CN109213173A - A kind of AGV passes in and out the Anti-bumping protection method of interaction bracket - Google Patents
A kind of AGV passes in and out the Anti-bumping protection method of interaction bracket Download PDFInfo
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- CN109213173A CN109213173A CN201811159644.XA CN201811159644A CN109213173A CN 109213173 A CN109213173 A CN 109213173A CN 201811159644 A CN201811159644 A CN 201811159644A CN 109213173 A CN109213173 A CN 109213173A
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- 230000003993 interaction Effects 0.000 title claims abstract description 38
- 238000000034 method Methods 0.000 title claims abstract description 37
- 230000004888 barrier function Effects 0.000 claims abstract description 8
- 230000002452 interceptive effect Effects 0.000 claims description 15
- 230000007246 mechanism Effects 0.000 claims description 10
- 230000006698 induction Effects 0.000 claims description 8
- 230000003287 optical effect Effects 0.000 claims 1
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- 230000005693 optoelectronics Effects 0.000 description 24
- 230000005622 photoelectricity Effects 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 238000004806 packaging method and process Methods 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 238000001514 detection method Methods 0.000 description 3
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- 238000005259 measurement Methods 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
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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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0244—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using reflecting strips
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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
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
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Abstract
The present invention relates to a kind of Anti-bumping protection methods that AGV passes in and out interaction bracket, and photoelectric sensor is respectively set in rear end below the front axle lower front end and rear axle of AGV；The headstock front end and tailstock rear end of AGV is provided with laser sensor；Surface layout reflective tape and black rubber band on a passage, the length of reflective tape and black rubber band is equal to the sum of AGV length of wagon and passage length, and reflective tape and black rubber band stretch out the length of feeder connection equal to AGV length of wagon, bring into operation this method comprises: control AGV headstock or the tailstock reach feeder connection and control AGV；Control each photoelectric sensor and front end or rear end laser works；Acquire in real time each photoelectric sensor feedback signal and front end or rear end laser sensor feedback data；Whether analysis data determination has barrier in certain distance；In at least one feedback signal be low level or there are AGV parking is controlled when barrier.Realize Anti-bumping protection of the AGV in the channel for passing in and out interaction bracket.
Description
Technical field
The invention belongs to port mechanical equipment technical fields, and in particular to a kind of AGV passes in and out the Anti-bumping protection of interaction bracket
Method.
Background technique
With harbour prosperity and development, AGV(Automated Guided Vehicle, automated guided vehicle) it is automation
The special transportation device of harbour, including front axle and rear axle, front axle include preceding lifting platform, for jacking 20 ruler containers
Preceding lifting body and four at preceding lifting platform four corners before jack guide plate, rear axle jacks flat after including
Guiding is jacked after platform, the rear lifting body for jacking 20 ruler containers and four at rear lifting platform four corners
Plate.Navigation control unit is the motion control unit of AGV, the AGV Navigation Control mode of automatic dock using inertial navigation with
The mode of absolute position correction, inertial navigation is a kind of Relative localization method, onboard installs gyroscope, angular encoder, wheel speed
The sensors such as encoder accurately obtain the direction of motion and speed of AGV, when known to start position coordinate, by sensing data meter
The position of AGV is calculated, which has the characteristics that simple and flexible, cheap and real-time are good, and disadvantage is shape due to various reasons
At error accumulation, long-play can lead to precision and completely lose.Use the absolute pose measurement unit of antenna to AGV in heap at present
Pose correction in, specifically, the pre-buried magnetic nail in the operation place of AGV, each magnetic nail record it in stockyard coordinate system
In absolute coordinate accordingly a pair of of detection antenna is symmetrically housed in the front and rear of AGV chassis, is penetrated using RF
The pre-buried magnetic nail of frequency identification technology antenna scanning simultaneously can read absolute position of the magnetic nail in stockyard when covering magnetic nail, and then
The absolute position current to AGV.AGV Anti-bumping protection unit and for the traffic safety for guaranteeing AGV, in navigation control unit
It is protected, ambient enviroment can be perceived by laser sensor when driving using laser anti-collision, ensure single machine row
Vehicle safety.
