CN208059937U - AGV trolley abnormality alarm sets - Google Patents
AGV trolley abnormality alarm sets Download PDFInfo
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- CN208059937U CN208059937U CN201820531758.1U CN201820531758U CN208059937U CN 208059937 U CN208059937 U CN 208059937U CN 201820531758 U CN201820531758 U CN 201820531758U CN 208059937 U CN208059937 U CN 208059937U
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Abstract
The utility model discloses a kind of AGV trolleies abnormality alarm sets, including temperature sensor, RFID card reader, avoidance sensor, mechanical anticollision strip, magnetic navigation sensor, Vehicle Controller, local reminding module, host computer and server.The utility model integrates the prompting of temperature anomaly state, RFID travelling route abnormalities are reminded, barrier abnormality is reminded, hard object collision abnormality is reminded and a variety of abnormality prompting functions of derailed abnormality prompting, function are more rich；It is additionally arranged host computer and server, the shared across space of prompting message can be realized by way of wireless telecommunications, corresponding prompting message can be obtained at the first time at the scene without user, it is more convenient.The utility model can be widely applied to warehouse logistics testing equipment field.
Description
Technical field
The utility model is related to warehouse logistics testing equipment field, especially a kind of AGV trolleies abnormality alarm set.
Background technology
With the fast development of B2C electric business industries, logistic storage becomes the bottleneck factor of every profession and trade expansion.As domestic big
A lower huge sum of money researches and develops a new generation's modernization warehouse to type electric business invariably, but the capital fund of most of storage sector is all spent whole
It picks up, shunt etc. in links.In the zero of most influence warehouse efficiency picks up process, still user moves the motionless traditional manpower side of goods
Formula, therefore the AGV trolleies with free path guiding are precisely to solve the problems, such as this effective ways.AGV is automatic guided vehicle
The english abbreviation of (Automated Guided Vehicle) refers to magnetically or optically waiting homing guidances device equipped with electricity, can
It is travelled along defined guide path, the transport vehicle with safeguard protection and various transfer functions.
AGV trolleies are primarily present two major classes abnormality in actual operational process：Internal abnormality state and outside are different
Normal state.Wherein, external abnormality includes barrier abnormality, derailed abnormality and travelling route abnormality etc..
Internal abnormality state includes temperature anomaly state and communication line abnormality etc..How when AGV trolleies are in abnormality
Carry out effective remind just at an important research topic in the industry.Current AGV trolley abnormality alarm sets are most
It can only be reminded for certain specific abnormality (such as barrier abnormality, temperature anomaly state), function is more
It is single.In addition, current AGV trolley abnormality alarm sets are reminded usually by way of acousto-optic, user is needed
Corresponding prompting message could be obtained in time at the scene, it is not convenient enough.
Utility model content
In order to solve the above technical problems, the purpose of this utility model is that：It is small to provide a kind of feature-rich and convenient AGV
Vehicle abnormality alarm set.
Technical solution adopted in the utility model is：
AGV trolley abnormality alarm sets, including temperature sensor, RFID card reader, avoidance sensor, mechanical anticollision
Item, magnetic navigation sensor, Vehicle Controller, local reminding module, host computer and server, the output of the temperature sensor
End, the output end of the output end of RFID card reader, avoidance sensor, the output end of mechanical anticollision strip and magnetic navigation sensor it is defeated
Outlet is connect with the input terminal of Vehicle Controller, and the output end of the Vehicle Controller and the input terminal of local reminding module connect
It connects, the Vehicle Controller is also wirelessly connected by host computer and server.
Further, voltage transformer and current transformer are also respectively connected in the input terminal of the Vehicle Controller.
Further, the output end of the Vehicle Controller is also associated with steering wheel driver.
Further, the local reminding module includes AGV music boxs and AGV polychrome car lights, the input of the AGV music boxs
The input terminal of end and AGV polychrome car lights is connect with the output end of Vehicle Controller.
Further, the output end of the Vehicle Controller is also associated with charactron.
Further, the host computer includes first communication module, X86 chips, touch display screen and second communication module, institute
First communication module is stated to connect with X86 chips and Vehicle Controller respectively, the X86 chips also respectively with touch display screen and
Two communication modules connect, and the second communication module is also wirelessly connected with server.
