CN106873605A - A kind of regulator control system for carrying automatical pilot transportation vehicle and regulation and control method - Google Patents
A kind of regulator control system for carrying automatical pilot transportation vehicle and regulation and control method Download PDFInfo
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- CN106873605A CN106873605A CN201710278459.1A CN201710278459A CN106873605A CN 106873605 A CN106873605 A CN 106873605A CN 201710278459 A CN201710278459 A CN 201710278459A CN 106873605 A CN106873605 A CN 106873605A
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- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 1
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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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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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
- G05D1/0212—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
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Abstract
The invention discloses a kind of regulator control system for carrying automatical pilot transportation vehicle and regulation and control method, belong to field of electromechanical integration.It is the scheduling of being in communication with each other between the single AGV of main control module and entirety based on PLC.With PLC be connected variable by control system, is changed by radio communication and real-time control function is realized to AGV to dependent variable, while AGV is fed back data in real time, the signal communicating of the particular location and control zone residing for AGV is included here.Control system includes the realization for many AGV traffic controls, and real-time assignment is carried out to each control zone flag bit using the memory variable of host computer, to be regulated and controled in real time to each AGV.For every AGV, there are automatically and manually two kinds of operational modes, wherein there is real-time orbital transfer and speed selection function under auto state.Can be widely used for intelligent repository to carry and factory's carrying place, efficiency high is convenient and swift.
Description
Technical field
The present invention relates to field of electromechanical integration, more specifically to a kind of regulation and control for carrying automatical pilot transportation vehicle
System and regulation and control method.
Background technology
21 century manufacturing industry will enter a new phase, and Agile manufactruing will turn into the dominant pattern of enterprise.City can be caught
It will be the Main Means that enterprise wins competition that field opportunity development goes out new product.Reduce dependence of the production cost to production lot,
Agile manufactruing equipment will be developed.Heavy manufacturing equipment it is programmable, can recombinate and capability of fast response so that carrying out it is small quantities of
During amount production, the efficiency for being capable of achieving in, producing in enormous quantities.Because there is contexture by self, programmable, tunable to make for robot
The features such as industry and control based on sensory, it will turn into the important composition portion of reconstitutable Agile manufactruing producing equipment and system
Point, for conventionally manufactured enterprise provides important technical support to agile manufacturing enterprise spanning development.Automatical pilot transportation vehicle
(Automated Guided Vehicle abbreviation AGV) is one kind of mobile robot, in being Modern Manufacturing Enterprise logistics system
Visual plant, be mainly used to all kinds of materials of accumulating, for system flexibility, integrated, Effec-tive Function provide important guarantee.
AGV mainly has two class forms, and one kind is fixed route AGV, and its operating path is fixed, and has track, therefore guidance technology
It is relatively easy；Another kind is free path AGV, and due to no track, it provides maximum possible for AGV free-running operations, but by
In technology restriction, AGV is still one along free routing free-running operation technical barrier to be solved.
On conventional production line, guide type AGV be people through frequently with mode, have the side such as guide tracked, magnetic guidance formula
Method.These methods are required for having planned in advance the running route of AGV, such AGV control methods relative maturity, by various production rings
Border interference is smaller, and AGV operation stabilities and durability are stronger.
