CN208882798U - A kind of interactive system - Google Patents

Abstract

The utility model relates to a kind of interactive systems, including TOS, VMS, AGV and interaction bracket, and AGV includes navigation control unit, and interaction bracket includes first support group and second support group positioned opposite, form the channel passed through for AGV between two stands group；Each bracket group includes spaced apart four brackets, and each support height is equal；On the direction in channel, four brackets of interaction bracket one end and four brackets of the other end are used to 20 ruler containers of carrying, and eight brackets are for carrying 40 rulers or 45 ruler containers；The first testing agency is also set up on interaction bracket, the second testing agency is provided on AGV, the first testing agency and TOS are communicated to connect, and the main controller of the second testing agency and AGV communicate to connect.For storing container in short-term, operation when realizing the difference between AGV and factory's bridge improves AGV and factory's bridge interactive efficiency, factory's bridge stacking efficiency and AGV utilization rate.

Description

A kind of interactive system

Technical field

The utility model belongs to port mechanical equipment technical field, and in particular to a kind of interactive system.

Background technique

With harbour prosperity and development, AGV(Automated Guided Vehicle, automated guided vehicle) it is automation The special transportation device of harbour, including front axle and rear axle, front axle include preceding lifting platform, for jacking 20 ruler containers Preceding lifting body and four at preceding lifting platform four corners before jack guide plate, rear axle jacks flat after including Guiding is jacked after platform, the rear lifting body for jacking 20 ruler containers and four at rear lifting platform four corners Plate.Navigation control unit is the motion control unit of AGV, the AGV Navigation Control mode of automatic dock using inertial navigation with The mode of absolute position correction, inertial navigation is a kind of Relative localization method, onboard installs gyroscope, angular encoder, wheel speed Direction and the speed that the sensors such as encoder accurately obtain trolley are calculated when known to start position coordinate by sensing data The position of trolley out, the system have the characteristics that simple and flexible, cheap and real-time are good, and disadvantage is to be formed due to various reasons Error accumulation, long-play can lead to precision and completely lose.Use the absolute pose measurement unit of antenna to AGV in stockyard at present In pose correction specifically arrange that magnetic nail, each magnetic nail record it in the coordinate system of stockyard in the operation place of AGV Absolute coordinate accordingly a pair of of detection antenna is symmetrically housed in the front and rear of AGV chassis, antenna is covering Magnetic can read magnetic and follow closely absolute position in stockyard, and the traffic safety in order to guarantee AGV when following closely, in navigation control unit AGV Anti-bumping protection unit using laser anti-collision protect, can when driving by laser sensor to ambient enviroment into Row perception, ensures single machine traffic safety.

During container is loaded onto ship and is unloaded, Terminal Operating System (Terminal Operating System, letter Claim TOS) issued to vehicle management system (Vehicle Management System, abbreviation VMS) take case instruct and send case to refer to It enables, realizes the scheduling and traffic control of AGV.During container unloading, AGV needs to turn from AGV platform with the container carried It moves on on factory's bridge and is transferred in stockyard, and during container shipment, the container in stockyard needs to turn by factory's bridge It moves on AGV platform, container went is downloaded on ship by AGV, the process of this container transfer is known as interactive process.It is existing Have in technology, factory's bridge and AGV limited amount, needs that factory's bridge is waited to complete upper one when AGV band carries below container to factory's bridge It takes the container on AGV platform after container away, then returns to ship and take container again, it is reciprocal to carry out, in this interactive process In, interaction time is longer between AGV and factory's bridge, operation when causing interactive efficiency low, and there is difference between the two, due to AGV Waiting cause AGV occupy interaction area overlong time and AGV utilization rate it is low, cause the AGV wasting of resources.

Utility model content

A kind of purpose of interactive system provided by the utility model is, hands over for solving AGV in the prior art and factory's bridge Mutual low efficiency and the low problem of AGV utilization rate, for storing container in short-term, operation when realizing the difference between AGV and factory's bridge is mentioned High AGV and factory's bridge interactive efficiency reduce AGV and wait energy consumption to improve factory's bridge stacking efficiency and AGV utilization rate.

