CN206470606U - A kind of AGV trolley control systems and AGV dollies - Google Patents
A kind of AGV trolley control systems and AGV dollies Download PDFInfo
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- CN206470606U CN206470606U CN201720071955.5U CN201720071955U CN206470606U CN 206470606 U CN206470606 U CN 206470606U CN 201720071955 U CN201720071955 U CN 201720071955U CN 206470606 U CN206470606 U CN 206470606U
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- agv
- control unit
- control
- dollies
- agv dollies
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Abstract
The utility model is related to a kind of AGV trolley control systems and AGV dollies, belongs to AGV technical field of vehicle.AGV dollies of the present utility model, which are used, includes the control system of weighing sensor, weighing sensor is set up on AGV dollies, to detect the actual pay load of dolly, and when dolly actual pay load meets or exceeds nominal load capacity, carry out warning reminding, to avoid dolly excess load from travelling, the security of AGV trolley travellings is improved, while the service life of AGV dollies can be improved.
Description
Technical field
The utility model is related to a kind of AGV trolley control systems and AGV dollies, belongs to AGV technical field of vehicle.
Background technology
AGV research largely belongs to engineer applied problem with manufacture.From the market demand, as flexibility adds
The development of the industrial production concept such as work system and assembly system, computer integrated manufacturing system, Automatic Warehouse, industry is to this
Class automatic transportation implement has carried out substantial amounts of research and development.Independent navigation AGV cars have as the means of transport for carrying material
The function that bicycle is programmed and system control is managed, under the monitoring of the controllers such as PLC, independent navigation AGV cars are automatic according to instruction
Along the route of planning, specified sites are reached, a series of actions is completed.Independent navigation AGV car collection guidance technology, servo are driven
Dynamic technology, movement control technology, be accurately positioned, wireless communication technique, a variety of key technologies such as information gathering and processing in one,
It is an increasingly automated, information-based intelligent body.But current AGV dollies can not grasp the loading capacity of dolly in real time, warp
Often there is excess load traveling, influence the service life of AGV dollies.
Utility model content
The purpose of this utility model is to provide a kind of AGV trolley control systems, with solve current AGV trolley control systems without
Method grasps the loading capacity of dolly in real time, the problem of being easily caused dolly overload traveling；The utility model is small there is provided a kind of AGV simultaneously
Car.
The utility model for solve above-mentioned technical problem provide a kind of AGV trolley control systems, including control unit with
And control flow, servo drive unit, obstacle sensor and the vision sensor being connected with control unit, the control system also wraps
Weighing sensor is included, the weighing sensor is connected with control unit, the loading capacity for detecting AGV dollies.
Further, described obstacle sensor is avoidance distance measuring sensor, for detecting the small spacing barriers of AGV
Distance.
Further, described control unit is also associated with battery management unit, and the battery management unit is used to detect AGV
The battery pack information of dolly.
Further, described AGV trolley control systems also include receiver of remote-control sytem, and receiver of remote-control sytem connects with control unit
Connect, for the AGV trolley travellings under manual mode, and some instructions are sent in debugging process.
Further, described control unit is also associated with hitting guard's valve, and the guard's valve that hits is used to be arranged on AGV dollies
Vehicle body, to detect whether AGV dollies collide.
Further, described control unit is also associated with alarm unit, is set for being more than in the numerical value of weighing sensor
Alarmed during definite value or when obstacle sensor detects the distance of barrier less than given threshold.
Further, described control unit includes PLC and its expansion module, and it is defeated that described expansion module includes digital quantity
Enter output module, CANopen modules, RS485 communication modules and Profibus communication modules.
The utility model additionally provides a kind of AGV dollies, including AGV trolley control systems and servomotor, including control
Unit and the control flow being connected with control unit, servo drive unit, obstacle sensor and vision sensor, control unit
Servomotor is controlled by servo drive unit, described control system also includes weighing sensor, the weighing sensor and control
Unit connection processed, the bearing capacity for detecting AGV dollies.
Further, described control unit is also associated with hitting guard's valve, and the guard's valve that hits is used to be arranged on AGV dollies
Vehicle body, to detect whether AGV dollies collide.
Further, described control unit includes PLC and its expansion module, and it is defeated that described expansion module includes digital quantity
Enter output module, CANopen modules, RS485 communication modules and Profibus communication modules.
