CN107422729A - A kind of AGV dollies with safety detection function - Google Patents
A kind of AGV dollies with safety detection function Download PDFInfo
- Publication number
- CN107422729A CN107422729A CN201710410480.2A CN201710410480A CN107422729A CN 107422729 A CN107422729 A CN 107422729A CN 201710410480 A CN201710410480 A CN 201710410480A CN 107422729 A CN107422729 A CN 107422729A
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- China
- Prior art keywords
- agv dollies
- module
- signal
- agv
- dollies
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- 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
Abstract
The present invention relates to AGV dolly technical fields, more particularly to a kind of AGV dollies with safety detection function, including detecting module, it is arranged on AGV dollies, AGV dollies surrounding obstacles situation in the process of moving is persistently detected, obstacle signal is continuously sent out when detecting the direction of motion close to barrier；Vehicle Controller, it is connected with the detecting module, receives the obstacle signal that the detecting module is sent and controls AGV dollies to stop, and controls AGV dollies to continue to run with when obstacle signal disappears.The present invention is by setting detecting module, and detecting module connects with Vehicle Controller, obstacle signal is continuously sent out when being detected with barrier, Vehicle Controller controls AGV dollies out of service after receiving obstacle signal, after barrier elimination, Vehicle Controller control AGV dollies move on according to original route, and this set can improve the security of AGV dollies, effectively reduce and damage the phenomenon of equipment because AGV dollies collide barrier.
Description
【Technical field】
The present invention relates to AGV dolly technical fields, more particularly to a kind of AGV dollies with safety detection function.
【Background technology】
AGV is automatic Guided Vehicle, refers to that equipment is provided with the transport vehicle that electricity magnetically or optically waits homing guidance device, it can
The guide path traveling as defined in.
During homing guidance some contingencies can usually occur for current AGV dollies, such as AGV dollies exist
Kicked or bumped against by some objects or AGV dollies are because collision deviates operation rail accidentally by staff during normal walking
Road, when there are these contingencies, if AGV dollies tackle system without corresponding safety, it is difficult to ensure that the peace of equipment
Quan Xing.
The present invention is namely based on what case above was made.
【The content of the invention】
Instant invention overcomes the deficiencies in the prior art, there is provided a kind of tool that the operation of AGV car safeties can be effectively ensured
There are the AGV dollies of safety detection function.
In order to solve the above technical problems, the present invention uses following technical scheme：
A kind of AGV dollies with safety detection function, including：
Detecting module 1, it is arranged on AGV dollies, persistently detects AGV dollies surrounding obstacles situation in the process of moving,
Obstacle signal is continuously sent out when detecting the direction of motion close to barrier；
Vehicle Controller 2, it is connected with the detecting module 1, receives the obstacle signal that the detecting module 1 is sent and control
AGV dollies processed stop, and control AGV dollies to continue to run with when obstacle signal disappears.
Described detecting module 1 is laser range sensor.
The AGV dollies with safety detection function also include being arranged on AGV dollies and when AGV dollies hit
When send the jerk module 3 that an emergent stop signal controls the AGV dollies emergent stopping to the Vehicle Controller 2 immediately.
The jerk module 3 is the safe touch side buffer switch 31 located at AGV dolly circumferential outer edges.
The AGV dollies with safety detection function are additionally provided with when an emergency happens can be by the urgency of its emergent stopping
Guard's valve 32.
The AGV dollies with safety detection function are additionally provided with the magnetic whether detectable AGV dollies depart from magnetic stripe track
Bar track detecting module 4, the magnetic stripe track detecting module 4 send a derailing signal extremely when AGV dollies depart from magnetic stripe track
The Vehicle Controller 2 controls AGV dollies out of service.
The AGV dollies with safety detection function also include alarm module 5, itself and the detecting module 2, jerk mould
Block 3 and magnetic stripe track detecting module 4 connect and receive the obstacle signal, emergent stop signal and derailing signal, and receiving
Alarmed after stating obstacle signal, emergent stop signal or derailing signal.
The alarm module 5 includes that three color alarm lamps 51 of different alarm light can be sent according to the signal of reception and can sent
The loudspeaker 52 of alarm sound.