In order to solve the above-mentioned technical problem, the utility model proposes following technical solutions to be resolved:

A kind of interactive system, including TOS, the VMS and AGV that are connected with TOS, the AGV includes navigation control unit, special Sign is, further includes interactive bracket, the interactive bracket include the first support group for bearing container positioned opposite and Second support group forms the channel passed through for the AGV between two stands group；Each bracket group includes spaced apart four branch Frame, each support height are equal；On the direction in the channel, four brackets of interaction bracket one end and four brackets of the other end 20 ruler containers of carrying are used to, and eight brackets are for carrying 40 rulers or 45 ruler containers；It is also set up on the interactive bracket There is the first testing agency for detecting the container box whether interactive bracket has container and feedback to be carried；It is described Be provided on AGV for detect on AGV whether with carry container and feedback by AGV band load container box second Testing agency, first testing agency and the TOS are communicated to connect, and second testing agency communicates with the main controller of AGV Connection.

Further, in order to detect the container box being placed on bracket, the first testing agency includes four the first light Electric switch, two first optoelectronic switches respectively correspond in four brackets that described interactive bracket one end is arranged in diagonally On each bracket of a pair of brackets, and the second optoelectronic switch of another two respectively corresponds four branch that the interaction bracket other end is arranged in On each bracket of a pair of brackets in frame diagonally.

Further, in order to detect the container box being placed on AGV, the second testing agency includes four the second photoelectricity Switch, two the second optoelectronic switches respectively correspond be arranged in four before jack guide plate in diagonally a pair before jack guide plate Each of on, and the second optoelectronic switch of another two is respectively corresponded to jack in guide plate after being arranged in four and be pushed up after a pair diagonally It rises on each of guide plate.

Further, in order to improve bracket to the bearing strength of container and convenient for container to be placed on bracket, The upper end of each bracket is in the tilted angle relative to lower end towards the channel, and the top of each bracket is provided with for carrying packaging The horizontal supporting plate of case and guide plate positioned at the horizontal supporting plate upper surface, the upper table of the guide plate and horizontal supporting plate Obtuse angle is formed between face

Further, in order to protect AGV preceding lifting body or rear lifting body when taking case or sending case with interact bracket Upper existing container collision, is equipped with the first front end ultrasonic sensor in the front end of the preceding lifting body of AGV and rear end is installed There is the first back-end ultrasonic wave sensor, the second front end ultrasonic sensor is installed in the front end of rear lifting body and rear end is installed There is the second back-end ultrasonic wave sensor, each ultrasonic sensor is communicated to connect with the main controller of AGV.

Further, in order to protect AGV to collide when passing in and out bracket from barrier, behind the headstock front end of AGV and the tailstock End is provided with the laser sensor for detecting barrier, and each laser sensor is communicated to connect with the main controller of AGV.

Further, in order to make AGV avoid colliding with two side stands when passing in and out bracket, the interactive system further includes cross Each bracket is correspondingly arranged at first support group or second support group lower inside in across first support group or second support group Reflector and the absolute pose measurement unit of antenna for being used to correct pose being connected with the main controller of AGV；The main controller of AGV connects Data and processing of the light issued by laser sensor received after reflector reflection, and data are raw according to treated At the control signal for rectifying a deviation to AGV.

Further, the headstock front end and tailstock rear end of AGV is additionally provided with rocker arm type anti-impact bumper, each rocker arm type Anti-impact bumper includes for the Kui Suo mechanism that rocker arm contracts to the feedback of AGV body inner side when being impacted, in the Kui Suo mechanism It is equipped with the communication connection of the main controller of AGV close to induction limit switch.

