/
Stop button and third starting/stop button correspond to each other, and the first starting/stop button, the second starting/stop button
Linkage control is used between third starting/stop button.Wherein, it is corresponding with the first starting/stop button second starting/
Stop button and third starting/stop button, the controllable AGV of any one starting/stop button in these three buttons are small
The start and stop of vehicle.And the start and stop by controlling AGV trolley or not judge busy/idle state of AGV trolley,
When i.e. AGV trolley starts, then PLC control module feeds back to one busy signal of remote control center, indicates that AGV trolley is in busy
State；And if AGV trolley is not activated, centainly be in halted state, then PLC control module just feeds back to long-range control at this time
The not busy signal in one, center indicates that AGV trolley is in idle condition.There are multiple AGV trolleies in the workshop while being in
When idle state, remote control center can be according to the number of the production WorkStation scheduling terminal of calling AGV trolley, automatic selected distance
The production WorkStation scheduling terminal it is nearest and in an AGV trolley that is outermost, being in idle condition, it is small to dispatch the AGV
Vehicle automatic running is to the production WorkStation scheduling terminal.
As shown in Fig. 2, equidistant on the navigation magnetic stripe be equipped with several RFID electronic label, all RFID electronics
Label is connect with RFID module radio communication, and current location locating for characterization AGV trolley is stored in the RFID electronic label
Address coordinate coding.The RFID module is RFID read-write module, can read corresponding address from each RFID electronic label
Codes co-ordinates simultaneously send PLC control module to, so as to the travel route of real-time detection AGV trolley, to the position of AGV trolley
Carry out precise positioning.
The magnetic navigation module uses magnetic navigation sensor, and the magnetic navigation sensor includes that multiple miniature magnetic field detections pass
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 to magnetic field signal detected by miniature magnetic field detection sensor into
Row is handled, while the light on and off of LED light are controlled according to magnetic field signal.Each miniature magnetic field detection sensor is detection navigation
A sampled point of magnetic field signal on magnetic stripe, each sampled point have all the way signal be correspondingly outputting to control chip in, control
Chip controls the light on and off of LED light according to per signal all the way.
Specifically, the quantity of the magnetic navigation module is 2, it is separately positioned on the front end face bottom interposition of load-carrying car body
Set with rear end face bottom middle position, the quantity of the RFID module is 2, one of to be arranged in front end face magnetic navigation module
Rear portion, the front of rear end face magnetic navigation module is arranged in another.To in AGV trolley magnetic navigation module and RFID module into
Row is arranged in pairs, and is individually positioned in the rear ends of AGV trolley, can effectively ensure the levels of precision that magnetic navigation is advanced in this way,
The current location of AGV trolley can be also accurately positioned simultaneously, effectively improve the driving path real-time detection to AGV trolley
Accuracy.In addition, in order to ensure the detection accuracy of magnetic navigation module and RFID module, by all magnetic navigation modules and navigation magnetic
Plummet distance between item is maintained at 30-50mm, and the plummet distance between all RFID modules and RFID electronic label is protected
It holds in 30-50mm.
The magnetic navigation module is equipped at least three LED light, and LED light is used to indicate AGV trolley 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 is transferred to PLC control module to handle, and issues instructions to traveling control module and course changing control mould
Block makes polyurethane wheel differential steering, rectifies a deviation to realize to AGV trolley.When AGV trolley travelling, inside magnetic navigation sensor
Carry out intuitive judgment AGV perpendicular to continuous multiple sampled point output signals above navigation magnetic stripe, and by the light on and off of LED light
From deviating from the position of the trolley relative to navigation magnetic stripe.When the driving path of AGV trolley is consistent with the navigation lead track of magnetic stripe, by
The top of navigation magnetic stripe, the magnetic that the miniature magnetic field detection sensor of sensor middle measures are exactly in magnetic navigation sensor
Field signal is maximum, and the I/O mouth for controlling chip collects this several signals, and finds that current AGV trolley is in traveling road through processing
Among diameter, and lights several LED lights in an intermediate position and carry out position instruction effect, while sending position switch signal
The signal is handled to PLC control module, AGV trolley keeps former driving trace to continue to move ahead.And when the deviation of AGV trolley is led
When the track of boat magnetic stripe, since magnetic navigation sensor detects that maximum magnetic induction signal is no longer on magnetic navigation sensor
Centre, chip I/O mouthfuls of control have collected this several signals and the position for finding current AGV trolley through processing and track position
Deviation and the LED light for lighting corresponding position, at the same transmit position switching signal to PLC control module to the signal at
Reason, PLC control module send corresponding control instruction to traveling control module and course changing control module control respectively power motor and
Servo motor carries out differential correction control, so that it is guaranteed that AGV trolley advances along the track of navigation magnetic stripe.