During container is loaded onto ship and is unloaded, Terminal Operating System (Terminal Operating System, letter
Claim TOS) issued to vehicle management system (Vehicle Management System, abbreviation VMS) take case instruct and send case to refer to
It enables, realizes the scheduling and traffic control of AGV.During container unloading, AGV needs to turn from AGV platform with the container carried
Move on to ASC(Automated Stated Crane, automatic stacking track crane) on and be transferred in stockyard, and container load onto ship
In the process, the container in stockyard needs to be transferred to by ASC on AGV platform, and container went is downloaded to ship by AGV
On, the process of this container transfer is known as interactive process.In the prior art, ASC and AGV limited amount carries packaging in AGV band
It needs to take the container on AGV platform after waiting ASC to complete a upper container away when below case to ASC, then returns to ship
Oceangoing ship takes container again, and reciprocal to carry out, in this interactive process, interaction time is longer between AGV and ASC, causes interactive efficiency low,
And since the waiting of AGV causes AGV occupancy interaction area overlong time and AGV utilization rate low, cause the AGV wasting of resources.For
Solution above-mentioned technical problem, devises a kind of interactive bracket, for storing a kind of steel construction ground of transported container in short-term
Support means, operation when realizing difference between AGV and ASC, and in order to guarantee traffic safety of the AGV in the interaction bracket, this hair
It is bright to provide a kind of Anti-bumping protection method of AGV disengaging interaction bracket.
Summary of the invention
A kind of AGV provided by the invention passes in and out the Anti-bumping protection method of interaction bracket, it is intended that for protecting AGV
Traffic safety in the channel of interaction bracket.
In order to solve the above-mentioned technical problem, the following technical solutions are proposed is resolved by the present invention:
A kind of AGV passes in and out the Anti-bumping protection method of interaction bracket, which is characterized in that the interactive bracket includes use positioned opposite
The channel passed through for the AGV is formed between the first support group and second support group of bearing container, two stands group；Each
Bracket group includes spaced apart four brackets, and each support height is equal；On the direction in the channel, interaction bracket one end
Four brackets of four brackets and the other end are used to 20 ruler containers of carrying, and eight brackets are for carrying 40 rulers or 45 ruler collection
Vanning；Rear end is respectively arranged on the car body center line of AGV below front end and rear axle below the front axle of AGV
Photoelectric sensor；The channel upper surface be disposed with its longitudinal centre line be overlapped with the longitudinal centre line in the channel it is reflective
The black rubber band that band and the longitudinal edge for being close to the reflective tape two sides are arranged, the length of the reflective tape and black rubber band
It spends equal and is equal to the sum of AGV length of wagon and passage length, and the reflective tape and black rubber band stretch out feeder connection
Length is equal to AGV length of wagon, and the headstock front end of AGV is provided with front end laser sensor and tailstock rear end is provided with rear end laser
Sensor, each laser sensor and each photoelectric sensor are communicated to connect with the main controller of AGV, and the method includes walking as follows
Rapid: the headstock or the tailstock for controlling AGV, which reach the feeder connection and control AGV, to bring into operation；Control each photoelectric sensor and preceding
Hold laser sensor or the work of rear end laser sensor；The feedback signal and front end laser of each photoelectric sensor are acquired in real time
The range data of sensor or rear end laser sensor feedback；Judge each feedback signal for high level or low level；Analysis is apart from number
Determine that whether there are obstacles in certain distance accordingly；And when at least one feedback signal is for low level or in certain distance
When inside there is barrier, the main controller control AGV parking.
Further, in order to avoid the preceding lifting body of protection AGV or rear lifting body are when taking case or sending case and interaction
Have container collision on bracket, the first front end ultrasonic sensor is installed in the front end of the preceding lifting body of AGV and rear
End is equipped with the first back-end ultrasonic wave sensor, is equipped with the second front end supersonic sensing in the front end of the rear lifting body of AGV
Device and the second back-end ultrasonic wave sensor is installed in rear end, each ultrasonic sensor is communicated to connect with the main controller of AGV, institute
The method of stating further includes acquiring the first front end supersonic sensing in real time when the preceding lifting body of the AGV or rear lifting body jack
Device, the first back-end ultrasonic wave sensor, the second front end ultrasonic sensor or the second back-end ultrasonic wave sensor feedback data
Step.
In order to further realize the protection to AGV in structure, the headstock front end and tailstock rear end of AGV is respectively arranged with and shakes
Arm type anti-impact bumper, each rocker arm type anti-impact bumper include for when being impacted rocker arm to AGV body inner side present contract
Kui Suo mechanism, be equipped in the Kui Suo mechanism with the main controller of AGV communication connection close to induction limit switch, it is described
Method further includes the steps that being acquired in real time close to induction limit switch feedback data.
