CN110065558A - A kind of back Kun formula AGV auxiliary locator and its method - Google Patents
A kind of back Kun formula AGV auxiliary locator and its method Download PDFInfo
- Publication number
- CN110065558A CN110065558A CN201910324375.6A CN201910324375A CN110065558A CN 110065558 A CN110065558 A CN 110065558A CN 201910324375 A CN201910324375 A CN 201910324375A CN 110065558 A CN110065558 A CN 110065558A
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- agv
- photoelectric sensor
- agv trolley
- signal
- docking platform
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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
- B62D63/04—Component parts or accessories
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
Abstract
The invention discloses a kind of back Kun formula AGV auxiliary locator and its method, the back Kun formula AGV auxiliary locator includes the control panel that AGV vehicle body side is arranged in, the AGV signal component that AGV car body front end is arranged in, the detection photoelectric sensor that AGV car body front end is arranged in, the docking platform signal component that docking platform rear end is arranged in and the reflecting plate that docking platform rear end is arranged in；The control panel, AGV signal component and detection photoelectric sensor are fixedly connected with AGV car body respectively；The AGV signal component and detection photoelectric sensor are electrically connected with the control panel respectively；The docking platform signal component and reflecting plate respectively with dock platform and be fixedly connected.The present invention assists AGV trolley to position by auxiliary locator, improves the navigation accuracy of AGV trolley, reduces interference of the site environment to AGV trolley.
Description
Technical field
The present invention relates to automation application technical fields, and in particular to be a kind of back Kun formula AGV auxiliary locator and
Its method.
Background technique
Currently, manufacturing enterprise in order to reduce cost of labor and promoted the degree of automation, for raw material on production line
Dispatching uses AGV(Automated Guided Vehicle, automated guided vehicle) trolley dispensed automatically；And it is existing
AGV trolley in, using back Kun formula AGV line of engagement side roller platform dis-tribution model it is in the majority, this back Kun formula AGV is adopted mostly
With laser head come detective path two sides environment, self poisoning is realized, to carry out path orientation identification.
During AGV trolley docks material dispensing with platform, by the path planning parameter that is set in system and
Distance parameter is docked；When AGV trolley reach at a distance from platform this apart from when, system control AGV trolley slow down,
When the deceleration distance of AGV trolley reaches the parameter set in system, system will default optoelectronic switch and station in AGV trolley
Platform reception photoelectricity is perfectly aligned, does parking movement, then carries out next material transition again.
The shortcomings that this docking mode, is that in actual operative scenario, environment is complicated and changeable, the road being arranged in system
Diameter object of reference can be often subject to interfere, thus the phenomenon that active is navigated out, moreover, because itself navigation accuracy of AGV trolley etc.
Problem also results in AGV trolley and triggers reduce-speed sign or delay triggering reduce-speed sign in advance, and AGV is small when eventually leading to parking
Vehicle and platform misplace, and system cannot dock the feedback of signal, AGV trolley attonity, to cause very high failure rate.
Therefore, the existing technology needs to be improved and developed.
Summary of the invention
The technical problem to be solved in the present invention is that in view of the above drawbacks of the prior art, it is auxiliary to provide a kind of back Kun formula AGV
Help positioning device and its method, it is intended to assist AGV trolley to be positioned by auxiliary locator, improve the navigation of AGV trolley
Precision reduces interference of the site environment to AGV trolley.
The technical proposal for solving the technical problem of the invention is as follows:
A kind of back Kun formula AGV auxiliary locator, wherein the back Kun formula AGV auxiliary locator includes being arranged in AGV car body
Side and the AGV letter for being used to control the control panel of AGV trolley, AGV car body front end being set and is used to send and receive signal
Number component, be arranged in AGV car body front end and for docking platform transmitting detection signal detection photoelectric sensor, be arranged right
It goes to the station to meet somebody platform rear end and docking platform signal component for sending and receiving signal and setting platform rear end and is used in docking
Reflect the reflecting plate of the detection photoelectric sensor transmitting signal；
The control panel, AGV signal component and detection photoelectric sensor are fixedly connected with AGV car body respectively；The AGV letter
Number component and detection photoelectric sensor are electrically connected with the control panel respectively；The docking platform signal component and reflection
Plate respectively with dock platform and be fixedly connected.
