CN114476460A - Omnidirectional multi-shaft heavy-load AGV dispatching system - Google Patents
Omnidirectional multi-shaft heavy-load AGV dispatching system Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0485—Check-in, check-out devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
- B65G1/1371—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed with data records
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
- B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
Abstract
The invention relates to the technical field of robot AGV, in particular to an omnidirectional multi-shaft heavy-load AGV dispatching system, which comprises: the omnidirectional multi-axis heavy-load AGV dispatching subsystem is connected with a wireless communication relay data transceiving module; the omnidirectional multi-shaft heavy-load AGV controller is arranged on the omnidirectional multi-shaft heavy-load AGV, is connected with a heavy-load AGV control system in the omnidirectional multi-shaft heavy-load AGV, and is communicated with the wireless communication relay data transceiver module through the vehicle-mounted wireless communication module; and the software processing core of the omnidirectional multi-shaft heavy-load AGV dispatching system is arranged on the omnidirectional multi-shaft heavy-load AGV dispatching subsystem. Compared with the traditional operation mode, the whole set of system has high working efficiency, good real-time performance and high reliability, greatly reduces the labor intensity and labor cost of workers, reduces the manual labor intensity and the manual safety risk, and improves the working efficiency and the accuracy.
Description
Technical Field
The invention relates to the technical field of robot AGV (automatic guided vehicle), in particular to an omnidirectional multi-shaft heavy-load AGV dispatching system.
Background
AGV (automated Guided vehicles), also known as automated Guided vehicles, laser Guided vehicles. The automatic guided vehicle has the remarkable characteristics that the automatic guided vehicle is unmanned, an automatic guiding system is arranged on an AGV, the automatic guided vehicle can ensure that the system can automatically run along a preset route under the condition of no need of manual navigation, and goods or materials are automatically conveyed to a destination from a starting point. Another characteristic of AGVs is that the flexibility is good, degree of automation is high and the level of intellectuality is high, and the route of travel of AGVs can change and nimble the change according to storage goods position requirement, production technology flow etc. to the expense that the route of travel changed compares very cheaply with traditional conveyer belt and rigid transmission line.
The Chinese patent application number is CN201910108273.0, and discloses an AGV autonomous scheduling system and an AGV autonomous scheduling method, which comprise a production execution master controller, AGV scheduling equipment, AGV vehicles, a material bin and a workstation connected with the production execution master controller. The invention directly communicates with the AGV dispatching equipment through the workstation to dispatch the AGV vehicles, thereby reducing the burden of a production execution main control machine. However, when a plurality of AGVs are used, coordination work needs to be completed, and unified planning and scheduling are performed when a plurality of AGVs need to cooperatively operate, so that complex tasks can be completed cooperatively.
Disclosure of Invention
In order to solve the technical problem, the invention provides an omnidirectional multi-axis heavy-load AGV dispatching system.
The technical problem to be solved by the invention is realized by adopting the following technical scheme:
an omnidirectional multi-axis heavy-load AGV scheduling system comprising:
the omnidirectional multi-shaft heavy-load AGV dispatching subsystem is connected with a wireless communication relay data transceiving module;
the omnidirectional multi-shaft heavy-load AGV controller is arranged on the omnidirectional multi-shaft heavy-load AGV, is connected with a heavy-load AGV control system in the omnidirectional multi-shaft heavy-load AGV, communicates with the wireless communication relay data transceiver module through the vehicle-mounted wireless communication module, and is used for controlling the omnidirectional multi-shaft heavy-load AGV according to a control signal received from the omnidirectional multi-shaft heavy-load AGV dispatching subsystem;
and the software processing core of the omnidirectional multi-shaft heavy-load AGV dispatching system is arranged on the omnidirectional multi-shaft heavy-load AGV dispatching subsystem and is used for processing all input signals, sending control instructions to all equipment and coordinating the operation of the whole system.
