CN109324574A - A kind of AGV trolley control system and its control method based on laser scanning - Google Patents
A kind of AGV trolley control system and its control method based on laser scanning Download PDFInfo
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- CN109324574A CN109324574A CN201811045201.8A CN201811045201A CN109324574A CN 109324574 A CN109324574 A CN 109324574A CN 201811045201 A CN201811045201 A CN 201811045201A CN 109324574 A CN109324574 A CN 109324574A
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- 238000000034 method Methods 0.000 title claims abstract description 29
- 238000004891 communication Methods 0.000 claims abstract description 42
- 230000004888 barrier function Effects 0.000 claims description 31
- 230000004913 activation Effects 0.000 claims description 9
- 230000000694 effects Effects 0.000 claims description 4
- 230000008569 process Effects 0.000 description 8
- 238000001514 detection method Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 5
- 230000032258 transport Effects 0.000 description 5
- 230000005611 electricity Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 238000011897 real-time detection Methods 0.000 description 1
- 230000011218 segmentation Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
- 238000010618 wire wrap Methods 0.000 description 1
Classifications
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- 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
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
- G05B19/4189—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the transport system
- G05B19/41895—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the transport system using automatic guided vehicles [AGV]
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
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- 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
- G05B2219/30—Nc systems
- G05B2219/32—Operator till task planning
- G05B2219/32252—Scheduling production, machining, job shop
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- 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
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
-
- 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
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/60—Electric or hybrid propulsion means for production processes
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- General Engineering & Computer Science (AREA)
- Manufacturing & Machinery (AREA)
- Quality & Reliability (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a kind of AGV trolley control system and its control method based on laser scanning, the AGV trolley control system includes AGV trolley, wireless communication module and main control module, the AGV trolley includes the call unit for being preset with electronic map, power control unit, mobile unit and communication unit, the call instruction of the main control module output is exported by wireless communication module to communication unit, the communication unit receives the call instruction and is translated into call signal and exports to call unit, the call unit plans the running route of AGV trolley according to the call signal combination electronic map automatically, and movement instruction is exported to power control unit, the power control unit drives mobile unit mobile according to running route according to the movement instruction, so that AGV trolley is realized independently Planning operation route improves conevying efficiency.
Description
Technical field
The present invention relates to warehouse logistics and transportation technical field, in particular to a kind of AGV trolley control based on laser scanning
System and its control method.
Background technique
AGV (Automated Guided Vehicles) is also known as automatic guided vehicle, by photoelectric encoder and motor driven
Device completes traveling, and distinguishing feature is unmanned.AGV trolley is applied to the cargo transport in warehouse more at present, but because in reality
It is larger in production line production capacity according to the difference of product, the limitation of production site in application process, the situation of site environment complexity
Under, traditional laying track AGV mode is not able to satisfy transportation demand and site space layout, and AGV gets off in operational process
In limited by fixed track, can not complete voluntarily to plan replacement route, influence production efficiency.Referring to Fig. 1, traditional
AGV trolley is run on the fixation magnetic orbital of laying, the bus stop of AGV trolley is arranged along track routes, is filled
Product is unloaded, such as five websites of A, B, C, D, E, AGV trolley can not carry out autonomous programme path as needed.
Thus the prior art could be improved and improve.
Summary of the invention
Place in view of above-mentioned deficiencies of the prior art, the purpose of the present invention is to provide a kind of AGV based on laser scanning
Trolley control system and its control method, by the way that controller and electronic map combining laser scanning device is arranged in AGV trolley, in turn
So that AGV trolley realizes contexture by self running route, conevying efficiency is improved.
In order to achieve the above object, this invention takes following technical schemes:
A kind of AGV trolley control system based on laser scanning, including AGV trolley, wireless communication module and main control module, institute
Stating AGV trolley includes the call unit for being preset with electronic map, power control unit, mobile unit and communication unit, the master
The call instruction of control module output is exported by wireless communication module to communication unit, and the communication unit receives the calling
It instructs and is translated into call signal and export to call unit, the call unit combines electronically according to the call signal
The running route of the automatic planning AGV trolley of figure simultaneously exports movement instruction to power control unit, the power control unit according to
The movement instruction drives mobile unit mobile according to running route.
