CN108334093A - A kind of automated workshop AGV trolley control systems - Google Patents
A kind of automated workshop AGV trolley control systems Download PDFInfo
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- CN108334093A CN108334093A CN201810178588.8A CN201810178588A CN108334093A CN 108334093 A CN108334093 A CN 108334093A CN 201810178588 A CN201810178588 A CN 201810178588A CN 108334093 A CN108334093 A CN 108334093A
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- 238000004891 communication Methods 0.000 claims abstract description 49
- 238000000034 method Methods 0.000 claims abstract description 8
- 230000008569 process Effects 0.000 claims abstract description 5
- 239000000463 material Substances 0.000 claims description 15
- 230000007306 turnover Effects 0.000 claims description 11
- 238000006243 chemical reaction Methods 0.000 claims description 10
- 230000005611 electricity Effects 0.000 claims description 8
- 238000007789 sealing Methods 0.000 claims description 6
- 230000008054 signal transmission Effects 0.000 claims description 6
- 230000002452 interceptive effect Effects 0.000 claims description 5
- 230000002950 deficient Effects 0.000 claims description 3
- 230000015654 memory Effects 0.000 claims description 3
- 239000002184 metal Substances 0.000 claims description 3
- 238000003032 molecular docking Methods 0.000 claims description 3
- 239000000047 product Substances 0.000 claims description 3
- 239000011265 semifinished product Substances 0.000 claims description 3
- 238000004519 manufacturing process Methods 0.000 abstract description 5
- 238000013461 design Methods 0.000 abstract description 4
- 230000001737 promoting effect Effects 0.000 abstract description 3
- 238000005457 optimization Methods 0.000 description 7
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000007812 deficiency Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000004134 energy conservation Methods 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000010365 information processing Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 230000000284 resting effect Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/028—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using a RF signal
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a kind of automated workshop AGV trolley control systems, including communication module and terminal controller；Communication module connects host computer；In AGV car interiors, host computer is communicated to connect by communication module and terminal controller for the terminal controller setting, and host computer receives the signal that communication module sends over and sends control instruction with signal and is transferred in terminal controller by communication module；For the communication module using wireless ZigBee module, ZigBee module connects the sensor for countering in each process, and the count information of sensor for countering is passed to host computer, and receives the information of host computer and pass information to terminal controller.Reasonable design of the present invention coordinates 18 stations in clothes airing machine automatic production line to be coordinated, and realizes the Automatic Control of moving of car and feeding, without manual control, efficiency, feeding precise and high efficiency are improved, it is convenient to use, working efficiency is improved, is suitable for promoting.
Description
Technical field
The invention belongs to cloth fields, more specifically to a kind of automated workshop AGV trolley control systems.
Background technology
AGV trolleies (AutomatedGuidedVehicle, i.e.,：Automated guided vehicle) refer to being equipped with electricity magnetically or optically
The transport vehicle of equal homing guidances device, it can be travelled along defined guide path.
Currently, the fast development in the automatic vehicle workshop of production clothes airing machine, in logistic industry, the frequency of use of AGV trolleies
It is more and more universal.By AGV trolley automatic Pilots, automatic Pilot arrives at the destination, and reduces the quantity of operating personnel, to save
About cost of human resources, it is higher and higher to the traveling required precision of AGV trolley travel directions due to the diminution of road, to avoid
It crashes between AGV trolleies and other equipment, it is therefore desirable to the prior art be improved, obstacle is more intelligently avoided
Object, and it is more efficient to the information processing on periphery, and control is more stablized.
Invention content
In view of the deficiencies of the prior art, the present invention intends to provide a kind of automated workshop AGV trolley controls
System processed, reasonable design coordinate 18 stations in clothes airing machine automatic production line to be coordinated, using based on CC2530's
ZigBee module realizes the communication between AGV trolleies and host computer by radio-frequency technique, realize moving of car and feeding it is complete from
Dynamic control, is not necessarily to manual control, improves efficiency, and feeding precise and high efficiency is convenient to use, working efficiency is improved, suitable for pushing away
Extensively.
