CN111487978B - Control system of automatic guiding trolley - Google Patents
Control system of automatic guiding trolley Download PDFInfo
- Publication number
- CN111487978B CN111487978B CN202010403850.1A CN202010403850A CN111487978B CN 111487978 B CN111487978 B CN 111487978B CN 202010403850 A CN202010403850 A CN 202010403850A CN 111487978 B CN111487978 B CN 111487978B
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- Prior art keywords
- path
- module
- tracking
- plc controller
- control system
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Classifications
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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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
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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], 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], 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], computer integrated manufacturing [CIM] characterised by the transport system using automatic guided vehicles [AGV]
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
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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
Abstract
The invention discloses a control system of an automatic guided vehicle, which comprises a PLC controller, wherein the PLC controller is respectively connected with a position sensor, a path library module, a tracking sensor and a wireless signal receiving and transmitting module, the wireless signal receiving and transmitting module is connected with a control end of a monitoring control room in a remote information manner, the path library module is electrically connected with a path importing module, a set path program is imported into the path library module through the path importing module for storage, and each start and stop endpoint in the path library module corresponds to at least two path programs. This control system runs into the route sticky tape when leading the dolly and is impaired on the route, when unable tracking, will fix a position the sending and give the control room of control, make things convenient for the maintainer to overhaul to select other reserve routes, guarantee the orderly normal operating of transportation work, the practicality is strong.
Description
Technical Field
The invention belongs to the technical field of guided vehicle control, and particularly relates to a control system of an automatic guided vehicle.
Background
AGV (automatic guided vehicle) technology is an important embodiment of the automatic advance of production logistics, and the current common guiding mode of AGV has magnetic stripe guiding and black adhesive tape guiding, and the route is identified and tracked through magnetic stripe sensor and tracking sensor respectively, and black adhesive tape guiding is used in a large number because the characteristics such as its laying is simple and convenient, low price, stable in use receive logistics industry's favor. In actual use, the black rubber belt laid on the ground is easy to break under the friction and scratch of external force, so that the problem that tracking cannot be realized and the guiding trolley stops is solved, the logistics efficiency is affected, and the problem is solved by a targeted design.
Disclosure of Invention
The invention aims to provide a control system of an automatic guiding trolley, which is put into use to solve the problems in the background technology.
In order to achieve the above purpose, the present invention provides the following technical solutions: the control system of the automatic guiding trolley comprises a PLC controller, wherein the PLC controller is respectively connected with a position sensor, a path library module, a tracking sensor and a wireless signal receiving and transmitting module, the wireless signal receiving and transmitting module is connected with a control end of a monitoring control room in a remote information manner, the path library module is electrically connected with a path guiding module, a set path program is guided into the path library module through the path guiding module to be stored, and each start and stop endpoint in the path library module corresponds to at least two path programs.
Preferably, a plurality of magnetic strips are paved between paths of the same stop points, and the PLC is connected with the magnetic strip sensor in a one-way.
Preferably, the power module provides stable 24V direct current to the PLC controller, and a power management module is arranged between the power module and the PLC controller to monitor the electric quantity of the battery.
Preferably, the tracking module comprises any one of a light emitting diode plus a photoresistor, a pulsed reflective infrared emission receiver or a CCD sensor.
The invention has the technical effects and advantages that: the control system of the automatic guiding trolley comprises a control system,
1. when the guide car runs to the damaged position of black-and-white adhesive tape, the tracking sensor fails to track, the PLC controller sends signals to the monitoring control room through the wireless signal receiving and transmitting module to remind workers to overhaul, and sends the position information collected by the positioning module, so that operators can conveniently and rapidly position the damaged point of the path, and repair efficiency is guaranteed.
2. The preset path program is imported into the path library module through the path importing module in advance for storage, after the tracking sensor fails in tracking, signals are transmitted to the PLC, and the PLC invokes the standby path from the path library module, so that the guide trolley is ensured to work through the standby path, and the logistics work is prevented from being influenced.