Further, further include optical coupling isolation circuit, the optical coupling isolation circuit be connected to the output end of Vehicle Controller with
Between the input terminal of local reminding module.
Further, the optical coupling isolation circuit is made of TCMT4600 opto-coupler chips and peripheral circuit.
Further, the voltage transformer, current transformer, mechanical anticollision strip, magnetic navigation sensor and avoidance sensor
It is installed in the headstock of AGV trolleies.
Further, the mechanical anticollision strip includes 1 obstacle signal line and 3 root zone domain selection lines.
The utility model has the beneficial effects that：Including temperature sensor, RFID card reader, avoidance sensor, mechanical anticollision
Item, magnetic navigation sensor, Vehicle Controller and local reminding module, collection temperature anomaly state is reminded, RFID travelling routes are abnormal
State is reminded, barrier abnormality is reminded, hard object collision abnormality is reminded and derailed abnormality reminds a variety of abnormal shapes
, function is more rich for state prompting function；It is additionally arranged host computer and server, prompting can be realized by way of wireless telecommunications
Being shared across space for information, corresponding prompting message can be obtained without user at the first time at the scene, more convenient.
Description of the drawings
Fig. 1 is the overall structure block diagram of the utility model AGV trolley abnormality alarm sets；
Fig. 2 is the structure diagram of the utility model local reminding module；
Fig. 3 is a kind of circuit diagram of the utility model optical coupling isolation circuit；
Fig. 4 is a kind of electrical principle schematic diagram of preferred embodiment of the utility model.
Specific implementation mode
Referring to Fig.1, AGV trolleies abnormality alarm set, including temperature sensor, RFID card reader, avoidance sensor,
Mechanical anticollision strip, magnetic navigation sensor, Vehicle Controller, local reminding module, host computer and server, the temperature sensor
Output end, the output end of RFID card reader, the output end of avoidance sensor, the output end of mechanical anticollision strip and magnetic navigation sensing
The output end of device is connect with the input terminal of Vehicle Controller, and the output end of the Vehicle Controller is defeated with local reminding module
Enter end connection, the Vehicle Controller is also wirelessly connected by host computer and server.
Wherein, temperature sensor, the vehicle interior temperature for obtaining AGV trolleies.Temperature sensor can be used existing infrared
Temperature sensor is realized, is connect with Vehicle Controller by ADC detections/thief hatch.
RFID card reader, for reading the RFID card number in travelling route.RFID card reader can be used existing RFID and read
Device is read to realize, is connect with Vehicle Controller by RS485 serial ports.
Avoidance sensor, the detection signal (abbreviation region detection signal) for obtaining avoidance detection zone.Avoidance senses
Laser avoidance sensor can be used to realize in device, is connect with Vehicle Controller by electric connection line or GPIO mouthfuls.Avoidance senses
Device can be equipped with 4 lines, wherein 1 is obstacle signal line, 3 are regional choice lines, because there is 3 root zone domain selection lines,
Share 23Size all can be freely arranged in=8 kinds of avoidance detection zone combinations, each avoidance detection zone.
Mechanical anticollision strip, for sending collision alarm to Vehicle Controller when mechanical collision occurs.Mechanical anticollision strip can
It is realized using existing machine anticollision strip, is connect with the mechanical collision signal wire interface of Vehicle Controller.
Magnetic navigation sensor, for obtaining track detecting signal.Existing magnetic navigation sensing can be used in magnetic navigation sensor
Device is realized, is connect with Vehicle Controller by RS485 serial ports.
Vehicle Controller, the logic control center of whole device, for according to the vehicle interior temperatures of AGV trolleies, read
The progress such as RFID card number, region detection signal, collision alarm and track detecting signal data processing (including abnormal state detection,
Display control etc.), to trigger corresponding control signal.Existing MCU can be used to realize in Vehicle Controller.The utility model
Vehicle Controller is not related to the improvement on any software approach, and data handling procedure can be used existing technological means and come in fact
It is existing.