The utility model further relates to a kind of exchange method using interactive system as described above, including interacts mould as follows It send box mode: the information for whether having container on interaction bracket is acquired, and without the information of container on receiving interactive bracket likes: Case is sent to instruct to VMS afterwards；Acquisition AGV send case box with the first object container carried, and send case box described in verification With the first task box for interacting container to be lifted on bracket, send case box consistent with the first task box described When, TOS is transmitted into bracket signal to the main controller of AGV by VMS；Main controller controls after receiving the entrance bracket signal The preceding lifting body and/or rear lifting body of AGV jacks and enters the target position of interaction bracket；And the control preceding jacking Mechanism and/or rear lifting body are fallen into place, and acquisition falls into place signal and the signal that falls into place is sent to TOS；It takes Box mode: whether acquisition AGV has the information of container, and takes case to refer to AGV transmission after the information on receiving AGV without container It enables；Acquire the second targeted containers carried on interaction bracket takes case box, and takes described in verification and entertain on case box and AGV Second task box of the container of load, it is described take case box consistent with the second task box when, TOS by VMS to The main controller of AGV is transmitted into bracket signal；Main controller receives the control AGV after entering bracket signal and reaches interaction bracket Target position, hereafter control the preceding lifting body of AGV and/or rear lifting body jacked to lifting second targeted containers And it is driven out to interactive bracket；And the control preceding lifting body and/or rear lifting body are fallen into place, acquisition falls into place signal And the signal that falls into place is sent to TOS.

Further, for the circulation position that TOS is capable of monitoring objective container in time, it is described send box mode further include as Lower step: the TOS receive it is described fall into place signal after, TOS by the position of the first object container modify to On interaction bracket；It is described that take box mode further include following steps: the TOS receive it is described fall into place signal after, TOS will It modifies to AGV the position of second targeted containers.

Compared with prior art, the advantages of the utility model and beneficial effect is: passing through the detection interaction of the first testing agency Whether there is container on bracket and feed back carried container box, whether has container on the second testing agency detection AGV And feed back AGV band carry container box, AGV by VMS receive TOS transmission send case instruction and take case to instruct, according to first The data of testing agency and the second testing agency feedback, control AGV send case and AGV to take from interaction bracket on interaction bracket Case, and AGV traffic safety is guaranteed by the running track of navigation control unit control AGV while AGV passes in and out bracket, For storing container in short-term, operation when realizing the difference between AGV and factory's bridge improves factory's bridge stacking efficiency, and subtracts interaction bracket Few AGV waiting time, AGV is efficiently used, the wasting of resources is avoided.

Detailed description of the invention

In order to illustrate the embodiment of the utility model or the technical proposal in the existing technology more clearly, below will be practical to this New embodiment or attached drawing needed to be used in the description of the prior art are made one and are briefly introduced, it should be apparent that, it is described below Attached drawing is some embodiments of the utility model, for those of ordinary skill in the art, is not being made the creative labor Under the premise of, it can also be obtained according to these attached drawings other accompanying drawings.

Fig. 1 is the hardware block diagram of interactive system embodiment in the utility model；

Fig. 2 is the main view of interaction bracket in interactive system embodiment in the utility model；

Fig. 3 is the right view of interaction bracket in interactive system embodiment in the utility model.

Specific embodiment

It is practical new below in conjunction with this to keep the objectives, technical solutions, and advantages of the embodiments of the present invention clearer Attached drawing in type embodiment, the technical scheme in the utility model embodiment is clearly and completely described, it is clear that is retouched The embodiment stated is the utility model a part of the embodiment, instead of all the embodiments.Based on the implementation in the utility model Example, every other embodiment obtained by those of ordinary skill in the art without making creative efforts belong to The range of the utility model protection.

In order to realize AGV conveying container temporary, operation when realizing the difference between AGV and factory's bridge, improve factory's bridge and make Industry efficiency and AGV utilization rate, the present embodiment are related to a kind of interactive system, including TOS 8, VMS 9, AGV 10 and interaction bracket (as shown in Figures 2 and 3), AGV 10 include navigation control unit 12, and interaction bracket includes positioned opposite for carrying packaging The first support group 1 and second support group 3 of case form the channel 7 passed through for AGV 10 between two stands group 1 and 3；Each bracket Group includes spaced apart four brackets, and each support height is equal；On the direction in channel 7, four branch of interaction bracket one end Four brackets of frame and the other end are used to 20 ruler containers of carrying, and eight brackets are for carrying 40 rulers or 45 ruler containers； The for detecting container box that whether interactive bracket has container and feedback to be carried is additionally provided on interaction bracket One testing agency 13；It is provided with whether band carries container and feedback by AGV 10 with load on AGV 10 for detecting on AGV 10 Container box the second testing agency 14, the first testing agency 13 communicates to connect with TOS 8, the second testing agency 14 with The main controller 11 of AGV 10 communicates to connect.