In the AGV trolley control system, the AGV trolley further includes contact anti-collision unit and laser scanner,
The contact anti-collision unit exports activation signal when touching barrier to call unit, and the call unit is according to
Activation signal controls laser scanner and opens, and the laser scanner transmitting laser is scanned barrier and surrounding enviroment
Positioning, and scanning signal is exported to call unit, the call unit is planned automatically according to scanning signal combination electronic map
The bypass route of AGV trolley.
In the AGV trolley control system, the call unit includes AGV editing machine and controller, and the AGV is edited
Device is used to be combined according to the call signal or scanning signal for correcting the initial running route of AGV trolley, the controller
Electronic map plans the running route of AGV trolley automatically or bypass route and exports movement instruction to power control unit.
In the AGV trolley control system, the laser scanner includes laser generator and signal processor, described
Laser generator transmitting laser is scanned acquisition scan data to barrier and surrounding enviroment and exports to signal processor, institute
It states signal processor scan data is converted into scanning signal and export to controller.
In the AGV trolley control system, the electronic map is to be arranged according to AGV trolley site of activity layout
Digital raster graphic is labeled with the coordinate of the movable range of AGV on the data grid figure.
In the AGV trolley control system, the power control unit includes control card, servo-driver, driving electricity
Machine and battery pack, the control card according to movement instruction output drive signal to servo-driver, the servo-driver according to
Driving signal controls driving motor and rotates and then drive mobile unit mobile, and the battery pack provides electric energy for AGV trolley.
In the AGV trolley control system, the mobile unit includes at least four Mecanum wheels, and the Mike receives
Nurse wheel is symmetrically disposed on the bottom of AGV trolley.
A kind of control method of the AGV trolley control system based on laser scanning, includes the following steps:
Output call instruction is exported to the communication unit of AGV trolley；
Call signal is converted by the call instruction by the communication unit to export to call unit；
Plan the operation road of AGV trolley automatically in conjunction with preset electronic map according to the call signal by the call unit
Line simultaneously exports movement instruction to power control unit；
Drive mobile unit mobile according to running route according to movement instruction by the power control unit.
In the control method of the AGV trolley control system, it is described by the call unit according to the call signal
The running route of AGV trolley is planned automatically in conjunction with preset electronic map and exports the step of movement instruction to power control unit
It is further comprised the steps of: after rapid
Judge whether current AGV trolley encounters barrier, if so, control AGV trolley detours, otherwise continues by current operation road
Line is mobile.
It is described to judge whether current AGV trolley encounters barrier in the control method of the AGV trolley control system,
If so, control AGC trolley detours, otherwise continue include: by the mobile step of current running route
Judge whether current AGV trolley encounters barrier by contact anti-collision unit, and exports contact when touching barrier
Signal is to call unit；
It is opened by call unit control laser scanner, barrier and surrounding enviroment is carried out by laser scanner transmitting laser
Scan orientation simultaneously exports scanning signal to call unit；
Plan the bypass route of AGV trolley automatically according to the scanning signal combination electronic map by call unit.
Compared to the prior art, a kind of AGV trolley control system and its control based on laser scanning provided by the invention
Method, the AGV trolley control system include AGV trolley, wireless communication module and main control module, and the AGV trolley includes
It is preset with call unit, power control unit, mobile unit and the communication unit of electronic map, the main control module output
Call instruction is exported by wireless communication module to communication unit, and the communication unit receives the call instruction and converted
It exports for call signal to call unit, the call unit plans AGV according to the call signal combination electronic map automatically
The running route of trolley simultaneously exports movement instruction to power control unit, and the power control unit is according to the movement instruction
It drives mobile unit mobile according to running route, so that AGV trolley realizes contexture by self running route, improves conevying efficiency.
