CN205527598U - Intelligence fork truck formula AGV control system based on vision navigation - Google Patents

Intelligence fork truck formula AGV control system based on vision navigation Download PDF

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Publication number
CN205527598U
CN205527598U CN201620254364.7U CN201620254364U CN205527598U CN 205527598 U CN205527598 U CN 205527598U CN 201620254364 U CN201620254364 U CN 201620254364U CN 205527598 U CN205527598 U CN 205527598U
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CN
China
Prior art keywords
industrial computer
control
navigation
photographic head
fork truck
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Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
CN201620254364.7U
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Chinese (zh)
Inventor
杨光明
李潇波
徐政锋
李小瑞
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HANGZHOU WARUI TECHNOLOGY Co Ltd
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HANGZHOU WARUI TECHNOLOGY Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Priority to CN201620254364.7U priority Critical patent/CN205527598U/en
Application granted granted Critical
Publication of CN205527598U publication Critical patent/CN205527598U/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

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Abstract

The utility model relates to an intelligence fork truck formula AGV control system based on vision navigation belongs to fork truck technical field, and it includes industrial computer, wireless network interface card, image acquisition system, card reader, PLC and peripheral equipment, the industrial computer be equipped with a plurality of COM port and a plurality of USB port, the industrial computer is connected with the power module electricity, wireless network interface card and image acquisition system pass through the USB data line and are connected with the USB port on the industrial computer, card reader and PLC adopt the serial ports to be connected with the COM port on the industrial computer, peripheral equipment include yoke server and remote controller, yoke server and remote controller adoption serial ports are connected with the COM port on the industrial computer. The utility model discloses a vision navigation can be according to different site environment and technological requirement, and the convenient walking route of arranging effectively improves yoke server control accuracy, makes things convenient for device management and control.

