CN209946707U - A on-vehicle control system that is used for AGV dolly of warehouse or workshop automatic transportation - Google Patents
A on-vehicle control system that is used for AGV dolly of warehouse or workshop automatic transportation Download PDFInfo
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Abstract
The utility model discloses a vehicle-mounted control system of an AGV (automatic guided vehicle) for automatic transportation in a warehouse or a workshop, which comprises a controller, a storage device, a positioning module, a driving device, a distance measuring device and an angle regulating device; 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 travel path of the AGV stored in the storage module 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 so as to regulate and control the AGV to travel at different speeds in real time through the driving device; when the real-time position information of the AGV acquired by the controller deviates from a route map of a driving path in the storage, the controller controls the angle regulating and controlling device so as to finely adjust the driving direction of the AGV.
Description
Technical Field
The utility model relates to a AGV dolly control system technique, concretely relates to an on-vehicle control system that is used for AGV dolly of warehouse or workshop automatic transportation.
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 the transportation of warehouses and workshops, in order to reduce the floor area of warehouses, more goods storage spaces can be provided, the arrangement of common driving roads is staggered and complicated, the driving roads are narrower and narrower, in order to avoid collision among AGV trolleys or collision between the AGV trolleys and equipment beside the driving roads, infrared rays or other sensor detection signals are usually arranged in the AGV trolleys, and collision among the AGV trolleys or collision with other articles is avoided, but because the number of guide route intersections is large, the detection range of sensors on the AGV trolleys is influenced, the detection result is inaccurate, collision among the AGV trolleys is caused, and further the damage of the AGV trolleys is caused; meanwhile, in order to further avoid collision among the AGV trolleys, generally, the running speed of the AGV trolleys is limited to be in a relatively low range to run stably, so that the efficiency of a warehouse and workshop goods transportation system is low; in addition, the driving road is narrower and narrower, the deviation of the AGV trolley from the driving road in the driving process is easy to collide with equipment beside the driving road, and the service life of the AGV trolley and the efficiency of the whole transportation system are influenced.
SUMMERY OF THE UTILITY MODEL
The utility model provides a vehicle-mounted control system of AGV for automatic transportation in warehouse or workshop, which can solve the problem that the collision between AGV due to inaccurate detection data of the distance between AGV; the AGV trolley running speed can not be regulated in real time, and the AGV trolley can only be stabilized in a lower speed range, so that the efficiency of the whole transportation system is lower.
In order to solve the problem, the utility model adopts the following technical scheme:
a vehicle-mounted control system of an AGV (automatic guided vehicle) for automatic transportation in a warehouse or a workshop comprises a controller, a storage, a positioning module, a driving device, a distance measuring device and an angle regulating device;
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 positioning module comprises a magnetic navigation module and an RFID module, the AGV trolley is connected with a target position through a navigation magnetic strip laid on the bottom surface, a plurality of RFID electronic tags are laid on the navigation magnetic strip at equal intervals, the navigation magnetic strip is in communication connection with the magnetic navigation module, and the RFID electronic tags are in communication connection with the RFID module;
the storage device is in communication connection with the controller and is used for storing a route map of a travel path of the AGV trolley, marking points corresponding to the RFID electronic tags are marked on the route map of the travel path of the AGV trolley, the marking points on the route map through which the AGV trolley travels are displayed in green, and the marking points on the route map through which the AGV trolley does not travel are displayed in red;
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 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 path 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 path in the storage, the controller controls the angle regulating device so as to finely regulate the travel direction of the AGV;
the positioning module sends real-time position information and current state information of the AGV trolley to the controller, the controller calculates the real-time position of the AGV trolley and the distance of a target position in a route map of a travel path of the AGV trolley stored in the storage module 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 trolley 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 distance measuring device is an infrared detector or an ultrasonic detector.
And the controller controls the alarm device to give an alarm when the real-time detection distance detected by the distance measuring device is smaller than third preset distance information.
Further, the alarm device is an alarm lamp or an alarm whistle.
Further, the auxiliary steering device is connected with the controller.
Compared with the prior art, the utility model discloses following beneficial effect has:
the utility model discloses in can fix a position the position of AGV dolly in real time through orientation module, magnetic navigation module and RFID module among the orientation module have realized marking the mark point corresponding with RFID electronic tags on the route map of AGV dolly route of going in the accumulator, and show the mark point on the route map that the AGV dolly was gone through green, be convenient for real time monitoring AGV dolly position and running state, it uses with range unit cooperation, the accuracy of the detected data of distance between the AGV dolly has been guaranteed, avoid because the testing result is inaccurate, lead to the collision between the AGV dolly; meanwhile, the distance between the AGV trolleys is detected through the distance measuring device, the real-time monitoring distance is calculated through the controller in real time, and the AGV trolleys are controlled by the controller through the driving device to run in an accelerating or decelerating mode, so that collision or rear-end collision accidents between the AGV trolleys are avoided, the running speed of the AGV trolleys can be adjusted in real time according to the distance between the AGV trolleys, and the efficiency of the whole transportation system is obviously improved; in addition, through setting up angle regulation and control device, finely tune the direction of travel of AGV dolly, guaranteed that the AGV dolly is located the route of normally traveling route.