Local reminding module, for being passed through when AGV trolleies are in abnormality according to the control signal of Vehicle Controller
The modes such as acousto-optic carry out live prompting.Local reminding module can be waited by GPIO mouthfuls and be connect with Vehicle Controller.
Host computer, for being communicated with Vehicle Controller and server, by data such as the abnormalities of AGV trolleies
Or information is wirelessly uploaded to the server of distal end, is convenient for remote monitoring.
Server, data or the information such as abnormality for wirelessly obtaining AGV trolleies.Server can be with
It is PC machine, data center or mobile communication equipment (such as mobile phone).
Referring to Fig.1, it is further used as preferred embodiment, electricity is also respectively connected in the input terminal of the Vehicle Controller
Press mutual inductor and current transformer.
Wherein, voltage transformer and current transformer, battery or battery pack for being retrieved as Vehicle Controller power supply
Voltage and current signals.Voltage transformer and current transformer, can be used existing voltage and current detection device to realize,
It is connect with Vehicle Controller by ADC detections/thief hatch.
Referring to Fig.1, it is further used as preferred embodiment, the output end of the Vehicle Controller is also associated with steering wheel drive
Dynamic device.
Wherein, steering wheel driver, the steering wheel for driving AGV trolleies according to the control signal of Vehicle Controller.Steering wheel drives
Existing steering wheel driver can be used to realize in dynamic device, can be connect with Vehicle Controller by CANBUS interfaces.
With reference to Fig. 2, it is further used as preferred embodiment, the local reminding module includes AGV music boxs and AGV more
Color car light, the input terminal of the AGV music boxs and the input terminal of AGV polychrome car lights are connect with the output end of Vehicle Controller.
Wherein, AGV music boxs, for being led to when AGV trolleies are in abnormality according to the control signal of Vehicle Controller
The mode for crossing broadcasting music reminds the user at scene.Existing music box can be used to realize in AGV music boxs, passes through GPIO mouthfuls
It is connect with Vehicle Controller.
AGV polychrome car lights are more for being passed through when AGV trolleies are in abnormality according to the control signal of Vehicle Controller
Color car light shows corresponding prompting color to remind the user at scene.Existing polychrome OLED lamps can be used in AGV polychrome car lights
It realizes, is connect with Vehicle Controller by GPIO mouthfuls.
Referring to Fig.1, it is further used as preferred embodiment, the output end of the Vehicle Controller is also associated with number
Pipe.
Wherein, charactron, for being in communication line abnormality in AGV trolleies according to the control signal of Vehicle Controller
When by showing corresponding character code remind the user at scene.Existing charactron can be used to realize in charactron, can pass through
GPIO mouthfuls connect with Vehicle Controller.
Referring to Fig.1, be further used as preferred embodiment, the host computer include first communication module, X86 chips,
Touch display screen and second communication module, the first communication module is connect with X86 chips and Vehicle Controller respectively, described
X86 chips are also connect with touch display screen and second communication module respectively, and the second communication module also wirelessly connects with server
It connects.
Wherein, first communication module, for being communicated with Vehicle Controller, obtain AGV trolleies the data such as abnormality or
Information.The communication ports such as existing TTL serial ports can be used to realize in first communication module.
X86 chips, the data such as abnormality for being uploaded according to Vehicle Controller or information carry out at further data
Reason (is such as cached, is shown).
Touch display screen, the data such as abnormality for showing AGV trolleies or information.Touch display screen can be used existing
Capacitance touch display screen realize, connect with X86 chips by HDMI interface etc..
Second communication module, for being carried out wireless communication with server, by the data such as the abnormality of AGV trolleies or letter
Breath is wirelessly uploaded to server.The modules such as existing mobile communication module, which can be used, in second communication module comes in fact
It is existing, it is connect with X86 chips by UART serial ports etc..
Referring to Fig.1, it is further used as preferred embodiment, further includes optical coupling isolation circuit, the optical coupling isolation circuit
It is connected between the output end of Vehicle Controller and the input terminal of local reminding module.
Wherein, optical coupling isolation circuit, for realizing the low and high level control and detection of Vehicle Controller output.
With reference to Fig. 3, it is further used as preferred embodiment, the optical coupling isolation circuit is by TCMT4600 opto-coupler chips
U36 and peripheral circuit composition.
