CN203444333U - Magnetic tape guidance AGV (Automatic Guided Vehicle) central control system - Google Patents
Magnetic tape guidance AGV (Automatic Guided Vehicle) central control system Download PDFInfo
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- CN203444333U CN203444333U CN201320492388.2U CN201320492388U CN203444333U CN 203444333 U CN203444333 U CN 203444333U CN 201320492388 U CN201320492388 U CN 201320492388U CN 203444333 U CN203444333 U CN 203444333U
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Abstract
A magnetic tape guidance AGV (Automatic Guided Vehicle) central control system is composed of a PLC module, a magnetic guidance sensor, a landmark sensor, an angle potentiometer, a safety shield sensor, a direct-current motor speed regulator, a power supply module, a wireless communication module, and an upper computer. The magnetic guidance sensor, the landmark sensor, the angle potentiometer, and the safety shield sensor are all connected to the PLC module. The PLC module is composed of a PLC, an A/D converter, and a D/A converter. The PLC module is connected with a motor through the direct-current motor speed regulator. The wireless communication module comprises a wireless communication subsidiary module and a wireless communication primary module. The wireless communication subsidiary module is connected with the PLC module through an RS-485 serial port line. The wireless communication primary module is connected with the upper computer through an RS-232 serial port line. The beneficial effects of the utility model reside in that the PLC module is employed for shortening the production and development period of the magnetic tape guidance AGV control system and improving the reliability and stability of the magnetic tape guidance AGV control system; and the system is convenient to maintain and strong in scalability.
Description
Technical field
The utility model relates to AGV dolly control field, is specifically related to a kind of tape guidance AGV dolly central control system.
Background technology
AGV is the english abbreviation of automatical pilot transportation vehicle (Automated Guided Vehicle).Refer to homing guidance devices such as being equipped with electromagnetism or optics; can travel along the guide path of regulation; and the transport vehicle with safeguard protection and various transfer functions; the homing guidance mode of AGV dolly has a variety of, for example: direct co-ordinate-type, electromagnetism guiding type, tape guidance formula, optical navigation formula, laser leading formula, inertial navigation formula, vision guided navigation formula and GPS(GPS) navigation-type.The mode of the mode of tape guidance and electromagnetism guiding is close, by paste tape on road surface, substitutes at subsurface and buries metal wire underground, by magnetic induction signal, realizes guiding, its dirigibility is relatively good, change or extended route are easier to, and tape is laid simple, and tape and construction cost are lower.Tape guidance AGV dolly central control system is the key equipment of tape guidance AGV dolly, is that whole dolly is stable, the control center of safe operation.Traditional tape guidance AGV dolly to be adopted and using circuit board that single-chip microcomputer is core as control system, and its integrated level and cost performance are high, reliability is strong.But its System Programming equipment is loaded down with trivial details, programmed algorithm and reliability demonstration difficulty, construction cycle are long.Meanwhile, when the conditions of demand that need to constantly change for industry spot are improved and change dolly corresponding function, be not easy to change, basic change all needs to relate to the modification to hardware.
Summary of the invention
The technical problems to be solved in the utility model is, for traditional tape guidance AGV dolly above shortcomings, a kind of tape guidance AGV dolly central control system is provided, makes that dolly possesses that the identification of automatic tracking, terrestrial reference, safety keep in obscurity, controlled by sound and light, wireless telecommunication, host computer remote monitoring configuration interface function.
The utility model is to solve the problems of the technologies described above adopted technical scheme to be:
Tape guidance AGV dolly central control system, 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.
Press such scheme, this system also comprises text monitor, and described text monitor is connected with PLC control module by RS-232 Serial Port Line, for automatically reforming and completing dolly relevant manual operation function under non-operating state before dolly startup.
Press such scheme, the described safety sensor that keeps in obscurity is comprised of one group of optoelectronic switch and an approach switch.
Press such scheme, described power module is accumulator.
Press such scheme, described wireless communication module is Zigbee wireless communication module.
