CN110531643A - A kind of unmanned Automatic Guided Vehicle delay cut-off control system and method - Google Patents
A kind of unmanned Automatic Guided Vehicle delay cut-off control system and method Download PDFInfo
- Publication number
- CN110531643A CN110531643A CN201910807126.2A CN201910807126A CN110531643A CN 110531643 A CN110531643 A CN 110531643A CN 201910807126 A CN201910807126 A CN 201910807126A CN 110531643 A CN110531643 A CN 110531643A
- Authority
- CN
- China
- Prior art keywords
- power
- computer
- host computer
- machine controller
- next machine
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Power Sources (AREA)
Abstract
The present invention provides a kind of unmanned Automatic Guided Vehicle delay cut-off control system and methods, belong to unmanned Automatic Guided Vehicle technical field, which includes power switch, power-off delay relay, the next machine controller, host computer computer；After this method detects the power-off signal of power switch by IO input, the next machine controller feeds back host computer computer for the power-off signal of power switch as off signal by the serial ports being connected to with host computer computer；When power switch is turned off manually in operator, system power supply will not be cut off at once, and system can detect power-off signal, automatically saved data information by software and closed used computer system, prevent unexpected power down from causing its system, file or disk failures.
Description
Technical field
The invention belongs to unmanned Automatic Guided Vehicle technical fields, are related to AGV electric control system.
Background technique
AGV is a kind of unmanned Automatic Guided Vehicle, provides power source by plumbic acid or lithium battery, control system generally comprises
The Logic of Tasks decision of motion control and upper layer, usual motion control are complete in the next machine controller such as embedded system or PLC
At upper layer decision is developed in host computer computer.When operator closes AGV switch cutoff battery supply, AGV system can be unexpected
Power down be easy to cause destruction for computer software, system or the disk of upper layer exploitation.
Summary of the invention
The invention proposes a kind of AGV (unmanned Automatic Guided Vehicle) delay cut-off system and methods, devise a kind of power-off
Delay circuit, when operator closes cell switch, AGV can be delayed power down, and the next machine controller feeds back power-off signal
Host computer computer software is given, upper computer software can save at once data and calling system api interface closes computer.
The technical scheme is that a kind of unmanned Automatic Guided Vehicle delay cut-off control system, including it is power switch, disconnected
Electric time-delay relay, the next machine controller, host computer computer；Power supply is host computer computer, the next machine controller and power cut off delay
Relay provides voltage；The power switch of unmanned Automatic Guided Vehicle is double-pole single throw；The two of one end of double-pole single throw
Road is connect with positive pole；Power-off delay relay delay time is greater than the host computer computer unused time；The next machine controller
Pass through serial communication with host computer computer；The other end of power switch wherein connects the control terminal of power-off delay relay all the way；
Wherein the IO of another way and the next machine controller inputs connection to the other end of power switch；The power supply of power supply output connection relay
Input terminal；The output end connection host computer computer of relay is connected with the power input of the next machine controller；Slave computer control
After device detects the power-off signal of power switch by IO input, the next machine controller is believed the power-off of power switch by serial ports
Number as off signal feed back host computer computer.
Further, it is particularly limited as, including the next machine controller control module, host computer computer control module；It is the next
Machine controller control module is located in the next machine controller, and host computer computer control module is located at host computer computer；Slave computer control
Device control module processed sends cut-offing instruction after detecting the power-off signal of power switch, to host computer computer control module, on
After the electromechanical brain control module in position receives the instruction, host computer computer auto-power-off is controlled.
Further, when power switch is closed, the coil conducting of the control terminal of power-off delay relay has switch
The both ends of effect, that is, input and output contact closure, power supply power supply.
Further, when power switch disconnect when, power-off delay relay wait for a period of time after just disconnect input and it is defeated
Contact out.
Further, when power switch disconnect when, power-off delay relay wait for a period of time after just disconnect input and it is defeated
Contact out, at this point, the I/O port of the next machine controller detects a level failing edge signal, the disconnection as power switch is believed
Number.
Further, after host computer computer receives off signal, current data is kept first, then calls api interface
Close host computer computer.