To achieve the above object, the present invention provides following technical solutions：
A kind of automated workshop AGV trolley control systems have 18 stations in automated workshop, respectively include：Bottom plate work
Position, fixed sheet metal component station, fixed pulley station, integrated box station, LED ballast station, UV lamp ballast station, UV lamp holder
Station, UV lamp lampshade station, UV lamp lamp cap station, display station, load of key station, front outer cover station, rear outer cover station,
Left and right outer cover station, LED light station, left sealing plate station, right sealing plate station are both provided with sensor for countering on above-mentioned station, count
Number sensor is connected with the host computer in automated workshop, it is characterised in that：AGV trolley control systems include communication module and end
Side controller；Communication module connects host computer；The terminal controller setting is in AGV car interiors, and host computer is by communicating mould
Block is communicated to connect with terminal controller, and host computer receives the signal that communication module sends over and sends control instruction with signal
It is transferred in terminal controller by communication module；The terminal controller includes main control module, main control module and communication mould
Block communicates to connect, to receive and process the external information in the system of being transmitted in；The communication module is using wireless ZigBee
Module, ZigBee module connect the sensor for countering in each process, and the count information of sensor for countering are passed to upper
Machine, and receive the information of host computer and pass information to terminal controller.
As a kind of technical solution of optimization, the control flow of the control system is：18 stations in automated workshop
Scarce material information pass to host computer, host computer is by the outbound position of material and lacks the information of material station and is assisted by Webservice
View sends terminal controller on AGV trolleies to, and AGV trolleies receive the instruction of scheduling system from the charging area that awaits orders, and remove semi-finished product
The product turnover box in library is taken out in library outlet, and interactive signal is docked with outbound pipeline by radio-frequency communication, and AGV pickings are completed will
Body feed tank is sent to corresponding specified scarce material station, and by radio-frequency communication mode and assembly line station information exchange, case is sent to finish
AGV returns to the area that awaits orders；The empty turnover box information of 18 stations in automated workshop passes to host computer, and host computer is by the dress of empty van
Wiring station position and send the terminal controller that the information of case address sends AGV trolleies to by Webservice agreements, AGV small
Vehicle receives the instruction of scheduling system from the charging area that awaits orders, and goes to the outlet of assembly line subordinate line to take sky turnover box, and passes through radio-frequency communication side
Formula and assembly line station information exchange, AGV trolleies receive empty van and send to the elevator of withdrawal, and by radio-frequency communication with
Elevator delivery line docks interactive signal, and case is sent to complete to return to the area that awaits orders；The clear line of 18 stations in automated workshop is by operating
Personnel click clear line button commands on mobile terminals, and mobile terminal connects host computer and by host computer and AGV trolleies
Terminal controller, AGV trolleies from charging await orders area receive scheduling system instruction, go assembly line subordinate line outlet take defective material to have enough to meet the need
Case, and it is sent to the residual tank inlet of vertical library, wherein docking radio-frequency communication mode of taking with Roller conveyor, clear line is completed to return to the area that awaits orders.
As a kind of technical solution of optimization, the terminal controller further includes navigation guide module, motor drive module
And supply unit, navigation guide module are connected to main control module, to input routing information in the input terminal of main control module, master control mould
The output end of block is connected to motor drive module, controls stepper motor to export different pulse signals, is arranged on supply unit
There are multiple voltage output ends, each output end of supply unit to be sequentially connected main control module, communication module, navigation guide module and electricity
Machine drive module.
As a kind of technical solution of optimization, the main control module include A/D conversion circuits, PWM output circuits, chip and
I/O receiving circuits, A/D conversion circuits are set there are two output end, and PWM output circuits are connected to motor drive module, and I/O receives electricity
Road connection input keyboard.
As a kind of technical solution of optimization, the motor drive module includes motor servo driver, and servo motor drives
Dynamic device is connected to the output end of main control module, is rotated with receiving different voltage signal driving motors.
As a kind of technical solution of optimization, the servo motor bottom is equipped with photoelectric encoder, and photoelectric encoder is electrically connected
It is connected to servo motor, to receive the movable information of trolley and be converted into electric signal output in servo motor.
As a kind of technical solution of optimization, the trolley both sides are respectively equipped with obstacle detecting device and gray-scale sensor,
The output end of obstacle detecting device is connected to controller by A/D conversion circuits, to export different electric signal transmissions in control
The output end of device, gray-scale sensor is connected to controller by the A/D conversion circuits of the other end, to export different pulse signals
It is transmitted in controller.