Specifically, in the present embodiment, the container that interaction bracket comes for AGV during temporarily storage unloading with load Or the container to come is lifted by crane by factory's bridge during shipment, as shown in Figure 2 to Figure 3, interaction bracket is made of eight brackets, including First support group 1 and second support group 3, first support group 1 include first support 1-1, the second support 1- positioned at 7 side of channel 2, third bracket 1-3 and the 4th bracket 1-4, and second support group 3 includes the 5th bracket 3-1 for being located at 7 opposite side of channel, the 6th Bracket 3-2, the 7th bracket 3-3 and the 8th bracket 3-4, each support height are equal；As shown in figure 3, for the ease of placing container And be in place, the top of each bracket is provided with horizontal supporting plate 5 and guide plate 6, and the lower end of guide plate 6 is tilted towards channel 7 And obtuse angle is formed between the upper surface of horizontal supporting plate 5, so that the guide groove formed between horizontal supporting plate 5 and guide plate 6； And in order to enhance rack bearing intensity, each pedestal upper end states channel 7 relative to lower end direction and is in the tilted angle, in this way, enhancing is held The support intensity of supporting plate 5.The size for the container that harbour is mainly circulated at present is three kinds of 20 rulers, 40 rulers and 45 rulers sizes, such as Fig. 2 Shown, in the present embodiment, bracket 1-1,1-2,3-1 and 3-2 are designed to carry 20 ruler containers, bracket 1- in eight brackets 3,1-4,3-3 and 3-4 are designed to carry 20 ruler containers, and eight brackets are used to 40 rulers of carrying or 45 ruler containers.In order to Description is convenient, and the arrow direction in Fig. 2 is assumed to be directed toward land side from extra large side, since eight brackets need to carry the collection of 40 rulers or 45 rulers When vanning, so being different from centre on the width positioned at the bracket 1-1 and 3-1 of extra large side and the bracket 1-4 and 3-4 positioned at land side Bracket 1-2,1-3,3-2 and 3-2, i.e. d1 > d2.

In the prior art, the navigation control unit 12 of AGV 10 can guarantee that AGV 10 walks safety, after passing in and out bracket, The present embodiment still can be used navigation control unit 12 and realize that the driving to AGV 10 is protected.In the present embodiment, the first inspection Surveying mechanism 13 includes four the first optoelectronic switches, including four first optoelectronic switches can respectively correspond and be arranged in channel 7 one On bracket 1-1,1-2,1-3 and 1-4 of side, or correspondence is arranged on bracket 3-1,3-2,3-3 and 3-4 of 7 other side of channel, Or one be arranged on bracket 1-1, one be arranged on bracket 3-2, one be arranged on 1-3 and another is arranged in bracket On 3-4 or one be arranged on bracket 3-1, one be arranged on bracket 1-2, one be arranged on bracket 3-3 and another It is arranged on bracket 1-4, whether is placed with the box of container and container, such as in detection support to be arranged in branch On frame 1-1, one be arranged on bracket 3-2, one be arranged on 1-3 and another is arranged in the first photoelectricity on bracket 3-4 Illustrate for switch, when TOS 8 receives the feedback signal of the first optoelectronic switch on bracket 1-1 and bracket 3-2, indicates 20 ruler containers are carried on extra large side, when receiving the feedback signal of the first optoelectronic switch on bracket 1-3 and bracket 3-4, It indicates to carry 20 ruler containers on the side of land, when the feedback signal for receiving the first optoelectronic switch on bracket 3-2 and bracket 1-3 When, expression carries 40 ruler containers, when the feedback letter for all receiving the optoelectronic switch on bracket 1-1,3-2,1-3 and 3-4 Number when, indicate bracket on carry 45 ruler containers, when not receiving the feedback signal of any first optoelectronic switch, indicate branch Frame is sky, when receiving the feedback signal of one or three the first optoelectronic switch, indicates that present container is placed not just, TOS 8 send instruction so that AGV 10 adjusts the placement of container.Whether in order to verify AGV 10, whether band is loaded with container, to pacify Row AGV 10 takes case, in the present embodiment, jacks before AGV 10 and is respectively arranged with one the in diagonal a pair of guide plate Two optoelectronic switches, and it is respectively arranged with second optoelectronic switch in diagonal a pair of jacking guide plate after AGV 10, have The position of the first optoelectronic switch being arranged in body arrangement relation and interaction bracket is identical, for detecting current band on AGV 10 The case where container of load, indicates that present container exists when receiving the feedback signal of one or three the second optoelectronic switch It being placed on AGV 10 not just, then TOS 8 does not allow the AGV 10 into bracket, it avoids damaging front or rear lifting body, or It avoids container from falling in jacking and causes safety accident, factory's bridge will directly walk container crane from AGV 10 at this time.