A kind of unmanned Automatic Guided Vehicle delay cut-off control method, which is characterized in that this method includes following content:
Relay is connected between power output end and host computer computer and the next machine controller；The relay is power cut off delay
Relay；Power-off delay relay delay time is greater than the host computer computer unused time；
Output end, that is, other end of power switch wherein connects the control terminal of power-off delay relay all the way；Power switch
The another way of output end and the IO of the next machine controller input and connect；
After the next machine controller detects the power-off signal of power switch by IO input, the next machine controller by with
The power-off signal of power switch is fed back host computer computer by the serial ports of host computer computer connection；
Wherein, power supply is host computer computer, the next machine controller and power-off delay relay provide voltage；Power switch is
Double-pole single throw；Input terminal, that is, one end two-way of double-pole single throw is connect with positive pole.
Further, above-mentioned a kind of unmanned Automatic Guided Vehicle delay cut-off control method, which is characterized in that when power supply is opened
When closing conjunction, the coil conducting of the control terminal of power-off delay relay, the both ends with on-off action, that is, input and output contact
Closure, power supply power supply.
Further, above-mentioned a kind of unmanned Automatic Guided Vehicle delay cut-off control method, which is characterized in that when power supply is opened
When shutdown is opened, power-off delay relay just disconnects after waiting for a period of time and outputs and inputs contact, at this point, the next machine controller
I/O port detects a level failing edge signal, the cut-off signal as power switch.
Further, a kind of above-mentioned unmanned Automatic Guided Vehicle delay cut-off control method, which is characterized in that slave computer control
Device control module processed is located in the next machine controller, and host computer computer control module is located at host computer computer；The next machine controller
Control module sends cut-offing instruction, host computer after detecting the power-off signal of power switch, to host computer computer control module
After computer control module receives the instruction, host computer computer auto-power-off is controlled.
Compared with the existing technology, the beneficial effects of the present invention are as follows:
1. the forwarding method can time-delay closing AGV power supply, prevent operator to be frequently opened and closed power supply or maloperation and close power supply；
2. the automatically safety shutdown top level control system before AGV system power down, avoid that system crash, file loses or magnetic
Adjustment debit evil idea etc..
Detailed description of the invention
A kind of Fig. 1: schematic illustration of AGV delay cut-off control system.
1- power switch, 2- power-off delay relay
Specific embodiment
The present invention is described in further detail with reference to the accompanying drawing
A kind of AGV (unmanned Automatic Guided Vehicle) delay cut-off control system of the invention, realization principle schematic diagram such as attached drawing 1
It is shown,
A kind of AGV delay cut-off control system, including the control of power supply, power switch, power-off delay relay 2, slave computer
Device control module, host computer computer control module；The next machine controller control module is located in the next machine controller, upper electromechanics
Brain control module is located at host computer computer.
The voltage that power supply provides in figure is the voltage rating of host computer computer, the next machine controller and power-off delay relay
(if voltage mismatches power available module and converts voltage in actual implementation), the power switch of AGV is double-pole single throw, is selected
Power-off delay relay delay time be greater than the host computer computer unused time；The IO input of the next machine controller is opened with power supply
Connection connects, public termination power supply negative terminal；The next machine controller and host computer computer pass through serial communication.
The other end of power switch wherein connects power-off delay relay control terminal all the way；
(in the both ends with on-off action) power input of power supply output connection relay；Having for relay is opened
Output end connection host computer computer in the both ends of pass effect is connected with the power input of the next machine controller；
The next machine controller control module gives host computer computer control module after detecting the power-off signal of power switch
Cut-offing instruction is sent, after host computer computer control module receives the instruction, operation control program controls the upper electromechanics of process control
Brain automatically powers off.
Power-off delay relay 2 can time-lag action after being connected to power supply break point signal.
When power switch closure, relay coil (control terminal of relay) conducting, input and output contact (has and opens
Pass effect both ends) power input closure, power supply can to entire AGV system power.When power switch disconnects, relay etc.
It is just disconnected after a period of time and outputs and inputs contact, whole system still has electricity at this time, and the I/O port of the next machine controller can be examined
A level failing edge signal is measured, off signal is judged as with this.The next machine controller is fed back off signal by serial ports
Host computer computer software is given, upper computer software then keeps current data first, and then the api interface of calling system closes computer system
System.After computer shutdown, the relay power cut off delay time reaches the power supply for then having cut off AGV whole system.
