CN106873605B - Regulation and control system and regulation and control method for carrying automatic guiding transport vehicle - Google Patents
Regulation and control system and regulation and control method for carrying automatic guiding transport vehicle Download PDFInfo
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- G—PHYSICS
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- 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
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Abstract
The invention discloses a regulation and control system and a regulation and control method for an automatic guided transporting vehicle, and belongs to the field of electromechanical integration. Inter-communication between individual AGVs for the master control module based on the PLC and overall scheduling. The control system is connected with the PLC, the real-time control function is realized on the AGV through changing the corresponding variable through wireless communication, and meanwhile, the AGV feeds back data in real time, and the control system comprises the specific position where the AGV is located and the signal communication of the control area. The control system comprises the implementation of traffic control of a plurality of AGVs, and real-time assignment is carried out on the zone bit of each control area by utilizing the memory variable of the upper computer so as to carry out real-time regulation and control on each AGV. For each AGV, there are two modes of operation, automatic and manual, wherein the automatic state has real-time track change and speed selection functions. The intelligent warehouse can be widely used for intelligent warehouse transportation and factory transportation places, and is high in efficiency, convenient and quick.
Description
Technical Field
The invention relates to the field of electromechanical integration, in particular to a regulating and controlling system and a regulating and controlling method for a carrying automatic guiding transport vehicle.
Background
The 21 st century manufacturing industry will enter a new phase and agile manufacturing will become the dominant mode of the enterprise. Whether to catch market opportunities to develop new products would be a major means for enterprises to win competition. To reduce the dependence of production costs on production batches, agile manufacturing equipment is developed. The programmable, reconfigurable and fast response capabilities of heavy manufacturing equipment allow for near-medium and high volume production efficiencies when small volume production is performed. Because the robot has the characteristics of autonomous planning, programmability, coordinated operation, sensor control and the like, the robot becomes an important component of the reorganizable agile manufacturing production equipment and system, and provides important technical support for the spanning development of the agile manufacturing enterprises for the traditional manufacturing enterprises. An automatic guided vehicle (Automated Guided Vehicle is called AGV for short) is a mobile robot, is an important device in a logistics system of a modern manufacturing enterprise, is mainly used for storing and transporting various materials, and provides important guarantee for flexible, integrated and efficient operation of the system. The AGVs mainly have two types, one is a fixed path AGV, the running path of the AGV is fixed and the AGV is provided with a track, so the guiding technology is relatively simple; the other is a free path AGV, which provides the greatest possibility for the AGV to run freely due to the absence of a track, but due to technical limitations, the free running of the AGV along any path remains a technical challenge to be solved.
In the past, guided AGVs have been frequently used in production lines, and there are methods such as rail type and magnetic guide type. All the methods need to plan the running route of the AGV in advance, the AGV control method is relatively mature, the interference from various production environments is small, and the running stability and durability of the AGV are strong.
Through patent retrieval, the technical scheme of an AGV upper computer is similarly disclosed, and the Chinese patent application number is: 201310535347.1, filing date: 2013-10-31, patent name: the utility model provides an automatic rising AGV control system under free path, discloses an automatic rising AGV control system under free path, include: the system comprises an AGV control module, an information storage module, a data transmission module, an AGV execution module and a handheld terminal; wherein: the hand-held terminal to the AGV control module input instruction, AGV control module detects and controls AGV execution module running state, AGV execution module carries out traveling, stepless lift and loading and unloading action, information storage module holds the instruction and the information of AGV control module, AGV execution module and hand-held terminal, data transmission module sends the host computer with above-mentioned information, every is from wireless signal transceiver's ID number each mutual independence, and AGV execution module's ID number also mutual independence, AGV execution module comprises AGV wireless traveling control device, wireless stepless lift control device of AGV and the wireless loading and unloading control device of AGV. Further, the AGV control module includes: a wireless signal transceiver, a plurality of slave wireless signal transceivers, a wireless signal transmitter, and a wired handheld transmitter. The main wireless signal transceiver receives an instruction of the operation terminal, correspondingly sends control information to the auxiliary wireless signal transceiver, detects and controls the running state of the AGV execution module, receives feedback information from the wireless signal transceiver, and sends the instruction and receives the feedback information to the AGV execution module from the wireless signal transceiver. The problem of traffic control by multiple AGVs is not solved, and improvements are still needed.