Principle of work of the present utility model: this tape guidance AGV dolly central control system adopts PLC control module as its control core, when paste special guiding tape and terrestrial reference tape on ground after, magnetic guide sensor detects the position of guiding tape, landmark sensor detects the information of terrestrial reference tape, PLC control module gathers magnetic guide sensor automatically, landmark sensor, safety keeps in obscurity sensor in tape magnetic field, the corresponding analog quantity voltage signal of the dolly driver element working direction that the switching value signal producing under the effect of barrier factor and angular potentiometer gather and dolly vehicle body angle, and process and produce output signal by its plug-in, under the assistance of DC motor speed-regulating device, complete dolly driver element two-wheeled (left driving wheel, the differential control of motor right driving wheel), thereby AGV dolly can be completed along the tracking of guiding tape to move and reading landmark information, realize dolly tracking, terrestrial reference identification, vehicle body controlled by sound and light, dolly acceleration and deceleration, fall back, the functions such as fork, under safety keeps in obscurity the assistance of sensor (one group of optoelectronic switch and an approach switch), make dolly possess the safety function that keeps in obscurity, under the effect of angular potentiometer, dolly is possessed and automatically reform and vehicle body signal lamp automatic control function, meanwhile, under the effect of wireless communication module, complete host computer to the remote monitoring of AGV dolly with to differently target is self-defined, realize the radio communication function between dolly and host computer.
The beneficial effect that the utility model compared with prior art has: make that dolly possesses that the identification of automatic tracking, terrestrial reference, safety keep in obscurity, controlled by sound and light, wireless telecommunication and terrestrial reference custom feature; By employing PLC control module, shorten to a great extent production and the construction cycle of tape guidance AGV trolley control system, improved reliability and the stability of tape guidance AGV trolley control system; This system maintenance easy, extensibility is strong.
Accompanying drawing explanation
Fig. 1 is the utility model tape guidance AGV dolly central control system overall control logic diagram;
Fig. 2 is the utility model tape guidance AGV dolly central control system hardware arrangement structural representation;
In figure, 1-optoelectronic switch, the right universal caster wheel of 2-, 3-PLC control module, 4-Zigbee wireless communication module, 5-magnetic guide sensor, the right driving wheel of 6-, 7-landmark sensor, 8,11-accumulator, the right direction-caster of 9-, the left direction-caster of 10-, 12-driver element, 13-angular potentiometer, 14-left driving wheel, 15-dolly chassis, 16-approach switch, the left universal caster wheel of 17-, 18-dolly apron plate.
Embodiment
Below in conjunction with embodiment and accompanying drawing, the technical solution of the utility model is described further.
Shown in Fig. 1, tape guidance AGV dolly central control system described in the utility model, 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, described wireless telecommunications submodule is connected with PLC control module by RS-485 Serial Port Line, described wireless telecommunications primary module is connected with host computer by RS-232 Serial Port Line, for realizing radio communication and the remote monitoring function between dolly and host computer.
This system also comprises text monitor, described text monitor is connected with PLC control module by RS-232 Serial Port Line, for automatically reforming and completing dolly relevant manual operation function (as: advance, retreat, turn left, right-hand rotation, driver element automatically reform) under non-operating state before dolly startup.
Described power module consists of two joint accumulators 8,11.
Described wireless communication module is Zigbee wireless communication module 4, and Zigbee wireless communication module 4 is for realizing radio communication and the remote monitoring function between dolly and host computer, and its antijamming capability is strong, and effective propagation path is far away.Host computer MCGS configuration interface has been used for the telemonitoring of the running status of dolly and has controlled and complete each the group figure place of terrestrial reference and the self-defined selection of function.
