CN105807759B - Automatic guided vehicle control system and automatic guided vehicle control method - Google Patents
Automatic guided vehicle control system and automatic guided vehicle control method Download PDFInfo
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- CN105807759B CN105807759B CN201410832711.5A CN201410832711A CN105807759B CN 105807759 B CN105807759 B CN 105807759B CN 201410832711 A CN201410832711 A CN 201410832711A CN 105807759 B CN105807759 B CN 105807759B
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Abstract
A kind of automatic guided vehicle control system comprising control mould group and vehicle-mounted mould group, control mould group includes: switch unit, for sending enabling signal or stop signal；Microprocessing unit, for being encoded to enabling signal or stop signal；Instruction sending unit, for sending enabling signal or stop signal after encoding.Vehicle-mounted mould group includes: signal receiving unit, for receiving the signal of instruction sending unit sending；Microprocessing unit is used for decoded signal receiving unit received signal；Signal transmitting unit, for starting or stoping control signal to automatic guided vehicle transmission is corresponding according to decoded signal.The present invention also provides a kind of automatic guided vehicle control methods.Above-mentioned automatic guided vehicle control system can control automatic guided vehicle and stop or start, therefore automatic guided vehicle in all websites without all stopping to improve logistic efficiency.
Description
Technical field
The present invention relates to automatic guided vehicle technical fields, more particularly to one kind can control the starting of automatic guided vehicle or stop
Control system and control method only.
Background technique
Automatic guided vehicle (Automated Guided Vehicle, abbreviation AGV) is magnetically or optically to wait automatically equipped with electricity
Guiding device, the transport vehicle that can be travelled along predefined paths.It is manufactured in industry currently, AGV has been widely used in.Make
With in the process, AGV is frequently necessary to rest in specified website, and hauling operation is completed in cooperation other equipment work.Existing AGV
It can usually be stopped in each website, so will appear the case where website for not needing to stop also is stopped, cause certain working hour
Waste and reduce logistic efficiency.
Summary of the invention
In view of the above situation, it is necessary to which the AGV control system that AGV is started or stoped can be controlled by providing one kind.
A kind of automatic guided vehicle control system comprising control mould group and vehicle-mounted mould group, the control mould group include: that switch is single
Member, for triggering an enabling signal or a stop signal；Microprocessing unit, for being compiled to enabling signal or stop signal
Code, wherein station code and vehicle code are added in an encoding process；Instruction sending unit, for sending the starting after encoding
Signal or stop signal.The vehicle-mounted mould group includes: signal receiving unit, for receiving the signal of instruction sending unit sending；
Microprocessing unit, for decoding the signal receiving unit received signal；Information acquisition unit, for acquiring an automatic guided vehicle
Location information and work state information；Unit is analyzed and determined, for combining the microprocessing unit of the vehicle-mounted mould group decoded
Signal and the location information of information acquisition unit acquisition, judge whether the automatic guided vehicle can stop, and combine this vehicle-mounted
The decoded signal of the microprocessing unit of mould group and the work state information of information acquisition unit acquisition, judge the automatic guided vehicle
Whether can star；And signal transmitting unit, for sending corresponding starting to an automatic guided vehicle according to decoded signal
Or stop control signal.
A kind of automatic guided vehicle control method, comprising: a control mould group triggers a switching signal；The switching signal is carried out
Coding forms command signal, wherein station code and vehicle code are added in an encoding process；Instruction letter after sending coding
Number to a vehicle-mounted mould group；The command signal is decoded；In conjunction with decoded command signal and the position of an automatic guided vehicle
Information and work state information, judge whether the automatic guided vehicle can stop or start, when judging that the automatic guided vehicle can
To stop or start, then enter next step, when judging that the automatic guided vehicle cannot stop or start, then process knot
Beam；It is sent according to the result of judgement to the automatic guided vehicle and stops or start control signal.
Above-mentioned automatic guided vehicle control system is sent due to setting control mould group and vehicle-mounted mould group by control mould group
Signal can control automatic guided vehicle and stop or start, therefore can control automatic guided vehicle and be not necessarily to all stop in all websites,
Improve logistic efficiency.
Detailed description of the invention
Fig. 1 is the module diagram of the AGV control system of embodiment of the present invention.
Fig. 2 is the method flow diagram of the control AGV starting of AGV control system shown in Fig. 1.