The beneficial effects of the utility model are:AGV dollies of the present utility model, which are used, includes the control system of weighing sensor
System, i.e., set up weighing sensor on AGV dollies, to detect the actual pay load of dolly, and reached in dolly actual pay load
Or during more than nominal load capacity, warning reminding is carried out, to avoid dolly excess load from travelling, the security of AGV trolley travellings is improved,
The service life of AGV dollies can be improved simultaneously.
In addition the utility model, which hits to install on AGV dolly vehicle bodies, hits guard's valve, to detect whether AGV dollies touch
Hit, and control AGV dollies to carry out parking checking after AGV dollies collide detecting, further improve the operation of AGV dollies
Safety.
Brief description of the drawings
Fig. 1 is the utility model AGV car circuit structure charts；
Fig. 2 is the hardware structure diagram of the utility model AGV trolley control systems；
Fig. 3 is touch-screen control function figure.
Embodiment
Embodiment of the present utility model is described further below in conjunction with the accompanying drawings.
The embodiment of the utility model AGV dollies
AGV dollies of the present utility model include control unit, servomotor, servo drive unit, detection of obstacles sensing
Device, vision positioning sensor, weighing sensor and control display panel, control unit pass through servo drive unit and servomotor
Connection, obstacle sensor uses avoidance distance measuring sensor, and avoidance distance measuring sensor has two, is separately positioned on AGV dollies
Forward and backward position, sends for detecting the barrier of the forward and backward distance of AGV dollies and distance with barrier, and will detect distance
To control unit；Vision positioning sensor has two, the forward and backward position of AGV dollies is separately positioned on, for detecting AGV dollies
The color code band in path, acquisition approach information, and positional information will be detected and control information is sent to control unit, realize
The self-navigation of AGV dollies；Weighing sensor is arranged on AGV dollies, the loading capacity for detecting AGV dollies, and will detection
Control unit is sent to weighing information.
In order to realize the remote control to AGV dollies, as depicted in figs. 1 and 2, radio communication list is additionally provided with the dolly
Member, wireless communication unit is used to connect host computer, and host computer issues control instruction, channel radio by wireless communication unit to dolly
Letter unit occurs in pairs, and one on dolly, host computer one is mainly used in remote scheduling and the control of AGV dollies.In order to
Realize manual control to AGV dollies, the AGV dollies also include remote control, remote control is to send under manual mode to refer to dolly
Used when order and debugging.Meanwhile, it is additionally provided with AGV dollies of the present utility model and hits guard's valve, hitting guard's valve there are four, point
Four angles of AGV dollies Yong Yu be arranged on, to detect whether collided at four angles of AGV dollies.In order to remind in time
AGV dollies occur to be additionally provided with alarm on exception, AGV dollies of the present utility model, when the avoidance ranging of traffic direction side
When sensor detects distance less than given threshold, corresponding audio alert prompting is provided, or when the loading capacity of AGV dollies reaches
To carrying out alarm during limit value.
Further, since AGV dollies are powered using battery pack, battery pack is provided with battery management unit, battery management
Unit connects for control unit, to realize the real-time detection to battery pack.
Control unit uses Siemens's S7-1200 series of PLC, and expansion module includes：Digital quantity input/output module,
CANopen modules, RS485 communication modules, Profibus communication modules composition.Touch-screen passes through netting twine and CPU Profinet
Port is connected.Digital quantity input/output module to：Receiver of remote-control sytem, obstacle sensor, dolly indicator lamp, brake collection letter
Number or send instruction.CANopen module drive servomotors.Battery management unit and wireless communication unit pass through RS485 and PLC
Communicated.Vision sensor between Profibus-DP private cables and PLC by carrying out data transmission.
Control display panel uses touch-screen, and touch-screen is used to realize human-machine interface function, as shown in figure 3, can carry out
Targeted sites are set and pattern switching.It is as follows that touch-screen is connected setting with control unit communication：It is hardware configuration first, in hardware
Ethernet module parameter is set after the completion of configuration, and in ethernet module sets interface, a newly-built ethernet network sets this
The IP address and subnet mask of module；Followed by the setting of touch-screen, a newly-built touch-screen project in WINCC, in communication
The IP address of touch-screen is set in option, ethernet communication mode is then set to, and its IP address is set into the ether with PLC
The IP address of net communication module is in the same network segment.Touch screen interface program is write：According to the requirement of function, configuration is corresponding
I/O domains, textview field, button, alert interface etc.；Realize that complicated logical operation also needs to add corresponding functional blocks；Interface
Analog variable emulator can be started after the completion of writing to emulate touch-screen control function, reach control after requiring again tactile
The correlated variables touched in the variable and PLC of screen is associated.The communication setting of touch-screen well later will by PROFINET ports
Download program is into touch-screen.