Further, in order to avoid on AGV container placement just do not cause to jack it is improper and cause lifting body damage or
Whether container fallen accident puts positive step with the container carried on the AGV the method also includes verifying.
Further, need to verify AGV when sending case with load container box is with the container box in case instruction is sent
No consistent, AGV lifting body jacks when avoiding box inconsistent, realizes the protection to AGV lifting body or avoids generating packaging
Case fallen accident verifies band in container box and AGV to be lifted on the interactive bracket when the method also includes sending case
The whether consistent step of the container box of load.
Compared with prior art, the advantages of the present invention are: AGV is accurate by existing navigation control unit
The inlet in the channel of interactive bracket is driven to, the longitudinal centre line of AGV vehicle body is overlapped with the longitudinal centre line in channel at this time, and
And AGV is on the upper surface of reflective tape and black rubber band, front end photoelectric sensor and rear end photoelectric sensor are opened in control,
Front end photoelectric sensor and rear end photoelectric sensor can irradiate reflective strip, so that each photoelectric sensor can feed back high level,
Once the front axle or rear axle of AGV deviate, front end photoelectric sensor or rear end photoelectric sensor or both expose to black
Cause to feed back low level on color rubber strip, AGV parking is controlled according to low level signal main controller at this time, realizes AGV in channel
Anti-bumping protection on two sides and direction of rotation；What the front end laser sensor being arranged by headstock front end and tailstock rear end were arranged
Rear end laser sensor, whether there are obstacles for the detection front end AGV or rear end, realizes that AGV is in direction of advance and retrogressing in channel
Anti-bumping protection on direction.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, the present invention will be implemented below
Example or attached drawing needed to be used in the description of the prior art are made one and are briefly introduced, it should be apparent that, drawings discussed below is this
Some embodiments of invention without creative efforts, may be used also for those of ordinary skill in the art
With other accompanying drawings can also be obtained according to these attached drawings.
The main view for the interaction bracket that Fig. 1 is related in the Anti-bumping protection method for AGV of the present invention disengaging interaction bracket；
The top view for the interaction bracket that Fig. 2 is related in the Anti-bumping protection method for AGV of the present invention disengaging interaction bracket；
The right view for the interaction bracket that Fig. 3 is related in the Anti-bumping protection method for AGV of the present invention disengaging interaction bracket；
Fig. 4 is the flow chart for the Anti-bumping protection method that AGV of the present invention passes in and out interaction bracket.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
Every other embodiment obtained without creative efforts, shall fall within the protection scope of the present invention.
In order to realize AGV conveying container it is temporary, operation when realizing the difference between AGV and ASC improves ASC operation
Efficiency and AGV utilization rate devise a kind of interactive bracket, as shown in Figure 1 to Figure 3, including positioned opposite for carrying packaging
The first support group 1 and second support group 3 of case form the channel 6 passed through for AGV between two stands group 1 and 3；Each bracket group
Including spaced apart four brackets, each support height is equal；On the direction in channel 6, four brackets of interaction bracket one end
20 ruler containers of carrying are used to four brackets of the other end, and eight brackets are for carrying 40 rulers or 45 ruler containers；?
The reflective tape 7 and be close to reflective tape 7 that the longitudinal centre line Y that 6 upper surface of channel is disposed with its longitudinal centre line and channel 6 is overlapped
The black rubber band 8 and 9 of the longitudinal edge setting of two sides, the equal length of reflective tape 7 and black rubber band 8 and 9 and is equal to AGV
The sum of 6 length H1 of length of wagon H2 and channel, and reflective tape 7 and black rubber band 8 and 9 stretch out the length etc. of the entrance in channel 6
In AGV length of wagon H2, it is directed to driving of the AGV in the interaction bracket, the present invention relates to a kind of AGV to pass in and out interaction bracket
Anti-bumping protection method, rear end is respectively arranged with positioned at the car body center of AGV below the front axle lower front end and rear axle of AGV
Photoelectric sensor (not shown) on line；After the headstock front end of AGV is provided with front end laser sensor and tailstock rear end is provided with
Laser sensor is held, each laser sensor and each photoelectric sensor are communicated to connect with the main controller of AGV, as shown in figure 4, the party
Method includes the following steps: the headstock for controlling AGV or the tailstock reaches feeder connection and controls AGV and brings into operation；Control each photoelectricity
Sensor and the work of front end laser sensor or rear end laser sensor；Acquire in real time the feedback signal of each photoelectric sensor with
And the range data of front end laser sensor or rear end laser sensor feedback；Judge each feedback signal for high level or low electricity
It is flat；The range data is analyzed to determine that whether there are obstacles in certain distance；And when at least one feedback signal is
Low level or in certain distance there are when barrier, the main controller control AGV parking.
