CN208452985U - AGV safety control system and safety-type AGV - Google Patents
AGV safety control system and safety-type AGV Download PDFInfo
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- CN208452985U CN208452985U CN201820963758.9U CN201820963758U CN208452985U CN 208452985 U CN208452985 U CN 208452985U CN 201820963758 U CN201820963758 U CN 201820963758U CN 208452985 U CN208452985 U CN 208452985U
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Abstract
A kind of AGV safety control system provided by the utility model and safety-type AGV, are related to AGV technical field.The AGV safety control system includes safety relay, obstacle avoidance module, anticollision module and emergency stop switch, the obstacle avoidance module and the anticollision module are electrically connected with the safety relay, for detecting barrier or collision information, AGV includes power supply and drive control device, the safety relay is used to connect the power supply and drive control device of AGV, the safety relay is controlled when the obstacle avoidance module and the anticollision module detect barrier or collision information disconnects the power supply of AGV and the connection of drive control device, the power supply of drive control device can be also directly disconnected by emergency stop switch, by the way that independent safety control system is arranged, the component for being related to security function is all made of binary-channel redundancy design, even if main controller breaks down, the component for being related to security function remains to work normally.
Description
Technical field
The utility model relates to AGV technical field, in particular to a kind of AGV safety control system and safety-type
AGV。
Background technique
With wideling popularize for industrial automation, more and more machines enter factory, enter people's lives.And
As man-machine interaction is more and more, how to guarantee personal safety as well as the property safety at very important problem.It is existing automatic
The control system of guide transport lorry (Automated Guided Vehicle, AGV), majority pay the utmost attention to the realization of function, and
The problem of often ignoring safety.Dangerous functional component is detected in spite of some parts that may be provided with, but is a lack of whole
Body and detailed consideration and the case where causing security function to fail, still will appear.Therefore it is badly in need of designing a kind of AGV security control
To guarantee the normal operation of security system, very big limit guarantees personal safety as well as the property safety for system and its safety circuit.
Utility model content
In view of this, the utility model embodiment is designed to provide a kind of AGV safety control system and safety-type
AGV improves the security performance of AGV to improve the problem of existing AGV security performance deficiency, ensures personal safety as well as the property safety.
The technical solution adopted in the utility model is as follows:
The utility model embodiment provides a kind of AGV safety control system, and the AGV safety control system includes safety
Relay, obstacle avoidance module and anticollision module, the obstacle avoidance module and the anticollision module are electric with the safety relay
Connection, for detecting barrier or collision information, AGV includes power supply and drive control device, and the safety relay is for connecting
The power supply and drive control device of AGV, when the obstacle avoidance module and the anticollision module detect barrier or collision information
It controls the safety relay and disconnects the power supply of AGV and the connection of drive control device.
Further, the AGV safety control system includes first switch relay and second switch relay, AGV's
Power supply passes sequentially through first switch relay, second switch relay is electrically connected with the drive control device of AGV, the first switch
Relay, second switch relay are electrically connected with the safety relay, and the safety relay is used to work as the avoidance mould
Control first switch relay and or second switch relay when block and the anticollision module detect barrier or collision information
Device disconnects.
Further, the safety relay include the first control port and the second control port, the first control port with
The second control port electrical connection, the safety relay are used in first control port and second control port
Electrical connection control the first switch relay and or second switch relay when disconnecting and disconnect.
Further, the obstacle avoidance module includes obstacle avoidance sensor, avoidance obstacle device and third switch relay, described to keep away
Barrier sensor is electrically connected with the avoidance obstacle device, and the avoidance obstacle device is electrically connected with the third switch relay, described
Third switch relay is set between first control port and second control port.
Further, the obstacle avoidance sensor is used to detect the barrier in predeterminable area, when the obstacle avoidance sensor is examined
When measuring barrier, obstacle avoidance sensor dyspoiesis signal is sent to the avoidance obstacle device, and the avoidance obstacle device is according to institute
The obstacle signal control third switch relay is stated to disconnect.
Further, the anticollision module includes anti-collision sensor, anti-collision controller and the 4th switch relay,
The anti-collision sensor is electrically connected with anti-collision controller, and the anti-collision controller is electrically connected with the 4th switch relay
It connects, the 4th switch relay is set between first control port and the third switch relay.