Description

The intelligent forklift formula AGV control system of view-based access control model navigation
Technical field
This utility model belongs to fork truck technical field, particularly relates to a kind of intelligent forklift formula AGV control system.
Background technology
Fork truck refers to load and unload member pallet cargo, stacking and short distance transport, weight transport operation each Plant wheeled carrying vehicle.Fork truck plays very important role in the logistics system of enterprise, is material handling Main force in equipment.Be widely used in the national economy such as station, harbour, airport, factory, warehouse is each Individual department.But, common fork truck only possesses function of transporting goods, and does not possess fork cargo transport thing prompting suggestion function, The essential information of goods cannot be checked, it is impossible to location goods, it is impossible to obtain fork cargo transport object location information, it is impossible to right The effectiveness of goods, qualification are verified, it is impossible to the goods of fork fortune is gone out warehouse-in information and sends pipe in real time to Reason person, is tracked management.
For solving the defect that above-mentioned common fork truck exists, have developed a kind of AGV dolly (Automated at present Guided Vehicle, is called for short AGV), AGV dolly refers to that being equipped with electricity magnetically or optically waits homing guidance device, energy Enough guide paths along regulation travel, and have safeguard protection and the transport vehicle of various transfer function, commercial Application In be not required to the mover of driver, be its power resources with chargeable accumulator.AGV dolly typically can lead to Cross computer to control its course and behavior, or utilize electromagnetic path to set up its course, electromagnetism rail Road sticks on floor, and the message that automatic guided vehicle then relies on electromagnetic path to be brought moves and action.Existing Some laser navigation fork truck types AGV are the most all to need the path in AGV walking to be arranged around a number of Reflector positions, and cost is higher, positions at dolly working environment reflector to be spread, and changes road Line is inconvenient.
Utility model content
For solving above-mentioned technical problem, it is good that the purpose of this utility model is to provide a kind of motility, and can solve into The fork truck type AGV trolley control system of the view-based access control model navigation of the problem of this height and change route inconvenience.
For the attainment of one's purpose, the technical scheme that this utility model provides is:
The intelligent forklift formula AGV control system of view-based access control model of the present utility model navigation includes industrial computer, wireless Network interface card, image capturing system, card reader, PLC and ancillary equipment, described industrial computer is provided with several COM Port and several USB ports, industrial computer electrically connects with power module, wireless network card and image capturing system Being connected with the USB port on industrial computer by USB data line respectively, described card reader and PLC are respectively Using serial ports to be connected with the COM port on industrial computer, described ancillary equipment includes yoke servomechanism and remote control Device, yoke servomechanism and remote controller use serial ports to be connected with the COM port on industrial computer.
As preferably, described industrial computer is additionally provided with voltage check device, voltage check device use serial ports with The COM port of industrial computer connects.
As preferably, described image capturing system includes image pick-up card, front photographic head and rear photographic head, figure As capture card uses serial ports to be connected with the COM port of industrial computer, front photographic head and rear photographic head are connected electrically in figure As, on capture card, front photographic head and rear photographic head are arranged on fork truck axis.Front photographic head and rear camera collection ground The simulated image data of complexion difference, after the video coding chip of image pick-up card processes, changes into digital picture, Data are uploaded to industrial computer and show in real time and store the most at last.
As preferably, described ancillary equipment also includes security protection system, and security protection system includes some walls Barrier sensor, obstacle sensor is arranged on fork truck outward flange.Such as accident, fork truck is automatically stopped, as ready After walking along the street line is normal, automatically reruns, protect the safety of equipment and personnel production.
As preferably, described ancillary equipment also includes audio-frequency module, and audio-frequency module includes power board and loudspeaker, Power board is connected with industrial computer, and loudspeaker are connected with power board.
The technical scheme using this utility model to provide, compared with prior art, has the advantages that
(1) the intelligent forklift formula AGV control system of the view-based access control model navigation that this utility model relates to is introduced Image capturing system, can arrange track route easily according to Different field environment and technological requirement, shooting Machine is arranged on fork truck axis, can effectively equalize fork truck direction of advance.
(2) the intelligent forklift formula AGV control system of the view-based access control model navigation that this utility model relates to can be passed through The operation of wireless network real-time Detection & Controling fork truck, facilitates equipment control and monitoring.
(3) this utility model fork truck energy intelligent operation, can realize, without professional's operation, the operation pipe that becomes more meticulous Reason, has not only ensured the stability produced but also has decreased operating manpower cost.
Accompanying drawing explanation
Fig. 1 is the intelligent forklift formula AGV Control system architecture schematic diagram of this utility model view-based access control model navigation;
Fig. 2 is the intelligent forklift formula AGV control system fundamental diagram of this utility model view-based access control model navigation.
Detailed description of the invention
For further appreciating that content of the present utility model, in conjunction with the accompanying drawings and embodiments this utility model is retouched in detail State, but embodiment of the present utility model is not limited to this.
With reference to shown in Fig. 1, the intelligent forklift formula AGV control system of view-based access control model navigation includes industrial computer, nothing Gauze card, image capturing system, card reader, PLC, remote controller, yoke servomechanism, electric quantity detection apparatus and Audio-frequency module.
Industrial computer is provided with 5 COM port and 2 USB ports, and industrial computer electrically connects with power module, Industrial computer COM1 port connects PLC, and PLC is used for sending pulse to control two yokes The servomotor of servomechanism, industrial computer COM2 port connects card reader, and card reader uses RFID card reader, By in advance according to arranging supporting RFID function card, wireless reading on the running route of process design Operation process requires performance data, the service data that control system is uploaded according to rfid card.Industrial computer COM3 Port connects remote controller, and industrial computer COM4 port connects electric quantity detection apparatus, for the storage electricity of display system Amount.Industrial computer COM5 port connects yoke servomechanism, and yoke, equipped with limit sensors, effectively ensures fork The safe operation of arm.The USB1 interface of industrial computer connects an image capturing system, this image capturing system bag Include image pick-up card, front photographic head and rear photographic head, the most front photographic head and rear photographic head and be arranged on fork truck axis, The information collected is input in image pick-up card by front photographic head and rear photographic head, through the video of image pick-up card After coding chip processes, changing into digital picture, data are uploaded to industrial computer and show in real time and store the most at last. It is also connected with a power board on this industrial computer, power board is installed loudspeaker, audio signal can be sent to surrounding.
Operation principle of the present utility model:
The intelligent forklift formula AGV control system of view-based access control model navigation is by industrial camera locality complexion difference Simulated image data, after the video coding chip of image pick-up card processes, changes into digital picture, the most at last Data are uploaded to industrial computer and show in real time and store.Industrial computer is calculated by data, and then control PLC controller, Send two servomotors of Pulse Width Control respectively, it is achieved differential control the most automatically, keep direction of advance.Based on The intelligent forklift formula AGV control system of vision guided navigation can also be by advance according to the fortune of process design Arranging supporting RFID function card on walking along the street line, wireless reading operation process requires performance data.Control system The service data uploaded according to rfid card, after PLC, pulse controls the rotating speed of two servomotors in real time, Can realize fixing turning, acceleration and deceleration, fork road, position and stop the motion from series of complexes such as opening, meet not Requirement with on-the-spot various processes.
Schematically being described this utility model and embodiment thereof above, this description does not has restricted, Shown in accompanying drawing is also one of embodiment of the present utility model, and actual structure is not limited thereto.Institute Enlightened by it with those of ordinary skill in the art, in the case of creating objective without departing from this utility model, no Design the frame mode similar to this technical scheme and embodiment through creative, this utility model all should be belonged to Protection domain.