As shown in figure 3, X2_COM1, X2_1, X2_2, X2_3 and X2_4 are the input of optical coupling isolation circuit, vehicle-mounted control is connected
Device processed；DIN_4, DIN_3, DIN_2 and DIN_1 are the output of optical coupling isolation circuit, connect local reminding module etc.；Peripheral circuit
Mainly this four resistance of R94, R95, R96 and R97.
It is further used as preferred embodiment, the voltage transformer, current transformer, mechanical anticollision strip, magnetic navigation
Sensor and avoidance sensor are installed in the headstock of AGV trolleies.
It is further used as preferred embodiment, the machinery anticollision strip includes that 1 obstacle signal line and 3 root zone domains are selected
Select line.
The utility model is further explained and is illustrated with specific embodiment with reference to the accompanying drawings of the specification.
As shown in figure 4, using avoidance sensor as laser avoidance sensor, AGV polychrome car lights are seven color car lights of AGV, digital
Pipe is for group of four figures pipe, the main working process of the present embodiment AGV trolley abnormality alarm sets includes：
(1) external abnormality reminder process
External abnormality reminder process can be further subdivided into following process：
(1) laser obstacle exception parking alarm procedure
It is equipped with laser avoidance sensor in the headstock position of AGV trolleies, which there are 4 lines, wherein 1
Root obstacle signal line, 3 root zone domain selection lines have 2 because there is 3 root zone domain selection lines3=8 kinds of region combinations, each area
Size all can be freely arranged in domain.It, can be neatly according to different gait of march and task status in AGV trolley traveling process
Switch different size of laser avoidance detection zone.When occurring foreign matter (i.e. barrier) in laser avoidance detection zone, barrier
Hinder object signal wire that can send obstacle signal (can be high level or low level, detected for GPIO mouthfuls) to Vehicle Controller, it is vehicle-mounted
Controller can execute 4 operations after detecting obstacle signal：1. signal can be controlled by GPIO mouthfuls of outputs, by light-coupled isolation
Afterwards, control AGV music boxs sound alarm music；2. signal can be controlled by GPIO mouthfuls of outputs, after light-coupled isolation, control
Seven color car light blinking red lamps of AGV；3. sending stop sign to steering wheel driver by CANBU mouthfuls, and then controls AGV trolleies and stop
Vehicle；4. sending obstacle signal by TTL serial ports to show to X86 chips, then by touch display screen, while X86 chips
Also obstacle signal is wirelessly dealt into server.
(2) hard object anticollision parking alarm procedure is contacted
It is equipped with mechanical anticollision strip in the headstock position of AGV trolleies, when there is mechanical collision, mechanical anticollision strip will be to vehicle
Set controller sends collision alarm, and then subsequent operation is as laser obstacle exception parking alarm procedure, vehicle-mounted control
Device can execute 4 operations after detecting collision alarm：1. signal can be controlled by GPIO mouthfuls of outputs, after light-coupled isolation, control
AGV music boxs processed sound alarm music；2. signal can be controlled by GPIO mouthfuls of outputs, after light-coupled isolation, seven colors of AGV are controlled
Car light blinking red lamp；3. sending stop sign to steering wheel driver by CANBU mouthfuls, and then control the parking of AGV trolleies；4. passing through
TTL serial ports sends collision alarm and is shown to X86 chips, then by touch display screen, while X86 chips are also collision alarm
Wirelessly it is dealt into server.
(3) cell voltage current anomaly alarm procedure
The electric power detection module being composed of a voltage transformer and a current transformer, Ke Yishi are equipped in AGV trolley cars
When detect the voltage and current of on-vehicle battery group, and by the voltage and current of detection be sent to the ADC detections of Vehicle Controller MCU/
Thief hatch.When overvoltage overcurrent occurs for on-vehicle battery group, Vehicle Controller can send overvoltage overcurrent by TTL serial ports
Signal shows that X86 chips can also pass through overvoltage overcurrent signal wireless to X86 chips, then by touch display screen
Mode be dealt into server.Meanwhile Vehicle Controller can also control AGV music boxs and sound seven color vehicle of corresponding music and AGV
Lamp flickers corresponding car light.
