CN106843218A - Workshop homing guidance device dispatching method - Google Patents
Workshop homing guidance device dispatching method Download PDFInfo
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- CN106843218A CN106843218A CN201710083784.2A CN201710083784A CN106843218A CN 106843218 A CN106843218 A CN 106843218A CN 201710083784 A CN201710083784 A CN 201710083784A CN 106843218 A CN106843218 A CN 106843218A
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- 238000000034 method Methods 0.000 title claims abstract description 12
- 238000004891 communication Methods 0.000 claims abstract description 31
- 230000011664 signaling Effects 0.000 claims abstract description 7
- 230000007246 mechanism Effects 0.000 claims description 11
- 238000001514 detection method Methods 0.000 claims description 6
- 230000004888 barrier function Effects 0.000 claims description 5
- 230000003139 buffering effect Effects 0.000 claims description 5
- 230000003287 optical effect Effects 0.000 claims description 4
- 230000005540 biological transmission Effects 0.000 abstract description 5
- 238000004806 packaging method and process Methods 0.000 abstract description 3
- 238000004519 manufacturing process Methods 0.000 description 7
- 239000000463 material Substances 0.000 description 5
- 230000032258 transport Effects 0.000 description 5
- 230000000875 corresponding effect Effects 0.000 description 4
- 230000003028 elevating effect Effects 0.000 description 4
- 239000000969 carrier Substances 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005192 partition Methods 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- 239000002253 acid Substances 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000007726 management method Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 230000005622 photoelectricity Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
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, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/028—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using a RF signal
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Electromagnetism (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention relates to a kind of workshop homing guidance device dispatching method, including workshop, homing guidance device AGV, wireless communication module, host computer；Colour band is posted on the internal ground in workshop as track, RFID tag card is provided with the station of colour band both sides, AGV left sides are provided with RFID reader, and AGV Vehicle Controllers are connected with host computer；When certain station needs AGV, host computer call signal is transferred to Vehicle Controller module by wireless communication module.Vehicle Controller module controls AGV to move at calling station after receiving call signal；Vehicle Controller module is to the position for showing AGV after host computer transmission position signalling on host computer；The present invention being capable of flexible dispatching multiple AGV, it is to avoid AGV is mutually collided, when actually used, only needing a small amount of personnel just can complete the transport of goods, and reduces cost improves operating efficiency, improve the market competitiveness, highly versatile, it is adaptable to polytype workshop packaging system.
Description
Technical field
The present invention relates to a kind of production automation technology, more particularly to a kind of workshop homing guidance device dispatching method.
Background technology
AGV (Automated Guided Vehicle, AGV) is to be equipped with the homing guidance device such as electromagnetism or photoelectricity,
Can be along the guide path automatic running of regulation, with programming and mode selector, safeguard protection and various transfer functions
Transfer robot, with chargeable lead-acid accumulator etc. for its power resources；Its traveling is set up using colour band or electromagnetic path
Route.
With the development of China's automated workshop system, AGV carriers are got over as the key link in workshop system
Carry out more applications.AGV carriers facilitate automatic management mainly for delivery of link, improve system flexibility and flexibility, section
About manpower, improves operating efficiency.But multiple AGV works simultaneously when, each AGV can only be travelled on oneself specific track,
So that the travel route of each AGV is relatively single, laying track increases cost unavoidably, when the different station on production line is required for
During calling AGV, there is a problem of how going response again.Scheduling is improper, and production efficiency can be reduced unavoidably.Therefore, high efficiency is researched and developed
Workshop with AGV dispatch system it is imperative.
The content of the invention
The present invention be directed to the problem of Workshop Production scheduling development, it is proposed that a kind of workshop homing guidance device dispatching party
Method, it is to avoid AGV is mutually collided, while avoiding setting up more navigation tracks, system is dispatched in cost-effective workshop with AGV.