The disclosure being similar to by patent retrieval, the technical scheme on AGV host computers, Chinese Patent Application No.：
201310535347.1, the applying date：2013-10-31, patent name：Can automatic lifting AGV control systems, public affairs under free path
Energy automatic lifting AGV control systems under a kind of free path have been opened, including：AGV control modules, information storage module, data hair
Penetrate module, AGV performing modules and handheld terminal；Wherein：The handheld terminal is described to the AGV control modules input instruction
AGV control modules detect and control AGV performing module running statuses that the AGV performing modules perform traveling, stepless lifting and dress
Action is unloaded, described information memory module preserves instruction and the information of AGV control modules, AGV performing modules and handheld terminal, described
Above- mentioned information is sent to host computer by data transmission module, it is described each from No. ID of wireless signal transceiver each mutually solely
Vertical, No. ID of AGV performing modules is also separate, and the AGV performing modules are by the wireless travel controlling systems of AGV, AGV is wireless nothing
Level apparatus for controlling of lifting and the wireless loading and unloading control device compositions of AGV.Further, the AGV control modules include：One wireless
It is signal transceiver, multiple from wireless signal transceiver, a wireless signal transmitter and wired hand-held transmitter.Wherein, main nothing
Line signal transceiver receives the instruction of operation terminal, correspondingly to sending control information, detection and control from wireless signal transceiver
AGV performing modules running status processed, receives the feedback information from wireless signal transceiver, and AGV is held from wireless signal transceiver
Row module sends instruction and receives feedback information.And do not solve many problems of AGV traffic controls, it is still necessary to it is improved.
The content of the invention
1. the technical problem to be solved
Effectively realization is difficult to for the track selections during exercise of many AGV present in prior art and traffic control
Problem, the invention provides a kind of regulator control system for carrying automatical pilot transportation vehicle and regulation and control method.It can realize many AGV
Real-time orbital transfer in running, the function such as speed selection and control cooperation, efficiency high is easy to control.
2. technical scheme
The purpose of the present invention is achieved through the following technical solutions.
A kind of regulator control system for carrying automatical pilot transportation vehicle, including track, automatical pilot transportation vehicle and control system, institute
Positioning cards are provided with the track stated, some branch's tracks are provided with track and are constituted different tracks pattern, control system is led to
Wireless connection automatical pilot transportation vehicle is crossed, and automatical pilot transportation vehicle position is obtained by positioning cards.
Further, it is provided with some specific stations on described track, at the corresponding card number of specific station, leads automatically
Drawing transport vehicle carries out start and stop, lifting and/or rotates.Specific station correspond to transport shelf accordingly or need to transport object,
On such station, correspondence is carried out to object and carries operation, follow-up reforwarding is moved.
Further, described control system includes manual overvide, including enable, stopping, advance, retrogressing, a left side
Turn, turn right and velocity transformation function button.Can conveniently be controlled, and can not be transported by the track of predetermined set
It is dynamic, it is convenient and swift.
Further, described control system includes PLC system, wherein being carried out by modbus agreements wireless in real time
Data exchange.Switched wireless speed is fast, convenient.
Further, positioning cards are included at described each section independent track gateway, determining at gateway
Position card is automatical pilot transportation vehicle flag bit positioning cards.Control and judge have AGV in which track by positioning cards,
So that system carries out corresponding flag bit mark, reference is made in the control to next AGV.
Further, also including console, console includes display automatical pilot transportation vehicle in real time and track condition
Screen, and manual key.It is convenient that AGV is monitored, it is easy to control.
The regulation and control method of automatical pilot transportation vehicle regulator control system is carried, its step is as follows：
A, some automatical pilot transportation vehicles are connected by wireless system with control system, are transported for different homing guidances
Defeated car and control system are respectively provided with different device numbers；
B, automatical pilot transportation vehicle are moved by track and itself control program, and control system is by different equipment
Number monitoring and control different automatical pilot transportation vehicles；
C simultaneously positions location, and selected respective carter operation by positioning cards；
When D, many automatical pilot transportation vehicles run, other dollies can be forbidden to enter in existing automatical pilot transportation vehicle track
Enter；When automatical pilot transportation vehicle passes through track crossings, automatical pilot transportation vehicle controls to pass through successively by control system.