Disclosure of Invention
1. Technical problem to be solved
Aiming at the problems that track selection of a plurality of AGVs in motion and traffic control are difficult to effectively realize in the prior art, the invention provides a regulation and control system and a regulation and control method for a carrying automatic guided vehicle. The automatic control system can realize the functions of real-time track transformation, speed selection, control collaboration and the like in the running process of a plurality of AGVs, and is high in efficiency and convenient to control.
2. Technical proposal
The aim of the invention is achieved by the following technical scheme.
The utility model provides a regulation and control system of transport automated guided transporting vehicle, includes track, automated guided transporting vehicle and control system, the track on be provided with the location card, be provided with a plurality of branching tracks in the track and constitute different track modes, control system passes through wireless connection automated guided transporting vehicle to obtain the automated guided transporting vehicle position through the location card.
Furthermore, a plurality of specific stations are arranged on the track, and the automatic guiding transport vehicle is started, stopped, lifted and/or rotated at the corresponding card number positions of the specific stations. The specific stations correspond to the corresponding transport racks or objects to be transported, and on such stations, the objects are carried out with corresponding handling operations and then continue to move.
Further, the control system comprises a manual control device, including enabling, stopping, advancing, backing, turning left, turning right and speed changing function keys. Can conveniently control, and can not move through the track of predetermined setting, convenient and fast.
Still further, the control system includes a PLC system in which real-time wireless data exchange is performed via a modbus protocol. The wireless exchange speed is high and the wireless exchange is convenient.
Furthermore, each section of independent track access department contain a positioning card, the positioning card of access department is the automated guided transporting vehicle zone bit positioning card. The AGVs are controlled and judged in which tracks through the positioning card, so that the system can carry out corresponding zone bit marks, and reference is made to the control of the next AGV.
Still further, still include the control cabinet, the control cabinet includes the screen that shows automatically guided transport vechicle and track state in real time to and manual button. The AGV is convenient to monitor and control.
The regulation and control method of the regulation and control system of the transport automatic guided vehicle comprises the following steps:
A. the automatic guiding transport vehicles are connected with the control system through the wireless system, and different equipment numbers are respectively set for different automatic guiding transport vehicles and the control system;
B. the automatic guiding transport vehicle moves through the track and a control program of the automatic guiding transport vehicle, and the control system monitors and controls different automatic guiding transport vehicles through different equipment numbers;
C. positioning the position of the positioning card and selecting a corresponding track to run;
D. when a plurality of automatic guided vehicles run, other trolleys can be forbidden to enter the existing automatic guided vehicle track; when the automatic guided vehicle passes through the rail intersection, the automatic guided vehicle passes through the control system in sequence.
Furthermore, the single automatic guided vehicle track selection method specifically comprises the following steps:
placing 2 positioning cards, wherein the positioning cards 2 are positioned at the track crossing points needing to be changed, the positioning cards 1 are positioned in front of the positioning cards 2, specific distances can be set according to requirements, for example, the position of 10cm in front of the positioning cards is set, a trolley sequentially passes through the cards 1 and 2, the positioning cards 1 are used for inputting mark positions, the positioning cards 2 are used for positioning the left wheel and the right wheel of the trolley at different speed and selecting the starting points, three conditions are connected in series in a PLC ladder diagram and are respectively mark positions of the positioning cards 1, the track of an upper computer is changed into mark positions, the positioning cards 2 correspond to 8 io positions, if all three conditions are met, a subroutine is entered for channel changing operation, the trolley automatically changes channels and exits the subroutine, and the upper computer sends instructions of the channel changing mark positions and then enters channel changing execution.
Furthermore, the method for prohibiting other trolleys from entering the existing automatic guided vehicle track is as follows:
and generating a control zone bit in each control zone, wherein the control zone is a zone where different track intersections are located, the control zone bit can be set in a correlated manner, different parameters represent different states, for example, the control zone bit in a car state can be 1, other cars are prevented from entering the zone, the control zone bit in a car-free state is set to 0, no car is in the zone, and other cars can enter the zone. The specific scheme is as follows: the method comprises the steps that positioning cards are respectively arranged at a controlled track crossing point and the entrance positions of a plurality of tracks needing to enter, when a trolley passes through the controlled track crossing point and the positioning cards at the track entrance positions in sequence, an upper computer carries out start and stop judgment through a control zone bit state, the positioning cards at the controlled track crossing point are positioned, the control zone bit is in a car-free control zone bit state, and when the trolley passes through the positioning card at a certain track entrance position, the control zone bit is in a car-free control zone bit state.