The technical scheme is that：A kind of workshop homing guidance device dispatching method, including workshop, homing guidance dress
Put, wireless communication module, upper computer module；Colour band is posted on the internal ground in workshop as track, is set at the station of colour band both sides
RFID tag card is equipped with, when certain station needs homing guidance device, wireless communication module sends call information, homing guidance
After wireless communication module is received from the call information at calling station on device, send information in homing guidance device
Vehicle Controller, Vehicle Controller controls homing guidance device to move to calling after receiving call signal in homing guidance device
At the station that signal sends；
The upper computer module receives the dolly position signalling that Vehicle Controller is sent in automatic guiding device and display location letter
Breath, upper computer module sends the wireless communication module on motion or stop signal to homing guidance device, in homing guidance device
Wireless communication module is received after the instruction message from host computer, and instruction message is sent vehicle-mounted to homing guidance device
Controller module, Vehicle Controller module control homing guidance device performs motion or stop signal；
When homing guidance device is for multiple, now when certain station needs AGV, call signal is sent to upper computer module,
The upper computer module is nearest come judging distance station according to the position signalling that Vehicle Controller in homing guidance device sends
Homing guidance device, and motor message is sent to the wireless communication module of homing guidance device, it is vehicle-mounted in homing guidance device
Controller controls this homing guidance device to move at the station of calling；When the nearest homing guidance dress of the distance call station
When being equipped with carrying task, homing guidance device or idle homing guidance dress of the upper computer selecting apart from station position suboptimum
Put to complete carrying task.
The wireless communication module of the homing guidance device vehicle frame front end receives the mission bit stream that host computer sends, and passes on
Perform to Vehicle Controller module, homing guidance device car body running status in itself and positional information are also by wireless communication module
Host computer is fed back to make a decision；
Homing guidance device headstock bottom is provided with optical pickocff, reads colour band trace information on ground and then feeds back to vehicle-mounted
Controller module, Vehicle Controller module controls two rotations of motor respectively, car body is transported along colored band track all the time
It is dynamic；
Homing guidance device vehicle frame both sides are provided with RFID reader, the RFID tag card on detection ground, and feed back to
Vehicle Controller module, obtains car body current location information；
The main avoidance sensor of homing guidance device is installed on headstock front end, is scanned using infrared LEDs and found range, contactless survey
Amount, four obstacle avoidance aiding sensors are respectively arranged in homing guidance device car body both sides, are non-contact infrared avoidance sensor,
To detect the obstacle information of car body both sides, the obstacle information that main avoidance sensor and obstacle avoidance aiding sensor are detected send vehicle-mounted
Controller module, Vehicle Controller module produces corresponding warning message to pass to touch-screen and carries out sound and light alarm, vehicle-mounted control
Device module simultaneously controls drive mechanism to slow down or stop, until barrier is removed, while warning message is via wireless communication module
Feed back to host computer.
On the coloured belt track in workshop, the colour band node for having many places right-angled intersection is used for the steering of AGV dollies and keeps away
Allow other AGV dollies, when two homing guidance devices are travelled in opposite directions, host computer is received after the positional information of dolly, such as
When having traveling to conflict, host computer sends instruction near the homing guidance device for avoiding colour band node, causes it to move to avoidance color
Band node buffering is sentenced and avoids other homing guidance devices, and when road does not have homing guidance device to travel conflict, this leads automatically
Leading-in device rolls avoidance colour band node avoidance area away from and continues to complete carrying task.
The beneficial effects of the present invention are：Workshop of the present invention homing guidance device dispatching method, AGV dollies are by wireless
Communication module real-time reception host computer order, safe and reliable, low cost, highly versatile, it is adaptable to polytype Workshop Production
System.
Brief description of the drawings
Fig. 1 is homing guidance apparatus structure schematic diagram of the present invention；
Fig. 2 is homing guidance device top view of the present invention；
Fig. 3 is homing guidance device driving mechanism structural representation of the present invention；
Fig. 4 is homing guidance device elevating mechanism structural representation of the present invention；
Fig. 5 is room surface figure of the invention；
Fig. 6 is the figure of AGV Job-Shops logic one of the invention；
Fig. 7 is the figure of AGV Job-Shops logic two of the invention；
Fig. 8 is the figure of AGV Job-Shops logic three of the invention.
Specific embodiment
Both sides have two in the middle of homing guidance apparatus structure schematic diagram of the present invention and top view as shown in Figure 1, 2, vehicle frame 3 times
Respectively there are two driven pulleys 10 on driving wheel 12, front and rear both sides, and car body intermediate symmetry places battery 9, there is Vehicle Controller in headstock
Module 1, headstock is middle foremost to install main avoidance sensor 4, and four obstacle avoidance aiding sensors 5 are respectively arranged in car body corner two
Side, the wireless communication module 6 of headstock front end is used to receive the mission bit stream that the outer host computer of car sends, and touch-screen 2 is arranged at headstock top,
Headstock bottom is provided with optical pickocff 7 and reads colour band trace information on ground with vehicle body link position, and the both sides of vehicle frame 3 are respectively installed
One RFID reader 8, for detecting the RFID tag card on ground, on the inside of two driving wheels 12, undercarriage is straight on vehicle frame 3
Connect and damping spring 11 is installed.