Detailed description of the invention
Fig. 1 is the track running track schematic diagram of existing AGV trolley；
Fig. 2 is the schematic diagram of the AGV trolley control system provided by the invention based on laser scanning；
Fig. 3 is the schematic diagram of AGV trolley in the AGV trolley control system provided by the invention based on laser scanning；
Fig. 4 is the structural schematic diagram of AGV trolley in the AGV trolley control system provided by the invention based on laser scanning；
Fig. 5 is the stream of first embodiment in the control method of the AGV trolley control system provided by the invention based on laser scanning
Cheng Tu；
Fig. 6 is the stream of second embodiment in the control method of the AGV trolley control system provided by the invention based on laser scanning
Cheng Tu；
Fig. 7 is the process that the AGV trolley control system provided by the invention based on laser scanning controls AGV trolley travelling process
Figure.
Specific embodiment
The present invention provides a kind of AGV trolley control system and its control method based on laser scanning, by AGV trolley
The controller and electronic map combining laser scanning device of middle setting mention so that AGV trolley realizes contexture by self running route
High conevying efficiency.
To make the purpose of the present invention, technical solution and effect clearer, clear and definite, right as follows in conjunction with drawings and embodiments
The present invention is further described.It should be appreciated that described herein, specific examples are only used to explain the present invention, is not used to
Limit the present invention.
Referring to Fig. 2, AGV trolley control system provided by the invention, including AGV trolley 10,20 and of wireless communication module
Main control module 30, the AGV trolley 10 are connect by wireless communication module 20 with main control module, and the AGV trolley 10 wraps
Include the call unit 11 for being preset with electronic map (not shown), power control unit 12, mobile unit 13 and communication unit
14, the communication unit 14, power control unit 12 are connect with call unit 11, the mobile unit 13 and dynamic Control list
Member 12 connects, and the call instruction that the main control module 30 exports is exported by wireless communication module 20 to communication unit 14, institute
It states the reception call instruction of communication unit 14 and is translated into call signal and export to call unit 11, the call unit 11
The running route of AGV trolley 10 is planned automatically according to call signal combination electronic map and exports movement instruction to dynamic Control list
Member 12, the power control unit 12 drives mobile unit 13 mobile according to running route according to the movement instruction, so that AGV
Trolley 10 realizes contexture by self running route, improves conevying efficiency.
When it is implemented, heretofore described main control module 30 is computer room main control end in cargo transport warehouse, it is described
Main control module 30 includes long-range monitor and detection machine 31 and control button 32, when the wire body operator in cargo transport warehouse is in master
It controls end and triggers control button 32, i.e., call instruction is exported by main control module 30, then the communication unit 14 of AGV trolley 10 passes through
Wireless communication module 20 receives the call instruction, and is translated into call signal and exports to call unit 11, and the calling is single
Member 11 plans the running route of AGV trolley 10 in conjunction with electronic map automatically, exports movement instruction to dynamic by call unit 11 later
Power control unit 12, the power control unit 12 drive mobile unit 13 mobile according to running route, make according to movement instruction
It obtains 10 contexture by self route of AGV trolley and is automatically moved into target point, in conjunction with the optimal route of navigation of electronic map carriage walking, and
It does not need to be moved offline according to traditional fixation track, and then improves conevying efficiency.Wherein, the wireless communication module
20 include network server (not shown), website (not shown) and wireless network card (not shown), institute
Production district and warehouse area that wireless network signal covers entire workshop are stated, is controlled convenient for the intelligent navigation of AGV trolley 10.
Further, also referring to Fig. 3, the AGV trolley 10 further includes contact anti-collision unit 15 and laser scanning
Device 16, the contact anti-collision unit 15 and laser scanner 16 are connect with call unit 11, the contact anti-collision unit
15 export activation signal to call unit 11 when touching barrier, the call unit 11 controls laser according to activation signal and sweeps
The unlatching of device 16 is retouched, the laser scanner 16 is scanned positioning acquisition to barrier and surrounding enviroment by transmitting laser and sweeps
It retouches signal to export to call unit 11, the call unit 11 plans AGV trolley according to scanning signal combination electronic map automatically
10 bypass route.