Preferably, the intelligent warehouse system further comprises a caller module and an intelligent warehouse stacker, wherein the caller module is communicated with the wireless communication relay data transceiver module, and the intelligent warehouse stacker is communicated with the wireless communication relay data transceiver module through the intelligent warehouse wireless communication module.
Preferably, the omnidirectional multi-axis heavy-load AGV dispatching subsystem comprises an omnidirectional multi-axis heavy-load AGV dispatching subsystem uniform and an omnidirectional multi-axis heavy-load AGV dispatching subsystem second, the omnidirectional multi-axis heavy-load AGV dispatching subsystem second is a backup system of the omnidirectional multi-axis heavy-load AGV dispatching subsystem uniform, the omnidirectional multi-axis heavy-load AGV dispatching subsystem uniform and the omnidirectional multi-axis heavy-load AGV dispatching subsystem second are connected with a UPS power supply, and the omnidirectional multi-axis heavy-load AGV dispatching subsystem uniform and the omnidirectional multi-axis heavy-load AGV dispatching subsystem second realize data exchange through wireless communication.
Preferably, the software processing core of the omnidirectional multi-axis heavy-load AGV dispatching system comprises a dispatching system display interface, a dispatching system input interface, a dispatching system output interface and a dispatching system data wireless communication interface, wherein the dispatching system data wireless communication interface is connected with the wireless communication relay data transceiver module.
Preferably, the software processing core of the omnidirectional multi-axis heavy-load AGV dispatching system further comprises an AGV moving track editor function module, an intelligent warehousing database module, a parameter online modification and reading function module, a dispatching system alarm diagnosis function module, a dispatching system manual operation function module, a dispatching system biological identification login function module and a dispatching system warehouse-in and warehouse-out goods management function module.
Preferably, the omnidirectional multi-axis heavy-load AGV dispatching subsystem has the intelligent storage goods taking and placing function.
Preferably, the omnidirectional multi-axis heavy-load AGV dispatching subsystem has a polling function.
Preferably, heavy-duty AGV control system among the multiaxis of qxcomm technology heavy-duty AGV includes man-machine interaction system, wireless communication system, wireless remote controller, gets and puts goods mechanism, preceding, back magnetic navigation sensor, gyroscope sensor, preceding, back two-dimensional code sensor, laser obstacle-avoiding radar, goods discernment RFID, patrol and examine camera, left front steering wheel mechanism, right front steering wheel mechanism, left back steering wheel mechanism, right back steering wheel mechanism.
The invention has the beneficial effects that:
compared with the traditional operation mode, the whole set of system has high working efficiency, good real-time performance and high reliability, and greatly reduces the labor intensity and labor cost of workers. The omnidirectional multi-shaft heavy-load AGV dispatching system adopts the heavy-load AGV to carry out goods taking, placing and transporting, and replaces manual goods taking, placing and transporting; adopt stacker intelligent storage stacker to get the operation of putting to all goods shelves in the storage, replace the manual work to get and put the operation, very big reduction artifical intensity of labour, because avoid the manual work directly to carry out heavy goods (2 tons) and lift by crane simultaneously, the transportation operation has greatly reduced artifical safety risk. Adopt intelligent storage management system, can encode the discrepancy goods, the system can carry out accurate management to the condition of each goods, very big improvement work efficiency and accuracy.
Drawings
The invention is further illustrated with reference to the following figures and examples:
FIG. 1 is a schematic diagram of an AGV control system;
FIG. 2 is a schematic view of the overall structure of the present invention;
FIG. 3 is a schematic diagram of the software architecture of the present invention;
FIG. 4 is a flow chart of the intelligent warehouse pick-and-place process of the dispatching system of the present invention;
fig. 5 is a flowchart of the polling function of the scheduling system of the present invention.