As shown in figure 1, chassis of vehicle body is provided with four universal wheels as driven pulley 10, while support is played to car body making
With.Homing guidance device driving mechanism structural representation as shown in Figure 3, the middle part of vehicle frame 3 is drive mechanism, and drive mechanism includes two
15, the two solid driving wheels 12 of shaft coupling of reductor 14, two of platform motor 13, two, two motors 13 are carried and subtracted
Fast machine 14, the end of reductor 14 is connected to shaft coupling 15 and is connected with driving wheel 12, and working method, two are driven using bi-motor differential
Motor 13 is controlled by Vehicle Controller module 1 respectively.
The top of vehicle frame 3 as shown in Figure 1 is provided with elevating mechanism, and lifting motor 18 is in the middle of tailstock portion, the car body of power transmission shaft 20
Through front and rear, material detection sensor 17 is located in the middle of car body top, and homing guidance device elevating mechanism structure as shown in Figure 4 is shown
Be intended to, elevating mechanism include objective table 16, material detection sensor 17,18, two lifts 19 of lifting motor, power transmission shaft 20,
Lifting guide shaft 21, the top of vehicle frame 3 is provided with objective table 16, and the four corners below of objective table 16 is provided with four lifting guide shafts 21 and vehicle frame
3 connections, material detection sensor 17 installs the center of vehicle frame 3, and the lifting motor 18 for being provided with reductor 14 is arranged on car body end
A lift 19, the one end of lift 19 connection lift 18 of the rear end of objective table 16 are respectively installed in lower section before and after end, objective table 16
Reductor 14, the other end is connected by power transmission shaft 20 with the lift 19 of the front end of objective table 16, realizes synchronization lifting.Work as AGV
When car body reaches the " loaded " position specified, if material detection sensor 17 detects AGV carriers and has arrived at material frame jacking
During position, corresponding signal will be sent to Vehicle Controller module 1, then the control of Vehicle Controller module 1 lifting motor 18 is complete
Into corresponding actions.
Wireless communication module 6 positioned at the front end of vehicle frame 3 is used to receive the mission bit stream that host computer sends, and conveys to vehicle-mounted
Controller module 1 is performed, and car body running status in itself and positional information also feed back to host computer and do via wireless communication module 6
Judge.Headstock bottom is provided with optical pickocff 7, can read colour band trace information on ground and then feed back to Vehicle Controller
Module 1, Vehicle Controller module 1 controls two rotations of motor 13 respectively, enables car body all the time along colored band track
Motion.The both sides of vehicle frame 3 are provided with RFID reader 8, for detecting the RFID tag card on ground, and feed back to vehicle-mounted control
Device module 1 processed, so as to obtain car body current location information.Main avoidance sensor 4 is installed on headstock front end, using infrared LEDs
Scanning range finding, non-contact measurement, its effective range is the semicircle of 3m.Four obstacle avoidance aiding sensors 5 are respectively mounted
It is non-contact infrared avoidance sensor in car body both sides, can be used to detect the obstacle information of car body both sides, according to main avoidance
The obstacle information that sensor 4 and obstacle avoidance aiding sensor 5 feed back, Vehicle Controller module 1 will produce corresponding report
Alert information transmission carries out sound and light alarm to touch-screen 2, and controls drive mechanism to slow down or stop, until barrier is removed, together
Alarm information also can feed back to host computer via wireless communication module 6.
Workshop homing guidance device dispatches system, including workshop, homing guidance device（AGV dollies）, wireless telecommunications mould
Block, upper computer module；The wireless communication module is used to, when certain station needs AGV, call information is sent, on AGV dollies
After wireless communication module is received from the call information at calling station, the small in-car Vehicle Controllers of AGV are sent information to,
The Vehicle Controller controls AGV to move at the station that call signal sends after receiving call signal.
The upper computer module can receive dolly position signalling and the display location information that Vehicle Controller is sent, described
Upper computer module can also send the wireless communication module on motion or stop signal to dolly, and the wireless communication module is received
To after the instruction message from host computer, instruction message is sent to the Vehicle Controller module, the Vehicle Controller
Module control AGV performs motion or stop signal, and host computer can manually control the operation of AGV.
When AGV for it is multiple when, now when certain station needs AGV, call signal is sent to upper computer module, it is described on
Position machine module, come the nearest AGV of judging distance station, and motor message is sent according to the position signalling that Vehicle Controller sends
To the wireless communication module of dolly, Vehicle Controller controls this AGV to move at the station of calling.When the distance call station
When nearest AGV has carrying task, host computer will the AGV or idle AGV of chosen distance station position suboptimum come
Into the task of carrying.