The control principle of AGV dollies of the present utility model is as follows：By vision sensor dynamic acquisition routing information, and will
Control unit of the information transmission collected to AGV dollies, is judged in car body axis and path by the control unit of AGV dollies
The deviation and angle of heart line, make deviation and angle keep in allowed limits, realizing what AGV dollies can be laid along landing ground
Color code band automatic stabilisation is run, and can be kept straight on, can also be turned, minimum 2 meters of radius of turn.The AGV dollies pass through forward and backward
The avoidance distance measuring sensor of setting detects the distance of the forward and backward barrier of vehicle.When the avoidance distance measuring sensor of traffic direction side
(the present embodiment is 3 meters), AGV dollies automatic retarding traveling when detecting obstacle distance less than the first given threshold；Work as detection
When being less than the second given threshold to obstacle distance (the present embodiment is 1 meter), control AGV dollies stop.AGV dollies slow down or
While stopping, corresponding audio alert prompting is provided.Guard's valve is hit because AGV dolly vehicle bodies corner is provided with, once these
Position collides, and AGV dollies are out of service immediately.Weighing sensor on vehicle is used for the loading capacity for detecting dolly, works as AGV
When dolly overloads, control unit sends alarm signal by alarm, to remind staff to note.
A kind of embodiment of AGV trolley control systems of the utility model
AGV trolley control systems in the present embodiment include control unit and the control flow being connected with control unit, watched
Take driver element, obstacle sensor and vision sensor, the control system also include weighing sensor, the weighing sensor with
Control unit is connected, the bearing capacity for detecting AGV dollies.In addition, AGV dollies of the present utility model also include remote control reception
Device, control unit is used to connect host computer by receiver of remote-control sytem, to receive the control instruction of host computer.Meanwhile, this practicality is new
It is additionally provided with the AGV dollies of type and hits guard's valve, hitting guard's valve there are four, is respectively used to be arranged on four angles of AGV dollies,
To detect whether collided at four angles of AGV dollies.In order to remind AGV dollies to occur exception, AGV of the present utility model in time
Alarm is additionally provided with dolly, when the avoidance distance measuring sensor of traffic direction side, which detects distance, is less than given threshold,
Corresponding audio alert prompting is provided, or alarm is carried out when the loading capacity of AGV dollies reaches limit value.
Control unit uses Siemens's S7-1200 series of PLC and expansion module, and expansion module includes：Digital quantity input is defeated
Go out module, CANopen modules, RS485 communication modules, Profibus communication modules composition.Touch-screen passes through netting twine and CPU
Profinet ports are connected.Digital quantity input/output module to：Receiver of remote-control sytem, obstacle sensor, dolly indicator lamp, brake
Lock gathers signal or sends instruction.CANopen module drive servomotors.Battery management unit and wireless communication unit pass through
RS485 is communicated with PLC.Vision sensor between Profibus-DP private cables and PLC by carrying out data transmission.
The operation principle of AGV dolly control units in the present embodiment has been carried out in detail in the embodiment of AGV dollies
Illustrate, repeat no more here.
Specific embodiment is presented above, but the utility model is not limited to described embodiment.This practicality
New basic ideas are above-mentioned basic scheme, for those of ordinary skill in the art, according to teaching of the present utility model,
Design the models of various modifications, formula, parameter and creative work need not be spent.Principle of the present utility model is not being departed from
With in the case of spirit to embodiment carry out change, modification, replacement and modification still fall within protection domain of the present utility model
It is interior.
Claims (10)
1. a kind of AGV trolley control systems, including control unit and the control flow, the servo-drive list that are connected with control unit
Member, obstacle sensor and vision sensor, it is characterised in that the control system also includes weighing sensor, the weighing and sensing
Device is connected with control unit, the loading capacity for detecting AGV dollies.
2. AGV trolley control systems according to claim 1, it is characterised in that described obstacle sensor is avoidance
Distance measuring sensor, the distance for detecting the small spacing barriers of AGV.
3. AGV trolley control systems according to claim 1, it is characterised in that described control unit is also associated with electricity
Pond administrative unit, the battery management unit is used for the battery pack information for detecting AGV dollies.