Drawings
Fig. 1 is a block diagram of a system architecture of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The invention provides a control system of an automatic guided vehicle as shown in fig. 1, which comprises a PLC controller, wherein the PLC controller is respectively connected with a position sensor, a path library module, a tracking sensor and a wireless signal receiving and transmitting module, the wireless signal receiving and transmitting module is connected with a control end of a monitoring control room in a remote information way, the path library module is electrically connected with a path guiding module, a set path program is guided into the path library module through the path guiding module for storage, each starting and stopping end point in the path library module corresponds to at least two path programs, when the guided vehicle runs to the damaged position of a black-white adhesive tape, the tracking sensor fails in tracking, the PLC controller sends a signal to the monitoring control room through the wireless signal receiving and transmitting module to remind a worker of maintenance, and the position information collected by the positioning module is sent, so that the operator can conveniently and quickly position the damaged point of the path, the repairing efficiency is ensured, the set path program is guided into the path library module through the path guiding module in advance, after the tracking failure of the path sensor, signals are transmitted to the PLC controller, and the PLC controller is called from the path library module to ensure that the path is guided to work is prevented from being affected by the standby path.
A plurality of magnetic strips are paved between paths together with the stop points, the PLC is connected with the magnetic strip sensor in a one-way, after the standby path is started, the magnetic strip sensor is used for tracking the magnetic strips, so that the trolley can be conveniently and rapidly guided to be rapidly transferred to the corresponding standby black adhesive tape path, and the logistics working efficiency is further guaranteed.
The power module provides stable 24V direct current for the PLC controller, and is provided with power management module between power module and the PLC controller, monitors battery electric quantity, guarantees the stability of PLC controller work to pay attention to the power surplus electric quantity constantly, avoid the guide car to shut down in the middle of inconvenient removal.
The tracking module comprises any one of a light emitting diode, a photoresistor, a pulse modulated reflective infrared emission receiver or a CCD sensor, and can be used for rapidly and accurately identifying the ground path color to realize smooth tracking.
Finally, it should be noted that: the foregoing description is only illustrative of the preferred embodiments of the present invention, and although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described, or equivalents may be substituted for elements thereof, and any modifications, equivalents, improvements or changes may be made without departing from the spirit and principles of the present invention.
Claims (3)
1. The utility model provides a control system of automated guided vehicle, includes PLC controller, its characterized in that: the PLC is respectively connected with the position sensor, the path library module, the tracking sensor and the wireless signal receiving and transmitting module, the wireless signal receiving and transmitting module is connected with the control end of the monitoring control room in a remote information manner, the path library module is electrically connected with the path importing module, the set path program is imported into the path library module through the path importing module for storage, and each start and stop endpoint in the path library module corresponds to at least two path programs;
when the guide vehicle runs to the damaged position of the black-and-white adhesive tape, the tracking sensor fails to track, the PLC controller sends a signal to the monitoring control room through the wireless signal receiving and transmitting module to remind workers of maintenance, and sends the position information collected by the positioning module to facilitate the operators to quickly position the damaged point of the path;
meanwhile, after the tracking sensor fails to track, a signal is transmitted to the PLC, and the PLC invokes a standby path from the path library module to ensure that the guided trolley works through the standby path;
a plurality of magnetic strips are paved between paths of the same stop points, the PLC is connected with the magnetic strip sensor in a one-way mode, and after the standby path is started, the magnetic strip sensor is used for tracking the magnetic strips, so that the trolley can be conveniently guided to be quickly transferred onto the corresponding standby black adhesive tape path.
2. The control system for an automated guided vehicle according to claim 1, wherein: the power module provides stable 24V direct current for the PLC controller, and a power management module is arranged between the power module and the PLC controller to monitor the electric quantity of the battery.
