CN114590129B - AGV emergency braking system - Google Patents
AGV emergency braking system Download PDFInfo
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- CN114590129B CN114590129B CN202210304049.0A CN202210304049A CN114590129B CN 114590129 B CN114590129 B CN 114590129B CN 202210304049 A CN202210304049 A CN 202210304049A CN 114590129 B CN114590129 B CN 114590129B
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- agv
- emergency braking
- braking system
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- braking
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- 230000002457 bidirectional effect Effects 0.000 claims abstract description 16
- 238000003384 imaging method Methods 0.000 claims description 9
- 238000000034 method Methods 0.000 claims description 6
- 230000001960 triggered effect Effects 0.000 claims description 6
- 238000005070 sampling Methods 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000010276 construction Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L7/00—Electrodynamic brake systems for vehicles in general
- B60L7/006—Dynamic electric braking by reversing current, i.e. plugging
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
- B60T7/22—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle, or by means of contactless obstacle detectors mounted on the vehicle
-
- 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
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Power Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Regulating Braking Force (AREA)
Abstract
The invention discloses an AGV emergency braking system, which comprises a controller, a bidirectional braking system, an emergency braking system and an emergency braking circuit, wherein the bidirectional braking system, the emergency braking system and the emergency braking circuit are connected with the controller; the bidirectional braking system comprises an AGV running direction judging module and a braking module, and controls a braking motor opposite to the AGV running direction to run for braking according to the AGV running direction measured by the AGV running direction judging module; the emergency braking system comprises a collision time calculation module and a safety distance calculation module; according to the invention, the bidirectional braking system is adopted, the AGV moves forwards and adopts the rear brake, the AGV moves backwards and adopts the front brake, the braking point is opposite to the movement direction when each brake is ensured, so that the brake is more stable, the AGV can not be driven when the brake is started, the safety coefficient of the AGV is improved, the motor can be reversely braked to carry out emergency brake under emergency conditions, and the brake is faster to prevent accidents.
Description
Technical Field
The invention relates to the field of AGV braking, in particular to an AGV emergency braking system.
Background
Automated Guided Vehicle AGVs are called AGVs for short, currently most common applications are AGVs, such as AGVs, intelligent transfer robots or AGV trolleys, wherein the main functions are concentrated in automatic logistics transfer, the AGVs, intelligent transfer robots, through special landmark navigation, automatically transport objects to a designated place, the most common guiding modes are magnetic stripe guiding, laser guiding, RFID guiding and the like, the traditional AGVs do not have a braking function, the transport cannot stop in time when reaching a destination, and trouble is easily caused to the transport.
Disclosure of Invention
In order to solve the technical problems, the technical scheme provided by the invention is as follows: an AGV emergency braking system comprises a controller, a bidirectional braking system, an emergency braking system and an emergency braking circuit, wherein the bidirectional braking system, the emergency braking system and the emergency braking circuit are connected with the controller;
the bidirectional braking system comprises an AGV running direction judging module and a braking module, wherein the bidirectional braking system controls a braking motor opposite to the AGV running direction to run according to the AGV running direction measured by the AGV running direction judging module to brake, namely, a rear wheel braking motor is adopted to brake when the AGV moves forwards, and a front wheel braking motor is adopted to brake when the AGV moves backwards;
the emergency braking system comprises a collision time calculation module and a safety distance calculation module, wherein the collision time calculation module compares the collision time of the vehicle with a safety time threshold value through calculation so as to judge whether emergency braking is carried out; the safety distance calculation module calculates the minimum distance between the vehicle and the obstacle, which is required to be kept when the vehicle avoids collision with the obstacle, based on the current running condition of the trolley, so as to judge whether emergency braking is performed;
the emergency braking circuit comprises a motor active power-off circuit connected to the wheel driving motor and a motor counter-braking emergency braking circuit.
Further, the AGV running direction judging module judges based on a photoelectric encoder, wherein the photoelectric encoder is arranged on a wheel rotating shaft, and the AGV running direction is judged according to the wheel running direction.
Further, the braking module comprises a front wheel braking motor and a rear wheel braking motor.
Further, the implementation method of the collision time calculation module comprises the following steps:
(1) When the Time To Collision (TTC) is below a preset threshold, the emergency braking system is triggered and applies an emergency brake, expressed as:
；
in the above formula: z is the relative distance from the vehicle to the obstacle; v is the relative speed between the host vehicle and the obstacle;
(2) Since the relative distance and relative velocity cannot be measured directly with the vision sensor, TTC is expressed as a function of the change in size of the object pixels in the image over the sampling time Δt, which value can be accurately calculated from the sequence of image frames:
according to the small hole imaging model of the camera, the following steps are:
；
in the above formula: wt is the width of the vehicle in the image at time t; zt is the camera to object distance; w is the actual width of the obstacle; f is the focal length of the camera;
(3) The dimensional change rate S is defined as the ratio of the imaging width of the object between two adjacent images:
；
when the time interval between two images is small enough, it can be expressed as:
；
so that:
；
extracting from the aboveThe method comprises the following steps:
；
the TTC can be calculated according to the imaging size change of the obstacle and the time, and when the TTC value is lower than a preset threshold value, emergency braking is triggered.
Further, the motor active power-off circuit comprises QS knife switches and KM1 movable main contacts which are connected to three power lines of the motor, and KM2 movable main contacts and resistors R are connected in parallel at two ends of the KM1 movable main contacts.
Further, the motor reaction emergency brake circuit comprises an SB1 button, an SB2 button, an KM2 movable contact, an KM1 coil and an FR thermal relay which are connected with two power lines of the motor in series, and KA current relays, an KM1 movable contact and an KM2 coil which are connected with the SB1 button, the SB2 button, the KM2 movable contact and the KM1 coil in parallel, wherein the KM1 movable contact is connected with the two ends of the SB2 button in parallel.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and that other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a system schematic of an AGV emergency braking system according to the invention.
FIG. 2 is a schematic diagram of the connection of an emergency brake circuit in an AGV emergency brake system according to the invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. The components of the embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Examples:
an AGV emergency braking system comprises a controller, a bidirectional braking system, an emergency braking system and an emergency braking circuit, wherein the bidirectional braking system, the emergency braking system and the emergency braking circuit are connected with the controller; the bidirectional braking system comprises an AGV running direction judging module and a braking module, wherein the bidirectional braking system controls a braking motor opposite to the AGV running direction to run for braking according to the AGV running direction measured by the AGV running direction judging module, namely, a rear wheel braking motor is adopted for braking when the AGV moves forwards, and a front wheel braking motor is adopted for braking when the AGV moves backwards;
the AGV driving direction judging module judges based on a photoelectric encoder, the photoelectric encoder is arranged on a wheel rotating shaft, the AGV driving direction is judged according to the wheel driving direction, and when the AGV driving direction judging module is implemented, a photoelectric encoding disc is fixed on the rotating shaft, one side of the disc is a light source, and the other side of the disc is a photoelectric receiver. When the coding disc rotates along with the motor shaft, pulse waveforms of A phase (generated by the inner ring) and B phase (generated by the outer ring) are respectively generated on the photoelectric receiver, and the rotating speed and the rotating direction of the motor shaft can be determined according to the position and the time information of the pulse waveforms of the A phase and the B phase. Such as: the phase A rotates clockwise when leading the phase B, and rotates anticlockwise when leading the phase A; the rotation direction of the motor is known, and the brake wheel is a front wheel or a rear wheel when the emergency brake is controlled according to the rotation direction.
The emergency braking system comprises a collision time calculation module and a safety distance calculation module, wherein the collision time calculation module compares the calculated collision time of the vehicle with a safety time threshold value so as to judge whether emergency braking is carried out; the safety distance calculation module calculates the minimum distance between the vehicle and the obstacle, which is required to be kept when the vehicle avoids colliding with the obstacle, based on the current condition of the trolley running, so as to judge whether emergency braking is performed; the braking module comprises a front wheel braking motor and a rear wheel braking motor;
the implementation method of the collision time calculation module comprises the following steps:
(1) When the Time To Collision (TTC) is below a preset threshold, the emergency braking system is triggered and applies an emergency brake, expressed as:
；
in the above formula: z is the relative distance from the vehicle to the obstacle; v is the relative speed between the host vehicle and the obstacle;
(2) Since the relative distance and relative velocity cannot be measured directly with the vision sensor, TTC is expressed as a function of the change in size of the object pixels in the image over the sampling time Δt, which value can be accurately calculated from the sequence of image frames:
according to the small hole imaging model of the camera, the following steps are:
；
in the above formula: w (w) t The width of the vehicle in the image at the moment t; z is Z t Is the distance of the camera to the object; w is the actual width of the obstacle; f is the focal length of the camera;
(3) The dimensional change rate S is defined as the ratio of the imaging width of the object between two adjacent images:
；
when the time interval between two images is small enough, it can be expressed as:
；
so that:
；
extracting from the aboveThe method comprises the following steps:
；
the TTC can be calculated according to the imaging size change of the obstacle and the time, and when the TTC value is lower than a preset threshold value, emergency braking is triggered.
The emergency braking circuit comprises a motor active power-off circuit and a motor counter-braking emergency braking circuit which are connected to the wheel driving motor; the motor active power-off circuit comprises QS knife switches and KM1 movable main contacts which are connected to three power lines of the motor, and KM2 movable main contacts and resistors R are connected in parallel at two ends of the KM1 movable main contacts; the motor anti-emergency braking circuit comprises an SB1 button, an SB2 button, a KM2 movable break contact, a KM1 coil and an FR thermal relay which are connected in series with two power lines of the motor, and KA current relays, KM1 movable break contacts and KM2 coils which are connected in parallel with the SB1 button, the SB2 button and the KM2 movable break contact at two ends of the KM1 coil, wherein the two ends of the SB2 button are also connected in parallel with KM1 movable break contacts.
When the emergency braking motor is in specific implementation, an emergency braking circuit diagram of active power failure and motor reverse braking is shown in the attached drawing of the specification, and the principle is that after the motor stops normal forward running, the motor is immediately reversed by adjusting two power lines to generate braking torque, so that the aim of stopping as soon as possible is fulfilled, and the specific operation flow is as follows: when the motor rotates at a speed greater than 120 turns per minute, the speed relay moving contact is closed, when an emergency happens, the system presses down SB1, the moving contact of SB1 opens the circuit of KM1, the motor is powered off in a forward rotation mode, meanwhile, the SB1 moving contact is closed, the KM2 coil is powered on, the KM2 moving contact opens the circuit of KM1, interlocking is achieved, the KM2 moving contact is closed, a resistor is connected in the reversing circuit in series to reduce excessive reversing current, when positive torque counteracts each other, the motor rotates at a speed less than 120 turns per minute, the speed relay moving contact is opened, the reverse contact is opened, and braking is completed.
The invention and its embodiments have been described above with no limitation, and the actual construction is not limited to the embodiments of the invention as shown in the drawings. In summary, if one of ordinary skill in the art is informed by this disclosure, a structural manner and an embodiment similar to the technical solution should not be creatively devised without departing from the gist of the present invention.
Claims (6)
1. The AGV emergency braking system is characterized by comprising a controller, a bidirectional braking system, an emergency braking system and an emergency braking circuit, wherein the bidirectional braking system, the emergency braking system and the emergency braking circuit are connected with the controller;
the bidirectional braking system comprises an AGV running direction judging module and a braking module, wherein the bidirectional braking system controls a braking motor opposite to the AGV running direction to run according to the AGV running direction measured by the AGV running direction judging module to brake, namely, a rear wheel braking motor is adopted to brake when the AGV moves forwards, and a front wheel braking motor is adopted to brake when the AGV moves backwards;
the emergency braking system comprises a collision time calculation module and a safety distance calculation module, wherein the collision time calculation module compares the collision time of the vehicle with a safety time threshold value through calculation so as to judge whether emergency braking is carried out; the safety distance calculation module calculates the minimum distance between the vehicle and the obstacle, which is required to be kept when the vehicle avoids collision with the obstacle, based on the current running condition of the trolley, so as to judge whether emergency braking is performed;
the emergency braking circuit comprises a motor active power-off circuit connected to the wheel driving motor and a motor counter-braking emergency braking circuit.
2. The system of claim 1 wherein the AGV travel direction determination module determines the direction of travel of the AGV based on a photoelectric encoder disposed on a wheel rotation axis and determining the direction of travel of the AGV based on the direction of travel of the wheel.
3. The AGV emergency braking system of claim 1, wherein said braking module includes a front wheel braking motor and a rear wheel braking motor.
4. The AGV emergency braking system of claim 1, wherein the method for implementing the collision time calculation module includes the steps of:
(1) When the Time To Collision (TTC) is below a preset threshold, the emergency braking system is triggered and applies an emergency brake, expressed as:
；
in the above formula: z is the relative distance from the vehicle to the obstacle; v is the relative speed between the host vehicle and the obstacle;
(2) Since the relative distance and relative velocity cannot be measured directly with the vision sensor, TTC is expressed as a function of the change in size of the object pixels in the image over the sampling time Δt, which value can be accurately calculated from the sequence of image frames:
according to the small hole imaging model of the camera, the following steps are:
；
in the above formula: w (w) t The width of the vehicle in the image at the moment t; z is Z t Is the distance of the camera to the object; w is the actual width of the obstacle; f is the focal length of the camera;
(3) The dimensional change rate S is defined as the ratio of the imaging width of the object between two adjacent images:
；
when the time interval between two images is small enough, it can be expressed as:
；
so that:
；
extracting from the aboveThe method comprises the following steps:
；
the TTC can be calculated according to the imaging size change of the obstacle and the time, and when the TTC value is lower than a preset threshold value, emergency braking is triggered.
5. The AGV emergency braking system according to claim 1 wherein the motor active power-off circuit comprises a QS knife switch and a KM1 movable main contact which are connected to three power lines of the motor, and both ends of the KM1 movable main contact are connected with a KM2 movable main contact and a resistor R in parallel.
6. The AGV emergency braking system according to claim 1, wherein the motor-countered emergency braking circuit comprises an SB1 button, an SB2 button, a KM2 break contact, a KM1 coil, an FR thermal relay connected in series with two power lines of the motor, and a KA current relay, a KM1 break contact, and a KM2 coil connected in parallel with the SB1 button, the SB2 button, the KM2 break contact, and both ends of the KM1 coil, and both ends of the SB2 button are also connected in parallel with KM1 break contacts.
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| CN202210304049.0A CN114590129B (en) | 2022-03-25 | 2022-03-25 | AGV emergency braking system |
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