CN107678430A - AGV trolley control systems - Google Patents
AGV trolley control systems Download PDFInfo
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- CN107678430A CN107678430A CN201710887709.1A CN201710887709A CN107678430A CN 107678430 A CN107678430 A CN 107678430A CN 201710887709 A CN201710887709 A CN 201710887709A CN 107678430 A CN107678430 A CN 107678430A
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- 230000008054 signal transmission Effects 0.000 claims description 7
- 238000006243 chemical reaction Methods 0.000 claims description 5
- 230000005611 electricity Effects 0.000 claims description 4
- 230000015654 memory Effects 0.000 claims description 4
- 239000000700 radioactive tracer Substances 0.000 claims description 3
- 238000001514 detection method Methods 0.000 claims 1
- 230000005622 photoelectricity Effects 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 238000005265 energy consumption Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
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- 230000000284 resting effect Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000010365 information processing Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
-
- 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
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D13/00—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover
- G05D13/62—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover characterised by the use of electric means, e.g. use of a tachometric dynamo, use of a transducer converting an electric value into a displacement
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/21—Pc I-O input output
- G05B2219/21137—Analog to digital conversion, ADC, DAC
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
- G05B2219/25187—Transmission of signals, medium, ultrasonic, radio
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/26—Pc applications
- G05B2219/2603—Steering car
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/26—Pc applications
- G05B2219/2641—Fork lift, material handling vehicle
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P80/00—Climate change mitigation technologies for sector-wide applications
- Y02P80/10—Efficient use of energy, e.g. using compressed air or pressurized fluid as energy carrier
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Toys (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses AGV trolley control systems, including host computer, communication module and terminal controller, terminal controller is located inside trolley control system, host computer is communicated to connect by communication module and terminal controller, host computer sends control instruction and is transmitted in terminal controller by communication module, the feedback information of itself is transmitted in host computer by terminal controller by communication module again, the main control module that terminal controller includes communicates to connect with communication module, to receive and handle the external information in the system of being transmitted in；Using the technical program, the information exchange between host computer and AGV dollies is fully achieved, dolly can be with automatic running and reasonable avoidance, convenient to use, raising operating efficiency.
Description
Technical field
The invention belongs to transport automatic guided vehicle management control technique, it is more particularly related to AGV dolly controls
System processed.
Background technology
AGV (Automated Guided Vehicle, i.e.,：Automatical pilot transportation vehicle) refer to equipped with electricity magnetically or optically etc.
The transport vehicle of homing guidance device, it can be travelled along defined guide path.
At present, due to the fast development of logistic industry, in logistic industry, the frequency of use of AGV dollies is increasingly popularized.
By AGV dolly automatic Pilots, automatic Pilot arrives at the destination, and reduces the quantity of operating personnel, so as to save human resources
Cost, due to the diminution of road, to the traveling required precision more and more higher of AGV dolly travel directions, to avoid AGV dollies and its
Crashed between his equipment, it is therefore desirable to prior art is improved, more intelligently avoiding obstacles, and to week
The information processing on side is more efficient, and control is more stable.
The content of the invention
The technical problems to be solved by the invention are to provide the autonomous AGV trolley control systems for receiving host computer signal.
To achieve these goals, the technical scheme taken of the present invention is：AGV trolley control systems, including it is host computer, logical
News module and terminal controller, terminal controller are located inside trolley control system, and host computer is controlled by communication module and end
Device communication connection processed, host computer send control instruction and are transmitted in terminal controller by communication module, and terminal controller again will be certainly
The feedback information of body is transmitted in host computer by communication module, wherein, terminal controller includes main control module, main control module with
Communication module communicates to connect, to receive and handle the external information in the system of being transmitted in.
AGV trolley control systems disclosed by the invention, the terminal controller also includes navigation guide module, motor drives
Module and power supply, navigation guide module are connected to the main control module, main to input routing information in the input of main control module
The output end of control module is connected to motor drive module, controls stepper motor to export different pulse signals, power supply is provided with
Multiple voltage output ends, each output end of power supply are sequentially connected main control module, communication module, navigation guide module and motor driving
Module.