Further, single automatical pilot transportation vehicle track system of selection is specific as follows：
2 positioning cards are placed, wherein positioning cards 2 are located at the track crossing for needing conversion, and positioning cards 1 are located at
The front of locking bit slice 2, specific distance can be set according to demand, such as set at the 10cm of front, and dolly sequentially passes through card 1 and card
Piece 2, the effect of positioning cards 1 is input mark position, and the effect of positioning cards 2 is that dolly left and right wheels differential starting point of seeking is determined
Position, connects three conditions in PLC ladder diagrams, and they are respectively the flag bit of positioning cards 1, the orbital transfer mark of host computer
Position, and the correspondence of positioning cards 28 io, if three conditions all meet, lane-change operation are carried out into subprogram, and dolly is certainly
Row lane-change and subprogram is exited, the instruction of lane-change mark position is sent by host computer, subsequently enter lane-change execution.
Further, to forbidding other dolly access methods as follows in existing automatical pilot transportation vehicle track：
A regulatory traffic sign position is produced in each control zone, control zone is the area where at different rail junctions
Domain, regulatory traffic sign position can carry out related setting, and different parameters represent different conditions, such as the regulatory traffic sign position of having car state can
Think 1, represent in region there is car, other dollies are prohibited from entering this region, the regulatory traffic sign position of without car state is set to 0, represents
Without car in region, other dollies can enter this region.Concrete scheme is as follows：Respectively at the track crossing of control and needs
The porch of the multiple tracks for entering sets positioning cards, is sequentially passed through at the track crossing of control and track entry in dolly
When the positioning cards at place, host computer carries out start and stop judgement by regulatory traffic sign position state, in the track crossing by control
Place's positioning cards, to be set to without car regulatory traffic sign position state, dolly is determined by some track entrance for regulatory traffic sign position
When the card of position, regulatory traffic sign position is have car regulatory traffic sign position state.
As shown in figure 1, specifically can be as follows：3 cards are placed, wherein card 5 is located at the track crossing for needing control
Place, card 3 is located on track 4, the front of card number 5, be could be arranged at 20cm, and the dolly on track 4 sequentially passes through card 3 and card
Piece 5, card 4 is located on track 3, the front of card number 5, be could be arranged at 20cm, and the dolly on track 3 sequentially passes through the He of card 4
Card 5, in dolly by card 3 or the moment of card 4, host computer carries out start and stop and sentences control zone by regulatory traffic sign position state
Disconnected, by 5 moment of card host computer control zone mark position 0, dolly is allowed through card 3 or the moment of card 4, upper
Machine control zone mark position 1, now completes multiple dollies and passes through crossover location.
When further, when automatical pilot transportation vehicle not enough power supply or into error condition, system is pointed out, and is opened
Dynamic hand push button, terminates the state that automatic running state enters operation manually.
3. beneficial effect
Compared to prior art, the advantage of the invention is that：
(1) AGV that uses of the present invention is using PLC as main control unit, by designing the track of different sections, can allow AGV
Carry out motion and corresponding carrying operates, wirelessly transmitting data amount is small, for the realization of control function, all takes bool values
Enter line position and judge operation, increase the efficiency of data transfer, efficiency high, low cost；
(2) some specific stations are provided with, at the corresponding card number of specific station, automatical pilot transportation vehicle carries out start and stop, rises
Drop and/or rotation.Specific station correspond to transport shelf accordingly or need to transport object, on such station, to object
Carry out correspondence and carry operation, follow-up reforwarding is moved, motor point realization is default, and toggle speed is fast, and error rate is small；
(3) control system includes manual overvide, including enables, stops, advancing, retreat, turns left, turns right and speed
Mapping function button, can conveniently be controlled, and can not be moved by the track of predetermined set, convenient and swift；
Can, multi-ensuring convenient and swift with quick response when generation special circumstances；
(4) positioning cards are included at each section of independent track gateway, the positioning cards at gateway are to lead automatically
Draw transport vehicle flag bit positioning cards.Control and judge have AGV in which track by positioning cards, so that system carries out phase
The flag bit answered is marked, and the control to next AGV makes reference, can carry out track selection and speed to many AGV in real time
The operations such as degree conversion, can carry out real-time position display and observation；
(5) by PLC condition judgments, the track selection to single AGV provides three condition series connection, enters subprogram and is changed
Road is operated, and dolly voluntarily lane-change and exits subprogram, and the instruction of lane-change mark position is sent by control system, subsequently enters lane-change
Perform, lane-change logic is simple, speed is fast, efficiency high；
(6) it is of the invention by setting control zone, by producing regulatory traffic sign position, there is provided many traffic control work(of AGV
The problems such as energy, collision produced when preventing many AGV simultaneously into crossing, safety, efficiency high, it is to avoid make a mistake.