The AGV dollies with safety detection function also include：
Fault detection module 61, it detects whether AGV dollies break down, and a fault-signal is sent when breaking down
It is out of service to Vehicle Controller control AGV dollies；
Malfunction coefficient module 62, it is connected with the fault detection module 61, and shows after the fault-signal is received
Show failure；
Fault clearance module 63, it is connected with the Vehicle Controller 2, and the fault clearance for receiving outside input refers to
Order, and a fault clearance signal is sent to the Vehicle Controller 2, the vehicle-mounted control after the fault clearance instruction is received
Device 2 processed is receiving the fault clearance signal and is controlling AGV dollies to recover to initial normal after fault-signal disappearance
Working condition.
The malfunction coefficient module 62 is touch display screen, and the fault clearance module 63 shows including being shown in described touch
The function menu of tangible triggering input fault clearance order in display screen.
The present invention compared with prior art, has the advantage that：
The present invention is by setting detecting module, and detecting module connects with Vehicle Controller, when being detected with barrier
Obstacle signal is continuously sent out, Vehicle Controller controls AGV dollies out of service, eliminated in barrier after receiving obstacle signal
Afterwards, Vehicle Controller control AGV dollies move on according to original route, and this set can improve the security of AGV dollies, have
Effect reduces damages the phenomenon of equipment because AGV dollies collide barrier, while also improves the intelligent of AGV dollies.
The present invention is also provided with jerk module, magnetic stripe track detecting module, alarm module, fault detection module, failure and shown
Show module and fault clearance module, the various abnormal conditions that can occur in operation to AGV dollies are dealt with, and are improved
The security of AGV dollies.
【Brief description of the drawings】
Technical scheme in order to illustrate the embodiments of the present invention more clearly, make required in being described below to embodiment
Accompanying drawing is briefly described.
Fig. 1 is the theory diagram for the AGV dollies that the present invention has safety detection function.
【Embodiment】
The present invention is described in detail below in conjunction with the accompanying drawings：
As shown in figure 1, a kind of AGV dollies with safety detection function, including：
Detecting module 1, it is arranged on AGV dollies, persistently detects AGV dollies surrounding obstacles situation in the process of moving,
Obstacle signal is continuously sent out when detecting the direction of motion close to barrier.In this specific embodiment, detecting module 1 is laser
Distance measuring sensor.Laser range sensor sends light pulse signal, is connect by recording and handling to be issued to return from light pulse
Receive the undergone time, you can measure target range.By the distance between measurement and barrier, it is less than in obstacle distance and sets
Obstacle signal is sent during definite value.It is of course also possible to use other sensors are realized, such as using infrared distance sensor, super
Sound ranging sensor etc..The present invention does not limit the particular type of detecting module, it is only necessary to can realize the whether close barrier of measurement
Hinder thing and realize sending for obstacle signal.
Vehicle Controller 2, it is connected with the detecting module 1, receives the obstacle signal that the detecting module 1 is sent and control
AGV dollies processed stop, and control AGV dollies to continue to run with when obstacle signal disappears.Before barrier removing, laser sensor
Obstacle signal can be continuously sent out, after barrier removing, laser sensor sends normal signal, and Vehicle Controller 2 is receiving
AGV dollies are controlled to continue to run with after normal signal.
The AGV dollies with safety detection function also include being arranged on AGV dollies and when AGV dollies hit
When send the jerk module 3 that an emergent stop signal controls the AGV dollies emergent stopping to the Vehicle Controller 2 immediately.At this
In specific embodiment, the jerk module is the safe touch side buffer switch 31 located at AGV dolly circumferential outer edges.Hit when there is object
When hitting AGV dollies, safe touch side buffer switch 31 is collided, so as to send emergent stop signal to Vehicle Controller 2, Vehicle Controller
2, which receive control AGV dollies after jerk information, promptly stops, and avoids that bigger security incident occurs.Certainly, jerk module 2
It can be realized using crash sensor.
The AGV dollies with safety detection function are additionally provided with when an emergency happens can be by the urgency of its emergent stopping
Guard's valve 32.When staff has found that scene has emergency to need that AGV dollies is out of service, emergency stop switch 32 can be pressed
Its is out of service.
The AGV dollies with safety detection function are additionally provided with the magnetic whether detectable AGV dollies depart from magnetic stripe track
Bar track detecting module 4, the magnetic stripe track detecting module 4 send a derailing signal extremely when AGV dollies depart from magnetic stripe track
The Vehicle Controller 2 controls AGV dollies out of service.Magnetic stripe track detecting module 4 can be realized using tracking sensor.