As a kind of technical solution of optimization, the controller uses the chip of model STM32, and coordinates use
The direct memories of DMA.
By adopting the above-described technical solution, compared with prior art, reasonable design of the present invention, cooperation clothes airing machine automation
18 stations in production line are coordinated, and using the ZigBee module based on CC2530, AGV trolleies are realized by radio-frequency technique
The Automatic Control of moving of car and feeding is realized in communication between host computer, is not necessarily to manual control, is improved efficiency, send
Expect precise and high efficiency, it is convenient to use, working efficiency is improved, is suitable for promoting.
Specific implementation mode
Embodiment
A kind of automated workshop AGV trolley control systems have 18 stations in automated workshop, respectively include：Bottom plate work
Position, fixed sheet metal component station, fixed pulley station, integrated box station, LED ballast station, UV lamp ballast station, UV lamp holder
Station, UV lamp lampshade station, UV lamp lamp cap station, display station, load of key station, front outer cover station, rear outer cover station,
Left and right outer cover station, LED light station, left sealing plate station, right sealing plate station are both provided with sensor for countering on above-mentioned station, count
Number sensor is connected with the host computer in automated workshop.
AGV trolley control systems include communication module and terminal controller；Communication module connects host computer.
The terminal controller is arranged in AGV car interiors, and host computer passes through communication module and terminal controller communication link
It connects, host computer receives the signal that communication module sends over and sends control instruction with signal is transferred to end by communication module
In side controller.The terminal controller includes main control module, and main control module is communicated to connect with communication module, to receive and locate
Reason is transmitted in the external information in system.The terminal controller further includes navigation guide module, motor drive module and power supply
Device, navigation guide module are connected to main control module, to input routing information in the input terminal of main control module, main control module it is defeated
Outlet is connected to motor drive module, controls stepper motor to export different pulse signals, is provided on supply unit multiple
Each output end of voltage output end, supply unit is sequentially connected main control module, communication module, navigation guide module and motor driving
Module.The main control module includes A/D conversion circuits, PWM output circuits, chip and I/O receiving circuits, and A/D conversion circuits are set
There are two output end, PWM output circuits are connected to motor drive module, I/O receiving circuits connection input keyboard.
The motor drive module includes motor servo driver, and motor servo driver is connected to the output of main control module
End is rotated with receiving different voltage signal driving motors.The servo motor bottom is equipped with photoelectric encoder, photoelectric encoder
It is electrically connected to servo motor, to receive the movable information of trolley and be converted into electric signal output in servo motor.The trolley two
Side is respectively equipped with obstacle detecting device and gray-scale sensor, and the output end of obstacle detecting device is connected to by A/D conversion circuits
Controller, to export different electric signal transmissions in controller, the output end of gray-scale sensor converts electricity by the A/D of the other end
Road is connected to controller, to export different pulse signal transmissions in controller.The controller uses the core of model STM32
Piece, and coordinate using the direct memories of DMA.
For the communication module using wireless ZigBee module, ZigBee module connects the sensing of the counting in each process
Device, and the count information of sensor for countering is passed into host computer, and receive the information of host computer and pass information to end
Side controller.
The control flow of the control system is：The scarce material information of 18 stations in automated workshop passes to host computer,
The information of the outbound position of material and scarce material station is sent to the end on AGV trolleies by host computer by Webservice agreements
Controller, AGV trolleies from charging await orders area receive scheduling system instruction, go semifinished product warehouse outlet take out library product turnover
Case, and interactive signal is docked with outbound pipeline by radio-frequency communication, AGV pickings are completed body feed tank being sent to corresponding specified lack
Expect station, and by radio-frequency communication mode and assembly line station information exchange, send case to finish AGV and return to the area that awaits orders；Automate vehicle
The empty turnover box information of 18 interior stations passes to host computer, and host computer is by the assembly line station position of empty van and send case address
Information send the terminal controllers of AGV trolleies to by Webservice agreements, AGV trolleies receive scheduling from the charging area that awaits orders
The instruction of system goes to the outlet of assembly line subordinate line to take sky turnover box, and by radio-frequency communication mode and assembly line station information exchange,
AGV trolleies receive empty van and send to the elevator of withdrawal, and interact letter with the docking of elevator delivery line by radio-frequency communication
Number, send case to complete to return to the area that awaits orders；The clear line of 18 stations in automated workshop is clicked clearly on mobile terminals by operating personnel
Line button commands, mobile terminal connect host computer and by the terminal controllers of host computer and AGV trolleies, and AGV trolleies are from filling
The electricity area that awaits orders receives the instruction of scheduling system, goes to the outlet of assembly line subordinate line to take defective material turnover box, and is sent to the residual tank inlet of vertical library,
In dock radio-frequency communication mode of taking with Roller conveyor, clear line is completed to return to the area that awaits orders.