Further, the AGV signal component includes the first photoelectricity for sending unloading request signal to docking platform
Second photoelectric sensor of sensor and the unloading confirmation signal for receiving docking platform transmission；First photoelectric sensing
Device is set side by side with the second photoelectric sensor, and first photoelectric sensor and the second photoelectric sensor respectively with AGV car body
It is fixedly connected.
Further, the docking platform signal component includes the unloading request for receiving the transmission of the first photoelectric sensor
The third photoelectric sensor of signal and for the second photoelectric sensor send unloading confirmation signal the 4th photoelectric sensor；
The position of corresponding first photoelectric sensor in the position of the third photoelectric sensor；The position of 4th photoelectric sensor is corresponding
The position of second photoelectric sensor.
Further, the control panel includes touch screen and MCU chip, and the MCU chip and the touch screen are solid
Fixed connection, and the MCU chip is electrically connected with the touch screen.
Further, first photoelectric sensor and the second photoelectric sensor are electrically connected with MCU chip respectively.
A kind of back Kun formula AGV assisted location method, wherein the back Kun formula AGV assisted location method the following steps are included:
AGV trolley receives the instruction that delivery system is assigned, and mobile to docking platform according to preset path；
When the AGV trolley, which is detected, reaches pre-determined distance at a distance from the docking platform, controls the AGV trolley and subtract
Speed；
When the AGV trolley detects the signal of the docking platform back end reflective plate reflection, the position of the AGV trolley is adjusted
It sets；
When the AGV trolley is disconnected with the signal docked between platform back end reflective plate, controls the AGV trolley and stop
Vehicle, and carry out unloading movement.
Further, the AGV trolley receives the instruction that delivery system is assigned, and moves according to preset path to docking platform
It is dynamic specifically includes the following steps:
AGV trolley receives the instruction that delivery system is assigned；
It is mobile to docking platform according to preset path；
Open the first photoelectric sensor, detect the AGV trolley with dock the distance between platform.
Further, when the AGV trolley, which is detected, reaches pre-determined distance at a distance from the docking platform, institute is controlled
State AGV trolley slow down specifically includes the following steps:
When detecting that the AGV trolley reaches pre-determined distance at a distance from the docking platform, controls the AGV trolley and subtract
Speed；
Open detection photoelectric sensor, and emit detection signal to the docking platform.
Further, when the AGV trolley detects the signal of the docking platform back end reflective plate reflection, institute is adjusted
State the position of AGV trolley specifically includes the following steps:
When detecting the signal of the docking platform back end reflective plate reflection, the signal of the baffle reflection is fed back to
MCU；
The MCU control AGV trolley continues to slow down, and the position of AGV trolley is adjusted on the basis of fixed range.
Further, when the AGV trolley is disconnected with the signal docked between platform back end reflective plate, institute is controlled
State AGV trolley parking, and carry out unloading movement specifically includes the following steps:
When the signal of the detection photoelectric sensor and reflecting plate that detect AGV trolley front end disconnects, is fed back to MCU and stop letter
Number；
MCU, which controls AGV trolley according to stop signal, to be stopped moving ahead, and the AGV trolley docks platform docking with described, starts to carry out
Unloading movement.
The technical solution adopted in the present invention has the advantages that
Auxiliary locator is arranged on AGV trolley and its Docking station platform in the present invention, and AGV trolley can be assisted to be positioned, mentioned
The navigation accuracy of high AGV trolley reduces influence of the site environment to AGV trolley, to improve the transport efficiency of AGV trolley；?
In the present invention, due in the front end of AGV trolley setting AGV signal component and detection photoelectric sensor, and in docking platform
Rear end setting docking platform signal component and reflecting plate, so that AGV trolley can use the reflecting plate on docking platform as solid
Fixed contrast signal, thus guide AGV trolley carry out accurately parking positioning, improve AGV trolley with dock being butted into for platform
Power, to improve the transport efficiency of AGV trolley.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram for carrying on the back Kun formula AGV auxiliary locator of the present invention.
Fig. 2 is a kind of flow chart for carrying on the back Kun formula AGV assisted location method of the present invention.
In figure: 100, AGV trolley；200, platform is docked；110, control panel；120, AGV signal component；130, detection light
Electric transducer；121, the first photoelectric sensor；122, the second photoelectric sensor；210, platform signal component is docked；220, it reflects
Plate；211, third photoelectric sensor；212, the 4th photoelectric sensor.