Brief description of the drawings
Fig. 1 is the regulator control system trajectory diagram of this programme；
Fig. 2 is that regulator control system controls connection figure；
Fig. 3 is regulator control system traffic control control flow chart.
Specific embodiment
With reference to Figure of description and specific embodiment, the present invention is described in detail.
Embodiment 1
For the AGV regulator control systems of prior art, and corresponding regulation and control method, carry automatic present solution provides one kind
The regulator control system of guide transport lorry, including track, automatical pilot transportation vehicle and control system, are provided with positioning on described track
Card, is provided with some branch's tracks and constitutes different tracks pattern in track, control system is transported by wireless connection homing guidance
Defeated car, and obtain automatical pilot transportation vehicle position by positioning cards.This programme can provide several track for AGV carries out work
Make, set different tracks for different requirements, and set different trajectory models.Console includes that display is led automatically in real time
Draw the screen of transport vehicle and track condition, and manual key.It is convenient that AGV is monitored, it is easy to control.
Described control system includes PLC system, wherein carrying out real-time wireless data exchange by modbus agreements.Nothing
Line exchange velocity is fast, convenient.What the PLC ends of single AGV were used uniformly across is that modbus modules carry out wireless connection, and overall control connects
Connect as shown in Fig. 2 but wherein various dollies base address difference, with distinguish different dollies data combine.Using plc modules
Modbus agreements carry out real-time data exchange, and the flag bit of this wireless connection has correspondence output in the controls, respectively table
Show being connected and disconnected from for radio function, now operating personnel can by this indicate judge each AGV wireless connecting function whether
Normally.
It is provided with some specific stations on described track, it is automatic in corresponding card number at the corresponding card number of specific station
Guide transport lorry carries out start and stop, lifting and/or rotates.Specific station correspond to transport shelf accordingly or need to transport thing
Body, on such station, correspondence is carried out to object and carries operation, and follow-up reforwarding is moved.
Automatic main program section is all included in separate unit AGV, according to sensing data carry out real time position judgement and
Amendment, different position correspond to different left and right wheel speeds, and this automatic main program can ensure that dolly in orbit can be certainly
Row motion and work.
For manual mode, because needing the ground to have a track under automatic mode, therefore in ground rail-free or other are special
AGV is needed under applied environment carries out the operation of manual mode, here including enable, stop, advance, retreat, turn left, turn right and
Velocity transformation function etc..Can conveniently be controlled, and can not be moved by the track of predetermined set, it is convenient and swift.
Include positioning cards at each section of described independent track gateway, the positioning cards at gateway are automatic
Guide transport lorry flag bit positioning cards.Control and judge have AGV in which track by positioning cards, so that system is carried out
Reference is made in corresponding flag bit mark, the control to next AGV.
Embodiment 2
The regulation and control method of automatical pilot transportation vehicle regulator control system is carried, its step is as follows：
A, some automatical pilot transportation vehicles are connected by wireless system with control system, are transported for different homing guidances
Defeated car and control system are respectively provided with different device numbers；
B, automatical pilot transportation vehicle are moved by track and itself control program, and control system is by different equipment
Number monitoring and control different automatical pilot transportation vehicles；
C simultaneously positions location, and selected respective carter operation by positioning cards；
When D, many automatical pilot transportation vehicles run, other dollies are forbidden to enter in existing automatical pilot transportation vehicle track
Or allowing demand dolly to enter as needed, the track having according to demand is set as many dollies on a track, now can be with
In the case where a dolly relief is entered, several dollies enter；When automatical pilot transportation vehicle passes through track crossings, homing guidance fortune
Defeated car controls to pass through successively by control system.