Claims (10)
1. a kind of unmanned Automatic Guided Vehicle delay cut-off control system, which is characterized in that including power switch, power cut off delay relay
Device, the next machine controller, host computer computer；Power supply is host computer computer, the next machine controller and power-off delay relay provide
Voltage；The power switch of unmanned Automatic Guided Vehicle is double-pole single throw；The two-way and power supply of one end of double-pole single throw are just
Pole connection；Power-off delay relay delay time is greater than the host computer computer unused time；The next machine controller and upper electromechanics
Brain passes through serial communication；
The other end of power switch wherein connects the control terminal of power-off delay relay all the way；The other end of power switch is wherein another
It inputs and connects with the IO of the next machine controller all the way；
The power input of power supply output connection relay；The output end connection host computer computer and the next machine controller of relay
Power input connection；
After the next machine controller detects the power-off signal of power switch by IO input, the next machine controller will be electric by serial ports
The power-off signal of source switch feeds back host computer computer as off signal.
2. a kind of unmanned Automatic Guided Vehicle delay cut-off control system according to claim 1, which is characterized in that specific limit
It is set to, including the next machine controller control module, host computer computer control module；The next machine controller control module is located at bottom
In machine controller, host computer computer control module is located at host computer computer；The next machine controller control module is detecting power supply
After the power-off signal of switch, cut-offing instruction is sent to host computer computer control module, host computer computer control module receives this and refers to
After order, host computer computer auto-power-off is controlled.
3. a kind of unmanned Automatic Guided Vehicle delay cut-off control system according to claim 1, which is characterized in that work as power supply
When closing the switch, the coil of the control terminal of power-off delay relay is connected, the both ends with on-off action, that is, input and output touching
Point closure, power supply power supply.
4. a kind of unmanned Automatic Guided Vehicle delay cut-off control system according to claim 1, which is characterized in that work as power supply
When switch disconnects, power-off delay relay just disconnects after waiting for a period of time and outputs and inputs contact.
5. a kind of unmanned Automatic Guided Vehicle delay cut-off control system according to claim 1, which is characterized in that work as power supply
When switch disconnects, power-off delay relay just disconnects after waiting for a period of time and outputs and inputs contact, at this point, the next machine controller
I/O port detect a level failing edge signal, the cut-off signal as power switch.
6. a kind of unmanned Automatic Guided Vehicle delay cut-off control system according to claim 1, which is characterized in that host computer
After computer receives off signal, current data is kept first, then api interface is called to close host computer computer.
7. a kind of unmanned Automatic Guided Vehicle delay cut-off control method, which is characterized in that this method includes following content:
Relay is connected between power output end and host computer computer and the next machine controller；The relay is power cut off delay relay
Device；Power-off delay relay delay time is greater than the host computer computer unused time；
Output end, that is, other end of power switch wherein connects the control terminal of power-off delay relay all the way；Power switch it is defeated
The IO of the another way of outlet and the next machine controller, which is inputted, to be connected；
After the next machine controller detects the power-off signal of power switch by IO input, the next machine controller by with it is upper
The power-off signal of power switch is fed back host computer computer by the serial ports of electromechanical brain connection；
Wherein, power supply is host computer computer, the next machine controller and power-off delay relay provide voltage；Power switch is double-pole
Single-throw switch；Input terminal, that is, one end two-way of double-pole single throw is connect with positive pole.
8. a kind of unmanned Automatic Guided Vehicle delay cut-off control method according to claim 7, which is characterized in that work as power supply
When closing the switch, the coil of the control terminal of power-off delay relay is connected, the both ends with on-off action, that is, input and output touching
Point closure, power supply power supply.
9. a kind of unmanned Automatic Guided Vehicle delay cut-off control method according to claim 7, which is characterized in that work as power supply
When switch disconnects, power-off delay relay just disconnects after waiting for a period of time and outputs and inputs contact, at this point, the next machine controller
I/O port detect a level failing edge signal, the cut-off signal as power switch.