Specifically, in the present embodiment, the container that interaction bracket comes for AGV during temporarily storage unloading with load
Or the container to come is lifted by crane by ASC during shipment, as shown in Figure 1 to Figure 3, interaction bracket is made of eight brackets, including
First support group 1 and second support group 3, first support group 1 include first support 1-1, the second support 1- positioned at 6 side of channel
2, third bracket 1-3 and the 4th bracket 1-4, and second support group 3 includes the 5th bracket 3-1 for being located at 6 opposite side of channel, the 6th
Bracket 3-2, the 7th bracket 3-3 and the 8th bracket 3-4, each support height are equal；As shown in figure 3, for the ease of placing container
And be in place, the top of each bracket is provided with horizontal supporting plate 4 and guide plate 5, and the lower end of guide plate 5 is tilted towards channel 6,
Make to form obtuse angle between guide plate 5 and the upper surface of horizontal supporting plate 4, be supplied to be formed between horizontal supporting plate 5 and guide plate 6
The guide groove that container passes through；And in order to enhance rack bearing intensity, each pedestal upper end states 6 angulation of channel relative to lower end direction
Degree inclination, in this way, the support intensity of enhancing supporting plate 4.The bottom of each bracket carries out buried processing in interaction bracket, so that often
A bracket can bear at least 25 tons of gravity, therefore a firm bearing surface can be provided for container.It mainly flows at present at harbour
The size of logical container is three kinds of 20 rulers, 40 rulers and 45 rulers sizes, as shown in Figure 1, in the present embodiment, propping up in eight brackets
Frame 1-1,1-2,3-1 and 3-2 are designed to carry 20 ruler containers, and bracket 1-3,1-4,3-3 and 3-4 are designed to carry 20 rulers
Container, eight brackets are used to 40 rulers of carrying or 45 ruler containers.For convenience, arrow direction in Fig. 1 indicate from
Extra large side to land side, wherein land side is Container Yard, when needing to carry the container of 40 rulers or 45 rulers due to eight brackets, so
The width d1 of bracket 1-1 and 3-1 positioned at extra large side and bracket 1-4 and 3-4 positioned at land side are different from intermediate bracket 1-2,1-
3, the width d2 of 3-2 and 3-3, such as d1 > d2.
In the present embodiment, the length of wagon H2 of AGV is 15m, the wide 3m of vehicle body, and two wheels below AGV front axle are same
It axis and being arranged in parallel with car body, rotation direction is consistent always, and two below rear axle wheel is coaxial and is arranged in parallel with car body,
Rotation direction is consistent always；Front axle wheel and rear axle wheel can do go to action respectively, realize Vehicular body front and rear portion
It turns to；Before AGV enters 6 entrance of channel, location technology is followed closely by existing antenna-magnetic and is accurately travelled to feeder connection,
The car body center line of AGV is overlapped with the longitudinal centre line Y in channel 6 at this time.