During when automatical pilot transportation vehicle not enough power supply or into error condition, system is pointed out, and starts hand push button,
Terminate the state that automatic running state enters operation manually.
Embodiment 3
The realization of the track selection for single AGV, what is now taken is the mode of card positioning, need to place 2 locator cards
Piece, wherein positioning cards 2 are located at the track crossing for needing conversion, and positioning cards 1 are small at 10cm before positioning cards 2
Car sequentially passes through positioning cards 1 and positioning cards 2, the input mark position 1 of the effect of positioning cards 1, by three in PLC ladder diagrams
Individual condition series connection, they are respectively the flag bit of positioning cards 1, the orbital transfer flag bit of host computer, and positioning cards 2 pairs
Answer 8 io.If three conditions all meet, lane-change operation can be carried out into subprogram, dolly voluntarily lane-change and exits son
Program, the instruction of lane-change mark position 1 is sent by host computer, subsequently enters lane-change execution.
Embodiment 4
To forbidding other dolly access methods as follows in existing automatical pilot transportation vehicle track：
Concrete scheme is as follows：The porch with the multiple tracks for needing to enter at the track crossing of control is set respectively
Positioning cards, at dolly sequentially passes through the track crossing of control and track entrance positioning cards when, host computer lead to
Crossing regulatory traffic sign position state carries out start and stop judgement, and the positioning cards at the track crossing by control, regulatory traffic sign position is to set
It is set to without car regulatory traffic sign position state, when dolly passes through the positioning cards of some track entrance, regulatory traffic sign position is have
Car regulatory traffic sign position state.
As shown in figure 1, specifically can be as follows：3 cards are placed, wherein card 5 is located at the track crossing for needing control
Place, card 3 is located on track 4, the front of card number 5, be could be arranged at 20cm, and the dolly on track 4 sequentially passes through card 3 and card
Piece 5, card 4 is located on track 3, the front of card number 5, be could be arranged at 20cm, and the dolly on track 3 sequentially passes through the He of card 4
Card 5, in dolly by card 3 or the moment of card 4, host computer carries out start and stop and sentences control zone by regulatory traffic sign position state
Disconnected, by 5 moment of card host computer control zone mark position 0, dolly is allowed through card 3 or the moment of card 4, upper
Machine control zone mark position 1, now completes multiple dollies and passes through crossover location.
Embodiment 5
In specific scheme, control system includes track auto-changing and manual control content, and Path selection is for every
Platform AGV contains 4 kinds of different tracks and realizes, can in real time be regulated and controled work, for that can enter scanning frequency under auto state
The regulation of degree, the present embodiment can be adjustable for three gear speed, is respectively 0.2m/s, 0.35m/s, 0.5m/s.
What the plc ends of single AGV were used uniformly across is that modbus modules carry out wireless connection, and overall control is connected such as Fig. 2 institutes
Show, but wherein various dollies base address difference, with distinguish different dollies data combine, be classified as in this programme
AGV1, AGV2, and AGV3 device number are respectively 2,3,4.The device number of PC control systems is 1, and it is carried out to distinct device data
Sort out and distinguish, accurate control function is carried out to all dollies to reach.
For automatic mode, as shown in figure 1, the present embodiment has been provided previously by 4 kinds of tracks is converted work in real time for AGV
Make, can many simultaneously be controlled and orbital transfer, so as to meet AGV for frequent lane change in practical application technology want
Ask, different regulations can be carried out to speed respectively here, for specific station, start and stop can be realized at corresponding card number,
The function of lifting and rotate in place, for many places right angle bend at track, the rotation that can make AGV carries out original place readvances
Reached curved purpose.