On the coloured belt track in workshop, the colour band node for having many places right-angled intersection is used for the steering of AGV dollies and avoids it
Its AGV dolly.When two AGV dollies are travelled in opposite directions, host computer is received after the positional information of dolly, will be near section
Point AGV send instruction, cause it to move to node buffering sentence avoidance other AGV dollies, when road do not have AGV travel conflict
When, this AGV rolls node avoidance area away from and continues to complete carrying task.Be fitted with described bagging area and production line calling by
Button, for calling AGV dollies delivery product.
A kind of workshop dispatches system room surface figure with AGV as shown in figure 5, the either inside pastes coloured track 23,
AGV dollies are travelled in orbit.Bagging area 29 and assembling area 22 are fitted with call button 28, and there is assembling area in the front of assembling area 22
Shelf rest area 24, and the charging zone of standby shelf buffering area and AGV dollies is provided with workshop.25 is group in Fig. 5
The dress standby shelf rest area in area, 26 is partition wall, and 27 is standby shelf rest area, and 30 is bagging area shelf rest area.
System is dispatched in a kind of workshop with AGV, and when AGV dollies, avoidance sensor detects barrier during traveling
When, dolly will stop motion and alert until staff removes barrier；When dolly electric quantity of power supply is low
When predetermined value, complete carrying task after will automatic running charged to charging zone；When two AGV dollies are travelled in opposite directions, on
Position machine is received after the positional information of dolly, sends instruction will to the AGV near node, is caused it to move at node buffering
To avoid other AGV dollies, when road does not have AGV to travel conflict, this AGV rolls node away from and avoids area and continue to complete to carry and appoints
Business.
The figure of AGV Job-Shops logic one as shown in Figure 6, AGV Job-Shops the first logics：Bagging area 29 is called and assembled
Area 22 does not call.Call information is transferred to host computer by call button signal by wireless signal, and host computer will be referred to by judging
Make information that the wireless communication module of AGV dollies is transferred to by wireless communication module, dolly receives the instruction from host computer
Afterwards, Vehicle Controller module is transmitted instructions to so that the dolly startup optimization under holding state is to bagging area 29, and an empty goods
Frame is transported to the standby shelf area 27 for specifying, and the product to be packaged shelf of standby shelf area 27 and then are transported into bagging area 29 enters
And transport task is completed, if Vehicle Controller module does not have new instruction, it is standby that dolly will automatically return to charging zone charging.
The figure of AGV Job-Shops logic two as shown in Figure 7, second logic of AGV Job-Shops：Bagging area 29 and assembly line 22
Call simultaneously.AGV receives host computer instruction, and the empty bin of bagging area 29 is transported to the specified location of assembly line 22 automatically,
The bin that kinds of goods are filled in assembly line shelf rest area 24 has been placed on assembly line 22 near the side of partition wall 26 by assembler in advance
Standby shelf area 25, waits AGV to arrive at assembly line calling specified location, and operating personnel draw and remove sky bin and by standby shelf area
Kinds of goods frame is moved to directly over AGV dollies, and while operating personnel replace, AGV has turned around to finish, and then execution transports packaging to and exhales
Area specified location shelf rest area 30 is cried, so far AGV completes task.
The figure of AGV Job-Shops logic three as shown in Figure 8, AGV Job-Shops the third logics：Assembly line 22 is called and packed
Area 29 does not call.AGV is received after host computer instruction, is automatically transported the empty bin in standby shelf area 27 to assembling the end of a thread to and is referred to
Positioning is put, and the bin that assembler will fill kinds of goods in advance is placed on standby shelf area 25 by production line, waits AGV to arrive at group
Wiring calls specified location, and operating personnel draw and remove sky bin and move directly over dolly the kinds of goods frame in standby shelf area 25 to,
While operating personnel replace, AGV has turned around to finish, and and then transports to stock area's specified location kinds of goods frame to, and so far AGV is complete
Into transport task.
The present invention is improved for the deficiency described in background technology, is realized colour band and is tracked mode, RFID label tag
Positioning method, and touch-screen 2 use also greatly facilitate Field Force debugging.AGV scheduling system of the invention can
Flexible dispatching multiple AGV, it is to avoid AGV is mutually collided, when actually used, only needs a small amount of personnel just can complete the transport of goods,
Reduces cost, improves operating efficiency, improves the market competitiveness, highly versatile, it is adaptable to polytype workshop packaging system
System.
