CN209946709U - Vehicle-mounted controller control system of AGV - Google Patents
Vehicle-mounted controller control system of AGV Download PDFInfo
- Publication number
- CN209946709U CN209946709U CN201920160455.8U CN201920160455U CN209946709U CN 209946709 U CN209946709 U CN 209946709U CN 201920160455 U CN201920160455 U CN 201920160455U CN 209946709 U CN209946709 U CN 209946709U
- Authority
- CN
- China
- Prior art keywords
- agv
- real
- controller
- distance
- time
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Images
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The utility model discloses an on-board controller control system of an AGV trolley, which comprises a controller, a storage device, a positioning module, a driving device and a distance measuring device; the positioning module sends real-time position information and current state information of the AGV to the controller, the controller calculates the real-time position of the AGV and the distance of a target position in a route map of a travel path of the AGV stored in the storage to obtain a real-time target distance, the distance measuring device sends the obtained real-time monitoring distance to the controller, and the controller compares the real-time target distance and the real-time monitoring distance with preset distance information in the system respectively to regulate and control the AGV to travel at different speeds in real time through the driving device. The vehicle-mounted controller control system can position the AGV in real time, finely adjust the angle of the AGV deviating from a normal running path in time, regulate and control the running speed of the AGV in real time, and remarkably improve the efficiency of the whole transportation system.
Description
Technical Field
The utility model relates to a AGV dolly control system technique, concretely relates to on-vehicle controller control system of AGV dolly.
Background
An agv (automated Guided vehicle) navigation vehicle, i.e., an automated Guided vehicle, is a vehicle equipped with an electromagnetic or optical automated guidance system, which can travel along a predetermined guidance path and has safety protection and various transfer functions. In warehouse and workshop transportation management, in order to reduce the demand on workers, an AGV trolley is generally adopted to realize transportation use in a workshop or a warehouse.
In warehouse and workshop transportation, in order to reduce the area in warehouse, can have more goods storage space, the road of traveling sets up crisscross heavy and complicated usually, and the road of traveling is more and more narrow, in order to reduce lane area of traveling, but it bumps with the equipment of road side of traveling to take place to deviate from the road of traveling in the driving process AGV dolly easily, and because the road of traveling sets up crisscross heavy and complicated, in order to avoid bumping between the AGV dolly, AGV dolly speed of traveling can restrict the relatively low within range smooth driving motion usually, lead to warehouse and workshop goods transportation system inefficiency.
SUMMERY OF THE UTILITY MODEL
In order to solve the problem that exists among the above-mentioned background, the utility model provides an on-vehicle controller control system of AGV dolly, it can fix a position the position of AGV dolly in real time, and contrast with the route map of the route of traveling of AGV dolly, in time carry out the angle fine setting to the AGV dolly that deviates from the normal route of traveling, avoid the deviated road of traveling of AGV dolly, and simultaneously, the current position that can also real-time accurate detection AGV dolly, its and target position's distance and with the distance of AGV dolly around and, and then regulate and control the speed of traveling of AGV dolly in real time, show and promote whole conveying system efficiency.
In order to achieve the above purpose, the utility model adopts the following technical scheme:
a vehicle-mounted controller control system of an AGV comprises a controller, a storage, a positioning module, a driving device and a distance measuring device;
the storage is in communication connection with the controller and is used for storing a route map of the travel path of the AGV trolley and marking travel information of the AGV trolley at a corresponding position on the route map;
the positioning module is arranged in the AGV trolley, is connected with the controller and is used for acquiring the real-time position information and the current state information of the AGV trolley and sending the acquired real-time position information and the current state information of the AGV trolley to the controller;
the distance measuring devices are arranged at the front end and the rear end of the AGV trolley, are connected with the controller and are used for detecting the distance between the AGV trolley and the AGV trolleys around the AGV trolley to obtain a real-time monitoring distance and sending the obtained real-time monitoring distance to the controller;
the driving device is connected with the controller and used for driving the AGV to run;
the positioning module sends real-time position information and current state information of the AGV to the controller, the controller calculates the real-time position of the AGV and the distance of a target position in a route map of a travel path of the AGV stored in the storage to obtain a real-time target distance, the distance measuring device sends the obtained real-time monitoring distance to the controller, and the controller compares the real-time target distance and the real-time monitoring distance with preset distance information in the system respectively to regulate and control the AGV to travel at different speeds in real time through the driving device.