In order to protect AGV in access way 6, avoid AGV on the left and right sides and direction of rotation with the collision of bracket,
In the present embodiment, 6 length H1 of channel is 20m, and in channel 6 when driving, the left and right sides is AGV for travelling the width utilized
150mm, AGV need to must be strictly controlled in safe range along straight-line travelling, vehicle body offset.As depicted in figs. 1 and 2, logical
Reflective tape 7 and black rubber band 8 and 9 are arranged in 6 upper surface of road, wherein the longitudinal center of the longitudinal centre line of reflective tape 7 and channel 6
Line Y is overlapped, and black rubber band 8 and 9 is close to the longitudinal edge of 7 two sides of reflective tape and is symmetrical arranged relative to reflective tape 7, due to land
Side is Container Yard, therefore AGV only from extra large side access way 6, i.e. the entrance and exit in channel 6 is same, 7 He of reflective tape
The equal length of black rubber band 8 and 9 and it is equal to the sum of 6 length H1 of AGV length of wagon H2 and channel, as H2+H1=35m, and
The entrance length that reflective tape 7 and black rubber band 8 and 9 stretch out channel 6 is equal to AGV length of wagon H2.In the present embodiment, as schemed
Shown in 2, can design 7 width W2 of reflective tape is 12cm, and black rubber band 8 and 9 is symmetrical relative to reflective tape 7, width W1=W3=
2cm, certainly, the width numerical value of W1, W2 and W3 may be other numerical value.Accordingly, in the present embodiment, in AGV front axle
Rear end is corresponding below lower front end and rear axle is disposed with positioned at front end photoelectric sensor (not shown) on car body center line with after
Photoelectric sensor (not shown) is held, for cooperating reflective tape 7 and black rubber band 8 and 9 to use, initially enters channel 6 in AGV
When, main controller controls front end photoelectric sensor and rear end photoelectric sensor is opened, at this time front end photoelectric sensor and rear end photoelectricity
Sensor can be irradiated to reflective tape 7, activate the position limitation protection of front end photoelectric sensor and rear end photoelectric sensor and feed back height
Level signal, when front axle or rear axle the traveling deviation of AGV is more than 6cm, front end photoelectric sensor or rear end photoelectric sensing
Device or both exposes on black rubber band 8 or 9, and front end photoelectric sensor or rear end photoelectric sensor or both feedback are low at this time
Level signal, main controller issues the signal of control AGV parking at this time, and then protects AGV issuable when driving in channel 6
Deviate excessive bring collision problem.
Navigation control unit in the prior art guarantees the traffic safety of AGV in the process of running, but in order to more into one
The traffic safety of reliably protecting AGV in the bracket is walked, in the present embodiment, in AGV headstock front end (such as at center position)
It is provided with the front end laser sensor being located on car body longitudinal centre line, and at tailstock rear end (such as at center position)
It is provided with the rear end laser sensor being located on car body longitudinal centre line, each laser sensor is Sick LMS 511,
The transmitting radiation angle two-dimensional sector-shaped planar laser beam that is 180 degree, mounting height control its central point apart from ground about 90cm,
For detecting AGV car body direction of advance and direction of retreat, whether there are obstacles.Specifically, can set laser safeguard protection away from
From for example, 10m, the distance number measured by every light beam of front end or rear end laser sensor in such as 10m is acquired
According to, in the width formed apart from same or similar point in body width range (such as 3m) more than 30mm when, before expression AGV
There are barrier on into direction or direction of retreat, main controller 11 can trigger AGV and stop in emergency, moves forward and backward so as to form AGV
Outer layer Anti-bumping protection on direction.
When AGV is loaded with and also carries container on container and interaction bracket, in order to avoid what AGV was not distinguished holds
Row send case to operate, then may cause container on AGV and collide with the container interacted on bracket, or bracket 1-1,1-2,
When carrying 20 ruler container on 3-1,3-2 and bracket 1-3,1-4,3-3,3-4, and AGV is received and is only taken 1-3,1-4,3-3
When with the order of the container on 3-4, friendship is driven out to after the completion of the preceding lifting body of AGV or the jacking of rear lifting body take case at this time
When mutual bracket, avoids generating collision with container, in the present embodiment, be equipped with one in the front end of the preceding lifting body of AGV
First front end ultrasonic sensor (not shown) and rear end are equipped with a first back-end ultrasonic wave sensor (not shown), and after
The front end of lifting body is equipped with a second front end ultrasonic sensor (not shown) and rear end is equipped with second rear end
Ultrasonic sensor (not shown), detection range are not less than 1000mm, in the first front end ultrasonic sensor, the first rear end
Any of ultrasonic sensor, the second front end ultrasonic sensor or the second back-end ultrasonic wave sensor sensor feedback away from
With a certain distance from being less than or equal to when (such as 800mm), AGV main controller has for example recognized barrier by logical program judgement,
It stops in emergency to control AGV, realizes the protection to lifting body before or after AGV, and prevent container from falling and cause safe thing
Therefore.In order to further guarantee traffic safety of the AGV in channel 6 on hardware configuration, in the present embodiment, before AGV headstock
End and tailstock rear end are provided with rocker arm type anti-impact bumper (not shown), and height is controlled apart from ground 800mm or so, shaken
Arm configuration can be by the Kui Suo mechanism (not shown) of AGV to car feedback contracting, and feedback contracting distance is not less than such as 400mm, in order to guarantee
It stops, installs in Kui Suo mechanism close to induction limit switch (not shown), in bumper in time when bumper is collided
When being pushed by external force, present contracting mechanism action, this close to induction limit switch detect the movement simultaneously feedback signal to main controller,
Specifically, normally it is high level signal close to induction limit switch, becomes when presenting contracting mechanism action close to induction limit switch
Low level signal controls AGV when main controller recognizes the signal intensity and stops in emergency, and realizes AGV in direction of advance and retrogressing
Internal layer Anti-bumping protection on direction.