When signal transmission resting state, terminal in a dormant state, to reduce the energy consumption of system, energy conservation and environmental protection；And by
The differential regulating system based on gray-scale sensor is devised in system, fully achieves the letter between host computer and AGV trolleies
Breath interaction increases the function of reasonable avoidance in trolley automatic running, and by wireless with host computer during moving of car
Trolley self-feeding is realized in communication, convenient to use, improves working efficiency.
Reasonable design of the present invention, coordinate clothes airing machine automatic production line in 18 stations coordinated, using based on
The ZigBee module of CC2530 realizes the communication between AGV trolleies and host computer by radio-frequency technique, realizes moving of car and send
The Automatic Control of material is not necessarily to manual control, improves efficiency, and feeding precise and high efficiency is convenient to use, improves work effect
Rate is suitable for promoting.
Protection scope of the present invention is not limited merely to above-described embodiment, and all technical solutions belonged under thinking of the present invention are equal
It belongs to the scope of protection of the present invention.It should be pointed out that for those skilled in the art, not departing from the present invention
Several improvements and modifications under the premise of principle, these improvements and modifications also should be regarded as protection scope of the present invention.
Claims (8)
1. a kind of automated workshop AGV trolley control systems, there are 18 stations in automated workshop, respectively include：Bottom plate station,
Fixed sheet metal component station, fixed pulley station, integrated box station, LED ballast station, UV lamp ballast station, UV lamp timberer
Position, UV lamp lampshade station, UV lamp lamp cap station, display station, load of key station, front outer cover station, rear outer cover station, a left side
Right outer cover station, LED light station, left sealing plate station, right sealing plate station are both provided with sensor for countering on above-mentioned station, count
Sensor is connected with the host computer in automated workshop, it is characterised in that：AGV trolley control systems include communication module and end
Controller；Communication module connects host computer；
In AGV car interiors, host computer is communicated to connect by communication module and terminal controller for the terminal controller setting, on
Position machine receives the signal that communication module sends over and sends control instruction with signal is transferred to end control by communication module
In device processed；The terminal controller includes main control module, and main control module is communicated to connect with communication module, is passed with receiving and processing
It is defeated in the external information in system；
For the communication module using wireless ZigBee module, ZigBee module connects the sensor for countering in each process,
And the count information of sensor for countering is passed into host computer, and receive the information of host computer and pass information to end control
Device processed.
2. a kind of automated workshop AGV trolley control systems described in accordance with the claim 1, it is characterised in that：The control system
The control flow of system is：
The scarce material information of 18 stations in automated workshop passes to host computer, and host computer is by the outbound position of material and lacks material work
The information of position sends the terminal controller on AGV trolleies to by Webservice agreements, and AGV trolleies are received from the charging area that awaits orders
The instruction of scheduling system goes to semifinished product warehouse outlet to take out the product turnover box in library, and passes through radio-frequency communication and outbound pipeline pair
Interactive signal is connect, AGV pickings are completed body feed tank being sent to corresponding specified scarce material station, and pass through radio-frequency communication mode and assembly
Line station information exchange send case to finish AGV and returns to the area that awaits orders；
The empty turnover box information of 18 stations in automated workshop passes to host computer, and host computer is by the assembly line station position of empty van
The terminal controller for setting and sending the information of case address to send AGV trolleies to by Webservice agreements, AGV trolleies are waited for from charging
The instruction that area receives scheduling system is ordered, goes to the outlet of assembly line subordinate line to take sky turnover box, and pass through radio-frequency communication mode and assembly line
Station information exchange, AGV trolleies receive empty van and send to the elevator of withdrawal, and pass through radio-frequency communication and elevator delivery
Line docks interactive signal, and case is sent to complete to return to the area that awaits orders；
The clear line of 18 stations in automated workshop is clicked clear line button commands, mobile terminal by operating personnel on mobile terminals
Connect host computer and by the terminal controller of host computer and AGV trolleies, AGV trolleies are awaited orders area's reception scheduling system from charging
Instruction, go to the outlet of assembly line subordinate line to take defective material turnover box, and be sent to the residual tank inlet of vertical library, penetrated wherein docking to take with Roller conveyor
Frequency communication modes, clear line are completed to return to the area that awaits orders.