AGV trolley control systems disclosed by the invention, the main control module include A/D change-over circuits, PWM output circuits,
Controller and IO receiving circuits, A/D conversion circuits are provided with two output ends, and described two output ends distinguish external gray-scale sensor
And tracer, PWM output circuits are connected to motor drive module, IO receiving circuits connection input keyboard.
AGV trolley control systems disclosed by the invention, the motor drive module include motor servo driver, servo electricity
Machine driver is connected to the output end of main control module, is rotated with receiving different voltage signal motors.
AGV trolley control systems disclosed by the invention, the servomotor bottom are provided with photoelectric encoder, photoelectric encoder
Servomotor is electrically connected to, to receive the movable information of dolly and be converted into electric signal output in servomotor.
AGV trolley control systems disclosed by the invention, the dolly both sides are respectively equipped with obstacle detecting device and gray scale passes
Sensor, the output end of obstacle detecting device are connected to controller by A/D change-over circuits, with export different electric signal transmissions in
Controller, the output end of gray-scale sensor is connected to controller by the A/D change-over circuits of the other end, to export different pulses
Signal is transmitted in controller.
AGV trolley control systems disclosed by the invention, the communication module use wireless ZigBee module.
AGV trolley control systems disclosed by the invention, the controller use model STM32 chip, and coordinate
Using the direct internal memories of DMA.
Using the technical program, using the ZigBee module based on CC2530, AGV dollies and host computer are realized by serial ports
Between communication, another ZigBee module that AVG dollies install is connected by the ZigBee module of main frame and is used cooperatively, is realized
Similar wireless telecommunications between telegon and terminal control unit, during signal transmission resting state, terminal in a dormant state, so as to
The energy consumption of reduction system, energy-conserving and environment-protective；It is completely real again due to devising the differential regulating system based on gray-scale sensor in system
Show the information exchange between host computer and AGV dollies, during moving of car, increase reasonable avoidance in dolly automatic running
Function, and realize dolly automatic up/down stairs layer by the wireless telecommunications with elevator, it is convenient to use, improve operating efficiency.
Below with reference to drawings and examples, the present invention is described in detail.
Brief description of the drawings
The content expressed by each width accompanying drawing of this specification and the mark in figure are briefly described below：
Fig. 1 is the schematic diagram of AGV trolley control systems of the present invention；
Fig. 2 is the system composition figure of AGV trolley control systems of the present invention；
Fig. 3 is the developing master computer software workflow diagram of AGV trolley control systems of the present invention.
In figure mark for：1st, obstacle detecting device；2nd, freewheel；3rd, driving wheel；4th, servomotor；5th, motor driver；
6th, ZigBee module；7th, gray-scale sensor.
Embodiment
Below against accompanying drawing, by the description to embodiment, each structure for example involved to the embodiment of the present invention
Mutual alignment and annexation, the effect of each several part and operation principle, manufacturing process between the shape of part, construction, each several part
And operate with method etc., be described in further detail, with help those skilled in the art to the present invention inventive concept,
Technical scheme has more complete, accurate and deep understanding.
Fig. 1 is the schematic diagram of AGV trolley control systems of the present invention, and Fig. 2 is the system group of AGV trolley control systems of the present invention
Cheng Tu, AGV trolley control systems as depicted, including host computer, communication module and terminal controller, terminal controller are located at
Inside trolley control system, host computer is communicated to connect by communication module and terminal controller, and host computer sends control instruction and led to
Cross communication module and be transmitted in terminal controller, the feedback information of itself is transmitted in upper by terminal controller by communication module again
Machine, terminal controller include main control module, and main control module communicates to connect with communication module, to receive and handle the system of being transmitted in
Interior external information, terminal controller also include navigation guide module, motor drive module and power supply, the connection of navigation guide module
In the main control module, motor drive is connected in the input of main control module, the output end of main control module to input routing information
Dynamic model block, stepper motor is controlled to export different pulse signals, power supply is provided with multiple voltage output ends, each output of power supply
End is sequentially connected main control module, communication module, navigation guide module and motor drive module, and main control module includes A/D conversion electricity
Road, PWM output circuits, controller and IO receiving circuits, A/D conversion circuits are provided with two output ends, described two output ends point
Not external gray-scale sensor and tracer, PWM output circuits are connected to motor drive module, the connection input of IO receiving circuits
Keyboard.