In the present embodiment, it is additionally provided on interaction bracket for detecting whether interactive bracket has container and feedback institute
First testing agency's (not shown) of the container box of carrying；It is provided with whether band carries container on AGV for detecting on AGV
And second testing agency (not shown) of the feedback by AGV with the container box carried；First testing agency includes four first
Optoelectronic switch, can be respectively corresponded including four first optoelectronic switches bracket 1-1,1-2, the 1-3 for being arranged in 6 side of channel and
On 1-4, perhaps correspondence is arranged on bracket 3-1,3-2,3-3 and 3-4 of 6 other side of channel or one is arranged in bracket 1-1
It is upper, one be arranged on bracket 3-2, one be arranged on 1-3 and another is arranged on bracket 3-4 or one is arranged in
On bracket 3-1, one be arranged on bracket 1-2, one be arranged on bracket 3-3 and another is arranged on bracket 1-4, such as
To be arranged on bracket 1-1, one be arranged on bracket 3-2, one be arranged on 1-3 and another is arranged on bracket 3-4
The first optoelectronic switch for illustrate, when TOS receives the feedback signal of the first optoelectronic switch on bracket 1-1 and bracket 3-2
When, expression carries 20 ruler containers on extra large side, when receiving the anti-of the first optoelectronic switch on bracket 1-3 and bracket 3-4
When feedback signal, indicate to carry 20 ruler containers on the side of land, when receiving the first optoelectronic switch on bracket 3-2 and bracket 1-3
Feedback signal when, expression carries 40 ruler containers, receives the photoelectricity on bracket 1-1,3-2,1-3 and 3-4 when all and opens
When the feedback signal of pass, indicate to carry 45 ruler containers on bracket, when the feedback letter for not receiving any first optoelectronic switch
Number when, indicate bracket be sky, when receiving the feedback signal of one or three the first optoelectronic switch, indicate present container put
It sets not just.Whether in order to verify AGV, whether band is loaded with container, to arrange AGV to take case, in the present embodiment, in AGV sinciput
It rises and is respectively arranged with second optoelectronic switch in diagonal a pair of guide plate, and jack after AGV the diagonal of guide plate
Be respectively arranged with second optoelectronic switch in a pair, specific arrangement relation with interact the first optoelectronic switch being arranged on bracket
Position is identical, the case where for detecting on AGV the container of current band load, when receiving one or three the second photoelectricity are opened
When the feedback signal of pass, indicate that present container is placed not just on AGV, then TOS does not allow the AGV to enter channel jacking, avoids
Front or rear lifting body is damaged, or avoids container from falling causing safety accident in jacking, ASC is by packaging at this time
Case is directly hung oneself away from AGV.
In order to when sending case verify AGV band load container box with whether interact container box to be lifted on bracket
Unanimously, container fallen accident is caused to determine AGV if appropriate for jacking and prevent from hastily jacking, in the present embodiment,
One kind send case flow operations as follows: TOS verifies on interaction bracket whether have collection by the feedback information of the first optoelectronic switch of acquisition
The information of vanning, it is assumed that do not receive on bracket 1-1 and the feedback information of upper first optoelectronic switch of 3-2, the extra large side of expression are not put
20 ruler containers are set, TOS send case to instruct to VMS at this time, and VMS dispatches AGV and by acquiring the second light of correspondence on the AGV
It is 20 ruler collection that the feedback signal of electric switch, which learns that current AGV band is loaded with first object container and the box of first object container,
It cases, AGV send case to instruct by VMS reception, and lifting body controls preceding lifting body after entering bracket to target position before jacking
It falls into place, first object container is placed on bracket 1-1,1-2,3-1 and 3-2 at this time, passes through preceding lifting body at this time
Fall into place signal and learn that the first object container has been transferred on bracket from AGV, and receive on bracket 1-1 simultaneously and
The feedback information of upper first optoelectronic switch of 3-2 indicates that first object container has been put just.On the contrary, when TOS passes through the first light of acquisition
The feedback information of electric switch verifies the information for whether having container on interaction bracket, it is assumed that receive bracket 1-1 on 3-2 upper the
The feedback information of one optoelectronic switch indicates that extra large side is placed with 20 ruler containers, and TOS passes through the anti-of the second optoelectronic switch of acquisition at this time
Feedforward information verifies the information for whether having container on AGV, it is assumed that diagonal upper second photoelectricity before receiving on jacking guide plate is opened
The feedback information of the feedback information of pass and diagonal upper second optoelectronic switch on rear jacking guide plate indicates that band carries 45 rulers on AGV
Container cannot then execute and case is sent to instruct at this time since box is inconsistent, i.e. AGV does not jack container and carries out sending case, avoid pushing up
Mechanism is risen to be damaged or cause container fallen accident when hastily jacking.