4. AGV trolley control systems according to claim 1, it is characterised in that described AGV trolley control systems are also wrapped
Receiver of remote-control sytem is included, receiver of remote-control sytem is connected with control unit, for the AGV trolley travellings under manual mode, and debugged
Some instructions are sent in journey.
5. AGV trolley control systems according to claim 1, it is characterised in that described control unit is also associated with hitting
Guard's valve, the guard's valve that hits is used to be arranged on AGV dolly vehicle bodies, to detect whether AGV dollies collide.
6. AGV trolley control systems according to claim 2, it is characterised in that described control unit is also associated with report
Alert unit, for when the numerical value of weighing sensor is more than setting value or the distance of obstacle sensor detection barrier is less than and set
Determine to be alarmed during threshold value.
7. the AGV trolley control systems according to any one of claim 1-6, it is characterised in that described control unit
Including PLC and its expansion module, described expansion module includes digital quantity input/output module, CANopen modules, RS485 and led to
Interrogate module and Profibus communication modules.
8. a kind of AGV dollies, including AGV trolley control systems and servomotor, including control unit and connect with control unit
Control flow, servo drive unit, obstacle sensor and the vision sensor connect, control unit passes through servo drive unit control
Servomotor, it is characterised in that described control system also includes weighing sensor, the weighing sensor connects with control unit
Connect, the loading capacity for detecting AGV dollies.
9. AGV dollies according to claim 8, it is characterised in that described control unit is also associated with hitting guard's valve, institute
State and hit guard's valve for being arranged on AGV dolly vehicle bodies, to detect whether AGV dollies collide.
10. AGV dollies according to claim 8, it is characterised in that described control unit includes PLC and its expanded mode
Block, it is logical that described expansion module includes digital quantity input/output module, CANopen modules, RS485 communication modules and Profibus
Interrogate module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720071955.5U CN206470606U (en) | 2017-01-20 | 2017-01-20 | A kind of AGV trolley control systems and AGV dollies |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720071955.5U CN206470606U (en) | 2017-01-20 | 2017-01-20 | A kind of AGV trolley control systems and AGV dollies |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206470606U true CN206470606U (en) | 2017-09-05 |
Family
ID=59706251
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720071955.5U Expired - Fee Related CN206470606U (en) | 2017-01-20 | 2017-01-20 | A kind of AGV trolley control systems and AGV dollies |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206470606U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107554644A (en) * | 2017-10-26 | 2018-01-09 | 苏州英诺达自动化科技有限公司 | A kind of small automobile-used multilayer objective tables of AGV |
| CN109885041A (en) * | 2017-12-06 | 2019-06-14 | 杭州海康机器人技术有限公司 | Automated guided vehicle AGV control method, system, device and AGV |
| CN110032195A (en) * | 2019-05-06 | 2019-07-19 | 广东工业大学 | A kind of Vehicular automatic driving system |
| CN110320849A (en) * | 2019-08-20 | 2019-10-11 | 和县隆盛精密机械有限公司 | The hand-held controlling terminal of AGV trolley |
| CN111391849A (en) * | 2020-03-11 | 2020-07-10 | 三一机器人科技有限公司 | Vehicle control method, device, vehicle and readable storage medium |
-
2017
- 2017-01-20 CN CN201720071955.5U patent/CN206470606U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107554644A (en) * | 2017-10-26 | 2018-01-09 | 苏州英诺达自动化科技有限公司 | A kind of small automobile-used multilayer objective tables of AGV |
| CN109885041A (en) * | 2017-12-06 | 2019-06-14 | 杭州海康机器人技术有限公司 | Automated guided vehicle AGV control method, system, device and AGV |
| CN109885041B (en) * | 2017-12-06 | 2022-07-05 | 杭州海康机器人技术有限公司 | AGV control method, system and device for automatic guided transport vehicle and AGV |
| CN110032195A (en) * | 2019-05-06 | 2019-07-19 | 广东工业大学 | A kind of Vehicular automatic driving system |
| CN110320849A (en) * | 2019-08-20 | 2019-10-11 | 和县隆盛精密机械有限公司 | The hand-held controlling terminal of AGV trolley |
| CN111391849A (en) * | 2020-03-11 | 2020-07-10 | 三一机器人科技有限公司 | Vehicle control method, device, vehicle and readable storage medium |
| CN111391849B (en) * | 2020-03-11 | 2021-10-29 | 三一机器人科技有限公司 | Vehicle control method, device, vehicle and readable storage medium |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170905 Termination date: 20210120 |