Further, when the real-time target distance is larger than the first preset distance information and the real-time monitoring distance is larger than the second preset distance information, the controller controls the AGV to enter an acceleration running state and further enter a high-speed running state; and when the real-time target distance is smaller than the first preset distance information or the real-time monitoring distance is smaller than the second preset distance information, the controller controls the AGV to enter a deceleration running state and further enter a low-speed running state.
Further, the vehicle-mounted controller control system further comprises an angle regulating device, the angle regulating device is connected with the controller, the controller compares the acquired real-time position information of the AGV with a route map of a travel route of the AGV stored in the storage, and when the acquired real-time position information of the AGV deviates from the route map of the travel route in the storage, the controller controls the angle regulating device, so that the travel direction of the AGV is finely adjusted.
Further, orientation module includes magnetic navigation module and RFID module, the AGV dolly is connected through laying the navigation magnetic stripe on the bottom surface with the target location, a plurality of RFID electronic tags have been laid to equidistant on the navigation magnetic stripe, the navigation magnetic stripe with magnetic navigation module communication connection, RFID electronic tags with RFID module communication connection.
Furthermore, the route map of the AGV trolley driving route in the storage is marked with mark points corresponding to the RFID electronic tags, the mark points on the route map which the AGV trolley passes are displayed in green, and the mark points on the route map which the AGV trolley does not pass are displayed in red.
Compared with the prior art, the utility model discloses following beneficial effect has:
the utility model discloses a set up the position that orientation module can fix a position the AGV dolly in real time to compare with the route map of AGV dolly route of going in the accumulator, carry out the angle fine setting to the AGV dolly that deviates from the normal route of going in time through the angle regulation and control device, avoid the AGV dolly to deviate from the road of going; simultaneously, set up range unit through both ends around the AGV dolly, can real-time detection AGV dolly and target location's distance and AGV dolly and the distance of other AGV dollies around with, the controller passes through drive arrangement and regulates and control the AGV dolly in real time and go with different speed, is showing to promote whole conveying system efficiency.
Drawings
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
Fig. 1 is the structure diagram of the on-board controller control system of the AGV of the present invention.
Detailed Description
Referring to fig. 1, the present embodiment provides an on-board controller control system for an AGV cart, which includes a controller, a storage, a positioning module, a driving device, and a distance measuring device. The storage is in communication connection with the controller and is used for storing a route map of the travel path of the AGV trolley and marking travel information of the AGV trolley at a corresponding position on the route map; the positioning module is arranged in the AGV trolley, is connected with the controller and is used for acquiring the real-time position information and the current state information of the AGV trolley and sending the acquired real-time position information and the current state information of the AGV trolley to the controller; the distance measuring devices are arranged at the front end and the rear end of the AGV trolley, are connected with the controller and are used for detecting the distance between the AGV trolley and the AGV trolleys around the AGV trolley to obtain a real-time monitoring distance and sending the obtained real-time monitoring distance to the controller; and the driving device is connected with the controller and used for driving the AGV to run. The positioning module sends real-time position information and current state information of the AGV to the controller, the controller calculates the distance between the real-time position of the AGV and a target position in a route map of a running path of the AGV stored in the storage to obtain a real-time target distance, the distance measuring device sends the obtained real-time monitoring distance to the controller, and the controller compares the real-time target distance and the real-time monitoring distance with preset distance information in a system respectively to regulate and control the AGV to run at different speeds in real time through the driving device.
The driving device controls the AGV trolley to be in four driving states, when the real-time target distance is larger than first preset distance information and the real-time monitoring distance is larger than second preset distance information, the controller controls the AGV trolley to enter an accelerated running state and further enter a high-speed running state, at the moment, the AGV trolleys are in a safe distance, the AGV trolleys are preferably transported in the high-speed running state, and the transportation efficiency is guaranteed; when the real-time target distance is smaller than the first preset distance information, at the moment, the AGV trolley is about to reach the target position, the controller controls the AGV trolley to enter a speed reduction running state and further enter a low-speed running state, and the AGV trolley stops when reaching the target position; when the real-time monitoring distance is smaller than the second preset distance information, at the moment, the AGV trolleys are located at dangerous distances, the controller controls the AGV trolleys to enter a speed reduction running state and then enter a low-speed running state, and collision or rear-end collision accidents among the AGV trolleys are avoided.