Further, 12 LED lights are set on magnetic navigation sensor, respectively label 1-12 LED light,
And 1-12 LED light is sequentially arranged on magnetic navigation sensor in order from left to right.When magnetic navigation sensor is being led
When the surface middle position of boat magnetic stripe, it is located in the middle 5-7 LED light and is lit, indicate that current AGV trolley does not occur
Offset.And during AGV trolley automatic running, if AGV trolley is deviated, can by 1-4 LED light whether
It lights or 8-12 LED light whether lights to judge that AGV trolley is to the left or to the right.It shifts when AGV trolley
When, corresponding control instruction is issued by PLC control module, AGV trolley is entangled to traveling control module and course changing control module
Partially, and when 5-7 LED light is lighted again, show that automatic deviation correction is completed in car body, stop being responsible for turning at this time watches
Motor rotation is taken, and the driving trace of AGV trolley is kept to continue to move ahead.
In addition, being equipped with the reality for indicating all AGV trolley 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 trolley has been planned in advance, then passes through drawing
Mode be arranged in remote control center interactive software.And it is labeled on the real-time routes figure and RFID electronic label
One-to-one road sign point, the road sign point can be red or green according to the driving path real-time display of AGV trolley.Work as AGV
Trolley when driving, reads the address coordinate inside RFID electronic label by RFID module and encodes, and controlled by PLC along navigation magnetic stripe
Molding block is sent to remote control center interactive software system, and then remote control center interactive software system compiles address coordinate
Code compiles out, and the corresponding road sign point on real-time routes figure is shown as red by original green modification, to utilize one
The red road sign point of consecutive indicates the route that AGV trolley is passed by, to show all AGV of workshop with graphic interface
The current real-time location information of trolley.
As shown in Figure 3-4, it is pressed by the first starting/stop button, the second starting/stop button and third starting/stopping
Either button in button starts a certain AGV trolley, and the PLC control module of AGV trolley first carries out self-test initialization and waits
Control instruction to remote control center.After module receives control instruction by wireless communication, PLC control module is to control
Instruction is compiled and generates the final unloading for needing the target driven towards production WorkStation scheduling terminal and needing to reach after being fully loaded with
Then destination sends control signal to traveling control module driving power motor and carries out normally travel.PLC control module simultaneously
Speed, load-carrying and address coordinate location information are obtained, and starts the wireless communication subprogram in wireless communication module and passes through wirelessly
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 mould respectively
The driving trace drift condition and current real-time location information of block real-time monitoring AGV trolley, magnetic navigation module Real-time Feedback position
Switching signal gives PLC control module, and PLC control module judges whether AGV trolley deviates navigation magnetic by position switch signal
Item traveling is controlled by sending control signal to traveling when PLC control module detects that AGV trolley deviates navigation magnetic stripe
Module and course changing control module control power motor respectively and servo motor carries out differential correction control, to pass through servo motor
Turn to polyurethane wheel, while whether real-time detection AGV trolley driving direction rectified a deviation, one is straight if not rectifying a deviation
Row course changing control is until driving direction correction is completed, and PLC control module stops after the driving direction of AGV trolley has been rectified a deviation
Control to course changing control module, to continue normally travel along the track of navigation magnetic stripe.It is travelled in AGV trolley raw to target
It stops after producing WorkStation scheduling terminal and waits prestowage, carried out in fact during loading by the weighing sensor on load-carrying car body
When weigh load weight, and when load weight onboard has reached upper limit value, that is, be considered as it is fully loaded, and issue full signal to
PLC control module, thus drive AGV trolley towards final unloading destination traveling, it is in the process of moving, on the one hand small to AGV
The driving direction of vehicle rectify a deviation and the current location information of real-time detection AGV trolley, on the other hand module by wireless communication
Speed, load-carrying and address coordinate location information are sent to remote control center.Final unloading destination is reached when AGV trolley
When stop and wait to be unloaded, and in uninstall process, when the load weight on vehicle is zero, that is, be considered as completion of discharge, and issue
Airborne signals give PLC control module, and PLC control module controls the control instruction that AGV trolley original place waits remote control center.