Drawings
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
Fig. 1 is a main structural schematic diagram of a vehicle-mounted control system of embodiment 1;
FIG. 2 is a detailed structural diagram of the onboard control system of embodiment 1;
FIG. 3 is a schematic structural view of a vehicle-mounted control system according to embodiment 2;
fig. 4 is a schematic structural diagram of a vehicle-mounted control system according to embodiment 3.
Detailed Description
Example 1
Referring to fig. 1 and 2, embodiment 1 of the present invention discloses an on-vehicle control system for an AGV cart for automatic transport in a warehouse or a workshop, comprising a controller, a storage, a positioning module, a driving device, a distance measuring device and an angle regulating device. 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 positioning module comprises a magnetic navigation module and an RFID module, the AGV trolley is connected with a target position through a navigation magnetic strip laid on the bottom surface, a plurality of RFID electronic tags are laid on the navigation magnetic strip at equal intervals, the navigation magnetic strip is in communication connection with the magnetic navigation module, and the RFID electronic tags are in communication connection with the RFID module. And the storage is in communication connection with the controller and is used for storing a route map of the AGV trolley traveling route, marking points corresponding to the RFID electronic tags are marked on the route map of the AGV trolley traveling route, the marking points on the route map through which the AGV trolley travels are displayed in green, and the marking points on the route map through which the AGV trolley does not travel are displayed in red. 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 distance measuring device is an infrared detector or an ultrasonic detector. And the driving device is connected with the controller and used for driving the AGV to run. The angle regulating and controlling 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 path 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 path in the storage, the controller controls the angle regulating and controlling device so as to finely regulate the travel direction of the AGV. 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 module 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.
Example 2
Referring to fig. 3, the embodiment 2 of the present invention discloses an on-board control system for AGV carts used for automatic transportation in warehouses or workshops, and the embodiment 2 has substantially the same characteristics as the embodiment 1, and the main difference is characterized in that: the vehicle-mounted control system in embodiment 2 further includes an alarm device, the alarm device is connected to the controller, and when the real-time detection distance detected by the distance measuring device is smaller than the third preset distance information, the controller controls the alarm device to give an alarm. The alarm device is an alarm lamp or an alarm whistle. When the distance between the AGV trolleys is very close, the controller controls the alarm device to give an alarm to remind workers of timely intervention processing, and further vehicle failure is avoided.
Example 3
Referring to fig. 4, the embodiment 3 of the present invention discloses an on-board control system for AGV carts used for automatic transportation in warehouses or workshops, and the embodiment 3 has substantially the same characteristics as the embodiment 2, and the main difference is characterized in that: the vehicle-mounted control system in embodiment 3 further includes an auxiliary steering device, and the auxiliary steering device is connected to the controller. Through setting up supplementary device that turns to, conveniently finely tune the direction of travel of AGV dolly through angle regulation and control device.
The utility model discloses in can fix a position the position of AGV dolly in real time through orientation module, the realization of magnetic navigation module and RFID module in the orientation module marks the mark point corresponding with RFID electronic tags on the route map of AGV dolly route of going in the accumulator, and show the mark point on the route map that the AGV dolly was gone through green, be convenient for real time monitoring AGV dolly's position and running state, it uses with range unit cooperation, the accuracy of the detected data of distance between the AGV dolly has been guaranteed, avoid because the testing result is inaccurate, lead to the collision between the AGV dolly; meanwhile, the distance between the AGV trolleys is detected through the distance measuring device, the real-time monitoring distance is calculated through the controller in real time, and the AGV trolleys are controlled by the controller through the driving device to run in an accelerating or decelerating mode, so that collision or rear-end collision accidents between the AGV trolleys are avoided, the running speed of the AGV trolleys can be adjusted in real time according to the distance between the AGV trolleys, and the efficiency of the whole transportation system is obviously improved; in addition, through setting up angle regulation and control device, finely tune the direction of travel of AGV dolly, guaranteed that the AGV dolly is located the route of normally traveling route.
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 (6)
1. A vehicle-mounted control system of an AGV (automatic guided vehicle) for automatic transportation in a warehouse or a workshop is characterized by comprising a controller, a storage, a positioning module, a driving device, a distance measuring device and an angle regulating device;
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 positioning module comprises a magnetic navigation module and an RFID module, the AGV trolley is connected with a target position through a navigation magnetic strip laid on the bottom surface, a plurality of RFID electronic tags are laid on the navigation magnetic strip at equal intervals, the navigation magnetic strip is in communication connection with the magnetic navigation module, and the RFID electronic tags are in communication connection with the RFID module;
the storage device is in communication connection with the controller and is used for storing a route map of a travel path of the AGV trolley, marking points corresponding to the RFID electronic tags are marked on the route map of the travel path of the AGV trolley, the marking points on the route map through which the AGV trolley travels are displayed in green, and the marking points on the route map through which the AGV trolley does not travel are displayed in red;
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 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 path 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 path in the storage, the controller controls the angle regulating device so as to finely regulate the travel direction of the AGV;
the positioning module sends real-time position information and current state information of the AGV trolley to the controller, the controller calculates the real-time position of the AGV trolley and the distance of a target position in a route map of a travel path of the AGV trolley stored in the storage module 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 trolley to travel at different speeds in real time through the driving device.