The AGV comprises a storage, an angle regulation device, a controller and a controller, wherein the angle regulation device is connected with the controller, the controller compares the acquired real-time position information of the AGV with a route map of a travel route of the AGV stored in the storage, and when the acquired real-time position information of the AGV deviates from the route map of the travel route in the storage, the controller controls the angle regulation device, so that the travel direction of the AGV is finely adjusted, and the travel safety of the AGV is guaranteed.
Wherein, orientation module includes magnetic navigation module and RFID module, and the AGV dolly is connected through laying the navigation magnetic stripe on the bottom surface with the target location, and a plurality of RFID electronic tags have been laid to equidistant on the navigation magnetic stripe, and navigation magnetic stripe and magnetic navigation module communication connection, RFID electronic tags and RFID module communication connection. The position and the running state of the AGV are convenient to monitor in real time, the AGV and the distance measuring device are matched for use, the accuracy of detection data of the distance between the AGV and the AGV is guaranteed, and the fact that collision occurs between the AGV and the AGV due to the fact that detection results are inaccurate is avoided. And marking points corresponding to the RFID electronic tags are marked on a route map of the AGV trolley driving route in the storage, the marking points on the route map through which the AGV trolley drives are displayed in green, and the marking points on the route map through which the AGV trolley does not drive are displayed in red.
The utility model discloses a set up the position that orientation module can fix a position the AGV dolly in real time to compare with the route map of AGV dolly route of going in the accumulator, carry out the angle fine setting to the AGV dolly that deviates from the normal route of going in time through the angle regulation and control device, avoid the AGV dolly to deviate from the road of going; simultaneously, set up range unit through both ends around the AGV dolly, can real-time detection AGV dolly and target location's distance and AGV dolly and the distance of other AGV dollies around with, the controller passes through drive arrangement and regulates and control the AGV dolly in real time and go with different speed, is showing to promote whole conveying system efficiency.
It is right to have used specific individual example above the utility model discloses expound, only be used for helping to understand the utility model discloses, not be used for the restriction the utility model discloses. To the technical field of the utility model technical personnel, the foundation the utility model discloses an idea can also be made a plurality of simple deductions, warp or replacement.
Claims (5)
1. A vehicle-mounted controller control system of an AGV (automatic guided vehicle) is characterized by comprising a controller, a storage, a positioning module, a driving device and a distance measuring device;
the storage is in communication connection with the controller and is used for storing a route map of the travel path of the AGV trolley and marking travel information of the AGV trolley at a corresponding position on the route map;
the positioning module is arranged in the AGV trolley, is connected with the controller and is used for acquiring the real-time position information and the current state information of the AGV trolley and sending the acquired real-time position information and the current state information of the AGV trolley to the controller;
the distance measuring devices are arranged at the front end and the rear end of the AGV trolley, are connected with the controller and are used for detecting the distance between the AGV trolley and the AGV trolleys around the AGV trolley to obtain a real-time monitoring distance and sending the obtained real-time monitoring distance to the controller;
the driving device is connected with the controller and used for driving the AGV to run;
the positioning module sends real-time position information and current state information of the AGV to the controller, the controller calculates the real-time position of the AGV and the distance of a target position in a route map of a travel path of the AGV stored in the storage to obtain a real-time target distance, the distance measuring device sends the obtained real-time monitoring distance to the controller, and the controller compares the real-time target distance and the real-time monitoring distance with preset distance information in the system respectively to regulate and control the AGV to travel at different speeds in real time through the driving device.
2. The system of claim 1, wherein the controller controls the AGV to enter an accelerated running state and then a high-speed running state when the real-time target distance is greater than the first preset distance information and the real-time monitoring distance is greater than the second preset distance information; and when the real-time target distance is smaller than the first preset distance information or the real-time monitoring distance is smaller than the second preset distance information, the controller controls the AGV to enter a deceleration running state and further enter a low-speed running state.
3. The system of claim 1, further comprising an angle adjustment and control device connected to the controller, wherein the controller compares the acquired real-time position information of the AGV with a route map of the travel route of the AGV stored in the storage, and when the acquired real-time position information of the AGV deviates from the route map of the travel route of the AGV stored in the storage, the controller controls the angle adjustment and control device to further perform fine adjustment on the travel direction of the AGV.