Shown in Fig. 2, during work, each structure is located on the dolly chassis 15 of AGV dolly, magnetic guide sensor 5 is when sensing guiding tape magnetic field, can produce the input signal of some switching values, after the processing of PLC control module 3 internal processes, a series of switching value signals corresponding digital quantity signal in program that magnetic guide sensor 5 is produced converts the voltage signal of 0-5V to through the D/A converter of PLC control module 3, the left driving wheel 14 of the DC motor speed-regulating device by dolly driver element 12 to dolly by the voltage signal of 0-5V again, the motor degree of turning of right driving wheel 6 is controlled.Landmark sensor 7 can detect the terrestrial reference of N, S utmost point opposed polarity, by definition N, S polar region target attribute (such as: N polar region mark is defined as to 1, S polar region mark is defined as to 0), when the PLC of PLC control module 3 controller receives the switching value input signal of landmark sensor 7, by plug-in, each group landmark information is all converted to one group of binary number, one group of function of the corresponding dolly of each binary number, by the function user-defined interface of terrestrial reference, select in advance the concrete function of this group terrestrial reference, just can realize the most basic terrestrial reference recognition function of dolly.The sensor that keeps in obscurity is safely comprised of one group of optoelectronic switch 1 and an approach switch 16, when dolly does not contact with barrier but optoelectronic switch 1 has detected barrier in advance while existing in operational process, can produce a switching value signal, if optoelectronic switch 1 does not detect barrier under some environment, but dolly still advances to barrier direction, when there is rigid contact in dolly apron plate 18 and barrier, touch approach switch 16, also can produce a switching value input signal, adopted noncontact and contacted two kinds of modes and guarantee the safety of the dolly function that keeps in obscurity, when PLC controller 3 receives this switching value input signal, will make dolly temporarily stop or stop motion, thereby reach the effect that safety keeps in obscurity.Angular potentiometer 13 is mainly used to judge that the angle between dolly driver element working direction and dolly vehicle body (specifically passes through the left universal caster wheel 17 of dolly, right universal caster wheel 2, left direction-caster 10, the positioning analysis of right direction-caster 9 draws), different angular range can corresponding angle pot 13 on the different voltage signal output of 0-10V, after the A/D converter of PLC control module 3 is processed, the analog quantity voltage signal of 0-10V is converted to the digital quantity model of 0-4000, thereby can judge the movement tendency of dolly, then the lamplight pointing of dolly vehicle body is controlled accordingly, simultaneously when dolly starts, can complete the function that dolly driver element 12 is reformed automatically.
The foregoing is only preferred embodiment of the present utility model; not in order to limit the utility model; all any modifications of doing within spirit of the present utility model and principle, be equal to and replace and improvement etc., within all should being included in protection domain of the present utility model.
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.
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| CN201320492388.2U CN203444333U (en) | 2013-08-13 | 2013-08-13 | Magnetic tape guidance AGV (Automatic Guided Vehicle) central control system |
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| CN201320492388.2U CN203444333U (en) | 2013-08-13 | 2013-08-13 | Magnetic tape guidance AGV (Automatic Guided Vehicle) central control system |
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105070011A (en) * | 2015-07-31 | 2015-11-18 | 广东嘉腾机器人自动化有限公司 | AGV and manipulator communication system and communication method thereof |
| CN105619410A (en) * | 2016-02-19 | 2016-06-01 | 威海奥睿博机器人制造有限公司 | Transferring robot and automatic transferring system |
| CN105785995A (en) * | 2016-03-15 | 2016-07-20 | 无锡凯乐士科技有限公司 | Automatic guided vehicle |
| CN105892466A (en) * | 2016-05-02 | 2016-08-24 | 合肥学院 | AGV control system based on uCOS |
| CN105974925A (en) * | 2016-07-19 | 2016-09-28 | 合肥学院 | AGV trolley driving control method and system |