In the figure: 1-1, a heavy-load AGV control system; 1-2, a human-computer interaction system; 1-3, a wireless communication system; 1-4, a wireless remote controller; 1-5, a goods taking and placing mechanism; 1-6, front and rear magnetic navigation sensors; 1-7, a gyroscope sensor; 1-8, front and back two-dimensional code sensors; 1-9, laser obstacle avoidance radar; 1-10, goods identification RFID; 1-11, a polling camera; 1-12, a left front steering wheel mechanism; 1-13, a right front steering wheel mechanism; 1-14, a left rear steering wheel mechanism; 1-15, right rear steering wheel mechanism; 2-1, carrying out omnidirectional multi-axis heavy-load AGV; 2-2, an omnidirectional multi-shaft heavy-load AGV controller; 2-3, a vehicle-mounted wireless communication module; 2-4, a caller module; 2-5, intelligent storage stacker; 2-6, an intelligent storage stacker controller; 2-7, an intelligent warehousing wireless communication module; 2-8, a wireless communication relay data receiving and transmitting module; 2-9, an omnidirectional multi-axis heavy-load AGV dispatching subsystem is unified; 2-10, an omnidirectional multi-axis heavy-load AGV dispatching subsystem II; 2-11, UPS power; 3-1, processing core of software of an omnidirectional multi-axis heavy-load AGV dispatching system; 3-2, scheduling a system display interface; 3-3, a scheduling system input interface; 3-4, a scheduling system output interface; 3-5, scheduling system data wireless communication interface; 3-6, an AGV moving track editor function module; 3-7, an intelligent warehousing database module; 3-8, a parameter online modification reading function module; 3-9, a dispatching system alarm diagnosis function module; 3-10, a manual operation function module of the dispatching system; 3-11, a scheduling system biological identification login function module; and 3-12, a dispatching system warehouse-in and warehouse-out goods management function module.
Detailed Description
In order to make the technical means, the creation features, the achievement purposes and the effects of the invention easy to understand, the invention is further explained in the following with the accompanying drawings and the embodiments.
As shown in FIG. 2, the omnidirectional multi-axis heavy-load AGV dispatching system comprises an omnidirectional multi-axis heavy-load AGV dispatching subsystem, a wireless communication relay data transceiver module 2-8 connected with the omnidirectional multi-axis heavy-load AGV dispatching subsystem, a plurality of omnidirectional multi-axis heavy-load AGVs 2-1, an omnidirectional multi-axis heavy-load AGV controller 2-2 arranged on the omnidirectional multi-axis heavy-load AGV2-1, caller modules 2-4 corresponding to the omnidirectional multi-axis heavy-load AGVs 2-1 in number, and an intelligent storage stacker 2-5.
The omnidirectional multi-shaft heavy-load AGV dispatching subsystem comprises an omnidirectional multi-shaft heavy-load AGV dispatching subsystem 1 and 2-9 and an omnidirectional multi-shaft heavy-load AGV dispatching subsystem 2-10, wherein the omnidirectional multi-shaft heavy-load AGV dispatching subsystem 2-9 and the omnidirectional multi-shaft heavy-load AGV dispatching subsystem 2-10 are connected with a UPS (uninterrupted power supply) 2-11 as a backup power supply, and when the conventional power supply is stopped, the system is immediately switched to the UPS 2-11 for power supply so as to ensure that the dispatching system can not stop working. The second 2-10 omnidirectional multi-shaft heavy-load AGV dispatching subsystem is a backup system of the second 2-9 omnidirectional multi-shaft heavy-load AGV dispatching subsystem, when the system works normally, the second 2-9 omnidirectional multi-shaft heavy-load AGV dispatching subsystem is in a working state, and the second 2-10 omnidirectional multi-shaft heavy-load AGV dispatching subsystem is in a standby dormant state; when 2-9 of the omnidirectional multi-shaft heavy-load AGV dispatching system stops due to abnormal conditions, 2-10 of the omnidirectional multi-shaft heavy-load AGV dispatching system immediately replaces 2-9 of the omnidirectional multi-shaft heavy-load AGV dispatching system to work.