When AGV 10 is loaded with and also carries container on container and bracket, in order to avoid on bracket optoelectronic switch due to Failure causes to indicate do not have container on bracket and AGV 10 is made to send case, causes container and container phase on bracket on AGV 10 Collision, or when carrying 20 ruler container in the first support group 1 and second support group 3 on interaction bracket, and AGV 10 when receiving the order for only taking the container in second support group 3, at this time in the preceding lifting body of AGV 10 or rear jack When structure jacking takes case to go out interaction bracket after the completion, avoid generating collision with container, in the present embodiment, in the sinciput of AGV 10 The front end for rising mechanism is equipped with a first front end ultrasonic sensor 15 and rear end is equipped with a first back-end ultrasonic wave and passes Sensor 15 ', and the front end of rear lifting body is equipped with a second front end ultrasonic sensor 16 and rear end is equipped with one the Two back-end ultrasonic wave sensors 16 ', detection range is not less than 100cm, in each ultrasonic sensor 15,15 ', 16 and 16 ' When the distance of feedback is less than or equal to certain distance (such as 80cm), the main controller 11 of AGV 10 is thought to have recognized barrier, from And control AGV 10 and stop in emergency, realize the protection to the preceding lifting body of AGV 10 or rear lifting body, and prevent container from falling It falls and causes safety accident.

Navigation control unit in the prior art guarantees the traffic safety of AGV 10 in the process of running, but in order to more into The traffic safety of one step reliably protecting AGV 10 in the bracket, in the present embodiment, in the 10 headstock front end AGV (such as center At position) it is provided with one and is located at front end laser sensor 17 on car body longitudinal centre line, and in tailstock rear end (such as center At position) one is provided with positioned at rear end laser sensor 18 on car body longitudinal centre line, which is The two-dimensional sector-shaped planar laser beam that Sick LMS 511, transmitting radiation angle are 180 degree, mounting height control its central point Apart from ground about 90cm, for detecting 10 car body direction of advance of AGV and direction of retreat, whether there are obstacles.It specifically, can be with Setting laser safeguard protection distance is, for example, 10m, acquires every light beam institute apart from laser sensor 17 or 18 in such as 10m The range data measured, in the width formed apart from same or similar point more than 30mm in body width range (such as 3m) When, indicate in 10 direction of advance of AGV or direction of retreat that main controller 11 can trigger AGV 10 and stop in emergency there are barrier.This Outside, as shown in Figures 2 and 3, reflector 4(or reflector 4 are installed on the inside of the lower section of the second support group 3 of 7 side of channel Also may be mounted at the 1 lower section inside of first support group of 7 other side of channel), guide plate 4 and front end laser sensor 17 and rear end Laser sensor 18 is used cooperatively, therefore the distance on the transverse center linear distance ground from extra large side to land side of reflector 4 is also about For 90cm.When normal, distance of the AGV 10 apart from first support group 1 and second support group 3 is 15cm, 10 linear rows of AGV It sails, when vehicle body offset, in order to avoid bumping against two side stands, AGV 10 need to be controlled and travelled in safe range, specifically, at this In embodiment, AGV 10 when driving, the laser data of laser sensor 17 or 18 real time emissions is for example at 105 degree to 180 It reflects when encountering reflector 4 between degree and is received again by laser sensor 17 or 18, these data are acquired by main controller 11 After handled, specific processing is as follows: in order to filter out reflected abnormal point, carrying out straight line to these data first and intends It closes, the data is filtered out when the distance apart from the straight line is greater than certain threshold value, and guarantee the data volume filtered out in total data Amount such as 10% within, in the data volume filtered out such as 10% or more in total amount of data, indicate laser sensor 17 or 18 failures, in all the points after the abnormal point filtered out, for example, if being less than such as 9cm in the presence of the distance apart from reflector 4 And when being greater than 5 of 6cm, AGV 10 starts to alarm, and indicates that current 10 vehicle body of AGV offset needs to correct, at the same time, main The second support group 3 that control device 11 controls the driving walking mechanism of AGV 10 and hydraulic steering mechanism is arranged distant from reflector 4 is entangled Offset is dynamic up to (i.e. in all the points after the abnormal point filtered out, the distance apart from reflector 4 is less than for example stop alarm 9cm and data point greater than 6cm is less than such as 5), correction terminates, and in have that distance apart from reflector 4 is less than 6cm 5 At a, AGV 10 is indicated close to barrier, and main controller 11 controls AGV 10 and stops in emergency at this time, guarantees the driving peace of AGV 10 Entirely.Also, the absolute pose unit of antenna formed using magnetic nail-antenna corrects the pose of AGV 10 in the bracket, in channel 7 One magnetic of interior two meters of settings is followed closely, and each magnetic nail records its absolute coordinate in bracket coordinate system, accordingly, in 10 vehicle of AGV The front and rear on body chassis is symmetrically equipped with a pair of of detection antenna, and antenna can read magnetic nail when covering magnetic nail in the bracket Absolute position, realize AGV 10 absolute position correction, avoid error accumulation.Similarly, in AGV 10 close to first support Correction adjustment when group 1 is as above similar, and this will not be repeated here.