Further, the anti-collision sensor includes pressure-sensitive device, and the pressure-sensitive device is used for the production when colliding
Raw collision alarm, and the collision alarm is sent to the anti-collision controller, the anti-collision controller is for receiving
The 4th switch relay is controlled to the collision alarm to disconnect.
Further, the AGV safety control system includes emergency stop switch, and the emergency stop switch is set to the described 4th and opens
It closes between relay and first control port.
Further, the AGV safety control system further includes master controller and combined aural and visual alarm, the master controller with
The avoidance obstacle device electrical connection, the avoidance obstacle device is used to the obstacle signal being sent to the master controller, described
Master controller controls combined aural and visual alarm according to the obstacle signal and issues audible and visible alarm.
The utility model embodiment additionally provides a kind of safety-type AGV, which is characterized in that before the safety-type AGV includes
The AGV safety control system stated.
Compared with the prior art, the utility model has the following beneficial effects:
A kind of AGV safety control system provided by the utility model and safety-type AGV, the AGV safety control system packet
Include safety relay, obstacle avoidance module and anticollision module, the obstacle avoidance module and the anticollision module with the safety after
Electric appliance electrical connection, for detecting barrier or collision information, AGV includes power supply and drive control device, and the safety relay is used
In the power supply and drive control device of connection AGV, when the obstacle avoidance module and the anticollision module detect barrier or collision
The safety relay is controlled when information disconnects the power supply of AGV and the connection of drive control device.It disconnects when an abnormal situation occurs
AGV power supply is electrically connected with drive control device, is related to by the way that independent safety control system is arranged even if main controller breaks down
And the component of security function remains to work normally.
To enable the above objects, features, and advantages of the utility model to be clearer and more comprehensible, preferred embodiment is cited below particularly, and
Cooperate appended attached drawing, is described in detail below.
Detailed description of the invention
It, below will be to required in embodiment in order to illustrate more clearly of the technical solution of the utility model embodiment
The attached drawing used is briefly described, it should be understood that the following drawings illustrates only some embodiments of the utility model, therefore not
It should be considered as the restriction to range, for those of ordinary skill in the art, without creative efforts,
It can also be obtained according to these attached drawings other relevant attached drawings.
Fig. 1 shows a kind of schematic diagram of AGV safety control system provided by the utility model.
Fig. 2 shows the schematic diagrames of obstacle avoidance module.
Fig. 3 shows the schematic diagram of anticollision module.
Fig. 4 shows the partial function module diagram of AGV safety control system.
Icon: 100-AGV safety control system；110- safety relay；K1- first switch relay；K2- second switch
Relay；130- obstacle avoidance module；131- avoidance obstacle device；133- obstacle avoidance sensor；K3- third switch relay；150- anti-collision
Hit module；151- anti-collision controller；153- anti-collision sensor；The 4th switch relay of K4-；K5- emergency stop switch；170- master
Controller；171- combined aural and visual alarm；210- power supply；230- drive control device.
Specific embodiment
Below in conjunction with attached drawing in the utility model embodiment, the technical scheme in the embodiment of the utility model is carried out clear
Chu is fully described by, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole realities
Apply example.The component of the utility model embodiment being usually described and illustrated herein in the accompanying drawings can be come with a variety of different configurations
Arrangement and design.Therefore, the detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit below
The range of claimed invention, but it is merely representative of the selected embodiment of the utility model.Based on the utility model
Embodiment, those skilled in the art's every other embodiment obtained without making creative work, all
Belong to the range of the utility model protection.
It should also be noted that similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined in a attached drawing, does not then need that it is further defined and explained in subsequent attached drawing.
In the description of the present invention, it should also be noted that, unless otherwise clearly defined and limited, term " is set
Set ", " installation ", " connected ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection,
Or it is integrally connected；It can be mechanical connection, be also possible to be electrically connected；It can be directly connected, intermediary can also be passed through
It is indirectly connected, can be the connection inside two elements.
It is in the description of the present invention, it should also be noted that, herein, such as first and second or the like pass
It is that term is only used to distinguish one entity or operation from another entity or operation, and not necessarily requires or secretly
Show that there are any actual relationship or orders between these entities or operation.The terms "include", "comprise" or its
What his variant is intended to non-exclusive inclusion, so that including the process, methods of a series of elements, article or setting
Standby includes not only those elements, but also including other elements that are not explicitly listed, or further includes for this process, side
Method, article or the intrinsic element of equipment.In the absence of more restrictions, limited by sentence "including a ..."