The wireless communication relay data transceiver module 2-8 is mainly used for receiving data of the omnidirectional multi-axis heavy-load AGV controller 2-2, the caller module 2-4 and the intelligent storage stacker 2-5 and sending the data to the omnidirectional multi-axis heavy-load AGV dispatching subsystem, and meanwhile, can send an execution command of the omnidirectional multi-axis heavy-load AGV dispatching subsystem to the omnidirectional multi-axis heavy-load AGV controller 2-2, the caller module 2-4 and the intelligent storage stacker 2-5.
The omnidirectional multi-axis heavy-load AGV controller 2-2 is mainly used for controlling the omnidirectional multi-axis heavy-load AGV2-1 according to a control signal sent by a received omnidirectional multi-axis heavy-load AGV dispatching subsystem, the omnidirectional multi-axis heavy-load AGV controller 2-2 is connected with a heavy-load AGV control system 1-1 in the omnidirectional multi-axis heavy-load AGV2-1, and a vehicle-mounted wireless communication module 2-3 which is communicated with a wireless communication relay data transceiver module 2-8 is arranged on the omnidirectional multi-axis heavy-load AGV controller.
The caller modules 2-4 are mainly used for sending request information to the omnidirectional multi-axis heavy-load AGV dispatching systems 2-9 and can be connected to traffic control equipment and manual operation equipment through different hardware line connection modes, and the caller modules 2-4 contain integrated wireless communication modules which can communicate with the wireless communication relay data receiving and sending modules 2-8.
The intelligent storage stacker 2-5 is mainly used for picking and placing intelligent storage goods, an intelligent storage wireless communication module 2-7 which is communicated with a wireless communication relay data transceiver module 2-8 is arranged on the intelligent storage stacker 2-5, and an intelligent storage stacker controller 2-6 which controls the intelligent storage stacker 2-5 to perform relevant control operation is arranged.
As shown in fig. 3, the software processing core 3-1 of the omnidirectional multi-axis heavy-load AGV scheduling system is provided in the omnidirectional multi-axis heavy-load AGV scheduling subsystem 3-1. The method has the functions of processing all input signals of the dispatching system, sending control instructions to all devices and coordinating the operation of the whole system.
As shown in fig. 3, the software processing core 3-1 of the omnidirectional multi-axis heavy-load AGV dispatching system includes four input/output data interfaces, which specifically include: the dispatching system display interface 3-2 is mainly used for displaying relevant data in the current system in real time and displaying relevant information such as alarm and the like; the dispatching system input interface 3-3 is mainly used for manually writing data into the omnidirectional multi-axis heavy-load AGV dispatching system by an operator, modifying related parameters and the like; the dispatching system output interface 3-4 is mainly used for outputting relevant data of the omnidirectional multi-axis heavy-load AGV dispatching system outwards, such as relevant data of intelligent storage, relevant technical parameters of the current system, equipment data printing and the like; the dispatching system data wireless communication interface 3-5 is mainly used for communicating the omnidirectional multi-shaft heavy-load AGV dispatching system with other external equipment, such as the omnidirectional multi-shaft heavy-load AGV2-1, the caller module 2-4, the intelligent storage stacker 2-5 and the like.
As shown in FIG. 3, the software processing core 3-1 of the omnidirectional multi-axis heavy-load AGV dispatching system further comprises an AGV moving track editor function module 3-6, an intelligent warehousing database module 3-7, a parameter online modification and reading function module 3-8, a dispatching system alarm diagnosis function module 3-9, a dispatching system manual operation function module 3-10, a dispatching system biological identification login function module 3-11 and a dispatching system warehouse-in and warehouse-out goods management function module 3-12.