Specific embodiment
To make the objectives, technical solutions, and advantages of the present invention clearer and more explicit, right as follows in conjunction with drawings and embodiments
The present invention is further described.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and do not have to
It is of the invention in limiting.
Embodiment one
Referring to Figure 1, Fig. 1 is a kind of structural schematic diagram for carrying on the back Kun formula AGV auxiliary locator of the present invention.
As shown in Figure 1, the present embodiment provides a kind of back Kun formula AGV auxiliary locator, including control panel 110, AGV letter
Number component 120, detection photoelectric sensor 130, docking platform signal component 210 and reflecting plate 220；Wherein, the control plane
The setting of plate 110 is fixedly connected in the side of AGV car body (not marking), and with the AGV car body；The AGV signal component 120 is set
It sets in the front end of AGV car body, and is fixedly connected with the AGV car body；The detection photoelectric sensor 130 is arranged in AGV car body
Front end, and be fixedly connected with the AGV car body；The AGV signal component 120 and detection photoelectric sensor 130 respectively with institute
State the electrical connection of control panel 110；
The rear end of docking platform 200 is arranged in the docking platform signal component 210, and docks the fixed company of platform 200 with described
It connects；The rear end of docking platform 200 is arranged in the reflecting plate 220, and is fixedly connected with the platform 200 that docks.
In the present embodiment, during the front end of the AGV car body refers to that AGV trolley 100 moves ahead, towards docking platform
200 end face；Accordingly, the rear end of the docking platform 200 then refers to the end face docked with the AGV trolley 100.
In the present embodiment, the control panel 110 can be used for controlling AGV trolley 100, before controlling AGV trolley 100
Row, steering, unloading etc.；Meanwhile it can also be by 110 input control parameter of control panel, in order to be controlled to AGV trolley 100
System；Specifically, the control panel 110 include touch screen (not shown) and MCU chip (not shown), the MCU chip with
The touch screen is fixedly connected, and the MCU chip is electrically connected with the touch screen；The control panel 110 and its controlling party
Formula is the prior art, therefore is not repeated.
Further, the AGV signal component 120 includes the first photoelectric sensor 121 and the second photoelectric sensor 122；
Wherein, first photoelectric sensor 121 can be used for sending unloading request signal to docking platform 200, connect in docking platform 200
After receiving the unloading request signal, the docking platform 200 can send unloading confirmation signal to the AGV trolley 100, pass through
Second photoelectric sensor 122 receives and feeds back the unloading confirmation signal to MCU chip.
Specifically, first photoelectric sensor 121 and the second photoelectric sensor 122 are set side by side, first photoelectricity
Sensor 121 and the second photoelectric sensor 122 are fixedly connected with AGV car body respectively, and first photoelectric sensor 121 and
Two photoelectric sensors 122 are electrically connected with MCU chip respectively.
Further, the docking platform signal component 210 includes third photoelectric sensor 211 and the 4th photoelectric sensor
212；Wherein, the third photoelectric sensor 211 can be used for receiving the unloading request letter that first photoelectric sensor 121 is sent
Number, and AGV trolley 100 with dock after platform 200 docks successfully, by the 4th photoelectric sensor 212 to AGV trolley
Second photoelectric sensor 122 of 100 front ends sends unloading confirmation signal；The AGV trolley 100 is receiving unloading confirmation signal
Afterwards, unloading movement is carried out, i.e. the Kun of control 100 upper end of AGV trolley is rotated, by cargo transfer to the docking platform
On 200.
Specifically, the position of the third photoelectric sensor 211 corresponds to the position of first photoelectric sensor 121, institute
The position for stating the 4th photoelectric sensor 212 then corresponds to the position of second photoelectric sensor 122.
Certainly, corresponding control chip (not shown), the third photoelectric transfer are additionally provided in the docking platform 200
Sensor 211 and the 4th photoelectric sensor 212 are electrically connected with the control chip respectively, pass through the controllable docking of the control chip
Rotation and the signal processing etc. of Kun are carried on the back on platform 200, the control chip and its control mode are the prior art, therefore are not gone to live in the household of one's in-laws on getting married
It states.