For track, as shown in figure 1, its main function is that the judgement of position is carried out under the card number data of AGV feedbacks
And display, the real time position of each dolly can be indicated in software trajectory diagram using the point of different colours, in different colors
Track marks the real time execution track of dolly, now arbitrary lane-change behaviour can be carried out to any dolly by the button of lane-change
Make, meet the changeable use requirement in factory's haul path, staff can carry out real-time policer operation in console, can be with
Intuitively see that the present particular location situation of dolly, to facilitate the completion of scheduling, may determine that small by the mark of wireless connection
Whether the wireless module data transfer of car is normal, and investigation and the detection of failure are facilitated when going wrong.The positional information of dolly
It is a continuous variable quantity, each dolly has dynamic position display in trajectory diagram.In this functional requirement track
It is covered with equidistant some positioning cards to complete the upload of data and the display of animation.Needing to stop many situations of dolly
Under can click on and always stop button all dollies are stopped operation, ensure during trolley travelling to dolly itself and personnel
Cargo security.
Embodiment 6
There is the flag bit into subprogram beginning in single AGV, is set as vw variables in the present embodiment, vw variables with it is upper
Position machine, i.e. control system are connected, and vw variables are put 1 to enter different subprograms by host computer, with complete to start and stop with
And the function of velocity transformation, dolly is when subprogram is entered, you can automatic track operation is carried out in subprogram, so just may be used
To complete the function of automatic conveying material.
Embodiment 7
In some special cases, such as when the electric quantity of lithium battery of two pieces of 24v of AGV is not enough, can manually button
Terminate the state that automatic running state enters operation manually, manually in the operation that can carry out be to advance, retreat, turn left, turn right
And enable and exit.All of motor performance have to enable button press rear can perform, each enable variable between
There is interlock function, ensure that the security of AGV travelings, reduce the generation because AGV out of control caused by button reason.
Embodiment 8
As shown in figure 3, for traffic control, it is located among the initial restrictive condition in upper computer software, with flag bit
Mode judged and regulated and controled that each control zone set into a flag bit for memory variable, and this flag bit is bool
Amount, is judged and regulated and controled by the value of judgement symbol position come the start and stop to dolly into crossing.
Control system core be many traffic control functions of AGV, decision logic as shown in figure 3, the principle of control be
Each control zone produces a regulatory traffic sign position, and this flag bit is have car in 1 expression region, and other dollies are prohibited from entering this
Region, flag bit is that other dollies can carry out this region, while the flag bit when there is dolly to enter without car in 0 mark region
1 is set to again.Other dollies are prohibited from entering again, this section of control procedure condition in overall constraint when control system is run, right
The dolly that may be collided carries out overall regulation and control, because the control planning when dolly is more is relatively difficult to achieve, takes this side
Method can regulate and control to many dollies, and code has well-regulated addition property, can easily be done when dolly quantity increases
Go out modification and debug to meet specifically used requirement.The core requirement of control comes from prevents many AGV due to entering simultaneously
Crossing and the unnecessary collision that occurs or due to caused by avoidance sensor many AGV be parked in what crossing cannot be again started up
Phenomenon.Real-time positional information is passed to AGV the host computer of control system, flag bit is preserved by host computer and assignment behaviour
Make, so as to ensure that each crossing only dolly at the same time can pass through, prevent from colliding and wholly off
Phenomenon generation so that all AGV can normally work down.
Realize there is implemented below step on traffic control：
A, dolly feed back real-time card number, and host computer is calculated 8 io
K=255-I7*128-I6*64-I5*32-I4*16-I3*8-I2*4-I1*2-I0
Wherein K is dolly card number, and I0-I7 is 8 io of card number correspondence.
B, host computer judge whether to belong in control zone card number, i.e. judgement figure that dolly is in control zone 1 according to card number
No to reach card 3 or card 4, this is ground floor if, if belonging to, the if conditions judged into control are subsequently judged.
