CN106647737A - Ground self-propelled trolley control system - Google Patents
Ground self-propelled trolley control system Download PDFInfo
- Publication number
- CN106647737A CN106647737A CN201610980571.5A CN201610980571A CN106647737A CN 106647737 A CN106647737 A CN 106647737A CN 201610980571 A CN201610980571 A CN 201610980571A CN 106647737 A CN106647737 A CN 106647737A
- Authority
- CN
- China
- Prior art keywords
- automatic carriage
- controller
- ground
- control system
- guide ribs
- 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.)
- Pending
Links
- 230000005540 biological transmission Effects 0.000 claims description 4
- 238000010408 sweeping Methods 0.000 claims 1
- 238000004519 manufacturing process Methods 0.000 abstract description 4
- 238000005516 engineering process Methods 0.000 abstract description 3
- 230000002250 progressing effect Effects 0.000 abstract 2
- 238000010586 diagram Methods 0.000 description 3
- 238000001514 detection method Methods 0.000 description 2
- 230000004308 accommodation Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention relates to a control system and more particularly to a ground self-propelled trolley control system, which belongs to the conveyer control technology field. According to the technical schemes proposed in the invention, the ground self-propelled trolley control system comprises an open channel arranged between the conveying line bodies, a guiding bar arranged in the open channel and a plurality of ground self-propelled trolleys running on the guiding bar. The self-propelled trolley is provided with a guide bar reader to read the guide bar information, a programmable area scanning instrument used to scan the progressing information in the progressing direction, an alarming light used to output alarming information and a self-propelled trolley controller used to control the running state of the ground self-propelled trolley. The guide bar reader, the programmable area scanning instrument, and the alarming light are all connected with the self-propelled trolley. The control system of the invention is compact in structure and capable of increasing the production efficiency of the conveying lines. With high automation, the system can be widely applied and is safe and reliable.
Description
Technical field
The present invention relates to a kind of control system, especially a kind of ground automatic carriage control system, belongs to conveyer control
Technical field.
Background technology
With the continuous improvement of people's awareness of safety, the safety for manufacturing and designing is advocated, and do not affecting the state of efficiency
Under again purchase inspection safety equipment, to carry out safe management to machinery equipment.At present, rapidly sending out for electronic technology is added
Exhibition, the information hierarchy of every profession and trade subject, to the safety requirements of equipment also more and more higher.But at present in the job control of pipeline,
Limited to the security protection in pipeline work, the automatic carriage speed of service is slow, and automaticity is low, it is difficult to meet industry raw
The requirement of product.
The content of the invention
The purpose of the present invention is to overcome the deficiencies in the prior art, there is provided a kind of ground automatic carriage control system,
Its compact conformation, can improve the production efficiency of pipeline, and high degree of automation, wide accommodation is safe and reliable.
According to the technical scheme that the present invention is provided, the ground automatic carriage control system, including being arranged at transmission line body
Between open channel, the guide ribs that are arranged in the open channel and some ground run in the guide ribs
Automatic carriage；The ground automatic carriage is provided with for reading the guide ribs reader of guide ribs information, for scanning traveling
Side travels upwardly the programmable region scanner of information, the alarm lamp for exporting warning message and for controlling the ground
The automatic carriage controller of automatic carriage running status, the guide ribs reader, programmable region scanner, alarm lamp with
Automatic carriage controller connects.
The automatic carriage controller includes agv controller and the first switch being connected with the agv controller,
Programmable region scanner is connected by the first switch with agv controller, alarm lamp and guide ribs reader and dolly control
Device processed is directly connected to.
The frequency converter for being connected with ground automatic carriage driver is also associated with first switch.
The light curtain width of the programmable region scanner Safe width required not less than the operation of ground automatic carriage,
The light curtain of programmable region scanner includes warning zone, decelerating area and stop area, and the decelerating area is located at warning
Between region and stop area, stop area is near the end of ground automatic carriage direct of travel.
Some position reference points are provided with the guide ribs.
Also include the central authorities being connected with all automatic carriage controllers for running on ground automatic carriage in open channel
Switch board, the central control cabinet includes control cabinet controller, wirelessly connects between the control cabinet controller and agv controller.