4. The AGV car on-board controller control system of claim 1, wherein the positioning module comprises a magnetic navigation module and an RFID module, the AGV car is connected with a target position through a navigation magnetic stripe laid on the bottom surface, a plurality of RFID electronic tags are laid on the navigation magnetic stripe at equal intervals, the navigation magnetic stripe is in communication connection with the magnetic navigation module, and the RFID electronic tags are in communication connection with the RFID module.
5. The system of claim 4, wherein the route map of the AGV travel route in the storage is marked with a mark point corresponding to the RFID tag, the mark point on the route map on which the AGV travels is displayed in green, and the mark point on the route map on which the AGV does not travel is displayed in red.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920160455.8U CN209946709U (en) | 2019-01-29 | 2019-01-29 | Vehicle-mounted controller control system of AGV |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920160455.8U CN209946709U (en) | 2019-01-29 | 2019-01-29 | Vehicle-mounted controller control system of AGV |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209946709U true CN209946709U (en) | 2020-01-14 |
Family
ID=69121824
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920160455.8U Expired - Fee Related CN209946709U (en) | 2019-01-29 | 2019-01-29 | Vehicle-mounted controller control system of AGV |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209946709U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112124612A (en) * | 2020-09-18 | 2020-12-25 | 中国人民解放军63660部队 | Large airship transferring and flying method based on AGV array |
| CN112572269A (en) * | 2020-12-25 | 2021-03-30 | 广州华立科技职业学院 | Raw material distribution device with tracking function for construction site and implementation method thereof |
| CN116520858A (en) * | 2023-07-05 | 2023-08-01 | 通号通信信息集团有限公司 | Vehicle control method, system and computer readable storage medium |
-
2019
- 2019-01-29 CN CN201920160455.8U patent/CN209946709U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112124612A (en) * | 2020-09-18 | 2020-12-25 | 中国人民解放军63660部队 | Large airship transferring and flying method based on AGV array |
| CN112572269A (en) * | 2020-12-25 | 2021-03-30 | 广州华立科技职业学院 | Raw material distribution device with tracking function for construction site and implementation method thereof |
| CN116520858A (en) * | 2023-07-05 | 2023-08-01 | 通号通信信息集团有限公司 | Vehicle control method, system and computer readable storage medium |
| CN116520858B (en) * | 2023-07-05 | 2023-10-20 | 通号通信信息集团有限公司 | Vehicle control method, system and computer readable storage medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN209946707U (en) | A on-vehicle control system that is used for AGV dolly of warehouse or workshop automatic transportation | |
| CN209946709U (en) | Vehicle-mounted controller control system of AGV | |
| CN105468001B (en) | A kind of submersible AGV navigation dollies and its control method | |
| CN204241966U (en) | A kind of visually oriented floor truck voluntarily | |
| KR102525283B1 (en) | Method and system for operating an automated container guided transport vehicle | |
| CN108196552B (en) | GPS visual navigation system of intelligent trolley | |
| CN203512793U (en) | Container automation dock loading and unloading system | |
| EP2974992B1 (en) | Tyre-type gantry crane for receiving supply of power in contactless fashion | |
| CN205375188U (en) | Formula AGV navigation dolly slips into | |
| CN104058261A (en) | Container automated wharf loading and unloading system and method | |
| CN107516143A (en) | A kind of preferred AGV handling systems in path based on dijkstra's algorithm | |
| CN107450567A (en) | A kind of AGV trolley control systems for being used for warehouse or workshop automatic transportation | |
| CN109765905A (en) | A kind of omnidirectional's intelligent three-dimensional carrying control system | |
| CN105015521A (en) | Automatic parking device of large vehicle based on magnetic nail | |
| CN108032859A (en) | It is automatic to become channel control method, device and automobile | |
| KR102393745B1 (en) | Automated guided vehicle for transporting rolltainer | |
| CN205247207U (en) | AGV order -picking trucks and automated guidance letter sorting system | |
| CN108958269B (en) | Inertial navigation magnetic stripe hybrid navigation AGV system | |
| CN110727279A (en) | AGV dolly control system | |
| CN111606200B (en) | Sensor trolley and corresponding container crane | |
| JP2007025745A (en) | Conveyance truck system | |
| KR102290043B1 (en) | 6wd . | |
| CN215298029U (en) | Automatic navigation trolley | |
| JP7112803B1 (en) | Transport system and transport control method | |
| WO2022149285A1 (en) | Transport system and transport control method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200114 Termination date: 20220129 |