The AGV moving track editor function module 3-6 is mainly used for editing the path information of the heavy-load AGV in advance, for example, information such as a parking station, a goods taking station, a goods placing station and a charging station, the generated path information is matched with the heavy-load actual path information, and when the whole system works, the states of the omnidirectional multi-shaft heavy-load AGV2-1 in moving, parking, goods taking and goods placing can be displayed on the path information in real time.
The intelligent storage database module 3-7 is mainly used for storing related information of stored goods in the intelligent storage, such as the information of goods types, goods volumes, goods weights, goods shelf positions, storage time and the like; the operator can inquire various detailed information of the current goods by consulting the intelligent warehousing database module 3-7; the information in the intelligent warehousing database modules 3-7 can be stored in the heavy-load AGV dispatching system in a power-off mode.
The parameter online modification and reading functional module 3-8 is mainly used for modifying or reading parameters of the omnidirectional multi-axis heavy-load AGV2-1, parameters of the intelligent storage stacker 2-5 and other related equipment in the omnidirectional multi-axis heavy-load AGV dispatching system software online or offline.
The dispatching system alarm diagnosis function modules 3-9 are mainly used for displaying all main systems in the current omnidirectional multi-axis heavy-load AGV dispatching system on line, such as: omnidirectional multi-axis heavy-load AGV2-1, intelligent storage stacker 2-5 and other alarm information.
The manual operation functional module 3-10 of the dispatching system is mainly used for performing manual operation on equipment such as the omnidirectional multi-axis heavy-load AGV2-1 and the intelligent storage stacker 2-5 on line.
The biological identification login functional module 3-11 of the dispatching system is mainly used for determining whether a login request sent by an operator is allowed or not by detecting specific biological differences among different human bodies through similar fingerprint identification, iris identification, face identification and the like.
The dispatching system warehouse-in and warehouse-out goods management function module 3-12 is mainly used for managing warehouse-in and warehouse-out registration and identification of goods and marking an individual RFID coding function for each goods, and related data are directly led into the intelligent warehousing database module 3-7 to be stored.
As shown in fig. 1, the system is a heavy-load AGV control system 1-1 in an omnidirectional multi-axis heavy-load AGV2-1, where the heavy-load AGV control system 1-1 is a core controller of an omnidirectional multi-axis heavy-load AGV2-1, and is in communication connection with an omnidirectional multi-axis heavy-load AGV controller 2-2. The heavy-load AGV control system 1-1 comprises a man-machine interaction system 1-2, a wireless communication system 1-3, a wireless remote controller 1-4, a goods taking and placing mechanism 1-5, a front magnetic navigation sensor 1-6, a rear magnetic navigation sensor 1-7, a front two-dimensional code sensor 1-8, a laser obstacle avoidance radar 1-9, a goods identification RFID1-10, a patrol camera 1-11, a left front steering wheel mechanism 1-12, a right front steering wheel mechanism 1-13, a left rear steering wheel mechanism 1-14 and a right rear steering wheel mechanism 1-15.
The human-computer interaction system 1-2 enables an operator to directly perform operations such as equipment manual operation, parameter monitoring, data monitoring, parameter modification and working mode modification on the heavy AGV.
The wireless communication system 1-3 can directly control the heavy-load AGV to complete motion control and signal acquisition, and wireless communication is completed through the wireless communication system 1-3 carried by the wireless communication system and the dispatching system.
The goods taking and placing mechanism 1-5 can be controlled by the heavy-load AGV control system 1-1 to complete goods taking and placing actions of the omnidirectional multi-shaft heavy-load AGV 2-1.
Preceding, back magnetic navigation sensor 1-6 install two departments around the automobile body respectively, gyro sensor 1-7 is installed on qxcomm technology multiaxis heavy load AGV2-1, gyro sensor 1-7 plays under some operating condition, and heavy load AGV probably breaks away from the magnetic stripe, and when no longer using magnetic navigation to carry out tracking work, uses gyro sensor 1-7 to carry out short distance inertial navigation's effect, and under inertial navigation mode, qxcomm technology multiaxis heavy load AGV2-1 reads gyro sensor 1-7's course angle data, rectifies and gos forward.