Fig. 3 is the method flow diagram that the control of AGV control system shown in Fig. 1 AGV stops.
Main element symbol description
Automatic guided vehicle control system 100
Control mould group 10
MCU 11
Switch unit 13
Instruction sending unit 15
Indicating unit 17
Vehicle-mounted mould group 30
MCU 31
Signal receiving unit 33
Information acquisition unit 35
Analyze and determine unit 37
Signal transmitting unit 39
Following specific embodiment will illustrate the present invention into a step in conjunction with above-mentioned attached drawing.
Specific embodiment
Please refer to Fig. 1, (the hereinafter referred to as AGV control system of automatic guided vehicle control system 100 of embodiment of the present invention
System), it is used to control the pause of AGV (not shown) or starting.In the process of production and processing, it usually needs corresponding different processing work
It stands or process equipment, multiple stop websites is set.AGV control system 100 rests in specified website for controlling specified AGV
Or start from the website of stop.
AGV control system 100 includes control mould group 10 and the vehicle-mounted mould group 30 with the control cooperation of mould group 10.In use, control
Molding group 10 is arranged at website, and in the present embodiment, the area of safety operaton of corresponding equipment is arranged in control mould group 10
It is interior.Vehicle-mounted mould group 30 is arranged on AGV.Mould group 10 is controlled to send enabling signal or pause signal, vehicle to vehicle-mounted mould group 30
Mould group 30 is carried to receive enabling signal or pause signal, and accordingly the AGV starting or pause of the vehicle-mounted mould group 30 are installed in control.
Control mould group 10 include microprocessing unit (micro processor unit, abbreviation MCU) 11, switch unit 13,
Instruction sending unit 15 and indicating unit 17.Switch unit 13 connects two outer button (not shown), respectively start button
And stop button.Switch unit 13 sends the switching signal, switching signal packet to MCU 11 for triggering a switching signal
Containing enabling signal and stop signal.When started by press button, switch unit 13 triggers enabling signal and sends to MCU 11 and is somebody's turn to do
Enabling signal.When pressing stop button, switch unit 13 triggers stop signal and sends the stop signal to MCU 11.
MCU 11 is programmable module, after receiving switching signal, signal processing and coding is carried out, after forming coding
Command signal.Since in production process, the website of stop is usually multiple, and the quantity of AGV may also to be multiple, therefore,
Station code and vehicle code are added in 11 cataloged procedure of MCU, to realize that corresponding AGV rests in specified website.?
In present embodiment, station code and vehicle code totally 16, station code are first 13, and vehicle code is latter 3.
Command signal after instruction sending unit 15 is used to encode MCU 11 is sent to vehicle-mounted mould group 30.Indicating unit 17
It is used to indicate the state of a control to AGV.In the present embodiment, when suspending AGV, indicating unit 17 is displayed in red indication signal.
When starting AGV, indicating unit 17 shows green indication signal.
Vehicle-mounted mould group 30 includes 31, signal receiving unit microprocessing unit (micro processor unit, abbreviation MCU)
33, information acquisition unit 35, analytical judgment unit 37 and signal transmitting unit 39.Signal receiving unit 33 is for receiving instruction
The command signal that transmission unit 15 is sent.MCU31 is for being decoded the received command signal of signal receiving unit 33.
Information acquisition unit 35 for acquiring the location information and work state information of AGV in real time.Analyze and determine unit 37
Location information for combining the decoded command signal of MCU31 and information acquisition unit 35 to acquire, judge AGV whether bus stop
Point judges whether AGV opens in conjunction with the work state information that the decoded command signal of MCU31 and information acquisition unit 35 acquire
It is dynamic.
Specifically, when the command signal that control mould group 10 is sent is stop signal, analytical judgment unit 37 combines the position of AGV
Confidence breath judges that AGV then divides if appropriate for the website is stopped if the location information of AGV is in a dockable position range
Analysis judging unit 37 judges that AGV can stop；If the position of AGV is not in dockable position range, then unit 37 is analyzed and determined
Judge that AGV can not be stopped, until AGV is reached in dockable position range, analyzes and determines that unit 37 just judges AGV and can stop
It leans on.When AGV stops in dockable preset range, AGV can be further advanced by the structures such as the nail of the magnetic on tie surface
It is accurately positioned.When the command signal for controlling the transmission of mould group 10 is enabled instruction, analyze and determine unit 37 according to the work of AGV
Make status information, judges that AGV is in processing station corresponding with website is stopped or equipment cooperation if appropriate for starting, such as AGV
When being processed, then analyze and determine that unit 37 judges that AGV can not start, in order to avoid influence the ongoing movement of AGV or in order to avoid hair
Outside business；When being in non-working condition or idle state such as AGV, then analyze and determine that unit 37 judges that AGV can start.