In this specific embodiment, tracking sensor is realized using 48 Magnetic Sensors.When AGV dollies depart from the operation of magnetic stripe track
When, it can be sensed by magnetic stripe track detecting module 4 in 20ms, magnetic stripe track detecting module 4 sends derailing signal to vehicle-mounted control
Device 2, Vehicle Controller 2 receive derailing signal after AGV dollies is out of service, prevent the uncontrolled fortune of AGV dollies
Row state.
The AGV dollies with safety detection function also include alarm module 5, itself and the detecting module 2, jerk mould
Block 3 and magnetic stripe track detecting module 4 connect and receive the obstacle signal, emergent stop signal and derailing signal, and receiving
Alarmed after stating obstacle signal, emergent stop signal or derailing signal.
The alarm module 5 includes that three color alarm lamps 51 of different alarm light can be sent according to the signal of reception and can sent
The loudspeaker 52 of alarm sound.In this specific embodiment, three color alarm lamps 51 include three kinds of colors of red, yellow, and green, wherein red
There is barrier on the traffic direction of AGV dollies in representative, and alarm module 5 sends red obstacle report after receiving obstacle signal
It is alert；Yellow represents AGV dollies and hit, and alarm module 5 sends yellow urgent-stop alarm after receiving emergent stop signal；Green represents
AGV dollies de-orbit, and alarm module 5 sends green derailing alarm after receiving derailing signal.Red is sent in alarm module 5
Loudspeaker 52 sends alarm sound while obstruction warning or yellow urgent-stop alarm or green derailing alarm.It is of course also possible to adopt
Realized with the alarm lamp of other colors.
The AGV dollies with safety detection function also include：
Fault detection module 61, it detects whether AGV dollies break down, and a fault-signal is sent when breaking down
It is out of service to Vehicle Controller control AGV dollies；Fault detection module predominantly detects the failure of AGV dollies in itself；
Malfunction coefficient module 62, it is connected with the fault detection module 61, and shows after the fault-signal is received
Show failure；
Fault clearance module 63, it is connected with the Vehicle Controller 2, and the fault clearance for receiving outside input refers to
Order, and a fault clearance signal is sent to the Vehicle Controller 2, the vehicle-mounted control after the fault clearance instruction is received
Device 2 processed is receiving the fault clearance signal and is controlling AGV dollies to recover to initial normal after fault-signal disappearance
Working condition.After failture evacuation, pressing " fault clearance " can make AGV dollies return to initial normal condition, if failure does not have
Exclude, because fault-signal does not disappear, then do not acted by " fault clearance ", AGV dollies are still in run-stopping status.
The malfunction coefficient module 62 is touch display screen, and the fault clearance module 63 shows including being shown in described touch
The function menu of tangible triggering input fault clearance order in display screen.Such as function menu can be to be shown in touch display screen
On " fault clearance " menu.
The present invention is by setting detecting module, and detecting module connects with Vehicle Controller, when being detected with barrier
Obstacle signal is continuously sent out, Vehicle Controller controls AGV dollies out of service, eliminated in barrier after receiving obstacle signal
Afterwards, Vehicle Controller control AGV dollies move on according to original route, and this set can improve the security of AGV dollies, have
Effect reduces damages the phenomenon of equipment because AGV dollies collide barrier, while also improves the intelligent of AGV dollies.
The present invention is also provided with jerk module, magnetic stripe track detecting module, alarm module, fault detection module, failure and shown
Show module and fault clearance module, the various abnormal conditions that can occur in operation to AGV dollies are dealt with, and are improved
The security of AGV dollies.
It is to combine a kind of embodiment that particular content provides as described above, does not assert the specific implementation office of the present invention
It is limited to these explanations.It is all approximate with method of the invention, structure etc., identical, if or for being made under the premise of present inventive concept
Dry technology deduction or replace, should all be considered as protection scope of the present invention.
Claims (10)
- A kind of 1. AGV dollies with safety detection function, it is characterised in that including：Detecting module (1), it is arranged on AGV dollies, persistently detects AGV dollies surrounding obstacles situation in the process of moving, Obstacle signal is continuously sent out when detecting the direction of motion close to barrier；Vehicle Controller (2), it is connected with the detecting module (1), receives obstacle signal that the detecting module (1) is sent simultaneously Control AGV dollies to stop, and control AGV dollies to continue to run with when obstacle signal disappears.
- A kind of 2. AGV dollies with safety detection function according to claim 1, it is characterised in that：Described detection Module (1) is laser range sensor.