(4) derailed exception parking alarm procedure
It will be to vehicle-mounted control when magnetic navigation sensor de-orbits equipped with magnetic navigation sensor on AGV trolleies
Device sends derailing signal can similarly execute 4 operations after Vehicle Controller detects derailing signal：1. GPIO mouthfuls can be passed through
Output control signal, after light-coupled isolation, control AGV music boxs sound alarm music；2. can be controlled by GPIO mouthfuls of outputs
Signal controls seven color car light blinking red lamps of AGV after light-coupled isolation；3. sending stop sign by CANBU mouthfuls to drive to steering wheel
Dynamic device, and then control the parking of AGV trolleies；4. sending derailing signal to X86 chips by TTL serial ports, then pass through touch display screen
It shows, while derailing signal is also wirelessly dealt into server by X86 chips.
(5) travelling route abnormal alarm process is preset
It is equipped with RFID card reader on AGV trolleies, advances when AGV trolleies are provided with by touch display screen or server
After route, fixed RFID sequences group will be obtained.When AGV trolleies in the process of moving, collected RFID card number with should
When RFID sequence groups are different, the travelling route mistake is determined that, Vehicle Controller sends travelling route abnormal signal at this time
Shown to X86 chips, then by touch display screen, at the same X86 chips also travelling route abnormal signal is passed through it is wireless
Mode is dealt into server.
(2) internal abnormality state reminder process
Internal abnormality state reminder process can be further subdivided into following process：
(1) temperature anomaly alarm procedure
In the small cars of AGV equipped with temperature sensor, vehicle interior temperature can be detected in real time, then passes through ADC detections/sampling
The temperature detected is sent to Vehicle Controller by mouth in real time.Vehicle Controller can execute 2 operations：1. temperature information is sent out
X86 chips are sent to, temperature information is sent to touch display screen again and shown by X86 chips；2. passing through in temperature anomaly
GPIO mouthfuls of output control signals, after light-coupled isolation, control AGV music boxs sound alarm music；And it is sent by TTL serial ports
Temperature anomaly signal shows that temperature anomaly signal is also dealt into clothes by X86 chips to X86 chips, then by touch display screen
Business device.
(2) communication line abnormal alarm process
Possess various communications, such as the CANBUS with steering wheel driver in the Vehicle Controller of AGV trolleies
The TTL serial communications and GPIO mouthful of the RS485 of communication and magnetic navigation module communications and X86 chips expand the height electricity come
Flat control car light music communication etc..If any one communication has been broken or exception, the utility model will be in Vehicle Controller
Group of four figures pipe show corresponding character code, communication can also have been broken or abnormal signal is sent to X86 chips, Jin Er
Touch display screen is shown, convenient to overhaul.
It is to be illustrated to the preferable implementation of the utility model, but the utility model is not limited to the reality above
Example is applied, those skilled in the art can also make various equivalent changes without departing from the spirit of the present invention
Shape or replacement, these equivalent deformations or replacement are all contained in the application claim limited range.
Claims (10)
1.AGV trolley abnormality alarm sets, it is characterised in that：Including temperature sensor, RFID card reader, avoidance sensing
Device, mechanical anticollision strip, magnetic navigation sensor, Vehicle Controller, local reminding module, host computer and server, the temperature pass
The output end of sensor, the output end of RFID card reader, the output end of avoidance sensor, the output end of mechanical anticollision strip and magnetic navigation
The output end of sensor is connect with the input terminal of Vehicle Controller, the output end of the Vehicle Controller and local reminding module
Input terminal connection, the Vehicle Controller also passes through host computer and server and is wirelessly connected.
2. AGV trolleies abnormality alarm set according to claim 1, it is characterised in that：The Vehicle Controller
Voltage transformer and current transformer are also respectively connected in input terminal.
3. AGV trolleies abnormality alarm set according to claim 1, it is characterised in that：The Vehicle Controller
Output end is also associated with steering wheel driver.
4. AGV trolleies abnormality alarm set according to claim 1, it is characterised in that：The local reminding module
Including AGV music boxs and AGV polychrome car lights, the input terminal of the AGV music boxs and the input terminal of AGV polychrome car lights with it is vehicle-mounted
The output end of controller connects.