The front and rear two-dimensional code sensors 1-8 read two-dimensional code data of two-dimensional code marks attached to the moving path of the omnidirectional multi-axis heavy-load AGV2-1, so that the omnidirectional multi-axis heavy-load AGV2-1 can complete different corresponding functions according to the read different data.
Fig. 4 is a flow chart of the intelligent warehouse picking and placing of goods according to the present invention. And the omnidirectional multi-shaft heavy-load AGV dispatching system sends a goods taking or goods placing instruction to the related equipment.
When the instruction is a goods taking instruction, firstly, the intelligent storage stacker 2-5 moves to a shelf position specified by the omnidirectional multi-axis heavy-load AGV dispatching system, and after the goods are in place, the intelligent storage stacker 2-5 scans whether the RFID parameter information of the goods is matched with the intelligent storage database module 3-7; then when the data are not matched, the intelligent storage stacker 2-5 sends an alarm to the omnidirectional multi-shaft heavy-load AGV dispatching system; finally, when the data are matched, the intelligent storage stacker 2-5 takes out the goods and places the goods to an intelligent storage delivery point, and then the omnidirectional multi-shaft heavy-load AGV2-1 takes the goods away; at this point, a pick instruction cycle ends.
When the instruction is a goods placing instruction, firstly, the omnidirectional multi-shaft heavy-load AGV2-1 places goods to the intelligent storage goods feeding point, and then the intelligent storage stacker 2-5 moves the intelligent storage goods feeding point to take the goods away; then, the intelligent storage stacker 2-5 moves an intelligent storage shelf appointed by the omnidirectional multi-axis heavy-load AGV dispatching system, when the intelligent storage shelf reaches the appointed shelf position, the intelligent storage shelf is compared with intelligent storage data in an intelligent storage database module 3-7 to judge whether the goods data are matched, and if the data are abnormal or not matched, the intelligent storage stacker 2-5 sends an alarm to the omnidirectional multi-axis heavy-load AGV dispatching system; finally, when the data are matched with each other, the intelligent storage stacker 2-5 moves the goods into a designated goods shelf; at this point, a put command cycle ends.
Fig. 5 is a flow chart of the polling function of the present invention. Firstly, an omnidirectional multi-shaft heavy-load AGV dispatching system sends a patrol command request to related equipment, when the omnidirectional multi-shaft heavy-load AGV2-1 in the system is in a standby state, the corresponding dispatching system command is carried out, otherwise, the patrol function command is temporarily put aside; then the omnidirectional multi-axis heavy-load AGV2-1 which receives the inspection function instruction and is in a standby state starts to execute the inspection task; and finally, when the inspection AGV2-1 moves to the position of the intelligent storage rack, the rack is inspected through the goods identification RFID1-10, RFID data in the rack and data in the intelligent storage data module 3-7 are compared and matched, and when the data are not matched, the omnidirectional multi-axis heavy-load AGV2-1 sends a data abnormity alarm to the omnidirectional multi-axis heavy-load AGV dispatching system.