3. The control system for an automated guided vehicle according to claim 1, wherein: the tracking module comprises any one of a light emitting diode, a photoresistor, a pulse modulated reflective infrared emission receiver or a CCD sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010403850.1A CN111487978B (en) | 2020-05-13 | 2020-05-13 | Control system of automatic guiding trolley |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010403850.1A CN111487978B (en) | 2020-05-13 | 2020-05-13 | Control system of automatic guiding trolley |
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| Publication Number | Publication Date |
|---|---|
| CN111487978A CN111487978A (en) | 2020-08-04 |
| CN111487978B true CN111487978B (en) | 2023-08-29 |
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| CN202010403850.1A Active CN111487978B (en) | 2020-05-13 | 2020-05-13 | Control system of automatic guiding trolley |
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Citations (12)
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|---|---|---|---|---|
| US5764014A (en) * | 1996-02-01 | 1998-06-09 | Mannesmann Dematic Rapistan Corp. | Automated guided vehicle having ground track sensor |
| JP2004227058A (en) * | 2003-01-20 | 2004-08-12 | Murata Mach Ltd | Guided vehicle system |
| CN103558855A (en) * | 2013-11-10 | 2014-02-05 | 广西柳工路创制造科技有限公司 | Intelligent logistics tracking trolley and control system thereof |
| CN106020195A (en) * | 2016-06-28 | 2016-10-12 | 王玉华 | Intelligent trolley control system |
| CN106647752A (en) * | 2016-12-13 | 2017-05-10 | 西安航天精密机电研究所 | AGV control system of differential velocity drive type, and automatic tracking method |
| CN106680290A (en) * | 2017-02-27 | 2017-05-17 | 周显威 | Multifunctional detection vehicle in narrow space |
| CN106845889A (en) * | 2016-12-23 | 2017-06-13 | 上海铁路局上海机车检修段 | A kind of intelligent trackless self-aiming transport vehicle material transportation information management system |
| CN108388245A (en) * | 2018-01-26 | 2018-08-10 | 温州大学瓯江学院 | A kind of AGV trolleies indoor positioning navigation system and its control method |
| CN110182514A (en) * | 2019-05-14 | 2019-08-30 | 盐城品迅智能科技服务有限公司 | A kind of intelligent material conveying equipment Automatic Track Finding guiding vehicle and autonomous tracing in intelligent vehicle |
| CN110182509A (en) * | 2019-05-09 | 2019-08-30 | 盐城品迅智能科技服务有限公司 | A kind of track guidance van and the barrier-avoiding method of logistic storage intelligent barrier avoiding |
| CN209543141U (en) * | 2019-04-03 | 2019-10-25 | 杭州电子科技大学 | A kind of electromagnetism intelligent carriage shutdown system |
| CN110968100A (en) * | 2019-12-19 | 2020-04-07 | 上海禹昌信息科技有限公司 | Automatic tracking system of driving device and control method thereof |
-
2020
- 2020-05-13 CN CN202010403850.1A patent/CN111487978B/en active Active
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5764014A (en) * | 1996-02-01 | 1998-06-09 | Mannesmann Dematic Rapistan Corp. | Automated guided vehicle having ground track sensor |
| JP2004227058A (en) * | 2003-01-20 | 2004-08-12 | Murata Mach Ltd | Guided vehicle system |
| CN103558855A (en) * | 2013-11-10 | 2014-02-05 | 广西柳工路创制造科技有限公司 | Intelligent logistics tracking trolley and control system thereof |
| CN106020195A (en) * | 2016-06-28 | 2016-10-12 | 王玉华 | Intelligent trolley control system |
| CN106647752A (en) * | 2016-12-13 | 2017-05-10 | 西安航天精密机电研究所 | AGV control system of differential velocity drive type, and automatic tracking method |
| CN106845889A (en) * | 2016-12-23 | 2017-06-13 | 上海铁路局上海机车检修段 | A kind of intelligent trackless self-aiming transport vehicle material transportation information management system |
| CN106680290A (en) * | 2017-02-27 | 2017-05-17 | 周显威 | Multifunctional detection vehicle in narrow space |
| CN108388245A (en) * | 2018-01-26 | 2018-08-10 | 温州大学瓯江学院 | A kind of AGV trolleies indoor positioning navigation system and its control method |
| CN209543141U (en) * | 2019-04-03 | 2019-10-25 | 杭州电子科技大学 | A kind of electromagnetism intelligent carriage shutdown system |
| CN110182509A (en) * | 2019-05-09 | 2019-08-30 | 盐城品迅智能科技服务有限公司 | A kind of track guidance van and the barrier-avoiding method of logistic storage intelligent barrier avoiding |
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| CN111487978A (en) | 2020-08-04 |
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