In the present embodiment, it is described docking 200 rear end of platform reflecting plate 220 and the 4th photoelectric sensor 212 simultaneously
Column setting；When the AGV trolley 100 with it is described dock close platform 200 and not face when, the detection photoelectric sensor 130
The light of transmitting is radiated on reflecting plate 220, at this point, may make the AGV small by adjusting the direction and position of AGV trolley 100
Vehicle 100 and the position face for docking platform 200；During adjustment, the light of detection photoelectric sensor 130 irradiation
Point can be moved from left to right (using the left and right of reflecting plate in Fig. 1 as reference)；And after face, the detection photoelectric sensor 130
Signal between the reflecting plate 220 can just disconnect, i.e., the light that the described detection photoelectric sensor 130 is emitted just surpasses
The boundary on the right of the reflecting plate 220 out.
In the present embodiment, by the way that AGV signal component 120 and detection photoelectric sensor is arranged in the front end of AGV trolley 100
130, and in the rear end setting docking platform signal component 210 and reflecting plate 220 of docking platform 200, so that AGV trolley 100
The reflecting plate 220 on docking platform 200 be can use as fixed contrast signal, so that AGV trolley 100 be guided to carry out precisely
Parking positioning, improve AGV trolley 100 with dock the docking success rate of platform 200, thus improve AGV trolley 100 transport imitate
Rate.
Embodiment two
Fig. 2 is referred to, Fig. 2 is a kind of flow chart for carrying on the back Kun formula AGV assisted location method of the present invention.
As shown in Fig. 2, the present embodiment provides a kind of back Kun formula AGV assisted location methods, wherein the back Kun formula AGV is auxiliary
Help localization method the following steps are included:
Step S100, AGV trolley receives the instruction that delivery system is assigned, and mobile to docking platform according to preset path；
Step S200, when the AGV trolley, which is detected, reaches pre-determined distance at a distance from the docking platform, described in control
AGV trolley slows down；
Step S300, when the AGV trolley detects the signal of the docking platform back end reflective plate reflection, described in adjustment
The position of AGV trolley；
Step S400, when the AGV trolley is disconnected with the signal docked between platform back end reflective plate, described in control
The parking of AGV trolley, and carry out unloading movement.
In above-mentioned steps, step S100 specifically includes the following steps:
Step S110, AGV trolley receives the instruction that delivery system is assigned；
Step S120, it is mobile to docking platform according to preset path；
Step S130, open the first photoelectric sensor, detect the AGV trolley with dock the distance between platform.
In above-mentioned steps, step S200 specifically includes the following steps:
Step S210, when detecting that the AGV trolley reaches pre-determined distance at a distance from the docking platform, described in control
AGV trolley slows down；
Step S220, open detection photoelectric sensor, and emit detection signal to the docking platform.
In above-mentioned steps, step S300 specifically includes the following steps:
Step S310, when detecting the signal of the docking platform back end reflective plate reflection, by the letter of the baffle reflection
Number feed back to MCU；
Step S320, the MCU control AGV trolley continues to slow down, and the position of AGV trolley is adjusted on the basis of fixed range.
In above-mentioned steps, step S400 specifically includes the following steps:
Step S410 is anti-to MCU when the signal of the detection photoelectric sensor and reflecting plate that detect AGV trolley front end disconnects
Present stop signal；
Step S420, MCU, which control AGV trolley according to stop signal, to be stopped moving ahead, and the AGV trolley docks platform pair with described
It connects, starts to carry out unloading movement.
In the embodiment of the present invention, the control panel for first passing through AGV trolley side in advance inputs corresponding control parameter, such as:
Pre-determined distance, the speed of service, deceleration, fixed range and stop distance etc.；And default road is inputted by the control panel
Diameter, so that AGV trolley can be docked cargo transport to designated place with platform is docked.
When the starting of AGV trolley, the distribution instruction that delivery system is sent is received, and accept a upper job according to preset path
The material of platform；Then, mobile to docking platform according to preset path after loading；Wherein, mobile to docking platform
When, open AGV trolley front end the first photoelectric sensor, by first photoelectric sensor come real-time detection AGV trolley with
Dock the distance between platform, so as to AGV trolley with dock platform close to when slow down, prevent AGV trolley by doing
When disturbing, cannot with dock the position of platform to just, to collide.
Further, when first photoelectric sensor detects that AGV trolley reaches pre- with the distance between platform is docked
If apart from when, such as pre-determined distance be 0.5 meter or 1 meter；The detection photoelectric sensor of AGV trolley front end is opened, and to described right
Platform of going to the station to meet somebody transmitting detection signal, detects whether the docking platform has reflection signal by detection photoelectric sensor, judgement is
It is no to need further to slow down.