As shown in fig. 1, the following may be specifically mentioned: placing 3 cards, wherein card 5 is located the track intersection department that needs to control, card 3 is located track 4, card number 5 the place ahead, can set up to 20cm department, the dolly on the track 4 passes through card 3 and card 5 in proper order, card 4 is located track 3, card number 5 the place ahead, can set up to 20cm department, the dolly on the track 3 passes through card 4 and card 5 in proper order, the control area is in the dolly through card 3 or card 4 moment, the host computer opens and stops the judgement through control zone bit state, at the moment of passing card 5 upper computer management area mark position 0, the dolly is allowed to pass through card 3 or card 4 moment, upper computer management area mark position 1, accomplish a plurality of dollies and pass through the cross position this moment.
Furthermore, when the automatic guided vehicle is insufficient in electric quantity or enters an error state, the system prompts, a manual button is started, and the automatic operation state is ended to enter a manual operation state.
3. Advantageous effects
Compared with the prior art, the invention has the advantages that:
(1) The AGV used in the invention takes the PLC as the main control unit, and the AGV can move and carry out corresponding handling operation by designing the tracks of different sections, so that the wireless transmission data size is small, and the control function is realized by adopting a bool value to carry out bit judgment operation, thereby increasing the data transmission efficiency, and having high efficiency and low cost;
(2) A plurality of specific stations are arranged, and the automatic guiding transport vehicle is started, stopped, lifted and/or rotated at the corresponding card number positions of the specific stations. The specific stations correspond to corresponding transport racks or objects to be transported, and on the stations, the objects are carried out corresponding transport operation and then continue to move, the movement points are preset, the starting speed is high, and the error rate is low;
(3) The control system comprises a manual control device, comprises enabling, stopping, advancing, retreating, left turning, right turning and speed changing function keys, can conveniently control, and can move without a track which is preset, thereby being convenient and quick; the system can quickly respond, is convenient and quick and can be ensured multiple times when special conditions occur;
(4) The entrance and exit of each section of independent track comprises a positioning card, and the positioning card at the entrance and exit is a positioning card for the marker bit of the automatic guided transport vehicle. The AGVs are controlled and judged in the tracks through the positioning card, so that the system can perform corresponding zone bit marks, reference is made to control of the next AGV, the operations such as track selection, speed change and the like can be performed on a plurality of AGVs in real time, and real-time position display and observation can be performed;
(5) The method comprises the steps that through PLC condition judgment, three conditions are connected in series for track selection of a single AGV, a channel switching operation is carried out by a channel entering subprogram, a trolley automatically switches channels and exits subprograms, a control system sends a channel switching mark position instruction, channel switching execution is carried out, channel switching logic is simple, speed is high, and efficiency is high;
(6) According to the invention, the control area is arranged, the traffic control function of a plurality of AGVs is provided by generating the control zone bit, so that the problems of collision and the like generated when the AGVs enter the intersection simultaneously are prevented, the safety is high, the efficiency is high, and the occurrence of errors is avoided.
Drawings
FIG. 1 is a diagram of a control system track according to the present embodiment;
FIG. 2 is a control connection diagram of a regulatory system;
FIG. 3 is a flow chart of a regulatory system traffic control.
Detailed Description
The invention will now be described in detail with reference to the drawings and the accompanying specific examples.
Example 1
The scheme provides a regulation and control system for carrying an automatic guided vehicle, aiming at an AGV regulation and control system in the prior art and a corresponding regulation and control method, and the regulation and control system comprises a track, the automatic guided vehicle and a control system, wherein a positioning card is arranged on the track, a plurality of branch tracks are arranged in the track to form different track modes, and the control system is connected with the automatic guided vehicle in a wireless manner and obtains the position of the automatic guided vehicle through the positioning card. The scheme can provide a plurality of tracks for the AGV to work, different tracks are set according to different requirements, and different track modes are set. The control console comprises a screen for displaying the states of the automatic guided vehicle and the track in real time and a manual key. The AGV is convenient to monitor and control.