Signal transmitting unit 39 is used to after the judging result by analyzing and determining unit 37 send stopping or starting to AGV
Signal is controlled, so that AGV can stop according to control signal or starting.
A kind of AGV control method, comprising: a control mould group triggers a switching signal；The switching signal is encoded, shape
At command signal；The command signal after encoding is sent to a vehicle-mounted mould group；The command signal is decoded；In conjunction with decoded
The location information and work state information of command signal and an AGV, judge whether the AGV stops or start, when judging the AGV
It can stop or start, then enter next step, when judging that the AGV cannot stop or start, then process terminates；According to
The result of judgement is sent to the AGV stops or starts control signal.
The specific steps started or stoped using above-mentioned control method control AGV are described below.
Referring to Fig. 2, the step of control AGV starting, includes:
Step S101: triggering start button.
Step S102:MCU 11 is encoded according to the enabling signal of switch unit, forms command signal.
Step S103: instruction sending unit 15 sends the command signal after coding.
Step S104: signal receiving unit 33 receives command signal.
Step S105:MCU31 is decoded the received command signal of signal receiving unit 33.
Step S106: analyze and determine that unit 37 combines the decoded command signal of MCU31 and information acquisition unit 35 to acquire
AGV work state information, judge whether AGV starts, if analyze and determine unit 37 judge that AGV can star, under entering
One step, if analyzing and determining, unit 37 judges that AGV cannot start, and process terminates, and AGV not will start.
Step S107: signal transmitting unit 39 sends starting control signal.
Referring to Fig. 3, control AGV includes: the step of stopping
Step S201: triggering stop button.
Step S202:MCU 11 is encoded according to the stop signal of switch unit, forms command signal.
Step S203: instruction sending unit 15 sends the command signal after coding.
Step S204: signal receiving unit 33 receives command signal.
Step S205:MCU31 is decoded the received command signal of signal receiving unit 33.
Step S206: analyze and determine that unit 37 combines the decoded command signal of MCU31 and information acquisition unit 35 to acquire
AGV location information, judge whether AGV stops, if analyze and determine unit 37 judge that AGV can stop, enter next step
Suddenly, if analyzing and determining, unit 37 judges that AGV cannot stop, and process terminates, and AGV will not stop.
Step S207: signal transmitting unit 39, which is sent, stops control signal.
AGV control system 100 in present embodiment, since control mould group 10 and vehicle being respectively set on website and AGV
Mould group 30 is carried, the signal sent by control mould group 10 can control AGV and stop website or start from the website of stop, therefore
It avoids AGV from all stopping in all websites, improves logistic efficiency.Since information acquisition unit 35 can acquire position and the work of AGV
Make state, more accurately stop website when so that stopping, when starting is safer, avoids error starting.
It is appreciated that indicating unit 17 can be omitted, do not indicate that starting/pause AGV also may be used.
It is appreciated that being not required to consider AGV stop position and when working condition, it is convenient to omit information acquisition unit 35 and point
Judging unit 37 is analysed, operator triggers starting/stop button after understanding by the state to AGV again, at this point, MCU31
After decoding, signal transmitting unit 39 sends the control signal started or stoped directly according to decoded command signal.
In addition, those skilled in the art can also do other variations in spirit of that invention, certainly, these are smart according to the present invention
The variation that mind is done should be all included in scope of the present invention.
Claims (8)
1. a kind of automatic guided vehicle control system, it is characterised in that: the automatic guided vehicle control system includes control mould group and vehicle
Mould group is carried, which includes:
Switch unit, for triggering an enabling signal or a stop signal；
Microprocessing unit, for being encoded to the enabling signal or the stop signal, wherein website is added in an encoding process
Coding and vehicle code；
Instruction sending unit, for sending enabling signal or stop signal after encoding, which includes:
Signal receiving unit, for receiving the signal of instruction sending unit transmission；
Microprocessing unit, for decoding the signal receiving unit received signal；
Information acquisition unit, for acquiring the location information and work state information of an automatic guided vehicle；
Unit is analyzed and determined, for combining the decoded signal of microprocessing unit and the information acquisition unit acquisition of the vehicle-mounted mould group
Location information, judge whether the automatic guided vehicle can stop, and combine the vehicle-mounted mould group microprocessing unit decoding after
Signal and information acquisition unit acquisition work state information, judge whether the automatic guided vehicle can star；And
Signal transmitting unit, for according to the judging result of decoded signal and the analytical judgment unit to the automatic guided vehicle
It sends and corresponding starts or stops control signal.