The control cabinet controller is connected by second switch with switch board wireless receiver, and described first exchanges
The controller wireless receiver being wirelessly connected with switch board wireless receiver is provided on machine, controller is without line number
It is connected with agv controller by the first switch according to transceiver.
The agv controller includes PLC.
The control cabinet controller includes PLC.
Advantages of the present invention：On the automatic carriage of ground by guide ribs reader read guide ribs information, by compiling
Journey area scanner scanning direct of travel on travel information, by alarm lamp be used for export warning message and by voluntarily
Agv controller controls the ground automatic carriage running status such that it is able to which realization has to ground automatic carriage running status
Effect control, by controlling cabinet controller and the wireless connection of all agv controllers, can realize to multiple ground automatic carriages
The efficiency of management, high degree of automation is safe and reliable.
Description of the drawings
Fig. 1 is the feed status figure of the present invention.
Fig. 2 is the schematic diagram that the present invention has pedestrian to pass through on the automatic carriage direct of travel of ground.
Fig. 3 is schematic diagram of the ground automatic carriage of the present invention using the operation of position reference point.
Fig. 4 is the system schematic of the present invention.
Description of reference numerals：1- ground automatic carriage, 2- programmable region scanners, 3- warning zone, 4- decelerating areas,
5- stop areas, 6- positions reference point, 7- open channels, 8- guide ribs, 9- central control cabinets, 10- automatic carriage controllers,
11- control cabinet controllers, 12- agv controllers, 13- second switch, the switches of 14- first, 15- switch boards wireless data are received
Send out device, 16- controller wireless receivers, 17- frequency converters, 18- warning lights and 19- guide ribs readers.
Specific embodiment
With reference to concrete drawings and Examples, the invention will be further described.
As depicted in figs. 1 and 2：In order to be able to improve the production efficiency of pipeline, the automaticity of course of conveying is improved, this
If invention include the open channel 7 being arranged between transmission line body, the guide ribs 8 that are arranged in the open channel 7 and
Do the ground automatic carriage 1 run in the guide ribs 8；The ground automatic carriage 1 is provided with to be believed for reading guide ribs 8
The guide ribs reader 19 of breath, the programmable region scanner 2 for scanning travel information on direct of travel, for export report to the police
The alarm lamp 18 of information and the automatic carriage controller 10 for controlling the running status of ground automatic carriage 1, it is described to draw
Sliver reader 19, programmable region scanner 2, alarm lamp 18 are connected with automatic carriage controller 10.
Specifically, open channel 7 is located between transmission line body, and the width of open channel 7 is more than ground automatic carriage 1
Width, guide ribs 8 are arranged in open channel 7, and ground automatic carriage 1 runs along guide ribs 8, so as to realize ground voluntarily
Dolly 1 realizes the transport of material etc. in the operation of open channel 7.When being embodied as, in order to ensure ground automatic carriage 1
All the time run along guide ribs 8, guide ribs reader 19 be set on ground automatic carriage 1, guide ribs reader 19 it is concrete
Form is adapted with guide ribs 8, specifically repeats no more.Programmable region scanner 2 is arranged on the direct of travel of ground automatic carriage 1
End, so as to when ground automatic carriage 1 is advanced, realize the detection to direct of travel, programmable region scanner 2 is swept
The travel information retouched includes pedestrian information, the information of neighbouring ground automatic carriage 1 or other information.
Automatic carriage controller 10 controls the running status of ground automatic carriage 1, specifically refers to that ground can be controlled voluntarily little
The traveling of car 1, stop or other states, specifically, guide ribs reader 19 is by the information of guide ribs 8 for reading, programmable area
The travel information of the scanning of domain scanner 2 is transmitted to automatic carriage controller 10, and automatic carriage controller 10 is according to guide ribs
The information of guide ribs 8 that reader 19 reads so that direction of the ground automatic carriage 1 all the time along guide ribs 8 is moved, according to can compile
The travel information of the scanning of journey area scanner 2, automatic carriage controller 10 determines whether the ground automatic carriage 1 needs to continue
Advance, certainly, the travel information that automatic carriage controller 10 is scanned according to programmable region scanner 2, additionally it is possible to by reporting to the police
Lamp 18 exports warning message, to remind the pedestrian etc. of open channel 7, it is ensured that the stability of the operation of ground automatic carriage 1 and
Security.