As shown in figure 5, station terminal interaction software systems complete self-test initialization after production WorkStation scheduling terminal starting,
Then user's incoming call parameter (quantity and time including required AGV trolley) is waited, after calling parameter input,
System build calling parameter simultaneously generates dispatch command, dispatch command is sent to remote control center by Ethernet, by remote
Process control center is according to the number of production WorkStation scheduling terminal come for terminal distribution AGV trolley.Be provided within the system with
Too Network Communication subprogram, system will first carry out signal procedure initialization, seek when connecting with remote control center telecommunication
After finding the IP of remote control center, communication protocol is carried out with remote control center and is shaken hands, finally by network by dispatch command
Send remote control center to.When there is AGV trolley to reach the terminal, AGV trolley is in parking waiting loading condition, Yong Huwei
AGV trolley carries out cargo loading and in AGV trolley full load, completes the call scheduling for producing WorkStation scheduling terminal of this time.
Then the state for waiting incoming call parameter is come back to, to prepare for call scheduling next time.
As shown in fig. 6, remote control center interactive software system completes self-test initialization after remote control center starting,
Then on the other hand the information of vehicles (including speed, load-carrying and position etc.) on the one hand AGV trolley being waited to transmit also waits
The dispatch command that production WorkStation scheduling terminal transmission comes.When there is the information of vehicles of AGV trolley to transmit, the system docking
The information of vehicles received 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 trolley relevant information, it is most important that starting real-time routes figure with using patterned interface come
Show the real time running route of AGV trolley.In addition, the system can also the information of vehicles to AGV trolley refreshed in real time, will
The real time position Dynamically Announce of AGV trolley is on real-time routes figure, so as to make user intuitively observe the row of each AGV trolley
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 institute in workshop is inquired according to the number of information included in dispatch command and corresponding production WorkStation scheduling terminal
Have the AGV trolley for being currently at idle state, and generate scheduling controlling instruction by wireless communication subprogram be sent to distance should
Production WorkStation scheduling terminal it is nearest and in AGV trolley that is outermost, being in idle condition.The system with AGV trolley
When carrying out wireless communication data transmission, first signal procedure is initialized, then compile scheduling controlling instruction and generate communication
Signal, after the wireless communication protocol of system and AGV trolley is completed and shakes hands, system will include scheduling control by wireless serial
The signal of communication of system instruction is sent to AGV trolley, after the PLC control module of AGV trolley is successfully received signal of communication, is
System terminates the scheduling controlling to AGV trolley.
It should be noted that above-described embodiment, is not intended to limit the scope of protection of the present invention, in above-mentioned technical proposal
On the basis of made equivalents or substitution each fall within the range that the claims in the present invention are protected.Word "comprising" is not excluded for
There are element or steps not listed in the claims.The use of word first, second and third etc. does not indicate any sequence,
These words can be construed to title.
The technical means disclosed in the embodiments of the present invention is not limited only to technological means disclosed in above embodiment, further includes
Technical solution consisting of any combination of the above technical features.It should be pointed out that for those skilled in the art
For, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also considered as
Protection scope of the present invention.