The control system comprises a PLC system, wherein real-time wireless data exchange is carried out through a modbus protocol. The wireless exchange speed is high and the wireless exchange is convenient. The PLC end of a single AGV is uniformly connected by a modbus module in a wireless mode, the overall control connection is shown in fig. 2, but the base address numbers of various trolleys are different, so that the data combination of different trolleys can be distinguished. The plc module modbus protocol is adopted for real-time data exchange, the flag bit of the wireless connection is correspondingly output in the control system and respectively represents connection and disconnection of the wireless function, and an operator can judge whether the wireless connection function of each AGV is normal or not through the flag.
The track is provided with a plurality of specific stations, and the corresponding card numbers of the specific stations automatically guide the transport vehicle to start, stop, lift and/or rotate. The specific stations correspond to the corresponding transport racks or objects to be transported, and on such stations, the objects are carried out with corresponding handling operations and then continue to move.
The single AGV comprises an automatic main program part, the real-time position judgment and correction are carried out according to the sensor data, different positions correspond to different left and right wheel speeds, and the automatic main program can ensure that the trolley can move and work on the track by itself.
For manual mode, because the floor is required to have a track in the automatic mode, the AGV is required to perform manual mode operations, including enabling, stopping, advancing, reversing, turning left, turning right, and speed changing functions, in a floor track-less or other special application environment. Can conveniently control, and can not move through the track of predetermined setting, convenient and fast.
Each section of independent track access department contain the location card, the location card of access department is the automated guided transporting vehicle zone bit location card. The AGVs are controlled and judged in which tracks through the positioning card, so that the system can carry out corresponding zone bit marks, and reference is made to the control of the next AGV.
Example 2
The regulation and control method of the regulation and control system of the transport automatic guided vehicle comprises the following steps:
A. the automatic guiding transport vehicles are connected with the control system through the wireless system, and different equipment numbers are respectively set for different automatic guiding transport vehicles and the control system;
B. the automatic guiding transport vehicle moves through the track and a control program of the automatic guiding transport vehicle, and the control system monitors and controls different automatic guiding transport vehicles through different equipment numbers;
C. positioning the position of the positioning card and selecting a corresponding track to run;
D. when a plurality of automatic guiding transport vehicles run, other trolleys are forbidden to enter in the existing automatic guiding transport vehicle tracks or the required trolleys are allowed to enter according to the requirements, the plurality of trolleys are arranged on one track according to the requirements, and at the moment, the next trolleys can enter after entering one trolley; when the automatic guided vehicle passes through the rail intersection, the automatic guided vehicle passes through the control system in sequence.
When the automatic guiding transport vehicle is insufficient in electric quantity or enters an error state, the system prompts, a manual button is started, and the automatic operation state is ended to enter a manual operation state.
Example 3
For realizing track selection of a single AGV, a mode of card positioning is adopted, 2 positioning cards are required to be placed, wherein the positioning cards 2 are positioned at the positions of track crossing points needing to be changed, the positioning cards 1 are positioned at the positions 10cm in front of the positioning cards 2, the trolley sequentially passes through the positioning cards 1 and the positioning cards 2, the input mark positions 1 of the functions of the positioning cards 1 are connected in series in a PLC ladder diagram, and the three conditions are respectively the mark positions of the positioning cards 1, the track changing mark positions of an upper computer and the positioning cards 2 correspond to 8 io positions. If all three conditions are met, the sub-program can be entered for channel switching operation, the trolley automatically switches channels and exits the sub-program, the upper computer sends out a channel switching mark position 1 instruction, and then channel switching execution is entered.
Example 4
The method for prohibiting other trolleys from entering the existing automatic guided vehicle track is as follows:
the specific scheme is as follows: the method comprises the steps that positioning cards are respectively arranged at a controlled track crossing point and the entrance positions of a plurality of tracks needing to enter, when a trolley passes through the controlled track crossing point and the positioning cards at the track entrance positions in sequence, an upper computer carries out start and stop judgment through a control zone bit state, the positioning cards at the controlled track crossing point are positioned, the control zone bit is in a car-free control zone bit state, and when the trolley passes through the positioning card at a certain track entrance position, the control zone bit is in a car-free control zone bit state.