The omnidirectional multi-axis heavy AGV2-1 checks the shelves in each smart warehouse according to the above process until the scheduling system has other instructions to send to the omnidirectional multi-axis heavy AGV 2-1.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are merely illustrative of the principles of the invention, but that various changes and modifications may be made without departing from the spirit and scope of the invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (8)
1. The utility model provides an qxcomm technology multiaxis heavy load AGV dispatch system which characterized in that: the method comprises the following steps:
the omnidirectional multi-shaft heavy-load AGV dispatching subsystem is connected with a wireless communication relay data transceiver module (2-8);
the omnidirectional multi-shaft heavy-load AGV controller (2-2) is arranged on the omnidirectional multi-shaft heavy-load AGV (2-1), is connected with a heavy-load AGV control system (1-1) in the omnidirectional multi-shaft heavy-load AGV (2-1), communicates with the wireless communication relay data transceiver module (2-8) through the vehicle-mounted wireless communication module (2-3), and is used for controlling the omnidirectional multi-shaft heavy-load AGV (2-1) according to a control signal sent by the omnidirectional multi-shaft heavy-load AGV dispatching subsystem;
and the software processing core (3-1) of the omnidirectional multi-axis heavy-load AGV dispatching system is arranged on the omnidirectional multi-axis heavy-load AGV dispatching subsystem and is used for processing all input signals, sending control instructions to all equipment and coordinating the operation of the whole system.
2. The system of claim 1, wherein said system further comprises: the intelligent warehousing storage system is characterized by further comprising a caller module (2-4) and an intelligent warehousing stacker (2-5), wherein the caller module (2-4) is communicated with the wireless communication relay data transceiver module (2-8), and the intelligent warehousing stacker (2-5) is communicated with the wireless communication relay data transceiver module (2-8) through the intelligent warehousing wireless communication module (2-7).
3. The system of claim 1, wherein said system further comprises: the omnidirectional multi-axis heavy-load AGV dispatching subsystem comprises an omnidirectional multi-axis heavy-load AGV dispatching subsystem (2-9) and an omnidirectional multi-axis heavy-load AGV dispatching subsystem two (2-10), wherein the omnidirectional multi-axis heavy-load AGV dispatching subsystem two (2-10) is a backup system of the omnidirectional multi-axis heavy-load AGV dispatching subsystem (2-9), the omnidirectional multi-axis heavy-load AGV dispatching subsystem two (2-10) is connected with a UPS (2-11), and the omnidirectional multi-axis heavy-load AGV dispatching subsystem two (2-9) and the omnidirectional multi-axis heavy-load AGV dispatching subsystem two (2-10) realize data exchange through wireless communication.
4. The system of claim 1, wherein said system further comprises: the software processing core (3-1) of the omnidirectional multi-axis heavy-load AGV dispatching system comprises a dispatching system display interface (3-2), a dispatching system input interface (3-3), a dispatching system output interface (3-4) and a dispatching system data wireless communication interface (3-5), wherein the dispatching system data wireless communication interface (3-5) is connected with a wireless communication relay data transceiver module (2-8).
5. The system of claim 4, wherein said system further comprises: the software processing core (3-1) of the omnidirectional multi-axis heavy-load AGV dispatching system further comprises an AGV moving track editor function module (3-6), an intelligent warehousing database module (3-7), a parameter online modification reading function module (3-8), a dispatching system alarm diagnosis function module (3-9), a dispatching system manual operation function module (3-10), a dispatching system biological identification login function module (3-11) and a dispatching system warehouse-in and warehouse-out goods management function module (3-12).
6. The system of claim 1, wherein said system further comprises: the omnidirectional multi-shaft heavy-load AGV dispatching subsystem has the intelligent storage goods taking and placing functions.
7. The system of claim 1, wherein said system further comprises: the omnidirectional multi-axis heavy-load AGV dispatching subsystem has a polling function.
8. The system of claim 1, wherein said system further comprises: heavy load AGV control system (1-1) in qxcomm technology multiaxis heavy load AGV (2-1) includes man-machine interaction system (1-2), wireless communication system (1-3), wireless remote controller (1-4), gets and puts cargo aircraft structure (1-5), preceding, back magnetic navigation sensor (1-6), gyroscope sensor (1-7), preceding, back two-dimensional code sensor (1-8), laser obstacle avoidance radar (1-9), goods discernment RFID (1-10), patrol and examine camera (1-11), left front steering wheel mechanism (1-12), right front steering wheel mechanism (1-13), left back steering wheel mechanism (1-14), right back steering wheel mechanism (1-15).
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