In addition, one kind takes case flow operations as follows: TOS is verified on AGV by the feedback information of the second optoelectronic switch of acquisition
Whether the information of container is had, it is assumed that the feedback information of diagonal upper second optoelectronic switch before not receiving on jacking guide plate,
Without placing 20 ruler containers on lifting platform before indicating, TOS takes case to instruct to VMS transmission at this time, and VMS scheduling AGV simultaneously passes through
Acquire such as bracket 1-1,3-2,1-3 and 3-4 on the first optoelectronic switch of correspondence feedback signal, when receive bracket 1-1 and
When the feedback signal of upper first optoelectronic switch of 3-2, indicate to be placed with 20 the second object sets of ruler on bracket 1-1,1-2,3-1 and 3-2
Vanning, after verifying, the preceding lifting body of control is jacked to act after the headstock of VSM scheduling AGV enters channel half to target position
Play the second targeted containers and be driven out to interactive bracket or the tailstock enter after the half to target position of channel control after lifting body
Jacking is to lifting the second target ruler container and being driven out to interactive bracket, and the second targeted containers are placed preceding lifting body at this time
And/or on rear lifting body, signal is fallen into place by preceding lifting body and/or rear lifting body at this time and learns second target
Container is had been transferred to from bracket 1-1,1-2,3-1 and 3-2 on the preceding lifting body and/or rear lifting body of AGV, and simultaneously
Receive the first optoelectronic switch on bracket 1-1 and 3-2 feedback information and the second optoelectronic switch on corresponding AGV it is anti-
Feedforward information indicates that the second targeted containers have been put just；When being received on bracket 1-1 and 3-2 at the same time and 1-3 and 3-4 upper
When the feedback signal of one optoelectronic switch, indicate to place on bracket 1-1,1-2,3-1 and 3-2 and bracket 1-3,1-4,3-3 and 3-4
There are 20 the second targeted containers of ruler, as described in above-mentioned part, for the sake of security, does not allow to take bracket 1-3,1-4,3-3 and 3-4
On container.
The AGV of the present embodiment passes in and out the Anti-bumping protection method of interaction bracket, and AGV is accurate by existing navigation control unit
The inlet in the channel of interactive bracket is driven to, the longitudinal centre line of AGV vehicle body is overlapped with the longitudinal centre line in channel 6 at this time,
And AGV is on the upper surface of reflective tape 7 and black rubber band 8 and 9, and main controller control opens front end photoelectric sensor with after
Photoelectric sensor is held, front end photoelectric sensor and rear end photoelectric sensor can irradiate reflective strip, so that front end photoelectric sensor
High level can be fed back with rear end photoelectric sensor, once the front axle of AGV or rear axle deviate, front end photoelectric sensor
Or rear end photoelectric sensor or both expose on black rubber band 8 and 9 cause feed back low level, believed at this time according to low level
The control AGV parking of number main controller, realizes Anti-bumping protection of the AGV on two sides and direction of rotation in channel 6；It is set by headstock front end
The rear end laser sensor of the front end laser sensor set and the setting of tailstock rear end detects the front end AGV or rear end with the presence or absence of barrier
Hinder object, realizes Anti-bumping protection of the AGV in direction of advance and direction of retreat in channel.
Finally, it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
Present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: it still may be used
To modify the technical solutions described in the foregoing embodiments or equivalent replacement of some of the technical features；
And these are modified or replaceed, technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution spirit and
Range.