Claims (2)
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 trolley, multiple production WorkStation scheduling terminals and a remote control center, all AGV trolleies by wireless network with
Remote control center communication connection, all production WorkStation scheduling terminals pass through ethernet network and remote control center communication link
It connects, all AGV trolleies are connected with each production WorkStation scheduling terminal by being laid on the navigation magnetic stripe of workshop；
The AGV trolley includes that load-carrying car body and the power supply being arranged on load-carrying car body, power-driven mechanism, servo turn
To mechanism, magnetic navigation module, RFID module, wireless communication module, PLC control module and it is arranged in poly- on load-carrying chassis of vehicle body
Urethane wheel, the power supply are that AGV trolley is powered, power-driven mechanism and servo steering mechanism with polyurethane vehicle
Wheel is connected, and power-driven mechanism is equipped with power motor and traveling control module, and power motor and traveling control module are electrically connected
It connects, servo steering mechanism is equipped with servo motor and course changing control module, servo motor and the electrical connection of course changing control module, traveling
Control module, course changing control module, magnetic navigation module, RFID module and wireless communication module are electrically connected with PLC control module；
Equidistant on the navigation magnetic stripe to be equipped with several RFID electronic label, all RFID electronic label are penetrated with RFID module
Frequency communicates to connect, and the address coordinate coding of current location locating for characterization AGV trolley is stored in the RFID electronic label；
The magnetic navigation module uses magnetic navigation sensor, and the magnetic navigation sensor includes multiple miniature magnetic field detection sensings
Device, 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, and the quantity of the magnetic navigation module is 2, before being separately positioned on load-carrying car body
End bottom middle position and rear end face bottom middle position, the quantity of the RFID module is 2, one of to be arranged preceding
The rear portion of end face magnetic navigation module, the front of rear end face magnetic navigation module is arranged in another；All magnetic navigation modules and navigation
Plummet distance between magnetic stripe is maintained at 30-50mm, and the plummet distance between all RFID modules and RFID electronic label is kept
In 30-50mm；
The magnetic navigation module is equipped at least three LED light, and LED light is used to indicate AGV trolley in automatic running mistake
Whether Cheng Zhongqi travel route shifts, and each LED light corresponds to a position switch signal, and magnetic navigation module is by position
It sets omicronff signal transmission to be handled to PLC control module, and issue instructions to traveling control module and course changing control module to make
Polyurethane wheel differential steering is rectified a deviation to realize to AGV trolley；
The production WorkStation scheduling terminal is equipped with station terminal interaction software systems, and the remote control center is equipped with long-range
Control centre's interactive software system is equipped in remote control center interactive software system and indicates all AGV trolley driving paths
Real-time routes figure is labeled with and the one-to-one road sign point of RFID electronic label, the road sign point energy on the real-time routes figure
Enough driving path real-time displays according to AGV trolley are red or green；
The load-carrying car body of all AGV trolleies is equipped with the first starting/stop button with vehicle, in the production WorkStation scheduling terminal
Equipped with the second starting/stop button for controlling all AGV trolleies, the remote control center interactive software system is equipped with control
Third starting/stop button of all AGV trolleies, first starting/stop button, the second starting/stop button and third
Linkage control is used between starting/stop button, wherein the starting of the controllable AGV trolley of any one starting/stop button
With stopping, and busy/idle state of AGV trolley is judged whether the start and stop by controlling AGV trolley；
Each production WorkStation scheduling terminal can send the dispatch command for calling AGV trolley, will by Ethernet
Dispatch command is transmitted to remote control center, and remote control center is currently at the free time according to dispatch command sending control instruction
The AGV trolley of state after AGV trolley receives the control instruction from remote control center, drives towards sending dispatch command automatically
Production WorkStation scheduling terminal wait loading, AGV trolley drives towards final unloading destination automatically and waits unloading after fully loaded, to sky
AGV trolley original place waits next control instruction of remote control center after load；AGV trolley is during automatic running, PLC control
Molding block will include at least speed, load-carrying and the AGV of position trolley information of vehicles by wireless network in real time and be transferred to long-range control
Center processed, to realize remote control center to the on-line scheduling and management function of AGV trolley.
2. the on-line scheduling control system of the unmanned carrying Intelligent navigating bogie based on RFID as described in claim 1, special
Sign is that the AGV trolley further includes the weighing sensor being arranged on load-carrying car body, and the weighing sensor and PLC are controlled
Module electrical connection.
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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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