Element, it is not excluded that there is also other identical elements in the process, method, article or apparatus that includes the element.It is right
For those skilled in the art, the concrete meaning of above-mentioned term in the present invention can be understood with concrete condition.
With reference to the accompanying drawing, it elaborates to some embodiments of the utility model.In the absence of conflict, under
The feature in embodiment and embodiment stated can be combined with each other.
With wideling popularize for industrial automation, more and more machines enter factory, enter people's lives.And
As man-machine interaction is more and more, how to guarantee personal safety as well as the property safety at very important problem.It is existing automatic
The control system majority of guide transport lorry pays the utmost attention to the realization of function, and the problem of often ignore safety.In spite of one
It may be provided with part a bit and detect dangerous functional component, but be a lack of whole and detailed consideration and security function is caused to fail
The case where still will appear.
First embodiment
A kind of AGV safety control system 100 is present embodiments provided, is asked with improving existing AGV security performance deficiency etc.
Topic.Referring to Fig. 1, Fig. 1 shows the schematic diagram of AGV safety control system 100 provided in this embodiment.
AGV safety control system 100 is used for disconnected when AGV running route collision, obstacle occurs or emergency occurs
The power supply 210 for opening AGV is supplied, and safety accident is prevented, and damages personal safety as well as the property safety.
AGV safety control system 100 includes master controller 170, combined aural and visual alarm 171, safety relay 110, avoidance mould
Block 130, anticollision module 150, emergency stop switch K5, first switch relay K1 and second switch relay K2.Wherein, first
Switch relay K1 and second switch relay K2 is used for being arranged between the power supply 210 of AGV and drive control device 230
Binary channels control, avoiding element from breaking down influences the security performance of AGV safety control system 100.Safety relay 110 and
One switch relay K1, second switch relay K2 electrical connection, the safety relay 110 be used for the obstacle avoidance module 130,
It is disconnected that the first switch relay K1 and second switch relay K2 is controlled under the triggering of anticollision module 150 or emergency stop switch K5
Connection is opened, so that the power supply 210 of AGV is disconnected with drive control device 230, keeps the motor of AGV out of service.
In this present embodiment, the obstacle avoidance module 130 and the anticollision module 150 with the safety relay 110
Electrical connection, for detecting barrier or collision information, AGV includes power supply 210 and drive control device 230, the safety relay
110 for connecting the power supply 210 and drive control device 230 of AGV, when the obstacle avoidance module 130 and the anticollision module 150 are examined
Power supply 210 and drive control device 230 that the safety relay 110 disconnects AGV are controlled when measuring barrier or collision information
Connection.
AGV safety control system 100 includes the power supply 210 of first switch relay K1 and second switch relay K2, AGV
It passes sequentially through first switch relay K1, second switch relay K2 to be electrically connected with the drive control device 230 of AGV, described first
Switch relay K1, second switch relay K2 are electrically connected with the safety relay 110, and the safety relay 110 is used
In when the obstacle avoidance module 130 and the anticollision module 150 detect barrier or collision information control first switch after
Electric appliance K1 and or second switch relay K2 disconnect, to disconnect the connection of the AGV power supply 210 with drive control device 230, make
The motor of AGV is out of service.
It should be noted that in this present embodiment, the component for being related to security function is all made of binary-channel redundancy design, example
Such as, the quantity of first switch relay K1 is 2, and the quantity of second switch relay K2 is 2, for controlling different routes
On-off, the device for being related to security function all use safety-type electrical component.Detecting element and final executive component are in system event
It is power failure state when barrier, to will not influence entire security control even if the security function device in a certain channel breaks down
The normal operation of the security function of system.
Safety relay 110 includes the first control port and the second control port, and the first control port and described second are controlled
Port processed electrical connection, the safety relay 110 are used for being electrically connected in first control port and second control port
The first switch relay K1 and or second switch relay K2 is controlled when connecing disconnection to disconnect.
In this present embodiment, the safety relay 110 can select the safety relay 110 of UE series, such as SICK
UE48 safety relay.
Referring to Fig. 2, the obstacle avoidance module 130 include obstacle avoidance sensor 133, avoidance obstacle device 131 and third switch after
Electric appliance K3, the obstacle avoidance sensor 133 are electrically connected with the avoidance obstacle device 131, the avoidance obstacle device 131 and the third
Switch relay K3 electrical connection, the third switch relay K3 are set to first control port and second control terminal
Between mouthful.