As shown in figure 4, the automatic carriage controller 10 include agv controller 12 and with the agv controller 12
First switch 14 of connection, programmable region scanner 2 is connected by the first switch 14 with agv controller 12, alarm lamp
18 and guide ribs reader 19 be directly connected to agv controller 12.
In the embodiment of the present invention, the agv controller 12 includes PLC, agv controller 12 by the first switch 14 with
Programmable region scanner 2 connects, and agv controller 12 can also realize other extensions by the first switch 14, improves certainly
The adaptability of row agv controller 10.Additionally, being also associated with first switch 14 for driving with ground automatic carriage
The frequency converter 17 of device connection.Ground automatic carriage driver can realize the driving that automatic automatic carriage 1 runs, ground automatic carriage
Driver specifically can be selected as needed using forms such as existing conventional Motor drives, and here is omitted.
Agv controller 12 is connected by the first switch 14 with frequency converter 17, i.e., agv controller 12 is realized over the ground by frequency converter 17
The precise control of the running status of face automatic carriage 1.
Safety required for the light curtain width of the programmable region scanner 2 runs not less than ground automatic carriage 1 is wide
Degree, the light curtain of programmable region scanner 2 includes warning zone 3, decelerating area 4 and stop area 5, the decelerating area 4
Positioned between warning zone 3 and stop area 5, stop area 5 is near the end of the direct of travel of ground automatic carriage 1.
In the embodiment of the present invention, programmable region scanner 2 specifically can in the form of the art is conventional, as long as
So that the light curtain width of programmable region scanner 2 runs required Safe width not less than ground automatic carriage 1, so as to
The effective scanning to the direct of travel of ground automatic carriage 1 can be realized.The warning zone 3, decelerating area of programmable region scanner 2
4 and stop area 5 in sector, and stop area 5, decelerating area 4 and warning zone 3 are in the traveling of ground automatic carriage 1
It is arranged in order on direction, i.e. near the end of the direct of travel of ground automatic carriage 1, warning zone 3 is relatively distant from ground to stop area 5
The end of the direct of travel of face automatic carriage 1.
As depicted in figs. 1 and 2, be between adjacent ground automatic carriage 1 and pedestrian is respectively in programmable region scanner 2
Warning zone 3, decelerating area 4 and schematic diagram during stop area 5.Specifically, when staff or the ground in close front
During the automatic carriage 1 of face, the warning zone 3 of programmable region scanner 2 can detect corresponding travel information, now, dolly control
The control output warning message of alarm lamp 18 of device processed 12, and cause place ground automatic carriage 1 to keep the current speed of service；If can
When the decelerating area 4 of program regions scanner 2 detects corresponding travel information, the control alarm lamp 18 of agv controller 12 is exported
Warning message, agv controller 12 reduces the speed of service of place ground automatic carriage 1, if programmable region scanner 2 stops
When only region 5 detects corresponding travel information, the control alarm lamp 12 of agv controller 12 exports rapid warning message, and makes
The ground automatic carriage 1 that must be located is in run-stopping status.So as to, agv controller 12 according to programmable region scanner 2 not
With travel information, control the running status of ground automatic carriage 1, it is ensured that pedestrian it is safe, preferential pass through and with other ground
Reliability of operation while face running trolley 1.
As shown in figure 3, being provided with some position reference points 6, in the embodiment of the present invention, reference by location in the guide ribs 8
Point 6 is located at the outside of guide ribs 8, by position reference point 6 agv controller 12 can be caused to control place ground automatic carriage 1
Turn, can also realize the border change detection to open channel 7.
As shown in figure 4, also including and all automatic carriage controls for running on ground automatic carriage 1 in open channel 7
Device 10 connection central control cabinet 9, the central control cabinet 9 include control cabinet controller 11, it is described control cabinet controller 11 with
Wirelessly connect between agv controller 12.