Claims (5)
1. a kind of Anti-bumping protection method that AGV passes in and out interaction bracket, which is characterized in that the interactive bracket includes positioned opposite
For the first support group and second support group of bearing container, the channel passed through for the AGV is formed between two stands group；Often
A bracket group includes spaced apart four brackets, and each support height is equal；On the direction in the channel, interaction bracket one end
Four brackets and four brackets of the other end be used to 20 ruler containers of carrying, and eight brackets are for carrying 40 rulers or 45 rulers
Container；Rear end is respectively arranged on the car body center line of AGV below front end and rear axle below the front axle of AGV
Photoelectric sensor；The channel upper surface be disposed with its longitudinal centre line be overlapped with the longitudinal centre line in the channel it is anti-
The black rubber band that light belt and the longitudinal edge for being close to the reflective tape two sides are arranged, the reflective tape and black rubber band
Equal length and it is equal to the sum of AGV length of wagon and passage length, and the reflective tape and black rubber band stretch out feeder connection
Length be equal to AGV length of wagon, the headstock front end of AGV is provided with front end laser sensor and tailstock rear end be provided with rear end swash
Optical sensor, each laser sensor and each photoelectric sensor are communicated to connect with the main controller of AGV, and the method includes walking as follows
It is rapid:
The headstock or the tailstock for controlling AGV, which reach the feeder connection and control AGV, to bring into operation；
Control each photoelectric sensor and front end laser sensor or the work of rear end laser sensor；
Acquire in real time each photoelectric sensor feedback signal and front end laser sensor or rear end laser sensor feedback away from
From data；
Judge each feedback signal for high level or low level；
The range data is analyzed to determine that whether there are obstacles in certain distance；And
When at least one feedback signal be low level or in certain distance there are when barrier, the main controller control AGV stops
Vehicle.
2. the Anti-bumping protection method that AGV according to claim 1 passes in and out interaction bracket, which is characterized in that in the sinciput of AGV
The front end for rising mechanism is equipped with front end ultrasonic sensor and the rear end of rear lifting body is equipped with back-end ultrasonic wave sensor, respectively
Ultrasonic sensor is communicated to connect with the main controller of AGV, and the method also includes real before the AGV enters interactive bracket
When acquisition front end ultrasonic sensor or the step of back-end ultrasonic wave sensor feedback data.
3. the Anti-bumping protection method that AGV according to claim 1 passes in and out interaction bracket, which is characterized in that before the headstock of AGV
End and tailstock rear end are respectively arranged with rocker arm type anti-impact bumper, and each rocker arm type anti-impact bumper includes for being impacted
When rocker arm to AGV body inner side feedback contracting Kui Suo mechanism, be equipped in the Kui Suo mechanism and the main controller of AGV communicate to connect
Close to induction limit switch, the method also includes acquiring in real time close to induction limit switch feedback data.
4. the Anti-bumping protection method that AGV according to claim 1 passes in and out interaction bracket, which is characterized in that the method is also
Include the steps that whether the container with load is put positive on the verifying AGV.
5. the Anti-bumping protection method that AGV according to claim 4 passes in and out interaction bracket, which is characterized in that the method is also
It is whether consistent that container box and the container box with load on AGV to be lifted on the interactive bracket are verified when including sending case
The step of.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201811159644.XA CN109213173B (en) | 2018-09-30 | 2018-09-30 | Anti-collision protection method for AGV (automatic guided vehicle) to enter and exit interactive bracket |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811159644.XA CN109213173B (en) | 2018-09-30 | 2018-09-30 | Anti-collision protection method for AGV (automatic guided vehicle) to enter and exit interactive bracket |
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| CN113311844A (en) * | 2021-07-28 | 2021-08-27 | 福勤智能科技（昆山）有限公司 | Servo control method and device, computer equipment and storage medium |
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| CN109213173B (en) | 2022-09-23 |
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Address after: No.12 Jingba Road, Huangdao District, Qingdao City, Shandong Province Applicant after: QINGDAO PORT INTERNATIONAL Co.,Ltd. Applicant after: QINGDAO NEW QIANWAN CONTAINER TERMINAL Co.,Ltd. Address before: 266100 Shandong province Qingdao City, Hong Kong and China Road No. 7 Applicant before: QINGDAO PORT INTERNATIONAL Co.,Ltd. Applicant before: QINGDAO NEW QIANWAN CONTAINER TERMINAL Co.,Ltd. |
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