When the AGV trolley 10 encounters obstructing objects in the process of traveling, connect by the contact anti-collision unit 15
Sense of touch should after export activation signal to call unit 11, and then call unit 11 controls laser scanner 16 according to activation signal,
Scanning signal is obtained to barrier and surrounding enviroment scanning by laser by laser scanner 16 to export to call unit 11, this
When plan the bypass route of AGV trolley 10, i.e. call unit again according to scanning signal combination electronic map by call unit 11
By assigning detour instruction to AGV trolley 10, so that AGV trolley 10 effectively gets around barrier during traveling；And in AGV
Trolley 10 detours after completion, and the coordinate points after call unit detours AGV trolley 10 are considered as new origin coordinates point, to AGV
The operating path of trolley 10 is planned that so circulation is so that AGV trolley 10 reaches target point, raising 10 Transportation Efficiency of AGV trolley
Rate improves production efficiency.
Wherein, the space body of the laser scanner 16 specific available barrier active channel during scanning
Product, and then the width of Actual path is understood in combination with the volume of AGV trolley 10 itself and electronic map to judge AGV trolley 10
Whether can be by the channel, and then the accuracy of 10 route planning of AGV trolley can be improved, guarantee that AGV trolley 10 can select
Optimal route traveling is selected, the conevying efficiency of AGV trolley 10 is improved, the optimal route is AGV trolley 10 from starting point to target point
Minimal path.
Further, the call unit 11 includes AGV editing machine 111 and controller 112, the AGV editing machine 111 with
Controller 112 connects, and the AGV editing machine 111 is used for correcting the initial running route of AGV trolley 10, the controller 112
In the running route or bypass route for planning AGV trolley 10 automatically according to call signal or scanning signal combination electronic map,
And movement instruction is exported to power control unit 12.
When AGV trolley 10 encounters barrier during traveling, then obtained by controller 112 according to laser scanner 16
Scanning signal, so that AGV trolley 10 plans the bypass route of AGV trolley 10 in conjunction with electronic map automatically, cut-through object, later
The running route of AGC trolley 10 is planned again.Wherein, the AGV editing machine 111 can will work as before programme path each time
10 running route of AGV trolley of preplanning carries out initialization process can work as AGV trolley 10 that is, in each programme path
Preceding coordinate points are as start bit coordinate points.At the same time, the controller 112 can also be real by the operating condition of AGV trolley 10
When the long-range control detection machine 31 in main control module 30 is transmitted to by wireless communication module 20, by cargo transport warehouse
Long-range control detection machine 31 monitor in real time 10 operating condition of AGV trolley, monitor the traffic condition of cargo in real time.
Further, the laser scanner 16 includes laser generator 161 and signal processor 162, the laser
Generator 161 is connect with signal processor 162, more than 161 controller 112 of the laser generator connection, the laser generator
161 transmitting laser are scanned acquisition scan data to barrier and surrounding enviroment and export to signal processor 162, the letter
Scan data is converted into scanning signal and exported to controller 112 by number processor 161, and then by the adjustment AGV in time of controller 112
The running route of trolley 10, cut-through object optimize the operating path of AGV trolley 10, improve conevying efficiency.Preferably, this hair
Other can also be used with identical function certainly in other embodiments in the model AXE-G7 of the bright laser scanner 16
Laser scanner, this is not limited by the present invention.
Further, the electronic map is the digital raster graphic being arranged according to 10 site of activity layout of AGV trolley, institute
State the coordinate that the movable range of AGV trolley 10 is labeled on data grid figure.Specifically, the electronic map is showed by manual measurement
Field logistics corridor length and width, collect the zone of action that each channel data is combined into AGV trolley 10, by administrative division map according to 1mm*1mm net
Lattice segmentation, forms grid diagram data.The controller 112 is according to the coordinate information of grid map to the operating path of AGV trolley 10
It is planned, and records the position of the operation of AGV trolley 10 in real time in 10 operational process of AGV trolley, realize 10 route of AGV trolley
Self-navigation, improve AGV trolley 10 conevying efficiency.