- A kind of 3. AGV dollies with safety detection function according to claim 1, it is characterised in that：It is described that there is peace The AGV dollies of full inspection brake also include being arranged on AGV dollies and sending immediately when AGV dollies hit jerk letter The jerk module (3) of the AGV dollies emergent stopping number is controlled to the Vehicle Controller (2).
- A kind of 4. AGV car safeties system according to claim 3, it is characterised in that：The jerk module (3) be located at The safe touch side buffer switch (31) of AGV dolly circumferential outer edges.
- A kind of 5. AGV dollies with safety detection function according to claim 1, it is characterised in that：It is described that there is peace The AGV dollies of full inspection brake are additionally provided with when an emergency happens can be by the emergency stop switch (32) of its emergent stopping.
- A kind of 6. AGV dollies with safety detection function according to claim 3, it is characterised in that：It is described that there is peace The AGV dollies of full inspection brake are additionally provided with the magnetic stripe track detecting module (4) whether detectable AGV dollies depart from magnetic stripe track, The magnetic stripe track detecting module (4) sends a derailing signal to the Vehicle Controller when AGV dollies depart from magnetic stripe track (2) control AGV dollies out of service.
- A kind of 7. AGV dollies with safety detection function according to claim 6, it is characterised in that：It is described that there is peace The AGV dollies of full inspection brake also include alarm module (5), itself and the detecting module (2), jerk module (3) and magnetic stripe rail Road detection module (4) connects and receives the obstacle signal, emergent stop signal and derailing signal, and is receiving obstacle letter Number, emergent stop signal or derailing signal after alarm.
- A kind of 8. AGV dollies with safety detection function according to claim 7, it is characterised in that：The alarm mould Block (5) includes that three color alarm lamps (51) of different alarm light can be sent according to the signal of reception and can send raising one's voice for alarm sound Device (52).
- A kind of 9. AGV dollies with safety detection function according to claim 6, it is characterised in that：It is described that there is peace The AGV dollies of full inspection brake also include：Fault detection module (61), it detects whether AGV dollies break down, and sends a fault-signal extremely when breaking down The Vehicle Controller control AGV dollies are out of service；Malfunction coefficient module (62), it is connected with the fault detection module (61), and shows after the fault-signal is received Show failure；Fault clearance module (63), it is connected with the Vehicle Controller (2), and the fault clearance for receiving outside input refers to Order, and a fault clearance signal is sent to the Vehicle Controller (2) after the fault clearance instruction is received, it is described vehicle-mounted Controller (2) is receiving the fault clearance signal and is controlling AGV dollies to recover to initial after fault-signal disappearance Normal operating conditions.
- A kind of 10. AGV dollies with safety detection function according to claim 9, it is characterised in that：The failure shows It is touch display screen to show module (62), and the fault clearance module (63) is tangible in the touch display screen including being shown in Trigger the function menu of input fault clearance order.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710410480.2A CN107422729A (en) | 2017-06-03 | 2017-06-03 | A kind of AGV dollies with safety detection function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710410480.2A CN107422729A (en) | 2017-06-03 | 2017-06-03 | A kind of AGV dollies with safety detection function |
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| Publication Number | Publication Date |
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| CN107422729A true CN107422729A (en) | 2017-12-01 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710410480.2A Pending CN107422729A (en) | 2017-06-03 | 2017-06-03 | A kind of AGV dollies with safety detection function |
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| CN108454622A (en) * | 2018-06-20 | 2018-08-28 | 广东嘉腾机器人自动化有限公司 | AGV safety control systems and safety-type AGV |
| CN109213173A (en) * | 2018-09-30 | 2019-01-15 | 青岛港国际股份有限公司 | A kind of AGV passes in and out the Anti-bumping protection method of interaction bracket |
| CN109283862A (en) * | 2018-09-27 | 2019-01-29 | 浙江明度智控科技有限公司 | A kind of AGV safety control system and AGV |
| CN110009981A (en) * | 2019-04-25 | 2019-07-12 | 江苏理工学院 | Lamp system fault setting and fault detection means |
| WO2019237851A1 (en) * | 2018-06-11 | 2019-12-19 | 北京京东尚科信息技术有限公司 | Method, device and system for controlling automated guided vehicle |
| CN113703435A (en) * | 2020-05-21 | 2021-11-26 | 恩斯迈电子(深圳)有限公司 | Vehicle dispatching system and vehicle dispatching method |
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| CN113703435A (en) * | 2020-05-21 | 2021-11-26 | 恩斯迈电子(深圳)有限公司 | Vehicle dispatching system and vehicle dispatching method |
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