The system that the invention is made up of multiple modules, each systemic-function are as follows：
Motor drive module includes motor servo driver, and motor servo driver is connected to the output end of main control module,
Rotated with receiving different voltage signal motors, servomotor bottom is provided with photoelectric encoder, photoelectric encoder electrical connection
In servomotor, to receive the movable information of dolly and be converted into electric signal output in servomotor；
Dolly both sides are respectively equipped with obstacle detecting device 1 and gray-scale sensor 7, and the output end of obstacle detecting device 1 passes through
A/D change-over circuits are connected to controller, are passed through with exporting different electric signal transmissions in controller, the output end of gray-scale sensor
The A/D change-over circuits of the other end are connected to controller, to export different pulse signal transmissions in controller.
Communication module uses wireless ZigBee module 6, the ZigBee module 6 being provided with host computer, primarily serves coordination
The effect of device, another ZigBee module 6 is provided with AGV dollies, coordinates the ZigBee module 6 in host computer to realize tip receiver
Effect, host computer sends control instruction and transmitted by communication module to the controller of dolly, meanwhile, dolly is by the state of itself
Fed back by communication module in host computer；
Controller uses model STM32 chip, and coordinates using the direct internal memories of DMA, from high in STM32 piece
Fast analog signal of the 12 bit A/D converters collection from sensor, and the mould that will be collected using DMA direct memory access mode
After plan number is converted to data signal, the fast exchange of data is realized, alleviates the load of main control chip.
Using the technical program, using the ZigBee module based on CC2530, AGV dollies and host computer are realized by serial ports
Between communication, another ZigBee module that AVG dollies install is connected by the ZigBee module of main frame and is used cooperatively, is realized
Similar wireless telecommunications between telegon and terminal control unit, during signal transmission resting state, terminal in a dormant state, so as to
The energy consumption of reduction system, energy-conserving and environment-protective；It is completely real again due to devising the differential regulating system based on gray-scale sensor in system
Show the information exchange between host computer and AGV dollies, during moving of car, increase reasonable avoidance in dolly automatic running
Function, and realize dolly automatic up/down stairs layer by the wireless telecommunications with elevator, it is convenient to use, improve operating efficiency.
The present invention is exemplarily described above in conjunction with accompanying drawing, it is clear that present invention specific implementation is not by aforesaid way
Limitation, as long as the improvement of the various unsubstantialities of inventive concept and technical scheme of the present invention progress is employed, or without changing
Enter and the design of the present invention and technical scheme are directly applied into other occasions, within protection scope of the present invention.
Claims (8)
1.AGV trolley control systems, it is characterised in that：Including host computer, communication module and terminal controller, terminal controller is set
Inside trolley control system, host computer is communicated to connect by communication module and terminal controller, and host computer sends control instruction
Terminal controller is transmitted in by communication module, the feedback information of itself is transmitted in by terminal controller by communication module again
Position machine, wherein, terminal controller includes main control module, and main control module communicates to connect with communication module, to receive and handle biography
It is defeated in the external information in system.
2. according to the AGV trolley control systems described in claim 1, it is characterised in that：The terminal controller also includes navigation
Guiding module, motor drive module and power supply, navigation guide module are connected to the main control module, to input routing information in master
The input of module is controlled, the output end of main control module is connected to motor drive module, and step is controlled to export different pulse signals
Stepper motor, power supply are provided with multiple voltage output ends, and each output end of power supply is sequentially connected main control module, communication module, navigation
Guiding module and motor drive module.