When it is implemented, the power control unit 12 includes control card 121, servo-driver 122, driving motor 123
With battery pack 124, the control card 131 is connect with controller 112, the servo-driver 122 and driving motor 123 and control
121 connection of card, the battery pack 124 are connect with controller 112, and the control card 121 is according to movement instruction output drive signal
To servo-driver 122, the servo-driver 122 controls driving motor 123 according to driving signal and rotates drive movement in turn
14 structure of machine is mobile, and the battery pack 124 is that AGV trolley 10 provides electric energy, the movement that AGV trolley 10 is exported according to controller 112
Instruction is moved, and the movement instruction includes speed and the direction of operation, by servo-driver 122 according in movement instruction
Speed and direction controlling driving motor 123 are rotated, and further mobile unit 13 are driven to be moved, to effectively control
The operation of AGV trolley 10 processed.Wherein, the battery pack 124 provides electric energy for the operation of AGV trolley 10, it is preferable that the battery
Group 124 have energy consumption detection function, can real-time detection battery pack electricity.
Preferably, referring to Figure 4 together, the mobile unit 13 includes at least four Mecanums 131, and the Mike receives
Nurse wheel 131 is symmetrically disposed on the bottom of AGV trolley 10, and by the power drive of 131 omnidirectionals of Mecanum wheel, four-wheel is by respectively driving
113 driving speed of motor and direction, and power direction can be synthesized the resultant force vector on the same direction by order request, to make
Trolley along the free movement of resultant force vector direction, realizes the manner of execution such as advance, retrogressing, traversing, diagonal, rotation always, improves AGV
The flexibility that trolley 10 moves.
Preferably, please continue to refer to Fig. 2 and Fig. 3, the control system of the AGV trolley 10 further includes automatic charging stake 40,
The automatic charging stake 40 is that the battery pack 134 of AGV trolley 10 provides power supply, and wherein there is the easy electric wire that pulls out to insert for automatic charging stake 40
Mouth (not shown), when the battery pack 140 in AGV trolley 10 automatically detects battery capacity less than 10%, triggering charging life
It enables, and then controls the charging route of AGV planning AGV trolley 10 by controller 112, so that AGV trolley 10 arrives automatic charging stake 40
Charging, when charging reaches 50%, AGV trolley 10 can receive call command, realize the intelligentized control method of AGV trolley 10.
Preferably, please continue to refer to Fig. 4, the AGV trolley 10 further includes display unit 17, the display unit 17 with
And the control button 32 of AGV trolley 10 is all set in a side of AGV trolley 10, the AGV trolley 10 passes through display unit 17
It shows the motion information of AGV trolley 10, the motion information of AGV trolley 10 is understood convenient for wire body operator, and operator passes through touching
The motion state for the button control AGV trolley 10 for sending out different, places the product transported by AGV trolley 10 convenient for operator.
Preferably, communication unit 14 of the present invention is WIFI signal box 141, wherein the WIFI signal box 141,
Power control unit 12, controller 112 and battery pack 134 are all set in the inside of AGV trolley 10.The contact anti-collision unit
15 pressure sensors 151 that 10 periphery of AGV trolley is as arranged in will be touched when pressure sensor 151 touches barrier
It sends out call unit 11 and controls the starting of laser scanner 16.
The control method of the present invention also provides a kind of AGV trolley control system based on laser scanning, referring to Fig. 5,
The control method of the AGV trolley control system includes the following steps:
S100, output call instruction are exported to the communication unit of AGV trolley；
S200, call signal is converted by the call instruction by the communication unit export to call unit；
S300, the fortune for planning AGV trolley automatically in conjunction with preset electronic map according to the call signal by the call unit
Walking along the street line simultaneously exports movement instruction to power control unit；
S400, drive mobile unit mobile according to running route according to movement instruction by the power control unit.
Further, it is further comprised the steps of: after the step S300
S500, judge whether current AGV trolley encounters barrier, if so, control AGV trolley detours, otherwise continue by current
Running route is mobile.
Further, referring to Fig. 6, the step S500 comprising steps of
S501, judge whether current AGV trolley encounters barrier, and the output when touching barrier by contact anti-collision unit
Activation signal is to call unit；
S502, it is opened by call unit control laser scanner, by laser scanner transmitting laser to barrier and peripheral ring
Border, which is scanned, to be positioned and exports scanning signal to call unit；
S503, the bypass route for planning AGV trolley automatically according to the scanning signal combination electronic map by call unit.