Further, when detecting the signal of baffle reflection of the docking platform rear end, by detecting photoelectric transfer
The signal of baffle reflection is fed back to MCU by sensor；After receiving feedback signal, control AGV trolley continues to subtract the MCU
Speed, and on the basis of fixed range adjust AGV trolley position；For example, when AGV trolley is moved in pre-determined distance, detection
The optical signal of photoelectric sensor irradiation falls in the leftmost side edge of reflecting plate, just receives the signal of baffle reflection at this time,
Control AGV trolley further slows down；Also, during Reduced Speed Now, by adjusting the direction and position of AGV trolley, make
The optical signal that photoelectric sensor irradiation must be detected is moved right with fixed range, when the optical signal of detection photoelectric sensor irradiation moves
When moving the right side edge of reflecting plate, the signal for detecting photoelectric sensor and reflecting plate is disconnected, at this point, AGV trolley just with it is right
It goes to the station to meet somebody the position face of platform.
Further, when the signal of the detection photoelectric sensor and reflecting plate that detect AGV trolley front end disconnects, detection
Photoelectric sensor feeds back stop signal to MCU；The MCU then can according to stop signal control AGV trolley stop move ahead, start into
Row unloading movement.
Further, before carrying out unloading movement, the first photoelectric sensor of AGV trolley front end can be to docking platform hair
Unloading request signal is sent, it is true that docking platform sends unloading after detecting AGV trolley and the position face of itself, to AGV trolley
Recognize signal, for the second photoelectric sensor of AGV trolley front end after receiving the unloading confirmation signal, feedback arrives MCU, at this point,
The back Kun that MCU can control AGV car top is rotated, and by cargo transfer to docking platform, completes unloading.
In the embodiment of the present invention, on the basis of the reflecting plate for docking platform rear end, guidance AGV trolley carries out parking positioning,
The fixed referring to stop sign of reflecting plate offer is utilized, so that AGV trolley is during parking not by the shadow of environmental change
Ring, thus improve AGV trolley with dock platform success rate, avoid generation dock failure.
In conclusion auxiliary locator is arranged on AGV trolley and its Docking station platform in the present invention, AGV can be assisted small
Vehicle is positioned, and the navigation accuracy of AGV trolley is improved, and reduces influence of the site environment to AGV trolley, to improve AGV trolley
Transport efficiency；In the present invention, due to the front end of AGV trolley setting AGV signal component and detection photoelectric sensor, and
In the rear end setting docking platform signal component and reflecting plate of docking platform, so that AGV trolley can use on docking platform
Reflecting plate is as fixed contrast signal, so that AGV trolley be guided to carry out accurately parking positioning, improve AGV trolley with dock
The docking success rate of platform, to improve the transport efficiency of AGV trolley.
It should be understood that the application of the present invention is not limited to the above for those of ordinary skills can
With improvement or transformation based on the above description, all these modifications and variations all should belong to the guarantor of appended claims of the present invention
Protect range.
Claims (10)
1. a kind of back Kun formula AGV auxiliary locator, which is characterized in that the back Kun formula AGV auxiliary locator includes setting
In AGV vehicle body side and it is used to control the control panel of AGV trolley, setting in AGV car body front end and for sending and receiving letter
Number AGV signal component, be arranged in AGV car body front end and for docking platform transmitting detection signal detection photoelectric sensing
Docking platform rear end and the docking platform signal component for being used to send and receive signal and setting is arranged in docking platform in device
Rear end and the reflecting plate for emitting signal for reflecting the detection photoelectric sensor；
The control panel, AGV signal component and detection photoelectric sensor are fixedly connected with AGV car body respectively；The AGV letter
Number component and detection photoelectric sensor are electrically connected with the control panel respectively；The docking platform signal component and reflection
Plate respectively with dock platform and be fixedly connected.
2. back Kun formula AGV auxiliary locator according to claim 1, which is characterized in that the AGV signal component includes
The unloading sent for sending the first photoelectric sensor of unloading request signal to docking platform and for receiving docking platform
Second photoelectric sensor of confirmation signal；First photoelectric sensor is set side by side with the second photoelectric sensor, and described
One photoelectric sensor and the second photoelectric sensor are fixedly connected with AGV car body respectively.