As shown in Figures 2 and 3, it is equipped on the inside of the lower section of the bracket group 1 or 3 of 7 side of channel opposite with reflector 4 Specific structure of wiping cable architecture 2, the automatic charging function of wiping cable architecture 2 and AGV 10 and wiping cable architecture 2 etc. referring to The patent application of Publication No. CN105967105A, entitled " AGV automatic charge device ", this will not be repeated here.

In order to further guarantee traffic safety of the AGV 10 in channel 7 on hardware, avoid in sensor detecting element When failure, the collision to AGV 10 is caused, in the present embodiment, is provided with rocker arm in the 10 headstock front end AGV and tailstock rear end Type anti-impact bumper, apart from ground 80cm or so, rocker structure can be by the Kui Suo mechanism of AGV 10 to vehicle for height control Interior feedback contracting, feedback contracting distance is not less than such as 40cm, in order to guarantee to stop in time when bumper is collided, in Kui Suo mechanism It installs close to induction limit switch 19, when bumper is pushed by external force, presents contracting mechanism action, the close induction limit switch 19 detect that simultaneously feedback signal to main controller 11, main controller 11 controls AGV 10 and stop in emergency for the movement, realizes AGV 10 preceding Into the protection on direction and direction of retreat.

Before AGV 10 enters channel 7, if there is container on bracket, needs to verify the container and AGV 10(is false If AGV 10 is without with carrying container) whether box matches between container to be lifted, if it does, then AGV 10 enter it is logical Jacking takes case after road 7 to specific position；If needing to verify the container without container on bracket and AGV 10(assuming AGV 10 bands are loaded with container) with carry container between whether box match, if it does, then before AGV 10 lifting body and/or It is sent on case to bracket after entering channel 7 to specific position after lifting body jacking afterwards, in disengaging stent procedures, passes through institute as above The safeguard measure stated carries out security protection to AGV 10.

In the present embodiment, the bottom of each bracket carries out buried processing, each bracket for being in the interaction bracket of design At least 25 tons of gravity can be born, therefore a firm bearing surface can be provided for container.Interaction bracket has the advantages that (1) it is factory's bridge transport container that AGV waiting, which certainly will need more AGV, and interaction bracket reduces the required AGV that puts into production Quantity efficiently uses AGV resource, reduces waiting time when AGV is interacted with factory bridge, to reduce AGV waiting energy consumption, reduction is set Standby operation cost；(2) AGV is reduced to the holding time of interaction area, improves the space utilization rate of AGV interaction area；(3) it eliminates The mechanical shock that generates to equipment of container interaction is directly carried out between factory's bridge and AGV, when so that the AGV and factory's bridge is interacted container more Steadily, interaction risk and equipment failure rate are reduced, guarantees that container is safe and reliable in transport process.