The obstacle avoidance sensor 133 is used to detect the barrier in predeterminable area, and predeterminable area is the protection of the AGV
Area, when the obstacle avoidance sensor 133 detects that 133 dyspoiesis signal of obstacle avoidance sensor is sent out there are when barrier in protection zone
It send to the avoidance obstacle device 131, the avoidance obstacle device 131 controls the third switch relay according to the obstacle signal
K3 is disconnected.It should be noted that the quantity of the third switch relay K3 can be multiple, the avoidance obstacle device 131
There can be multiple output ports, for controlling multiple third switch relay K3 to guarantee security performance, to avoid because a certain
A third switch relay K3 breaks down and influences the security performance of whole system.
In this present embodiment, the avoidance obstacle device 131 can select SICK S300Advanced type sensor, SICK
S300 Advanced type sensor is with 270 ° of scanning range, radius, the switching of 4 channels, the external dress of band of protection zone maximum 2m
Set monitoring function (EDM).
SICK S300 Advanced type sensor has the port OSSD1 and OSSD2, OSSD1 and OSSD2 for protection zone touching
Output signal is sent out, and come with heartbeat detection pulse to prevent two signal intereelectrode short-circuits.In this present embodiment, OSSD1 and
ODDS2 is separately connected a third switch relay K3, when detecting that there are object entrance, OSSD1 and ODDS2 signal meeting in protection zone
Output is simultaneously switched off, the avoidance obstacle device 131 further includes monitoring port, and the monitoring port can be opened with multiple thirds
Relay K3 electrical connection is closed, for monitor whether the switch relay exported occurs remarkable action (such as switch relay contact
Adhesion etc.).
Referring to Fig. 3, in this present embodiment, AGV safety control system 100 further includes master controller 170 and sound-light alarm
Device 171, combined aural and visual alarm 171 are electrically connected with the master controller 170, the master controller 170 and the avoidance obstacle device 131
Electrical connection, the avoidance obstacle device 131 be used for the obstacle avoidance sensor 133 detect the obstacle signal is sent to it is described
Master controller 170, the master controller 170 control combined aural and visual alarm 171 according to the obstacle signal and issue audible and visible alarm.
For example, the SICK S300 Advanced type sensor includes OUTPUT1,2,3, it is corresponding that output can be set
To master controller 170, master controller 170 controls the combined aural and visual alarm 171 and issues corresponding police abnormal signal (barrier etc.)
Report, to realize the alarm functions such as alarm.
Referring to Fig. 4, the anticollision module 150 includes anti-collision sensor 153, anti-collision controller 151 and the 4th
Switch relay K4, the anti-collision sensor 153 are electrically connected with anti-collision controller 151, the anti-collision controller 151 with
4th switch relay K4 electrical connection, the 4th switch relay K4 are set to first control port and described the
Between three switch relay K3.
The anti-collision sensor 153 includes pressure-sensitive device, such as varistor, and the pressure-sensitive device is for touching
Collision alarm is generated when hitting, for example, side is extruded or poor contact, the resistance value hair of varistor occurs in harness when AGV appearance is touched
Changing, to generate collision alarm, the collision alarm is sent to the anti-collision controller by anti-collision sensor 153
151, the anti-collision controller 151 is used to receive collision alarm control the 4th switch relay K4 disconnection company
It connects.
Need, the quantity of the 4th switch relay K4 can be it is multiple, the anti-collision controller 151 includes more
A output port, each output port are used to be correspondingly connected with a 4th switch relay K4, with the 4th switch of control
The working condition of relay K4, such as be turned on or off.Control described when situations, the anti-collision controller 151 such as occurs colliding in AGV
4th switch relay K4 is disconnected, to disconnect between 110 first control port of safety relay and the second control port
Connection, safety relay 110 controls the first switch relay K1 and second switch relay K2 and disconnects, thus will be described
The power supply 210 of AGV and the drive control device 230 disconnect, and prevent AGV from continuing to run and cause damages.
AGV safety control system 100 further includes emergency stop switch K5, the emergency stop switch K5 be set to it is described 4th switch after
Between electric appliance K4 and first control port, when there is emergency, the peace can be made by disconnecting emergency stop switch K5
All relay 110 controls the first switch relay K1 and second switch relay K2 and disconnects, thus by the power supply of the AGV
210 disconnect with the drive control device 230.