Claims (3)
1. a kind of workshop homing guidance device dispatching method, it is characterised in that including workshop, homing guidance device, channel radio
News module, upper computer module；Colour band is posted on the internal ground in workshop as track, RFID marks are provided with the station of colour band both sides
Card is signed, when certain station needs homing guidance device, wireless communication module sends call information, wireless on homing guidance device
After communication module is received from the call information at calling station, vehicle-mounted control in homing guidance device is sent information to
Device, Vehicle Controller to be received control after call signal homing guidance device and move to call signal and sent in homing guidance device
Station at；
The upper computer module receives the dolly position signalling that Vehicle Controller is sent in automatic guiding device and display location letter
Breath, upper computer module sends the wireless communication module on motion or stop signal to homing guidance device, in homing guidance device
Wireless communication module is received after the instruction message from host computer, and instruction message is sent vehicle-mounted to homing guidance device
Controller module, Vehicle Controller module control homing guidance device performs motion or stop signal；
When homing guidance device is for multiple, now when certain station needs AGV, call signal is sent to upper computer module,
The upper computer module is nearest come judging distance station according to the position signalling that Vehicle Controller in homing guidance device sends
Homing guidance device, and motor message is sent to the wireless communication module of homing guidance device, it is vehicle-mounted in homing guidance device
Controller controls this homing guidance device to move at the station of calling；When the nearest homing guidance dress of the distance call station
When being equipped with carrying task, homing guidance device or idle homing guidance dress of the upper computer selecting apart from station position suboptimum
Put to complete carrying task.
2. workshop homing guidance device dispatching method according to claim 1, it is characterised in that the homing guidance device
The wireless communication module of vehicle frame front end receives the mission bit stream that host computer sends, and conveys to the execution of Vehicle Controller module, from
Dynamic guiding device car body running status in itself and positional information also feed back to host computer and make a decision by wireless communication module；
Homing guidance device headstock bottom is provided with optical pickocff, reads colour band trace information on ground and then feeds back to vehicle-mounted
Controller module, Vehicle Controller module controls two rotations of motor respectively, car body is transported along colored band track all the time
It is dynamic；
Homing guidance device vehicle frame both sides are provided with RFID reader, the RFID tag card on detection ground, and feed back to
Vehicle Controller module, obtains car body current location information；
The main avoidance sensor of homing guidance device is installed on headstock front end, is scanned using infrared LEDs and found range, contactless survey
Amount, four obstacle avoidance aiding sensors are respectively arranged in homing guidance device car body both sides, are non-contact infrared avoidance sensor,
To detect the obstacle information of car body both sides, the obstacle information that main avoidance sensor and obstacle avoidance aiding sensor are detected send vehicle-mounted
Controller module, Vehicle Controller module produces corresponding warning message to pass to touch-screen and carries out sound and light alarm, vehicle-mounted control
Device module simultaneously controls drive mechanism to slow down or stop, until barrier is removed, while warning message is via wireless communication module
Feed back to host computer.
3. workshop homing guidance device dispatching method according to claim 2, it is characterised in that the workshop color band rail
On road, the colour band node for having many places right-angled intersection is used for the steering of AGV dollies and avoids other AGV dollies, when two it is automatic
When guiding device is travelled in opposite directions, host computer is received after the positional information of dolly, and during if any traveling conflict, host computer is to close
The homing guidance device for avoiding colour band node sends instruction, causes it to move to avoidance colour band node buffering and sentences avoidance other are automatic
Guiding device, when road does not have homing guidance device to travel conflict, this homing guidance device rolls avoidance colour band node away from and avoids
Area continues to complete carrying task.
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| CN107885177A (en) * | 2017-11-17 | 2018-04-06 | 湖北神丹健康食品有限公司 | A kind of WMS and method of the AGV based on machine vision navigation |
| CN108248488A (en) * | 2018-02-12 | 2018-07-06 | 国家电网公司 | A kind of piping lane transportation system and its control method |
| CN108267149A (en) * | 2018-01-19 | 2018-07-10 | 广东美的智能机器人有限公司 | The method for collision management and system of multiple mobile robot |
| CN108279675A (en) * | 2018-01-19 | 2018-07-13 | 广东美的智能机器人有限公司 | The method for collision management and system of multiple mobile robot |
| CN108563219A (en) * | 2017-12-29 | 2018-09-21 | 青岛海通机器人系统有限公司 | A kind of AGV preventing collision methods |
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| CN108803603A (en) * | 2018-06-05 | 2018-11-13 | 广州市远能物流自动化设备科技有限公司 | AGV trolley butt junction location methods based on coded image and AGV trolleies |
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