In the embodiment of the present invention, the control cabinet controller 11 is by second switch 13 and switch board wireless data transceiving
Device 15 connects, be provided on first switch 14 controller that is wirelessly connected with switch board wireless receiver 15 without
Line data collector 16, controller wireless receiver 16 is connected by the first switch 14 with agv controller 12.It is described
Control cabinet controller 11 includes PLC.
Can realize that the dolly to all ground automatic carriages 1 is controlled by the control cabinet controller 11 of central control cabinet 9
Connection between device 12, after control cabinet controller 11 is wirelessly connected with agv controller 12, can obtain Different Ground automatic carriage 1
Running status and the information such as position such that it is able to plan as a whole the running status of all ground automatic carriages 1 of control, improve to many
The efficiency of management of individual ground automatic carriage 1.
The present invention on ground automatic carriage 1 by guide ribs reader 19 read the information of guide ribs 8, by may be programmed area
Domain scanner 2 scanning direct of travel on travel information, by alarm lamp 18 be used for export warning message and by voluntarily
Agv controller 10 controls the running status of ground automatic carriage 1 such that it is able to realize to the running status of ground automatic carriage 1
Effective control, by the wireless connection for controlling cabinet controller 11 and all agv controllers 12, can realize to multiple ground oneself
The efficiency of management of row dolly 1, high degree of automation is safe and reliable.
Claims (9)
1. a kind of ground automatic carriage control system, is characterized in that：Including the open channel being arranged between transmission line body（7）、
It is arranged at the open channel（7）Interior guide ribs（8）And it is some in the guide ribs（8）The ground of upper operation is voluntarily little
Car（1）；The ground automatic carriage（1）It is provided with for reading guide ribs（8）The guide ribs reader of information（19）, for sweeping
Retouch the programmable region scanner of travel information on direct of travel（2）, alarm lamp for exporting warning message（18）And use
In the control ground automatic carriage（1）The automatic carriage controller of running status（10）, the guide ribs reader（19）, can
Program regions scanner（2）, alarm lamp（18）With automatic carriage controller（10）Connection.
2. automatic carriage control system in ground according to claim 1, is characterized in that：The automatic carriage controller（10）
Including agv controller（12）And with the agv controller（12）First switch of connection（14）, programmable region scanning
Instrument（2）By the first switch（14）With agv controller（12）Connection, alarm lamp（18）And guide ribs reader（19）With
Agv controller（12）It is directly connected to.
3. automatic carriage control system in ground according to claim 2, is characterized in that：First switch（14）It is upper to go back
It is connected with the frequency converter for being connected with ground automatic carriage driver（17）.
4. automatic carriage control system in ground according to claim 1, is characterized in that：The programmable region scanner
（2）Light curtain width be not less than ground automatic carriage（1）Safe width required for operation, programmable region scanner（2）'s
Light curtain includes warning zone（3）, decelerating area（4）And stop area（5）, the decelerating area（4）Positioned at warning zone（3）
With stop area（5）Between, stop area（5）Near ground automatic carriage（1）The end of direct of travel.
5. automatic carriage control system in ground according to claim 1, is characterized in that：The guide ribs（8）On be provided with
Some position reference points（6）.
6. automatic carriage control system in ground according to claim 2, is characterized in that：Also include running on opening with all
Formula passage（7）Interior ground automatic carriage（1）Automatic carriage controller（10）The central control cabinet of connection（9）, central authorities' control
Cabinet processed（9）Including control cabinet controller（11）, the control cabinet controller（11）With agv controller（12）Between wirelessly connect.
7. automatic carriage control system in ground according to claim 6, is characterized in that：The control cabinet controller（11）It is logical
Cross second switch（13）With switch board wireless receiver（15）Connection, first switch（14）On be provided for
Switch board wireless receiver（15）The controller wireless receiver of wireless connection（16）, controller wireless data transceiving
Device（16）By the first switch（14）With agv controller（12）Connection.