It needs, in the present embodiment, the third switch relay K3 that is controlled by avoidance obstacle device 131, by anticollision
The 4th switch relay K4 and the emergency stop switch K5 that controller 151 controls are arranged in series, when in security system any one
Occur harness poor contact, first switch relay K1, second switch in a component actuation, exception or this set security system
Relay K2 can directly disconnect output, and AGV vehicle electrical source of power 210 powers off, and dynamical system is out of service, prevents safety
Accident.
Need, third switch relay K3 provided in this embodiment, the 4th switch relay K4, first switch after
Electric appliance K1 and second switch relay K2 is safety type relay, has guide rod, it is ensured that contact will not adhesion.
Second embodiment
The present embodiment provides a kind of safety-type AGV, the safety-type AGV includes power supply 210, drive control device 230 and AGV
Safety control system 100.The power supply 210 is electrically connected with the drive control device 230, to power to drive control device 230.
The AGV safety control system 100 includes first switch relay K1 and second switch relay K2, the first switch relay
Device K1 and the second switch relay K2 are set between the power supply 210 and the drive control device 230.
It needs, AGV safety control system 100 provided in this embodiment, structure composition and basic principle and the
The AGV safety control system 100 provided in one embodiment is essentially identical, and to briefly describe, the present embodiment is not remake it in detail
Illustrate, the present embodiment does not introduce detailed place, please refers to the related content in first embodiment.
AGV safety control system 100 includes master controller 170, combined aural and visual alarm 171, safety relay 110, avoidance mould
Block 130, anticollision module 150, emergency stop switch K5, first switch relay K1 and second switch relay K2.Wherein, first
Switch relay K1 and second switch relay K2 is used for being arranged between the power supply 210 of AGV and drive control device 230
Binary channels control, avoiding element from breaking down influences the security performance of AGV safety control system 100.Safety relay 110 and
One switch relay K1, second switch relay K2 electrical connection, the safety relay 110 be used for the obstacle avoidance module 130,
It is disconnected that the first switch relay K1 and second switch relay K2 is controlled under the triggering of anticollision module 150 or emergency stop switch K5
Connection is opened, so that the power supply 210 of AGV is disconnected with drive control device 230, keeps the motor of AGV out of service.The present embodiment mentions
The driving motor of the safety-type AGV supplied has power loss automatic band-type brake device, it is ensured that checks not car slipping in time after a loss of power.
In conclusion the utility model provides a kind of AGV safety control system and safety-type AGV, the AGV is controlled safely
System processed includes safety relay, obstacle avoidance module and anticollision module, and the obstacle avoidance module and the anticollision module are and institute
Safety relay electrical connection is stated, for detecting barrier or collision information, AGV includes power supply and drive control device, the safety
Relay is used to connect the power supply and drive control device of AGV, when the obstacle avoidance module and the anticollision module detect obstacle
The safety relay is controlled when object or collision information disconnects the power supply of AGV and the connection of drive control device.There are abnormal feelings
Being electrically connected for AGV power supply and drive control device is disconnected when condition, by the way that independent safety control system is arranged, even if main controller occurs
Failure, the component for being related to security function remain to work normally, any one of safety control system component detect failure or
The controllable AGV of abnormal conditions is out of service, has ensured personal safety as well as the property safety.
The above descriptions are merely preferred embodiments of the present invention, is not intended to limit the utility model, for this
For the technical staff in field, various modifications and changes may be made to the present invention.It is all in the spirit and principles of the utility model
Within, any modification, equivalent replacement, improvement and so on should be included within the scope of protection of this utility model.
Claims (10)
1. a kind of AGV safety control system, which is characterized in that the AGV safety control system includes safety relay, avoidance mould
Block and anticollision module, the obstacle avoidance module and the anticollision module are electrically connected with the safety relay, for detecting
Barrier or collision information, AGV include power supply and drive control device, and the safety relay is used to connect power supply and the drive of AGV
Movement controller, controlled when the obstacle avoidance module and the anticollision module detect barrier or collision information the safety after
Electric appliance disconnects the power supply of AGV and the connection of drive control device.
2. AGV safety control system as described in claim 1, which is characterized in that the AGV safety control system includes first
Switch relay and second switch relay, the power supply of AGV pass sequentially through first switch relay, second switch relay with
The drive control device of AGV is electrically connected, and the first switch relay, second switch relay are electrically connected with the safety relay
It connects, the safety relay is used to detect barrier or collision information time control when the obstacle avoidance module and the anticollision module
First switch relay processed and or second switch relay disconnect.