10. a kind of unmanned Automatic Guided Vehicle delay cut-off control method according to claim 7, which is characterized in that the next
Machine controller control module is located in the next machine controller, and host computer computer control module is located at host computer computer；Slave computer control
Device control module processed sends cut-offing instruction after detecting the power-off signal of power switch, to host computer computer control module, on
After the electromechanical brain control module in position receives the instruction, host computer computer auto-power-off is controlled.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910807126.2A CN110531643B (en) | 2019-08-29 | 2019-08-29 | Time-delay power-off control system and method for automatic unmanned carrier |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910807126.2A CN110531643B (en) | 2019-08-29 | 2019-08-29 | Time-delay power-off control system and method for automatic unmanned carrier |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110531643A true CN110531643A (en) | 2019-12-03 |
| CN110531643B CN110531643B (en) | 2021-05-07 |
Family
ID=68665108
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910807126.2A Active CN110531643B (en) | 2019-08-29 | 2019-08-29 | Time-delay power-off control system and method for automatic unmanned carrier |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110531643B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112213569A (en) * | 2020-09-23 | 2021-01-12 | 国网福建省电力有限公司 | Device and method for guaranteeing data integrity of handheld nuclear phase instrument of transformer substation in delayed power failure mode |
| CN112477592A (en) * | 2020-12-03 | 2021-03-12 | 西安现代控制技术研究所 | Emergency forced flameout parking mechanism for unmanned automobile |
| CN113390642A (en) * | 2021-06-15 | 2021-09-14 | 潍柴动力股份有限公司 | Automatic control method and system for engine switch and engine test run equipment |
| CN113568329A (en) * | 2020-04-28 | 2021-10-29 | 广州汽车集团股份有限公司 | Shutdown control method and system based on MCU and SOC communication |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5485363A (en) * | 1993-06-25 | 1996-01-16 | Reitwiesner; John S. | Warm-up time delay system for relay controlled electrical power supply |
| CN2478167Y (en) * | 2000-12-28 | 2002-02-20 | 成都四方信息技术开发公司 | Computer power supply device preventing error operation |
| CN102622074A (en) * | 2012-03-30 | 2012-08-01 | 沧州供电公司 | Power-off protection system for computer |
| CN104111716A (en) * | 2013-04-18 | 2014-10-22 | 研祥智能科技股份有限公司 | Power off system and method of computer |
| CN204215352U (en) * | 2014-11-27 | 2015-03-18 | 刘建 | Integration computer power-off protection power supply |
| CN205405409U (en) * | 2016-03-01 | 2016-07-27 | 郑州幼儿师范高等专科学校 | Radiator for computer |
| CN205827298U (en) * | 2016-05-16 | 2016-12-21 | 江西科技学院 | A kind of main frame containing power-off protection apparatus |
| CN207571694U (en) * | 2017-11-09 | 2018-07-03 | 舒贤杰 | A kind of computer with power-off protection function |
| CN108829178A (en) * | 2018-09-21 | 2018-11-16 | 北京特种机械研究所 | A kind of delay electricity break switch system and its delay cut-off method |
| CN208158558U (en) * | 2018-04-04 | 2018-11-27 | 沈阳秀展科技有限公司 | A kind of booting of computer equipment delayed and power down delay switching-off protect circuit |
| CN208984991U (en) * | 2018-12-24 | 2019-06-14 | 郑州畅想高科股份有限公司 | Delaying shutdown control system and delaying shutdown control device |
-
2019
- 2019-08-29 CN CN201910807126.2A patent/CN110531643B/en active Active
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5485363A (en) * | 1993-06-25 | 1996-01-16 | Reitwiesner; John S. | Warm-up time delay system for relay controlled electrical power supply |
| CN2478167Y (en) * | 2000-12-28 | 2002-02-20 | 成都四方信息技术开发公司 | Computer power supply device preventing error operation |
| CN102622074A (en) * | 2012-03-30 | 2012-08-01 | 沧州供电公司 | Power-off protection system for computer |
| CN104111716A (en) * | 2013-04-18 | 2014-10-22 | 研祥智能科技股份有限公司 | Power off system and method of computer |
| CN204215352U (en) * | 2014-11-27 | 2015-03-18 | 刘建 | Integration computer power-off protection power supply |
| CN205405409U (en) * | 2016-03-01 | 2016-07-27 | 郑州幼儿师范高等专科学校 | Radiator for computer |
| CN205827298U (en) * | 2016-05-16 | 2016-12-21 | 江西科技学院 | A kind of main frame containing power-off protection apparatus |