As shown in fig. 1, the following may be specifically mentioned: placing 3 cards, wherein card 5 is located the track intersection department that needs to control, card 3 is located track 4, card number 5 the place ahead, can set up to 20cm department, the dolly on the track 4 passes through card 3 and card 5 in proper order, card 4 is located track 3, card number 5 the place ahead, can set up to 20cm department, the dolly on the track 3 passes through card 4 and card 5 in proper order, the control area is in the dolly through card 3 or card 4 moment, the host computer opens and stops the judgement through control zone bit state, at the moment of passing card 5 upper computer management area mark position 0, the dolly is allowed to pass through card 3 or card 4 moment, upper computer management area mark position 1, accomplish a plurality of dollies and pass through the cross position this moment.
Example 5
In a specific scheme, the control system comprises automatic track change and manual control content, the path selection comprises 4 different track realizations for each AGV, real-time regulation and control work can be carried out, and speed adjustment can be carried out in an automatic state, and the three-gear speed can be adjusted, wherein the speed is respectively 0.2m/s,0.35m/s and 0.5m/s.
The plc end of a single AGV is uniformly connected by a modbus module in a wireless mode, the overall control connection is shown in fig. 2, but the base address numbers of various trolleys are different, so that the data combinations of different trolleys are distinguished, and the single AGV is divided into an AGV1, an AGV2 and an AGV3 respectively. The equipment number of the PC control system is 1, and the PC control system classifies and distinguishes different equipment data so as to achieve the accurate control function of all the trolleys.
For the automatic mode, as shown in fig. 1, this embodiment provides 4 kinds of tracks in advance for the AGV to carry out real-time transformation work, can many simultaneous control and track transformation to satisfy the AGV and to the technical requirement of frequent lane change in the practical application, here can carry out different regulation to the speed respectively, to specific station, can realize starting and stopping, lift and the rotatory function in place in corresponding card number department, to the many right angle bend of track department, can make the AGV carry out the rotatory in place and advance again and reach the curved purpose of crossing.
For the track, as shown in fig. 1, the main function of the system is to judge and display the position under the card number data fed back by the AGV, the real-time position of each trolley can be marked by using points with different colors in the software track diagram, the real-time running track of the trolley is marked by the tracks with different colors, at the moment, any lane changing operation can be carried out on any trolley through the lane changing button, the changeable use requirement of the factory material conveying path is met, the staff can carry out real-time monitoring operation on the control console, the current specific position condition of the trolley can be visually seen to facilitate the completion of scheduling, whether the wireless module data transmission of the trolley is normal can be judged through the wireless connection mark, and the fault is convenient to check and detect when the problem occurs. The position information of the trolley is a continuous variable quantity, and each trolley has dynamic position display in the track diagram. This function requires that the track be filled with equally spaced positioning cards to complete the uploading of the data and the display of the animation. And under the condition that a plurality of trolleys need to be stopped, the total stop button can be clicked to stop all the trolleys, so that the safety of the trolleys and personnel and goods in the running process of the trolleys is ensured.
Example 6
The starting position of a single AGV is provided with a zone bit for entering a subprogram, the zone bit is set as a vw variable in the embodiment, the vw variable is connected with an upper computer, namely a control system, the upper computer sets the vw variable to 1 to enter different subprograms so as to finish the functions of starting, stopping and speed conversion, and when the trolley enters the subprogram, the trolley can automatically perform track operation in the subprogram, so that the function of automatically conveying materials can be finished.
Example 7
In some special cases, such as when the two 24v lithium batteries of the AGV are not enough, the automatic operation state can be ended through a manual button to enter a manual operation state, and the manual operation can be forward, backward, left turn, right turn and enable and exit. All sport operations can be executed after the enabling button is pressed, and each enabling variable has an interlocking function, so that the running safety of the AGV can be ensured, and the occurrence of out-of-control of the AGV caused by button pressing is reduced.
Example 8
As shown in fig. 3, for traffic control, the traffic control is located in an initial limiting condition in upper computer software, and is judged and regulated in a flag bit mode, a flag bit of a memory variable is set in each control area, the flag bit is a bol amount, and the judgment and regulation on the start and stop of the trolley entering the intersection are carried out by judging the value of the flag bit.