The utility model further relates to a kind of exchange method using interactive system as described above, including interacts mould as follows It send box mode and takes box mode likes:.

Specifically, send box mode: TOS 8 by acquisition the first optoelectronic switch feedback information verify interaction bracket on whether There is the information of container, it is assumed that do not receive on bracket 1-1 and the feedback information of upper first optoelectronic switch of 3-2, the extra large side of expression do not have Have and place 20 ruler containers, TOS 8 send case to instruct to VMS 9 at this time, and VMS 9 dispatches AGV 10 and by acquiring the AGV The feedback signal of the second optoelectronic switch of correspondence on 10 learns that current 10 band of AGV is loaded with first object container and first object The box of container is 20 ruler containers, and AGV 10 send case to instruct by the reception of VMS 9, and lifting body enters bracket extremely before jacking Behind target position control before lifting body fall into place, at this time first object container be placed on bracket 1-1,1-2,3-1 and On 3-2, signal is fallen into place by preceding lifting body at this time and learns that the first object container has been transferred to branch from AGV 10 It on frame, and is received on bracket 1-1 simultaneously with the feedback information of upper first optoelectronic switch of 3-2, has indicated first object container It puts just.Take box mode: TOS 8 verifies the letter for whether having container on AGV 10 by the feedback information of the second optoelectronic switch of acquisition Breath, it is assumed that the feedback information of diagonal upper second optoelectronic switch before not receiving on jacking guide plate, before indicating on lifting platform 20 ruler containers are not placed, TOS 8 takes case to instruct to the transmission of VMS 9 at this time, and VMS 9 dispatches AGV 10 and by acquiring for example The feedback signal of the first optoelectronic switch of correspondence on bracket 1-1,3-2,1-3 and 3-4, when receiving bracket 1-1 and 3-2 upper first The feedback signal of optoelectronic switch or when receiving the feedback signal of upper first optoelectronic switch of 1-3 and 3-4, indicate bracket 1-1 and 20 the second targeted containers of ruler are placed on 3-2 and/or bracket 1-3 and 3-4, after verification, VSM 9 dispatches AGV 10 and enters branch Lifting body is jacked to lifting the second targeted containers and be driven out to interactive bracket before controlling after frame to target position, and/or Lifting body is jacked to lifting the second target ruler container and be driven out to interactive bracket after controlling after into bracket to target position, this When the second targeted containers be placed on preceding lifting body and/or rear lifting body, pass through preceding lifting body and/or rear top at this time Liter mechanism falls into place signal and learns that second targeted containers have been shifted from bracket 1-1 and 3-2 and/or bracket 1-3 and 3-4 Onto the preceding lifting body and/or rear lifting body of AGV 10, and received on bracket 1-1 simultaneously and 3-2 and/or bracket 1-3 And the feedback information of the first optoelectronic switch on 3-4 and the feedback information of the second optoelectronic switch on corresponding AGV 10, table Show that the second targeted containers have been put just.

The interactive system of the present embodiment guarantees the traffic safety of AGV 10 by the navigation control unit of AGV 10, and logical The travelling route of AGV 10 is entangled in the cooperation for crossing reflector 4 and front end laser sensor 17 or rear end laser sensor 18 Partially, and by antenna-magnetic nail absolute pose measurement method absolute position correction is carried out to AGV 10, guarantees the driving peace of AGV 10 Entirely, whether have container and feed back carried container box, pass through and if being detected on interaction bracket by the first optoelectronic switch Whether there is container on second optoelectronic switch detection AGV 10 and feedback container box of the AGV 10 with load, AGV 10 pass through What the reception of VMS 9 TOS 8 was sent send case to instruct and case is taken to instruct, and TOS 8 is anti-according to the first optoelectronic switch and the second optoelectronic switch The data of feedback, 10 pairs of AGV interactive brackets of control send case and AGV 10 to take case from interaction bracket, and the interaction bracket of design is used In storing container in short-term, operation when realizing 10 difference of factory's bridge and AGV improves factory's bridge stacking efficiency, when reducing the waiting of AGV 10 Between, AGV is efficiently used, the wasting of resources is avoided.