3. AGV safety control system as claimed in claim 2, which is characterized in that the safety relay includes the first control
Port and the second control port, the first control port are electrically connected with second control port, and the safety relay is used for
First control port and second control port control the first switch relay and or the when being electrically connected disconnection
Two switch relays disconnect.
4. AGV safety control system as claimed in claim 3, which is characterized in that the obstacle avoidance module include obstacle avoidance sensor,
Avoidance obstacle device and third switch relay, the obstacle avoidance sensor are electrically connected with the avoidance obstacle device, the avoidance obstacle
Device is electrically connected with the third switch relay, and the third switch relay is set to first control port and described the
Between two control ports.
5. AGV safety control system as claimed in claim 4, which is characterized in that the obstacle avoidance sensor is default for detecting
Barrier in region, when the obstacle avoidance sensor detects barrier, obstacle avoidance sensor dyspoiesis signal is sent to institute
Avoidance obstacle device is stated, the avoidance obstacle device controls the third switch relay according to the obstacle signal and disconnects.
6. AGV safety control system as claimed in claim 5, which is characterized in that the anticollision module includes that anticollision passes
Sensor, anti-collision controller and the 4th switch relay, the anti-collision sensor are electrically connected with anti-collision controller, described anti-
Crash controller is electrically connected with the 4th switch relay, and the 4th switch relay is set to first control port
Between the third switch relay.
7. AGV safety control system as claimed in claim 6, which is characterized in that the anti-collision sensor includes pressure-sensitive device
The collision alarm is sent to the anticollision for generating collision alarm when colliding by part, the pressure-sensitive device
Controller, the anti-collision controller are used to receive collision alarm control the 4th switch relay disconnection company
It connects.
8. AGV safety control system as claimed in claim 7, which is characterized in that the AGV safety control system includes emergency stop
Switch, the emergency stop switch are set between the 4th switch relay and first control port.
9. AGV safety control system as claimed in claim 5, which is characterized in that the AGV safety control system further includes master
Controller and combined aural and visual alarm, the master controller are electrically connected with the avoidance obstacle device, and the avoidance obstacle device is used for institute
It states obstacle signal and is sent to the master controller, the master controller controls combined aural and visual alarm sending sound according to the obstacle signal
Light alarm.
10. a kind of safety-type AGV, which is characterized in that the safety-type AGV includes as claimed in any one of claims 1 to 9 wherein
AGV safety control system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820963758.9U CN208452985U (en) | 2018-06-20 | 2018-06-20 | AGV safety control system and safety-type AGV |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820963758.9U CN208452985U (en) | 2018-06-20 | 2018-06-20 | AGV safety control system and safety-type AGV |
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| Publication Number | Publication Date |
|---|---|
| CN208452985U true CN208452985U (en) | 2019-02-01 |
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ID=65169315
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| Application Number | Title | Priority Date | Filing Date |
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| CN201820963758.9U Active CN208452985U (en) | 2018-06-20 | 2018-06-20 | AGV safety control system and safety-type AGV |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108454622A (en) * | 2018-06-20 | 2018-08-28 | 广东嘉腾机器人自动化有限公司 | AGV safety control systems and safety-type AGV |
| CN110794805A (en) * | 2019-10-08 | 2020-02-14 | 珠海格力电器股份有限公司 | Robot safety circuit and control method thereof |
| CN113885492A (en) * | 2021-09-17 | 2022-01-04 | 广东嘉腾机器人自动化有限公司 | AGV driving control method and system |
-
2018
- 2018-06-20 CN CN201820963758.9U patent/CN208452985U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108454622A (en) * | 2018-06-20 | 2018-08-28 | 广东嘉腾机器人自动化有限公司 | AGV safety control systems and safety-type AGV |
| CN110794805A (en) * | 2019-10-08 | 2020-02-14 | 珠海格力电器股份有限公司 | Robot safety circuit and control method thereof |
| CN113885492A (en) * | 2021-09-17 | 2022-01-04 | 广东嘉腾机器人自动化有限公司 | AGV driving control method and system |
| CN113885492B (en) * | 2021-09-17 | 2023-12-05 | 广东嘉腾机器人自动化有限公司 | AGV driving control method and system |
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