The control system is characterized in that the control system has a traffic control function of a plurality of AGVs, the judgment logic is as shown in fig. 3, the control principle is that a control zone bit is generated in each control area, the zone bit is 1 to indicate that vehicles exist in the area, other vehicles are forbidden to enter the area, no vehicles exist in the zone bit is 0, other vehicles can perform the area, and meanwhile, when the vehicles enter the zone bit is set to be 1. Other trolleys are forbidden to enter, the control program is in a general limiting condition when the control system is in operation, the trolleys which are likely to collide are generally regulated and controlled, and because the control planning is difficult to realize when the trolleys are more, the method can regulate and control a plurality of trolleys, codes have regular additivity, and when the number of the trolleys is increased, modification and debugging can be conveniently carried out to meet the specific use requirements. The core requirements of the control come from preventing unnecessary collision caused by a plurality of AGVs entering an intersection at the same time or the phenomenon that the plurality of AGVs stop at the intersection and cannot be started again due to an obstacle avoidance sensor. The AGV transmits real-time position information to the upper computer of the control system, and the upper computer stores and assigns the flag bit, so that only one trolley at each intersection can pass through in the same time, collision and all stopping phenomena are prevented, and all AGVs can work normally.
Regarding traffic control implementations, there are the following implementation steps:
A. the trolley feeds back the real-time card number, and the upper computer calculates 8-bit io
K＝255-I7*128-I6*64-I5*32-I4*16-I3*8-I2*4-I1*2-I0
Wherein K is the car card number, and I0-I7 are 8 bits io corresponding to the card number.
B. The upper computer judges whether the card number belongs to the control area card number or not according to the card number, namely judges whether the cart in the control area 1 in the figure reaches the card 3 or the card 4, which is the first layer if, if the card number belongs to the first layer if, the subsequent judgment is carried out under the if condition of entering the control judgment.
C. The upper computer synthesizes the current control area zone bit, the card number and the self-locking signal to judge, which is the second layer if, wherein the self-locking signal is used for preventing the trolley entering the control area from being judged to stop due to the control mark position 1. The second layer if contains three independent judgments, one is that the zone bit of the arrival control zone is 0, the trolley continues to advance, the zone bit is set to be 1, the other is that the trolley arrives at the zone bit of the control zone is 1, the trolley driver is disabled at the moment, the trolley stops waiting, and the last is that whether the trolley passes through the zone or not is judged, namely whether the trolley arrives at the card 5 in the zone 1 of the control zone in the figure or not is judged, if the zone bit of the control zone is set to be 0, and at the moment, if the trolley waits at the entering place, the waiting trolley can be started.
Example 9
In the embodiment 9, 4 kinds of track operation adjustment is performed on 2 trolleys, the trolley 1 and the trolley 2 are placed at a starting point, the trolley self power supply is turned on, an upper computer control system is started, the band-type brake of each trolley is simultaneously attracted, the direct current driver of the trolley is powered on, the trolley is in a preparation completion stage before operation, the key response speed of the upper computer is within 0.5s, the maximum load of the single trolley is 200kg, the minimum turning radius is 70cm, and the front photoelectric stopping protection distance of the trolley is 30cm at most. At this time, the automatic buttons in the control system can be clicked to select different speeds, the selected trolley starts to move along the default track, the other trolley is started at the same time, at this time, the two trolleys move along the default track, under the environment, four tracks of the two trolleys can be arbitrarily selected, the trolley can perform circular motion according to the selected path, at any time of trolley operation, the automatic buttons can be clicked again to stop the operation of the trolley, the fixed point repeated stopping precision is 3mm in the automatic operation of the trolley, the band-type brake is still in the sucking state at this time, and the manual button can be clicked to realize the manual movement requirement of any trolley so as to control the trolley to operate in an area outside the tracks.
For the verification of traffic control, when two vehicles come to a control intersection at the same time, such as an intersection in the center of a track in fig. 1, wherein after a first vehicle enters an area, a second vehicle enters the area, the upper computer sends data to stop the second vehicle, after the first vehicle passes through the intersection, the upper computer controls the zone flag bit to be 0, the stopped No. 2 vehicle is restarted, and through the intersection, the second vehicle has the action requirements of stopping and restarting under the control of the upper computer. For the addition of the third trolley, when the first trolley passes through the intersection, the trolley 2 and the trolley 3 wait at the entrance side of the intersection, after the first trolley passes through the intersection, the second trolley starts to pass through the intersection, at the moment, the first trolley still passes through the intersection, the third trolley still waits at the entrance, after the second trolley passes through the intersection, at the moment, the third trolley starts to pass through the intersection, the requirement that the three trolleys pass through the intersection in sequence is completed, the traffic control is realized, the occurrence of collision and the phenomenon of the trolley striving for or complete stop are effectively prevented, and the intelligent orderly operation of the trolley in an automatic operation state is ensured.