The comprehensive current control zone flag bit of C, host computer, card number and latch signal are judged that this is second layer if,
Wherein latch signal effect is to prevent from being judged stopping because of regulatory traffic sign position 1 into control zone dolly itself.The second layer
If contains three kinds of independent judgements, and one kind is that arrival control zone flag bit is 0, and dolly moves on, and flag bit is set to 1,
Another kind is that dolly arrival control zone flag bit is 1, now trolley driver disability, and dolly stops waiting, and last one kind is
Judge whether dolly has passed through region, that is, judge whether dolly reaches card 5 in control zone 1 in figure, if reaching, regulatory area
Domain flag bit is set to 0, if now there is dolly to be waited at entrance, can start wait dolly.
Embodiment 9
Embodiment 9 is directed to 2 dollies carries out 4 kinds of combustion adjustments of track, and by No. 1 dolly, No. 2 dollies are positioned over starting point
Place, opens dolly own power source, starts upper computer control system, now the adhesive, the direct current of dolly simultaneously of the band-type brake of each dolly
Driver obtains electric, dolly be in operation before be ready to complete the stage, host computer press key response speed within 0.5s, separate unit dolly
Maximum load is 200kg, and min. turning radius is 70cm, and it is adjustable that the preposition photoelectricity stopping guard space of dolly is 30cm to the maximum.This
When the automatic button that can click in control system carry out the selection of friction speed, selected dolly starts to be transported along acquiescence track
Dynamic, while starting another dolly, now two dollies are moved all along the track of acquiescence, in such circumstances, can be right
Two the four of dolly kinds of tracks are arbitrarily selected, and dolly then can be circulated motion according to the path for choosing, small
Any time of car operation, the operation that automatic button stops dolly being again tapped on, be pinpointed in dolly automatic running and repeat to stop
Only precision is 3mm, and now band-type brake is still within the state of adhesive, can also click on the manual movement that hand push button realizes any dolly
It is required that, to control the area operation outside dolly to track.
For the checking of traffic control, when two dollies come control crossing simultaneously, such as cross in Fig. 1 middle orbits center
Crossing, wherein after first dolly enters region, second dolly comes region, and it is small that host computer sends data stopping second
Car, when first dolly is by the way that behind crossing, host computer control zone flag bit is set to 0, now stop No. 2 dolly is opened again
Dynamic, by this crossing, second dolly has the action request for stopping and restarting under the regulation and control of host computer.It is small for the 3rd
The addition of car, when first dolly is by crossing, dolly 2 and dolly 3 are all waited in crossing approaching side, wait a dolly to pass through
Behind crossing, No. two dollies begin through crossing, and now a dolly has passed through crossing, and No. three dollies remain unchanged in porch etc.
Treat, in second dolly by the way that behind crossing, now the 3rd dolly begins through crossing, complete three dollies and pass sequentially through crossing
Requirement, traffic control is achieved, the generation and dolly for being effectively prevented collision fight for or full cut-off phenomenon, it is ensured that
The orderly operation of intelligence of the dolly under automatic running state.
Below schematically the invention and embodiments thereof are described, the description does not have restricted, not
In the case of spirit or essential characteristics of the invention, the present invention can be in other specific forms realized.Institute in accompanying drawing
What is shown is also one of implementation method of the invention, and actual structure is not limited thereto, any attached in claim
Icon note should not limit involved claim.So, if one of ordinary skill in the art is enlightened by it, do not departing from
In the case of this creation objective, frame mode and the embodiment similar to the technical scheme is designed without creative, all should
Belong to the protection domain of this patent.Additionally, " including " word is not excluded for other elements or step, the word of " one " one before element
It is not excluded for including " multiple " element.The multiple element stated in claim to a product can also by an element by software or
Person hardware is realized.The first, the second grade word is used for representing title, and is not offered as any specific order.