A kind of working principle of the AGV trolley control system based on laser scanning provided for a better understanding of the invention,
Referring to Figure 7 together, it is carried out specifically according to the course of work of the Application Example to AGV trolley control system provided by the invention
Bright, i.e. the step of AGV trolley travelling process, is as follows:
S1, main control module export call instruction；
S2, the AGV trolley awaited orders receive call instruction；
The automatic planning operation route of S3, AGV trolley；
Whether the pressure sensor detection trolley of S4, AGV trolley encounters barrier, if so, thening follow the steps S5；If otherwise executing
S7；
S5, scanning signal is obtained by laser scanner；
S6, AGV trolley plan bypass route automatically；
S7, AGV trolley advance to target point.
I.e. in workshop warehouse, after flowing water wire wrapping section collects full 4 special containers, by by the wire body in workshop warehouse
Operator triggers call button, and calling is awaited orders AGV trolley 10 in warehouse, and AGV trolley 10 is passed through using WLAN at this time
WIFI signal box 141 receives the call instruction from main control module 30, and utilizes the calling list for itself being preset with electronic map
Independently setting destination path, control AGV trolley 10 reach target location to member 11.
And when row encounters barrier during AGV trolley 10 is in traveling, then by the pressure of the periphery setting of AGV trolley 10
152 trigger controller 112 of sensor controls laser scanner 16 and opens, and laser scanner 16 passes through transmitting laser scanning barrier
And it exports after surrounding enviroment and by scanning signal to call unit 11, and then built-in electronic map is combined by call unit 11
Plan the detour path of AGV trolley 10, cut-through object continues planning operation route and runs to target point.When AGV trolley 10 arrives
Up to after target point, after the control button 32 that AGV trolley 10 is pressed by wire body operator, so that 10 stop motion of AGV trolley, unloading
Empty van on vehicle by the neat stacking of the container of 4 fully loaded products to 10 object carrying area of AGV trolley, then is touched by wire body operator manually
It sends out the control button 32 on AGV trolley 10 and starts AGV trolley 10, and then electronic map planning trolley is combined by call unit 11
Route, so that AGV trolley 10 reaches warehouse website.After AGV trolley 10 reaches warehouse website, AGV is pressed by warehouse keeper
After the control button 32 of trolley 10,4 casees products in object carrying area are emptied, and touch control button 32 again, so that at AGV trolley 10
In armed state, until producing line assigns call command, AGV trolley 10 is again introduced into working condition, so on circulate, so that
AGV trolley 10 completes contexture by self route and transports product.
In conclusion a kind of AGV trolley control system and its control method based on laser scanning provided by the invention, institute
Stating AGV trolley control system includes AGV trolley, wireless communication module and main control module, and the AGV trolley includes being preset with electricity
Call unit, power control unit, mobile unit and the communication unit of sub- map, the call instruction of the main control module output
It is exported by wireless communication module to communication unit, the communication unit receives the call instruction and is translated into calling letter
Number output to call unit, the call unit plans the fortune of AGV trolley according to the call signal combination electronic map automatically
Walking along the street line simultaneously exports movement instruction to power control unit, and the power control unit drives according to the movement instruction and moves
Unit is mobile according to running route, so that AGV trolley realizes contexture by self running route, improves conevying efficiency.
It, can according to the technique and scheme of the present invention and its hair it is understood that for those of ordinary skills
Bright design is subject to equivalent substitution or change, and all these changes or replacement all should belong to the guarantor of appended claims of the invention
Protect range.
Claims (10)
1. a kind of AGV trolley control system based on laser scanning, which is characterized in that including AGV trolley, wireless communication module and
Main control module, the AGV trolley include the call unit for being preset with electronic map, power control unit, mobile unit and lead to
Unit is interrogated, the call instruction of the main control module output is exported by wireless communication module to communication unit, and the communication is single
Member receives the call instruction and is translated into call signal and exports to call unit, and the call unit is according to the calling
Signal combination electronic map plans the running route of AGV trolley automatically and exports movement instruction to power control unit, described dynamic
Power control unit drives mobile unit mobile according to running route according to the movement instruction.