The foregoing has been described schematically the invention and embodiments thereof, which are not limiting, but are capable of other specific forms of implementing the invention without departing from its spirit or essential characteristics. The drawings are also intended to depict only one embodiment of the invention, and therefore the actual construction is not intended to limit the claims, any reference number in the claims not being intended to limit the claims. Therefore, if one of ordinary skill in the art is informed by this disclosure, a structural manner and an embodiment similar to the technical scheme are not creatively designed without departing from the gist of the present invention, and all the structural manners and the embodiment are considered to be within the protection scope of the present patent. In addition, the word "comprising" does not exclude other elements or steps, and the word "a" or "an" preceding an element does not exclude the inclusion of a plurality of such elements. The various elements recited in the product claims may also be embodied in software or hardware. The terms first, second, etc. are used to denote a name, but not any particular order.
Claims (8)
1. A regulation and control system of transport automated guided vehicle, its characterized in that: the automatic guiding system comprises a track, an automatic guiding transport vehicle and a control system, wherein a positioning card is arranged on the track, a plurality of branch tracks are arranged in the track to form different track modes, and the control system is connected with the automatic guiding transport vehicle in a wireless manner and obtains the position of the automatic guiding transport vehicle through the positioning card; the track is provided with a plurality of specific stations, and the automatic guide transport vehicle starts, stops, lifts and/or rotates at the corresponding clamping number positions of the specific stations; the control system comprises a manual control device, and comprises enabling, stopping, advancing, backing, left turning, right turning and speed changing function keys.
2. A control system for a handling automated guided vehicle according to claim 1, wherein: the control system comprises a PLC system, wherein real-time wireless data exchange is carried out through a modbus protocol.
3. A control system for a handling automated guided vehicle according to claim 2, wherein: the entrance and exit of each section of independent track comprises a positioning card, and the positioning card at the entrance and exit is a positioning card for the marker bit of the automatic guided transport vehicle.
4. A control system for a handling automated guided vehicle according to claim 1, wherein: the automatic guiding transport vehicle further comprises a control console, wherein the control console comprises a screen for displaying the states of the automatic guiding transport vehicle and the rail in real time, and manual keys.
5. A regulation method comprising the regulation system of the handling automated guided vehicle according to any one of claims 1 to 4, comprising the steps of:
A. the automatic guiding transport vehicles are connected with the control system through the wireless system, and different equipment numbers are respectively set for different automatic guiding transport vehicles and the control system;
B. the automatic guiding transport vehicle moves through the track and a control program of the automatic guiding transport vehicle, and the control system monitors and controls different automatic guiding transport vehicles through different equipment numbers;
C. positioning the position of the positioning card and selecting a corresponding track to run;
D. when a plurality of automatic guiding transport vehicles run, other trolleys are forbidden to enter the existing automatic guiding transport vehicle track or the trolleys are allowed to enter according to requirements; when the automatic guided vehicle passes through the rail intersection, the automatic guided vehicle passes through the control system in sequence.
6. The method of claim 5, wherein: the track selection method of the single automatic guided vehicle comprises the following steps:
placing 2 positioning cards, wherein the positioning cards 2 are positioned at the track crossing points needing to be changed, the positioning cards 1 are positioned in front of the positioning cards 2, the trolley sequentially passes through the cards 1 and 2, the positioning cards 1 are used for inputting mark positions, the positioning cards 2 are used for positioning the starting points of the left and right wheel differential channel selection of the trolley, three conditions are connected in series in a PLC ladder diagram and are respectively mark bits of the positioning cards 1, track change mark bits of an upper computer and positioning cards 2, if all the three conditions are met, a subroutine is entered for channel change operation, the trolley automatically changes channels and exits the subroutine, the upper computer sends instructions of the channel change mark positions, and then channel change execution is entered.
7. The method of claim 5, wherein: the method for prohibiting other trolleys from entering the existing automatic guided vehicle track is as follows:
and generating a control zone bit in each control area, wherein the zone bit is a car zone bit which indicates that cars exist in the area, other cars are forbidden to enter the area, and the zone bit is a no-car zone bit which indicates that no car exists in the area, and other cars can enter the area.
8. The method of claim 1, wherein: when the automatic guiding transport vehicle is insufficient in electric quantity or enters an error state, the system prompts, a manual button is started, and the automatic operation state is ended to enter a manual operation state.
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