| CN207571694U (en) * | 2017-11-09 | 2018-07-03 | 舒贤杰 | A kind of computer with power-off protection function |
| CN208158558U (en) * | 2018-04-04 | 2018-11-27 | 沈阳秀展科技有限公司 | A kind of booting of computer equipment delayed and power down delay switching-off protect circuit |
| CN108829178A (en) * | 2018-09-21 | 2018-11-16 | 北京特种机械研究所 | A kind of delay electricity break switch system and its delay cut-off method |
| CN208984991U (en) * | 2018-12-24 | 2019-06-14 | 郑州畅想高科股份有限公司 | Delaying shutdown control system and delaying shutdown control device |
Non-Patent Citations (1)
| Title |
|---|
| 徐伟 等: "一种基于AT电源的嵌入式计算机软关机电路设计", 《信息化研究》 * |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113568329A (en) * | 2020-04-28 | 2021-10-29 | 广州汽车集团股份有限公司 | Shutdown control method and system based on MCU and SOC communication |
| CN113568329B (en) * | 2020-04-28 | 2023-10-24 | 广州汽车集团股份有限公司 | Shutdown control method and system based on MCU and SOC communication |
| CN112213569A (en) * | 2020-09-23 | 2021-01-12 | 国网福建省电力有限公司 | Device and method for guaranteeing data integrity of handheld nuclear phase instrument of transformer substation in delayed power failure mode |
| CN112213569B (en) * | 2020-09-23 | 2022-11-08 | 国网福建省电力有限公司 | Device and method for guaranteeing data integrity of handheld nuclear phase instrument of transformer substation in delayed power failure mode |
| CN112477592A (en) * | 2020-12-03 | 2021-03-12 | 西安现代控制技术研究所 | Emergency forced flameout parking mechanism for unmanned automobile |
| CN113390642A (en) * | 2021-06-15 | 2021-09-14 | 潍柴动力股份有限公司 | Automatic control method and system for engine switch and engine test run equipment |
| CN113390642B (en) * | 2021-06-15 | 2023-04-18 | 潍柴动力股份有限公司 | Automatic control method and system for engine switch and engine test run equipment |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110531643B (en) | 2021-05-07 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110531643A (en) | A kind of unmanned Automatic Guided Vehicle delay cut-off control system and method | |
| CN104898476B (en) | A kind of switching on and shutting down control circuit and the electronic equipment with the circuit | |
| CN110611340A (en) | Power supply control method, device, system, electronic equipment and storage medium | |
| CN106274496B (en) | A kind of electric car actuator control system | |
| CN110962606A (en) | Control system and method for emergency cut-off of high-voltage power supply of new energy automobile and new energy automobile | |
| CN105872144A (en) | System and method of intelligent terminal allowing batteries to be replaced in on state | |
| CN106356952A (en) | Charging cable, charger and charging control method | |
| CN104777776A (en) | Monitoring system of permanent-magnet vacuum circuit breaker | |
| CN107845519B (en) | Double power supply automatic transfer switch and its control method | |
| CN209658914U (en) | Energy accumulation current converter | |
| CN110120678A (en) | Energy accumulation current converter | |
| CN207623767U (en) | An a kind of key switch machine system | |
| CN107977331A (en) | A kind of control method, device and terminal | |
| CN108631011B (en) | Battery connecting device | |
| CN204216634U (en) | A kind of inversion of uninterrupted power supply and maintenance bypass interlock circuit | |
| CN205959823U (en) | Electrical power unit overhauls automatic interlocking ware of switch | |
| CN110165772B (en) | Robot chassis electrical system, chassis and robot | |
| CN107728569A (en) | A kind of city rail vehicle control circuit and control method | |
| CN208752411U (en) | A kind of control circuit for the standby reactive loss of charging pile | |
| CN112858894A (en) | Detection method and detection device for working state of contactor, storage medium and vehicle | |
| CN105992059B (en) | A kind of intelligent management and system of media device | |
| CN104953557A (en) | Protection device for power battery contactor of electric automobile and control method of protection device | |
| CN204928351U (en) | Finance machines intelligence power supply unit | |
| CN110138086A (en) | Telemechanical bus connection switch device, control system and control method | |
| CN215154052U (en) | On-off control loop and switch group |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |