CN203444333U - Magnetic tape guidance AGV (Automatic Guided Vehicle) central control system - Google Patents

Abstract

The central control system of the tape-guided AGV trolley consists of a PLC control module, a magnetic guidance sensor, a landmark sensor, an angle potentiometer, a safety barrier sensor, a DC motor governor, a power supply module, a wireless communication module and a host computer. The lead sensor, landmark sensor, angle potentiometer, and safety barrier sensor are all connected to the PLC control module; the PLC control module is composed of a PLC controller, A/D converter, and D/A converter, and the PLC control module is controlled by a DC motor. The controller is connected with the motor; the wireless communication module includes a wireless communication sub-module and a wireless communication main module, the wireless communication sub-module is connected with the PLC control module through the RS-485 serial port line, and the wireless communication main module is connected with the upper computer through the RS-232 serial port line. The utility model has beneficial effects: the production and development cycle of the tape-guided AGV trolley control system is shortened by adopting the PLC control module, and the reliability and stability of the tape-guided AGV trolley control system are improved; the system is easy to maintain and has strong scalability.

Description

Tape-guided AGV trolley central control system

technical field

The utility model relates to the field of AGV trolley control, in particular to a tape-guided AGV trolley central control system. the

Background technique

AGV is the English abbreviation of Automated Guided Vehicle. It refers to a transport vehicle that is equipped with automatic guidance devices such as electromagnetic or optical, can drive along the specified guidance path, and has safety protection and various transfer functions. There are many automatic guidance methods for AGV trolleys, such as: direct Coordinate, electromagnetic guidance, tape guidance, optical guidance, laser guidance, inertial navigation, visual navigation and GPS (Global Positioning System) navigation. The way of tape guidance is similar to that of electromagnetic guidance. Instead of burying metal wires under the ground, tapes are pasted on the road surface, and guidance is achieved through magnetic induction signals. It has better flexibility, easier to change or expand paths, and simple tape laying. Easy to do, less tape and construction costs. The central control system of the tape-guided AGV car is the key equipment of the tape-guided AGV car and the control center for the stable and safe operation of the whole car. The traditional tape-guided AGV car mostly uses a circuit board with a single-chip microcomputer as the core as the control system, which has high integration, high cost performance, and strong reliability. However, its system programming equipment is cumbersome, program algorithm and reliability verification is difficult, and the development cycle is long. At the same time, when it is necessary to improve and change the corresponding functions of the trolley according to the ever-changing requirements of the industrial site, it is not easy to change, and the basic changes need to involve the modification of the hardware. the

Contents of the invention

The technical problem to be solved by the utility model is to provide a tape-guided AGV central control system for the above-mentioned shortcomings of the traditional tape-guided AGV car, so that the car has automatic tracking, landmark recognition, safety barriers, sound and light Control, wireless remote communication, upper computer remote monitoring configuration interface functions. the

The technical scheme that the utility model adopts for solving the problems of the technologies described above is:

The tape-guided AGV central control system is composed of a PLC control module, a magnetic guidance sensor, a landmark sensor, an angle potentiometer, a safety barrier sensor, a DC motor governor, a power supply module, a wireless communication module and a host computer. The magnetic guidance sensor, the landmark sensor, the angle potentiometer, and the safety barrier sensor are all connected to the PLC control module; the PLC control module is composed of a PLC controller, an A/D converter, and a D/A converter. The DC motor governor is connected to the motor; the power module is connected to the PLC control module; the wireless communication module includes a wireless communication sub-module and a wireless communication main module, and the wireless communication sub-module is controlled by the PLC through an RS-485 serial port line The modules are connected, and the wireless communication main module is connected with the upper computer through the RS-232 serial port line.

According to the above scheme, the system also includes a text monitor, which is connected to the PLC control module through the RS-232 serial port line, and is used for the automatic correction before the start of the trolley and the completion of the manual operation function related to the non-running state of the trolley . the

According to the above solution, the safety barrier sensor is composed of a group of photoelectric switches and a proximity switch. the

According to the solution above, the power supply module is a storage battery. the

According to the above solution, the wireless communication module is a Zigbee wireless communication module. the

The working principle of the utility model: the central control system of the tape-guided AGV trolley adopts the PLC control module as its control core. After the special guide tape and landmark tape are pasted on the ground, the magnetic guide sensor detects the position of the guide tape, The landmark sensor detects the information of the landmark tape, and the PLC control module automatically collects the switching signal generated by the magnetic guidance sensor, the landmark sensor, and the safety barrier sensor under the action of the magnetic field of the tape and obstacle factors, and the progress of the trolley drive unit collected by the angle potentiometer The analog voltage signal corresponding to the angle between the direction and the trolley body is processed by its built-in program to generate an output signal. With the assistance of the DC motor governor, the two wheels (left drive wheel and right drive wheel) of the trolley drive unit are completed. Differential speed control of the motor, so that the AGV car can complete the tracking movement along the guide tape and read the landmark information, and realize the car tracking, landmark recognition, body sound and light control, car acceleration and deceleration, reverse, and branching and other functions; with the assistance of the safety barrier sensor (a group of photoelectric switches and a proximity switch), the car has a safety barrier function; under the action of the angle potentiometer, the car has the functions of automatic correction and automatic control of the body signal lights; At the same time, under the action of the wireless communication module, the remote monitoring of the AGV car by the upper computer and the customization of different landmarks are completed, and the wireless communication function between the car and the upper computer is realized. the

Compared with the prior art, the utility model has the beneficial effects: the trolley has the functions of automatic tracking, landmark identification, safety barrier, sound and light control, wireless remote communication and landmark self-definition; On the one hand, the production and development cycle of the tape-guided AGV trolley control system is shortened, and the reliability and stability of the tape-guided AGV trolley control system are improved; the system is easy to maintain and has strong scalability. the

Description of drawings

Fig. 1 is the overall control logic block diagram of the central control system of the tape-guided AGV trolley of the utility model;

Fig. 2 is the structural schematic diagram of the hardware layout of the central control system of the tape-guided AGV trolley of the utility model;

In the figure, 1-photoelectric switch, 2-right universal caster, 3-PLC control module, 4-Zigbee wireless communication module, 5-magnetic guidance sensor, 6-right driving wheel, 7-landmark sensor, 8, 11- Battery, 9-right directional caster, 10-left directional caster, 12-drive unit, 13-angle potentiometer, 14-left drive wheel, 15-car chassis, 16-proximity switch, 17-left universal caster, 18- Car front guard.

Detailed ways

Below in conjunction with embodiment and accompanying drawing, the technical solution of the utility model is described further. the

Referring to Fig. 1, the tape-guided AGV trolley central control system described in the utility model is composed of a PLC control module, a magnetic guidance sensor, a landmark sensor, an angle potentiometer, a safety barrier sensor, a DC motor governor, a power supply Module, wireless communication module and upper computer, the magnetic guidance sensor, landmark sensor, angle potentiometer, safety barrier sensor are all connected to the PLC control module; the PLC control module is composed of PLC controller, A/D converter , D/A converter, the PLC control module is connected to the motor through the DC motor governor; the power supply module is connected to the PLC control module; the wireless communication module includes a wireless communication sub-module and a wireless communication main module, and the wireless The communication sub-module is connected with the PLC control module through the RS-485 serial port line, and the wireless communication main module is connected with the host computer through the RS-232 serial port line, which is used to realize the wireless communication and remote monitoring function between the car and the host computer. the

The system also includes a text monitor, which is connected to the PLC control module through the RS-232 serial port line, and is used for the automatic correction before the start of the trolley and the completion of the relevant manual operation functions of the trolley in the non-running state (such as: forward , back, turn left, turn right, the drive unit is automatically corrected). the

The power module is composed of two batteries 8,11. the

The wireless communication module is a Zigbee wireless communication module 4, and the Zigbee wireless communication module 4 is used to realize wireless communication and remote monitoring functions between the dolly and the upper computer, and has strong anti-interference ability and long effective transmission distance. The upper computer MCGS configuration interface is used to complete the remote monitoring and control of the running status of the trolley and complete the custom selection of the digits and functions of each group of landmarks. the

Referring to Fig. 2, when working, each structure is arranged on the chassis 15 of the AGV trolley. When the magnetic guidance sensor 5 senses the magnetic field of the guidance tape, it will generate some switching input signals, which will pass through the PLC control module 3. After the processing of the program, the digital signal corresponding to a series of switching signals generated by the magnetic guidance sensor 5 in the program is converted into a voltage signal of 0-5V by the D/A converter of the PLC control module 3, and then converted from 0 to 5V. The voltage signal of -5V controls the motor rotation speed of the left driving wheel 14 and the right driving wheel 6 of the car through the DC motor governor of the car driving unit 12 . The landmark sensor 7 can detect landmarks with different polarities of the N and S poles. By defining the attributes of the N and S pole landmarks (for example: defining the N pole landmark as 1 and the S pole landmark as 0), when the PLC control module 3 When the PLC controller receives the switching input signal of the landmark sensor 7, it converts each set of landmark information into a set of binary numbers through the built-in program, and each binary number corresponds to a set of functions of the car, which is customized in advance through the landmark function Select the specific function of this group of landmarks on the interface to realize the most basic landmark recognition function of the car. The safety barrier sensor consists of a group of photoelectric switches 1 and a proximity switch 16. When the trolley is not in contact with an obstacle during operation but the photoelectric switch 1 detects the existence of an obstacle in advance, it will generate a switching signal. In some environments, the photoelectric switch 1 does not detect the existence of obstacles, but the car is still moving towards the obstacle. When the front guard plate 18 of the car is in hard contact with the obstacle, touching the proximity switch 16 will also generate a digital input signal , that is, two methods of non-contact and contact are used to ensure the safe barrier function of the car. When the PLC controller 3 receives the switch input signal, it will temporarily stop or stop the car, so as to achieve the safety barrier function. Effect. The angle potentiometer 13 is mainly used to judge the angle between the forward direction of the trolley drive unit and the trolley body (specifically, through the positioning analysis of the trolley’s left swivel caster 17, right swivel caster 2, left directional caster 10, and right directional caster 9 obtained), different angle ranges can correspond to different voltage signal outputs of 0-10V on the angle potentiometer 13, after being processed by the A/D converter of the PLC control module 3, the analog voltage signal of 0-10V is converted into 0-4000 digital model, so that the movement trend of the trolley can be judged, and then the light indication of the trolley body can be controlled accordingly. At the same time, when the trolley is started, the function of automatic correction of the trolley drive unit 12 can be completed. the

The above descriptions are only preferred embodiments of the present utility model, and are not intended to limit the present utility model. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present utility model shall be included in this utility model. within the scope of protection of utility models. the

Claims (5)

1. tape guidance AGV dolly central control system, it is characterized in that: PLC control module, magnetic guide sensor, landmark sensor, angular potentiometer, safe keep in obscurity sensor, DC motor speed-regulating device, power module, wireless communication module and host computer, consist of, described magnetic guide sensor, landmark sensor, angular potentiometer, the safe sensor that keeps in obscurity are all connected to PLC control module; Described PLC control module is comprised of PLC controller, A/D converter, D/A converter, and PLC control module is connected with motor through DC motor speed-regulating device; Described power module is connected with PLC control module; Described wireless communication module comprises wireless telecommunications submodule and wireless telecommunications primary module, and described wireless telecommunications submodule is connected with PLC control module by RS-485 Serial Port Line, and described wireless telecommunications primary module is connected with host computer by RS-232 Serial Port Line.

2. tape guidance AGV dolly central control system as claimed in claim 1, is characterized in that: this system also comprises text monitor, and described text monitor is connected with PLC control module by RS-232 Serial Port Line.

3. tape guidance AGV dolly central control system as claimed in claim 1, is characterized in that: the described safety sensor that keeps in obscurity is comprised of one group of optoelectronic switch and an approach switch.

4. tape guidance AGV dolly central control system as claimed in claim 1, is characterized in that: described power module is accumulator.

5. tape guidance AGV dolly central control system as claimed in claim 1, is characterized in that: described wireless communication module is Zigbee wireless communication module.

Images