3. according to the AGV trolley control systems described in claim 1, it is characterised in that：The main control module includes A/D conversion electricity
Road, PWM output circuits, controller and IO receiving circuits, A/D conversion circuits are provided with two output ends, described two output ends point
Not external gray-scale sensor and tracer, PWM output circuits are connected to motor drive module, the connection input of IO receiving circuits
Keyboard.
4. according to the AGV trolley control systems described in claim 1, it is characterised in that：The motor drive module includes servo
Motor driver, motor servo driver are connected to the output end of main control module, to receive different voltage signal motors
Rotate.
5. according to the AGV trolley control systems described in claim 4, it is characterised in that：The servomotor bottom is provided with photoelectricity
Encoder, photoelectric encoder are electrically connected to servomotor, to receive the movable information of dolly and be converted into electric signal output in watching
Take motor.
6. according to the AGV trolley control systems described in claim 2, it is characterised in that：The dolly both sides are respectively equipped with obstacle
Detection means and gray-scale sensor, the output end of obstacle detecting device are connected to controller by A/D change-over circuits, to export not
Same electric signal transmission is connected to controller in controller, the output end of gray-scale sensor by the A/D change-over circuits of the other end,
To export different pulse signal transmissions in controller.
7. according to the AGV trolley control systems described in claim 1, it is characterised in that：The communication module is using wireless
ZigBee module.
8. according to the AGV trolley control systems described in claim 2, it is characterised in that：The controller uses model STM32
Chip, and coordinate using the direct internal memories of DMA.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710887709.1A CN107678430A (en) | 2017-09-27 | 2017-09-27 | AGV trolley control systems |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710887709.1A CN107678430A (en) | 2017-09-27 | 2017-09-27 | AGV trolley control systems |
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| Publication Number | Publication Date |
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| CN107678430A true CN107678430A (en) | 2018-02-09 |
Family
ID=61137138
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710887709.1A Pending CN107678430A (en) | 2017-09-27 | 2017-09-27 | AGV trolley control systems |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108280555A (en) * | 2018-03-02 | 2018-07-13 | 天津齐物科技有限公司 | Lithium ion battery production process optimization method |
| CN108334093A (en) * | 2018-03-05 | 2018-07-27 | 江苏捷阳科技股份有限公司 | A kind of automated workshop AGV trolley control systems |
| CN108594694A (en) * | 2018-02-13 | 2018-09-28 | 云南民族大学 | A kind of AGV controllers system on chip |
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| WO2016102146A1 (en) * | 2014-12-23 | 2016-06-30 | Husqvarna Ab | Control of downhill movement for an autonomous guided vehicle |
| CN205540215U (en) * | 2016-01-26 | 2016-08-31 | 河南科技学院 | Machine people motion control system is plucked to fruit vegetables |
| CN205862211U (en) * | 2016-07-21 | 2017-01-04 | 华讯方舟科技有限公司 | Safety check instrument kinetic control system |
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2017
- 2017-09-27 CN CN201710887709.1A patent/CN107678430A/en active Pending
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|---|---|---|---|---|
| WO2016102146A1 (en) * | 2014-12-23 | 2016-06-30 | Husqvarna Ab | Control of downhill movement for an autonomous guided vehicle |
| CN205540215U (en) * | 2016-01-26 | 2016-08-31 | 河南科技学院 | Machine people motion control system is plucked to fruit vegetables |
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| 孙帅等: "智能AGV小车控制系统设计", 《南通职业大学学报》 * |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108594694A (en) * | 2018-02-13 | 2018-09-28 | 云南民族大学 | A kind of AGV controllers system on chip |
| CN108280555A (en) * | 2018-03-02 | 2018-07-13 | 天津齐物科技有限公司 | Lithium ion battery production process optimization method |
| CN108280555B (en) * | 2018-03-02 | 2021-05-28 | 天津齐物科技有限公司 | Method for optimizing production process of lithium ion battery |
| CN108334093A (en) * | 2018-03-05 | 2018-07-27 | 江苏捷阳科技股份有限公司 | A kind of automated workshop AGV trolley control systems |
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Application publication date: 20180209 |