2. AGV trolley control system according to claim 1, which is characterized in that the AGV trolley further includes that contact is anti-
Hitting unit and laser scanner, the contact anti-collision unit exports activation signal when touching barrier to call unit,
The call unit controls laser scanner according to the activation signal and opens, and the laser scanner transmitting laser is to barrier
And surrounding enviroment are scanned positioning, and scanning signal is exported to call unit, the call unit is according to scanning signal
Plan the bypass route of AGV trolley automatically in conjunction with electronic map.
3. AGV trolley control system according to claim 2, which is characterized in that the call unit includes AGV editing machine
And controller, the AGV editing machine is for correcting the initial running route of AGV trolley, and the controller according to for exhaling
It is signal or the corresponding running route for planning AGV trolley of scanning signal combination electronic map or bypass route and exports movement
It instructs to power control unit.
4. AGV trolley control system according to claim 3, which is characterized in that the laser scanner includes laser hair
Raw device and signal processor, the laser generator transmitting laser are scanned acquisition scanning number to barrier and surrounding enviroment
According to output to signal processor, scan data is converted into scanning signal and exported to controller by the signal processor.
5. AGV trolley control system according to claim 1, which is characterized in that the electronic map is according to AGV trolley
The digital raster graphic of site of activity layout setting, the coordinate of the movable range of AGV is labeled on the data grid figure.
6. AGV trolley control system according to claim 1, which is characterized in that the power control unit includes control
Card, servo-driver, driving motor and battery pack, the control card is according to movement instruction output drive signal to servo-drive
Device, the servo-driver control driving motor according to driving signal and rotate drive mobile unit movement in turn, the battery pack
Electric energy is provided for AGV trolley.
7. AGV trolley control system according to claim 1, which is characterized in that the mobile unit includes at least four
Mecanum wheel, the Mecanum wheel are symmetrically disposed on the bottom of AGV trolley.
8. a kind of control method of the AGV trolley control system based on laser scanning, which comprises the steps of:
Output call instruction is exported to the communication unit of AGV trolley；
Call signal is converted by the call instruction by the communication unit to export to call unit；
Plan the operation road of AGV trolley automatically in conjunction with preset electronic map according to the call signal by the call unit
Line simultaneously exports movement instruction to power control unit；
Drive mobile unit mobile according to running route according to movement instruction by the power control unit.
9. the control method of AGV trolley control system according to claim 8, which is characterized in that described by the calling
Unit plans the running route of AGV trolley automatically and export movement according to the call signal in conjunction with preset electronic map to be referred to
It enables to the step of power control unit and further comprising the steps of: later
Judge whether current AGV trolley encounters barrier, if so, control AGV trolley detours, otherwise continues by current operation road
Line is mobile.
10. the control method of AGV trolley control system according to claim 9, which is characterized in that the judgement is current
Whether AGV trolley encounters barrier, if so, control AGV trolley detours, otherwise continues the step mobile by current running route
Include:
Judge whether current AGV trolley encounters barrier by contact anti-collision unit, and exports contact when touching barrier
Signal is to call unit；Opened by call unit control laser scanner, by laser scanner transmitting laser to barrier and
Surrounding enviroment, which are scanned, to be positioned and exports scanning signal to call unit；
Plan the bypass route of AGV trolley automatically according to the scanning signal combination electronic map by call unit.
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| CN201811045201.8A CN109324574A (en) | 2018-09-07 | 2018-09-07 | A kind of AGV trolley control system and its control method based on laser scanning |
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| CN201811045201.8A CN109324574A (en) | 2018-09-07 | 2018-09-07 | A kind of AGV trolley control system and its control method based on laser scanning |
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| CN110562290A (en) * | 2019-08-20 | 2019-12-13 | 桂林电子科技大学 | device and method for automatically measuring close range of track through laser scanning |
| CN110928252A (en) * | 2020-01-19 | 2020-03-27 | 南京金邦动力科技有限公司 | AGV vehicle control system |
| CN111301562A (en) * | 2020-04-07 | 2020-06-19 | 安徽爱力特装备科技有限公司 | AGV dolly intelligent control system for auto repair |
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Application publication date: 20190212 |