3. back Kun formula AGV auxiliary locator according to claim 1, which is characterized in that the docking platform signal group
Part includes third photoelectric sensor for receiving the unloading request signal of the first photoelectric sensor transmission and for second
Photoelectric sensor sends the 4th photoelectric sensor of unloading confirmation signal；Corresponding first light in the position of the third photoelectric sensor
The position of electric transducer；The position of corresponding second photoelectric sensor in the position of 4th photoelectric sensor.
4. back Kun formula AGV auxiliary locator according to claim 1, which is characterized in that the control panel includes touching
Screen and MCU chip are touched, the MCU chip is fixedly connected with the touch screen, and the MCU chip is electrically connected with the touch screen
It connects.
5. back Kun formula AGV auxiliary locator according to claim 2, which is characterized in that first photoelectric sensor
It is electrically connected respectively with MCU chip with the second photoelectric sensor.
6. a kind of back Kun formula AGV assisted location method, which is characterized in that the back Kun formula AGV assisted location method includes following
Step:
AGV trolley receives the instruction that delivery system is assigned, and mobile to docking platform according to preset path；
When the AGV trolley, which is detected, reaches pre-determined distance at a distance from the docking platform, controls the AGV trolley and subtract
Speed；
When the AGV trolley detects the signal of the docking platform back end reflective plate reflection, the position of the AGV trolley is adjusted
It sets；
When the AGV trolley is disconnected with the signal docked between platform back end reflective plate, controls the AGV trolley and stop
Vehicle, and carry out unloading movement.
7. back Kun formula AGV assisted location method according to claim 6, which is characterized in that the AGV trolley receives dispatching
The instruction that system is assigned, and it is mobile to docking platform according to preset path specifically includes the following steps:
AGV trolley receives the instruction that delivery system is assigned；
It is mobile to docking platform according to preset path；
Open the first photoelectric sensor, detect the AGV trolley with dock the distance between platform.
8. back Kun formula AGV assisted location method according to claim 6, which is characterized in that when the AGV trolley detects
When reaching pre-determined distance at a distance from the docking platform, control the AGV trolley slow down specifically includes the following steps:
When detecting that the AGV trolley reaches pre-determined distance at a distance from the docking platform, controls the AGV trolley and subtract
Speed；
Open detection photoelectric sensor, and emit detection signal to the docking platform.
9. back Kun formula AGV assisted location method according to claim 6, which is characterized in that when the AGV trolley detects
It is described docking platform back end reflective plate reflection signal when, adjust the position of the AGV trolley specifically includes the following steps:
When detecting the signal of the docking platform back end reflective plate reflection, the signal of the baffle reflection is fed back to
MCU；
The MCU control AGV trolley continues to slow down, and the position of AGV trolley is adjusted on the basis of fixed range.
10. back Kun formula AGV assisted location method according to claim 6, which is characterized in that when the AGV trolley and institute
When stating the signal disconnection between docking platform back end reflective plate, the AGV trolley parking is controlled, and carries out the specific packet of unloading movement
Include following steps:
When the signal of the detection photoelectric sensor and reflecting plate that detect AGV trolley front end disconnects, is fed back to MCU and stop letter
Number；
MCU, which controls AGV trolley according to stop signal, to be stopped moving ahead, and the AGV trolley docks platform docking with described, starts to carry out
Unloading movement.
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| CN201910324375.6A CN110065558B (en) | 2019-04-22 | 2019-04-22 | Back roll type AGV auxiliary positioning device and method thereof |
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| CN201910324375.6A CN110065558B (en) | 2019-04-22 | 2019-04-22 | Back roll type AGV auxiliary positioning device and method thereof |
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| CN110065558B CN110065558B (en) | 2022-06-28 |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110764110A (en) * | 2019-11-12 | 2020-02-07 | 深圳创维数字技术有限公司 | Path navigation method, device and computer readable storage medium |
| CN111427364A (en) * | 2020-04-26 | 2020-07-17 | 云知声智能科技股份有限公司 | Method and apparatus for controlling delivery robot, delivery system, and storage medium |
| CN113333420A (en) * | 2021-05-31 | 2021-09-03 | 浙江迈尔医疗技术有限公司 | Connection method and multi-cabin cleaning sterilizer |
| CN113816068A (en) * | 2020-06-19 | 2021-12-21 | 博世汽车部件(苏州)有限公司 | Workpiece conveying system |
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