Finally, it should be noted that above embodiments are only to illustrate the technical solution of the utility model, rather than its limitations； Although the utility model is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: It is still possible to modify the technical solutions described in the foregoing embodiments, or part of technical characteristic is carried out etc. With replacement；And these are modified or replaceed, various embodiments of the utility model technology that it does not separate the essence of the corresponding technical solution The spirit and scope of scheme.

Claims (8)

1. a kind of interactive system, including TOS, the VMS and AGV that are connected with TOS, the AGV includes navigation control unit, feature It is, further includes interactive bracket, the interactive bracket includes positioned opposite for the first support group of bearing container and Two bracket groups form the channel passed through for the AGV between two stands group；Each bracket group includes spaced apart four branch Frame, each support height are equal；On the direction in the channel, four of four brackets of described interactive bracket one end and the other end Bracket is used to 20 ruler containers of carrying, and eight brackets are for carrying 40 rulers or 45 ruler containers；On the interactive bracket also It is provided with the first testing agency for detecting the container box whether interactive bracket has container and feedback to be carried；Institute State be provided on AGV for detect on AGV whether with carry container and feedback by AGV band load container box the Two testing agencies, first testing agency and the TOS are communicated to connect, and the main controller of second testing agency and AGV are logical Letter connection.

2. interactive system according to claim 1, which is characterized in that the first testing agency includes that four the first photoelectricity are opened It closes, two first optoelectronic switches respectively correspond a pair in four brackets that described interactive bracket one end is arranged in diagonally On each bracket of bracket, and the second optoelectronic switch of another two respectively corresponds and is arranged in four brackets of the interaction bracket other end On each bracket of a pair of brackets diagonally.

3. interactive system according to claim 1, which is characterized in that the second testing agency includes that four the second photoelectricity are opened Close, two the second optoelectronic switches respectively correspond be arranged in four before jack jacking guide plate before a pair in guide plate diagonally On each, and the second optoelectronic switch of another two jacks after respectively corresponding a pair jacked in guide plate diagonally after being arranged in four On each of guide plate.

4. interactive system according to any one of claim 1-3, which is characterized in that the upper end of each bracket is relative to lower end It is in the tilted angle towards the channel, and the top of each bracket is provided with the horizontal supporting plate for bearing container and is located at institute The guide plate for stating horizontal supporting plate upper surface, forms obtuse angle between the guide plate and the upper surface of horizontal supporting plate.

5. interactive system according to any one of claim 1-3, which is characterized in that before the preceding lifting body of AGV End is equipped with the first front end ultrasonic sensor and rear end is equipped with the first back-end ultrasonic wave sensor, before rear lifting body End is equipped with the second front end ultrasonic sensor and rear end is equipped with the second back-end ultrasonic wave sensor, and each ultrasonic sensor is equal It is communicated to connect with the main controller of AGV.

6. interactive system according to any one of claim 1-3, which is characterized in that behind the headstock front end of AGV and the tailstock End is provided with the laser sensor for detecting barrier, and each laser sensor is communicated to connect with the main controller of AGV.

7. interactive system according to claim 6, which is characterized in that further include across first support group or second support group In each bracket be correspondingly arranged at the reflector of first support group or second support group lower inside and the main controller phase with AGV The absolute pose measurement unit of antenna for being used to correct pose even；The main controller of AGV receives the light issued by laser sensor Data and processing after reflector reflection, and data generate the control signal for rectifying a deviation to AGV according to treated.

8. interactive system according to claim 7, which is characterized in that the headstock front end and tailstock rear end of AGV is additionally provided with Rocker arm type anti-impact bumper, each rocker arm type anti-impact bumper include for when by external force collision rocker arm into AGV car body The Kui Suo mechanism of side feedback contracting, is equipped in the Kui Suo mechanism and opens with limiting close to induction for the main controller of AGV communication connection It closes.