5. AGV trolleies abnormality alarm set according to claim 1, it is characterised in that：The Vehicle Controller
Output end is also associated with charactron.
6. AGV trolleies abnormality alarm set according to claim 1, it is characterised in that：The host computer includes the
One communication module, X86 chips, touch display screen and second communication module, the first communication module respectively with X86 chips and vehicle
Set controller connects, and the X86 chips are also connect with touch display screen and second communication module respectively, the second communication module
Also it is wirelessly connected with server.
7. AGV trolleies abnormality alarm set according to claim 1, it is characterised in that：It further include light-coupled isolation electricity
Road, the optical coupling isolation circuit are connected between the output end of Vehicle Controller and the input terminal of local reminding module.
8. AGV trolleies abnormality alarm set according to claim 7, it is characterised in that：The optical coupling isolation circuit
It is made of TCMT4600 opto-coupler chips and peripheral circuit.
9. AGV trolleies abnormality alarm set according to claim 2, it is characterised in that：The voltage transformer, electricity
Current transformer, mechanical anticollision strip, magnetic navigation sensor and avoidance sensor are installed in the headstock of AGV trolleies.
10. according to claim 1-9 any one of them AGV trolley abnormality alarm sets, it is characterised in that：The machinery
Anticollision strip includes 1 obstacle signal line and 3 root zone domain selection lines.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820531758.1U CN208059937U (en) | 2018-04-13 | 2018-04-13 | AGV trolley abnormality alarm sets |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820531758.1U CN208059937U (en) | 2018-04-13 | 2018-04-13 | AGV trolley abnormality alarm sets |
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| Publication Number | Publication Date |
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| CN208059937U true CN208059937U (en) | 2018-11-06 |
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ID=63986247
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| CN201820531758.1U Expired - Fee Related CN208059937U (en) | 2018-04-13 | 2018-04-13 | AGV trolley abnormality alarm sets |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111459171A (en) * | 2020-05-15 | 2020-07-28 | 合肥卓科智能技术有限公司 | Path optimization regulation and control system of AGV dolly |
| CN112077840A (en) * | 2020-08-08 | 2020-12-15 | 浙江科聪控制技术有限公司 | Obstacle avoidance method of explosion-proof inspection robot and robot applied to method |
| CN113199484A (en) * | 2021-05-21 | 2021-08-03 | 炬星科技（深圳）有限公司 | Robot safe operation method, equipment and storage medium |
| CN113651007A (en) * | 2021-08-17 | 2021-11-16 | 北京京东乾石科技有限公司 | Logistics robot maintenance method and device and logistics robot system |
| CN114952840A (en) * | 2022-05-26 | 2022-08-30 | 中国第一汽车股份有限公司 | Air pressure servo flexible gripping apparatus applying ultrasonic obstacle avoidance device and obstacle avoidance method thereof |
-
2018
- 2018-04-13 CN CN201820531758.1U patent/CN208059937U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111459171A (en) * | 2020-05-15 | 2020-07-28 | 合肥卓科智能技术有限公司 | Path optimization regulation and control system of AGV dolly |
| CN112077840A (en) * | 2020-08-08 | 2020-12-15 | 浙江科聪控制技术有限公司 | Obstacle avoidance method of explosion-proof inspection robot and robot applied to method |
| CN112077840B (en) * | 2020-08-08 | 2022-02-15 | 浙江科聪控制技术有限公司 | Obstacle avoidance method of explosion-proof inspection robot and robot applied to method |
| CN113199484A (en) * | 2021-05-21 | 2021-08-03 | 炬星科技（深圳）有限公司 | Robot safe operation method, equipment and storage medium |
| CN113651007A (en) * | 2021-08-17 | 2021-11-16 | 北京京东乾石科技有限公司 | Logistics robot maintenance method and device and logistics robot system |
| CN114952840A (en) * | 2022-05-26 | 2022-08-30 | 中国第一汽车股份有限公司 | Air pressure servo flexible gripping apparatus applying ultrasonic obstacle avoidance device and obstacle avoidance method thereof |
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