Claims (10)
1. it is a kind of carry automatical pilot transportation vehicle regulator control system, it is characterised in that：Including track, automatical pilot transportation vehicle and control
System processed, is provided with positioning cards on described track, some branch's tracks are provided with track and constitute different tracks pattern, control
System processed obtains automatical pilot transportation vehicle position by wireless connection automatical pilot transportation vehicle by positioning cards.
2. the regulator control system of a kind of carrying automatical pilot transportation vehicle according to right wants 1, it is characterised in that：Described track
On be provided with some specific stations, at the corresponding card number of specific station, automatical pilot transportation vehicle carries out start and stop, lifting and/or revolves
Turn.
3. the regulator control system of a kind of carrying automatical pilot transportation vehicle according to right wants 1, it is characterised in that：Described control
System includes manual overvide, including enables, stops, advancing, retreat, turns left, turns right and velocity transformation function button.
4. the regulator control system of a kind of carrying automatical pilot transportation vehicle according to right wants 1 or 2, it is characterised in that：Described
Control system includes PLC system, wherein carrying out real-time wireless data exchange by modbus agreements.
5. the regulator control system of a kind of carrying automatical pilot transportation vehicle according to right wants 4, it is characterised in that：Described is each
Include positioning cards at the track gateway of Duan Duli, the positioning cards at gateway are fixed for automatical pilot transportation vehicle flag bit
Position card.
6. the regulator control system of a kind of carrying automatical pilot transportation vehicle according to right wants 1, it is characterised in that：Also include control
Platform, console includes the screen of display automatical pilot transportation vehicle and track condition in real time, and manual key.
7. a kind of including any described regulation and control methods for carrying automatical pilot transportation vehicle regulator control system of any claim 1-6,
Its step is as follows：
A, some automatical pilot transportation vehicles are connected by wireless system with control system, for different automatical pilot transportation vehicles
Different device numbers are respectively provided with control system；
B, automatical pilot transportation vehicle are moved by track and itself control program, and control system is supervised by different device numbers
Control and control different automatical pilot transportation vehicles；
C simultaneously positions location, and selected respective carter operation by positioning cards；
When D, many automatical pilot transportation vehicles run, other dollies are forbidden to enter or root in existing automatical pilot transportation vehicle track
Enter according to needing to allow demand dolly；When automatical pilot transportation vehicle passes through track crossings, automatical pilot transportation vehicle is by control
System controls to pass through successively.
8. it is according to claim 7 carry automatical pilot transportation vehicle regulator control system regulation and control method, it is characterised in that：It is single
Automatical pilot transportation vehicle track system of selection is specific as follows：
2 positioning cards are placed, wherein positioning cards 2 are located at the track crossing for needing conversion, and positioning cards 1 are located at locking
The front of bit slice 2, dolly sequentially passes through card 1 and card 2, and the effect of positioning cards 1 is input mark position, positioning cards 2
Effect is that dolly left and right wheels differential is sought beginning point location, and three conditions are connected in PLC ladder diagrams, and they are respectively locator cards
The flag bit of piece 1, the orbital transfer flag bit of host computer, and the correspondence of positioning cards 28 io, if three conditions all meet,
Then lane-change operation is carried out into subprogram, dolly voluntarily lane-change and exits subprogram, and lane-change mark position is sent by host computer
Instruction, subsequently enters lane-change execution.
9. it is according to claim 7 carry automatical pilot transportation vehicle regulator control system regulation and control method, it is characterised in that：To
Have in automatical pilot transportation vehicle track and forbid other dolly access methods as follows：
A regulatory traffic sign position is produced in each control zone, flag bit represents in region there is car to there is car mark position, other
Dolly is prohibited from entering this region, and flag bit is, without car mark position, to represent in region without car, and other dollies can enter this region.
10. it is according to claim 1 carry automatical pilot transportation vehicle regulator control system regulation and control method, it is characterised in that：When
Automatical pilot transportation vehicle not enough power supply or when entering error condition, system is pointed out, and starts hand push button, terminates automatic fortune
Row state enters the state of operation manually.
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