2. The on-board control system for an AGV car for automatic transportation in a warehouse or a workshop according to claim 1, wherein 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, the controller controls the AGV car 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.
3. The on-board control system for an AGV car for automated warehouse or workshop as recited in claim 1, wherein the distance measuring device is an infrared detector or an ultrasonic detector.
4. The on-board control system for the AGV car for the automatic transportation in the warehouse or the workshop according to claim 1, further comprising an alarm device, wherein the alarm device is connected to the controller, and when the real-time detection distance detected by the distance measuring device is smaller than the third preset distance information, the controller controls the alarm device to give an alarm.
5. The on-board control system for an AGV car for automated warehouse or workshop as claimed in claim 4, wherein the alarm device is an alarm light or an alarm whistle.
6. The on-board control system for an AGV cart for automated warehouse or shop transportation of claim 1, further comprising an auxiliary steering device connected to the controller.
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111595621A (en) * | 2020-05-28 | 2020-08-28 | 江苏省东台中等专业学校 | Underground water sampling device |
| CN112339883A (en) * | 2020-10-26 | 2021-02-09 | 上海建工五建集团有限公司 | Material transport vehicle |
| CN112627833A (en) * | 2020-12-17 | 2021-04-09 | 中铁山河工程装备股份有限公司 | Intelligent material conveying system for shield construction |
| CN112904857A (en) * | 2021-01-20 | 2021-06-04 | 广东顺德工业设计研究院(广东顺德创新设计研究院) | Automatic guided vehicle control method and device and automatic guided vehicle |
| CN113651045A (en) * | 2021-07-22 | 2021-11-16 | 东风柳州汽车有限公司 | Synchronous operation control system for self-propelled trolleys |
| CN113963563A (en) * | 2021-09-23 | 2022-01-21 | 合肥哈工库讯智能科技有限公司 | AMF (advanced metering framework) scheduling control system based on 5G and edge calculation |
| CN114104630A (en) * | 2021-11-30 | 2022-03-01 | 重庆华世丹农业装备制造有限公司 | Control system of agricultural machinery production assembly line |
| CN114620433A (en) * | 2022-03-07 | 2022-06-14 | 威海魏桥科技工业园有限公司 | Intelligent cop transport device, system and transport method based on AGV |
| CN114890028A (en) * | 2021-12-06 | 2022-08-12 | 上海中实供应链管理有限公司 | Intelligent logistics system of unmanned workshop without light environment |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111595621A (en) * | 2020-05-28 | 2020-08-28 | 江苏省东台中等专业学校 | Underground water sampling device |
| CN112339883A (en) * | 2020-10-26 | 2021-02-09 | 上海建工五建集团有限公司 | Material transport vehicle |
| CN112627833A (en) * | 2020-12-17 | 2021-04-09 | 中铁山河工程装备股份有限公司 | Intelligent material conveying system for shield construction |
| CN112904857A (en) * | 2021-01-20 | 2021-06-04 | 广东顺德工业设计研究院(广东顺德创新设计研究院) | Automatic guided vehicle control method and device and automatic guided vehicle |
| CN113651045A (en) * | 2021-07-22 | 2021-11-16 | 东风柳州汽车有限公司 | Synchronous operation control system for self-propelled trolleys |
| CN113963563A (en) * | 2021-09-23 | 2022-01-21 | 合肥哈工库讯智能科技有限公司 | AMF (advanced metering framework) scheduling control system based on 5G and edge calculation |
| CN113963563B (en) * | 2021-09-23 | 2023-06-09 | 合肥哈工库讯智能科技有限公司 | AMF scheduling control system based on 5G and edge calculation |
| CN114104630A (en) * | 2021-11-30 | 2022-03-01 | 重庆华世丹农业装备制造有限公司 | Control system of agricultural machinery production assembly line |
| CN114104630B (en) * | 2021-11-30 | 2024-04-09 | 重庆华世丹农业装备制造有限公司 | Control system of agricultural machinery production assembly line |
| CN114890028A (en) * | 2021-12-06 | 2022-08-12 | 上海中实供应链管理有限公司 | Intelligent logistics system of unmanned workshop without light environment |
| CN114620433A (en) * | 2022-03-07 | 2022-06-14 | 威海魏桥科技工业园有限公司 | Intelligent cop transport device, system and transport method based on AGV |
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