| CN104331079B (en) * | 2014-11-17 | 2017-03-08 | 成都四威高科技产业园有限公司 | A kind of AGV traffic control system and method for control |
| CN106708027A (en) * | 2016-12-16 | 2017-05-24 | 盐城工学院 | On-line graphical real-time navigation and control system of unmanned navigation intelligent electric flat vehicle |
| CN106843223A (en) * | 2017-03-10 | 2017-06-13 | 武汉理工大学 | A kind of intelligent avoidance AGV cart systems and barrier-avoiding method |
| CN107045353A (en) * | 2017-06-06 | 2017-08-15 | 江苏力德尔电子信息技术有限公司 | All-around mobile AGV master control systems and its control method |
| CN107065888A (en) * | 2017-05-26 | 2017-08-18 | 金陵科技学院 | One kind is based on magnetic navigation robot and navigation scheduling system and method |
| CN107132847A (en) * | 2017-06-22 | 2017-09-05 | 福州大学 | A kind of AGV embedded control systems navigated based on tape and control method |
| CN107161644A (en) * | 2017-06-13 | 2017-09-15 | 江苏振邦医用智能装备有限公司 | The control method of intelligent carriage logistics system |
| CN109642797A (en) * | 2016-08-18 | 2019-04-16 | 罗伯特·博世有限公司 | Method and apparatus for carrying out obstacle recognition by terrestrial reference |
| CN109857099A (en) * | 2018-12-11 | 2019-06-07 | 广东嘉腾机器人自动化有限公司 | A kind of magnetic tracking sensor and the method for sensing using the sensor |
| CN110421597A (en) * | 2019-09-02 | 2019-11-08 | 西安安森智能机器人有限公司 | A kind of the automatic switch door system and its control method of robot control |
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2013
- 2013-08-13 CN CN201320492388.2U patent/CN203444333U/en not_active Expired - Fee Related
Cited By (20)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104331079B (en) * | 2014-11-17 | 2017-03-08 | 成都四威高科技产业园有限公司 | A kind of AGV traffic control system and method for control |
| CN105070011B (en) * | 2015-07-31 | 2018-07-24 | 广东嘉腾机器人自动化有限公司 | A kind of communication system and its communication means of AGV and manipulator |
| CN105070011A (en) * | 2015-07-31 | 2015-11-18 | 广东嘉腾机器人自动化有限公司 | AGV and manipulator communication system and communication method thereof |
| CN105619410A (en) * | 2016-02-19 | 2016-06-01 | 威海奥睿博机器人制造有限公司 | Transferring robot and automatic transferring system |
| CN105785995A (en) * | 2016-03-15 | 2016-07-20 | 无锡凯乐士科技有限公司 | Automatic guided vehicle |
| CN105785995B (en) * | 2016-03-15 | 2019-06-28 | 无锡凯乐士科技有限公司 | A kind of automatic guided vehicle |
| CN105892466A (en) * | 2016-05-02 | 2016-08-24 | 合肥学院 | AGV control system based on uCOS |
| CN105974925A (en) * | 2016-07-19 | 2016-09-28 | 合肥学院 | AGV trolley driving control method and system |
| CN105974925B (en) * | 2016-07-19 | 2019-03-08 | 合肥学院 | The control method of AGV trolley traveling |
| CN109642797A (en) * | 2016-08-18 | 2019-04-16 | 罗伯特·博世有限公司 | Method and apparatus for carrying out obstacle recognition by terrestrial reference |
| CN106708027A (en) * | 2016-12-16 | 2017-05-24 | 盐城工学院 | On-line graphical real-time navigation and control system of unmanned navigation intelligent electric flat vehicle |
| CN106843223A (en) * | 2017-03-10 | 2017-06-13 | 武汉理工大学 | A kind of intelligent avoidance AGV cart systems and barrier-avoiding method |
| CN106843223B (en) * | 2017-03-10 | 2020-05-05 | 武汉理工大学 | Intelligent obstacle avoidance AGV trolley system and obstacle avoidance method |
| CN107065888A (en) * | 2017-05-26 | 2017-08-18 | 金陵科技学院 | One kind is based on magnetic navigation robot and navigation scheduling system and method |
| CN107045353A (en) * | 2017-06-06 | 2017-08-15 | 江苏力德尔电子信息技术有限公司 | All-around mobile AGV master control systems and its control method |
| CN107161644A (en) * | 2017-06-13 | 2017-09-15 | 江苏振邦医用智能装备有限公司 | The control method of intelligent carriage logistics system |
| CN107161644B (en) * | 2017-06-13 | 2018-11-20 | 江苏振邦医用智能装备有限公司 | The control method of intelligent carriage logistics system |
| CN107132847A (en) * | 2017-06-22 | 2017-09-05 | 福州大学 | A kind of AGV embedded control systems navigated based on tape and control method |
| CN109857099A (en) * | 2018-12-11 | 2019-06-07 | 广东嘉腾机器人自动化有限公司 | A kind of magnetic tracking sensor and the method for sensing using the sensor |
| CN110421597A (en) * | 2019-09-02 | 2019-11-08 | 西安安森智能机器人有限公司 | A kind of the automatic switch door system and its control method of robot control |
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Granted publication date: 20140219 Termination date: 20140813 |
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