2. automatic guided vehicle control system as described in claim 1, it is characterised in that: believe in the decoded signal for stopping
Number and the position range that can stop one of location information of information acquisition unit acquisition in when, which should
Automatic guided vehicle can stop.
3. automatic guided vehicle control system as described in claim 1, it is characterised in that: believe in the decoded signal for starting
Number and the work state information of information acquisition unit acquisition when being an idle state, the analytical judgment unit judges this nobody are removed
Fortune vehicle can star.
4. automatic guided vehicle control system as described in claim 1, it is characterised in that: the control mould group further includes that instruction is single
Member, the indicating unit are used to indicate the state of a control to the automatic guided vehicle.
5. automatic guided vehicle control system as described in claim 1, it is characterised in that: the switch unit and a start button and
One stop button is connected.
6. a kind of automatic guided vehicle control method, comprising:
One control mould group triggers a switching signal；
The switching signal is encoded, command signal is formed, wherein station code is added in an encoding process and vehicle is compiled
Code；
The command signal after encoding is sent to a vehicle-mounted mould group；
The command signal is decoded；
In conjunction with decoded command signal and the location information and work state information of an automatic guided vehicle, the unmanned carrying is judged
Whether vehicle can stop perhaps starting when judging that the automatic guided vehicle can stop or start, then enters next step, when sentencing
The automatic guided vehicle that breaks cannot stop or start, then process terminates；
It is sent according to the result of judgement to the automatic guided vehicle and stops or start control signal.
7. automatic guided vehicle control method as claimed in claim 6, it is characterised in that: believe in the decoded signal for stopping
Number and the position range that can stop one of position of the automatic guided vehicle in when, judge that the automatic guided vehicle can stop.
8. automatic guided vehicle control method as claimed in claim 6, it is characterised in that: believe in the decoded signal for starting
Number and the automatic guided vehicle working condition be an idle state when, judge that the automatic guided vehicle can star.
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| CN201410832711.5A CN105807759B (en) | 2014-12-29 | 2014-12-29 | Automatic guided vehicle control system and automatic guided vehicle control method |
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| CN201410832711.5A CN105807759B (en) | 2014-12-29 | 2014-12-29 | Automatic guided vehicle control system and automatic guided vehicle control method |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106647738A (en) * | 2016-11-10 | 2017-05-10 | 杭州南江机器人股份有限公司 | Method and system for determining docking path of automated guided vehicle, and automated guided vehicle |
| CN109254581B (en) * | 2018-08-10 | 2021-07-02 | 合肥哈工库讯智能科技有限公司 | AGV dolly intelligent operation regulation and control system based on running state analysis |
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Effective date of registration: 20200813 Address after: 451162 the second, third floor of B07 building in B District of the eastern side Comprehensive Bonded Zone, Zhenxing Road, Zhenxing Road, Henan Province Patentee after: HENAN YUZHAN PRECISION TECHNOLOGY Co.,Ltd. Address before: 518109 Shenzhen City, Guangdong Province, Shenzhen city of Guanlan Foxconn view science park B district workshop 5 Building 4, C07 2, C08 3, 3, 4, C04 1 Patentee before: SHENZHENSHI YUZHAN PRECISION TECHNOLOGY Co.,Ltd. |
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Address after: 451162 the second and third floors of building B07, zone B, comprehensive bonded zone, east side of Zhenxing Road, Hangkong District, Zhengzhou City, Henan Province Patentee after: Fulian Yuzhan Technology (Henan) Co.,Ltd. Address before: 451162 the second and third floors of building B07, zone B, comprehensive bonded zone, east side of Zhenxing Road, Hangkong District, Zhengzhou City, Henan Province Patentee before: HENAN YUZHAN PRECISION TECHNOLOGY Co.,Ltd. |
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