3. a kind of automated workshop AGV trolley control systems described in accordance with the claim 1, it is characterised in that：The end control
Device processed further includes navigation guide module, motor drive module and supply unit, and navigation guide module is connected to main control module, with defeated
Enter routing information in the input terminal of main control module, the output end of main control module is connected to motor drive module, different to export
Pulse signal controls stepper motor, is provided with multiple voltage output ends on supply unit, each output end of supply unit connects successively
Connect main control module, communication module, navigation guide module and motor drive module.
4. a kind of automated workshop AGV trolley control systems described in accordance with the claim 3, it is characterised in that：The master control mould
Block includes A/D conversion circuits, PWM output circuits, chip and I/O receiving circuits, and A/D conversion circuits set that there are two output end, PWM
Output circuit is connected to motor drive module, I/O receiving circuits connection input keyboard.
5. a kind of automated workshop AGV trolley control systems according to claim 4, it is characterised in that：The motor drives
Dynamic model block includes motor servo driver, and motor servo driver is connected to the output end of main control module, to receive different electricity
Press signal drive motor rotation.
6. a kind of automated workshop AGV trolley control systems according to claim 5, it is characterised in that：The servo electricity
Motor spindle is equipped with photoelectric encoder, and photoelectric encoder is electrically connected to servo motor, to receive the movable information of trolley and be converted into
Electric signal output is in servo motor.
7. a kind of automated workshop AGV trolley control systems according to claim 6, it is characterised in that：The trolley two
Side is respectively equipped with obstacle detecting device and gray-scale sensor, and the output end of obstacle detecting device is connected to by A/D conversion circuits
Controller, to export different electric signal transmissions in controller, the output end of gray-scale sensor converts electricity by the A/D of the other end
Road is connected to controller, to export different pulse signal transmissions in controller.
8. a kind of automated workshop AGV trolley control systems according to claim 7, it is characterised in that：The controller
Using the chip of model STM32, and coordinate using the direct memories of DMA.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810178588.8A CN108334093A (en) | 2018-03-05 | 2018-03-05 | A kind of automated workshop AGV trolley control systems |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810178588.8A CN108334093A (en) | 2018-03-05 | 2018-03-05 | A kind of automated workshop AGV trolley control systems |
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| CN108334093A true CN108334093A (en) | 2018-07-27 |
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ID=62930417
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| CN201810178588.8A Pending CN108334093A (en) | 2018-03-05 | 2018-03-05 | A kind of automated workshop AGV trolley control systems |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110525948A (en) * | 2019-08-21 | 2019-12-03 | 明门(中国)幼童用品有限公司 | The material handover method of seat for children automatic assembly line |
| CN111062643A (en) * | 2019-12-30 | 2020-04-24 | 上海燊星机器人科技有限公司 | Upper computer ordering automatic communication ordering system |
| CN111365016A (en) * | 2020-03-27 | 2020-07-03 | 济南重工股份有限公司 | ZigBee-control-based pipe jacking machine non-intermittent unearthing transportation device and using method thereof |
| CN113190000A (en) * | 2021-04-30 | 2021-07-30 | 长沙中联重科环境产业有限公司 | Compactor operation control system and method and vertical garbage station |
| CN114115400A (en) * | 2021-11-26 | 2022-03-01 | 中煤科工集团上海有限公司 | Control system and method for head telescopic device |
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| CN114115400A (en) * | 2021-11-26 | 2022-03-01 | 中煤科工集团上海有限公司 | Control system and method for head telescopic device |
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