Claims (5)

1. the intelligent forklift formula AGV control system of view-based access control model navigation, it is characterised in that: it includes industry control Machine, wireless network card, image capturing system, card reader, PLC and ancillary equipment, if described industrial computer is provided with Dry COM port and several USB ports, industrial computer electrically connects with power module, wireless network card and figure Be connected with the USB port on industrial computer by USB data line respectively as acquisition system, described card reader with PLC use serial ports be connected with the COM port on industrial computer, described ancillary equipment include yoke servomechanism with Remote controller, yoke servomechanism and remote controller are respectively adopted serial ports and are connected with the COM port on industrial computer.
The intelligent forklift formula AGV control system of view-based access control model the most according to claim 1 navigation, its Being characterised by: be additionally provided with voltage check device on described industrial computer, voltage check device uses serial ports and industry control The COM port of machine connects.
The intelligent forklift formula AGV control system of view-based access control model the most according to claim 1 navigation, its It is characterised by: described image capturing system includes image pick-up card, front photographic head and rear photographic head, and image is adopted Truck uses serial ports to be connected with the COM port of industrial computer, and front photographic head and rear photographic head are connected to image acquisition On card, front photographic head and rear photographic head are arranged on fork truck axis.
The intelligent forklift formula AGV control system of view-based access control model the most according to claim 1 navigation, its Being characterised by: described ancillary equipment also includes security protection system, security protection system includes that some obstacles pass Sensor, obstacle sensor is arranged on fork truck outward flange.
The intelligent forklift formula AGV control system of view-based access control model the most according to claim 1 navigation, its Being characterised by: described ancillary equipment also includes audio-frequency module, audio-frequency module includes power board and loudspeaker, power amplifier Plate is connected with industrial computer, and loudspeaker are connected with power board.
CN201620254364.7U 2016-03-29 2016-03-29 Intelligence fork truck formula AGV control system based on vision navigation Expired - Fee Related CN205527598U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201620254364.7U CN205527598U (en) 2016-03-29 2016-03-29 Intelligence fork truck formula AGV control system based on vision navigation

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201620254364.7U CN205527598U (en) 2016-03-29 2016-03-29 Intelligence fork truck formula AGV control system based on vision navigation

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CN205527598U true CN205527598U (en) 2016-08-31

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109650288A (en) * 2018-12-29 2019-04-19 广州蓝海机器人系统有限公司 A kind of control method based on single peaceful RGV

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109650288A (en) * 2018-12-29 2019-04-19 广州蓝海机器人系统有限公司 A kind of control method based on single peaceful RGV
CN109650288B (en) * 2018-12-29 2020-06-09 广州蓝海机器人系统有限公司 RGV control method based on single-liter platform

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CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20160831

Termination date: 20200329

CF01 Termination of patent right due to non-payment of annual fee