8. automatic carriage control system in ground according to claim 2, is characterized in that：The agv controller（12）Including
PLC。
9. automatic carriage control system in ground according to claim 7, is characterized in that：The control cabinet controller（11）Bag
Include PLC.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610980571.5A CN106647737A (en) | 2016-11-08 | 2016-11-08 | Ground self-propelled trolley control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610980571.5A CN106647737A (en) | 2016-11-08 | 2016-11-08 | Ground self-propelled trolley control system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106647737A true CN106647737A (en) | 2017-05-10 |
Family
ID=58806144
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610980571.5A Pending CN106647737A (en) | 2016-11-08 | 2016-11-08 | Ground self-propelled trolley control system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106647737A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3474877A (en) * | 1967-03-30 | 1969-10-28 | Buero Patent Ag | Trackless conveyor installation |
| CN201269998Y (en) * | 2008-08-28 | 2009-07-08 | 无锡职业技术学院 | Optical guidance type controller for automatic guidance vehicle |
| CN101603830A (en) * | 2009-06-23 | 2009-12-16 | 广州市井源机电设备有限公司 | Automatic navigation car system and multi-task control method |
| CN204705894U (en) * | 2015-06-15 | 2015-10-14 | 济南大学 | Magnetic navigation AGV material handling dolly |
| CN205620774U (en) * | 2016-04-06 | 2016-10-05 | 天奇自动化工程股份有限公司 | Track quick -witted safe control system that divides a word with a hyphen at end of a line |
| CN206249094U (en) * | 2016-11-08 | 2017-06-13 | 天奇自动化工程股份有限公司 | Ground automatic carriage control system |
-
2016
- 2016-11-08 CN CN201610980571.5A patent/CN106647737A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3474877A (en) * | 1967-03-30 | 1969-10-28 | Buero Patent Ag | Trackless conveyor installation |
| CN201269998Y (en) * | 2008-08-28 | 2009-07-08 | 无锡职业技术学院 | Optical guidance type controller for automatic guidance vehicle |
| CN101603830A (en) * | 2009-06-23 | 2009-12-16 | 广州市井源机电设备有限公司 | Automatic navigation car system and multi-task control method |
| CN204705894U (en) * | 2015-06-15 | 2015-10-14 | 济南大学 | Magnetic navigation AGV material handling dolly |
| CN205620774U (en) * | 2016-04-06 | 2016-10-05 | 天奇自动化工程股份有限公司 | Track quick -witted safe control system that divides a word with a hyphen at end of a line |
| CN206249094U (en) * | 2016-11-08 | 2017-06-13 | 天奇自动化工程股份有限公司 | Ground automatic carriage control system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| RU2346400C2 (en) | Serial data bus, mobile system and method of event-driven message transfer | |
| CN100480934C (en) | Track type conveyor control device | |
| EP2401661B1 (en) | Supply assembly for supplying individual bulk goods | |
| CN204166387U (en) | A kind of AGV traffic control system | |
| CN101966928A (en) | Automatic conveying device | |
| CN204568713U (en) | A kind of novel impeller feeder anti-collision control system | |
| CN105807771A (en) | AGV-based station recognition system and its control method | |
| CN114137924B (en) | Assembly production system | |
| CN117719832A (en) | RGV dolly of safe high-efficient transportation | |
| JP3627507B2 (en) | Dolly operation system | |
| US8504195B2 (en) | Method and apparatus for radio-controlled friction drive conveyor system | |
| CN103397909B (en) | A kind of mine track haulage supervision system | |
| CN106647737A (en) | Ground self-propelled trolley control system | |
| CN216623047U (en) | RGV dolly conveying system | |
| CN208412899U (en) | A kind of obstacleable RGV trolley | |
| CN206249094U (en) | Ground automatic carriage control system | |
| JP2005270667A (en) | Course for vehicle, especially amusement course | |
| CN111661112A (en) | Opposite dispersion type train running direction adapting method and system | |
| KR101332792B1 (en) | Power Supply Method, Apparatus and Power Transmission Apparatus by Segmentation of Feeding Line | |
| CN207016158U (en) | A kind of new type auto material conveying trolley | |
| CN206266113U (en) | A kind of waste handling system being accurately positioned | |
| KR20150143955A (en) | Train control system and method of electronic blocking type based on all-ip | |
| CN203547797U (en) | Device for monitoring track haulage in coal mine | |
| CN207586727U (en) | Panel turnover machine plank cooling controller | |
| CN221201097U (en) | Bulk diode anti-mixing stop block |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170510 |