CN107092257A - An on-board control system of an AGV trolley - Google Patents

Abstract

The present application relates to the technical field of AGV vehicles, and in particular to an on-board control system of an AGV vehicle, which includes an on-board controller 11, a programming module 12, an execution file generation module 13, and a file distribution module 14. By setting up a programming module, the present application allows the staff to re-edit the operation map, work station, and operation parameters of the AGV vehicle according to the situation at the work site through the programming module, so that the on-board control system of the AGV vehicle can adapt to various different on-site conditions, greatly improving the flexibility of the AGV vehicle.

Description

An on-board control system of an AGV trolley

【Technical field】

The invention relates to the technical field of AGV trolleys, in particular to a vehicle-mounted control system of AGV trolleys.

【Background technique】

AGV is an automatic navigation vehicle, which refers to a transport vehicle equipped with automatic guidance devices such as electromagnetic or optical, which can drive along a prescribed guidance path.

In the AGV control system, the movement of the AGV car is controlled by the on-board control system. The programs in the existing AGV on-board control system are generally preset. When the site conditions change, the existing on-board control It is difficult for the system to respond in real time according to the on-site situation.

The present invention is made based on the above circumstances.

【Content of invention】

The invention overcomes the deficiencies of the prior art, and provides a vehicle-mounted control system of an AGV trolley that has high flexibility and can cope with different site conditions.

In order to solve the problems of the technologies described above, the present invention adopts the following technical solutions:

A vehicle-mounted control system for an AGV trolley, comprising:

The vehicle-mounted controller 11 is arranged on the AGV trolley and controls the AGV trolley to travel to the operation site for operation;

Programming module 12, it is used for editing the operation parameter of on-site operating map, work site and editing AGV trolley according to on-site needs;

Execution file generation module 13, it is connected with described programming module 12, and the on-the-spot operation map, work site and AGV dolly that described programming module edits are converted into the execution file that AGV can read and analyze;

File delivery module 14, which is connected with the execution file generation module 13, and communicates with the on-board controller 11, and sends the execution file generated by the execution file generation module 13 to the on-board controller 11 for on-board Controller 11 calls.

The vehicle-mounted controller 11 also includes a vehicle-mounted signal receiving module 111 , which receives the call signal sent by the job site and the execution file sent by the file delivery module 14 .

The vehicle-mounted controller 11 also includes: a navigation module 15, which is connected to the vehicle-mounted signal receiving module 111 for storing the execution file and realizing the automatic navigation of the AGV trolley according to the operation site.

Described navigation module 15 comprises:

A storage module 151, which is connected to the on-vehicle signal receiving module 111 and used to store the execution file;

The path selection module 152 is connected to the storage module 151, and it calculates the travel path, travel speed and steering information from the current position of the AGV trolley to the work site according to the execution file stored in the storage module 151.

The navigation module 15 also includes a guide module 153, which is connected to the path selection module 152, and guides the AGV trolley to the operation site according to the set travel route, travel speed and steering information.

The on-board control system of the AGV car also includes a detection module 16, which is connected to the on-board signal receiving module 11, and detects the obstacle situation around it during the running of the AGV car, and continuously sends out an obstacle when it detects that the direction of motion is close to the obstacle. Signal, after the vehicle-mounted signal receiving module 111 receives the obstacle signal, the vehicle-mounted controller 11 controls the AGV trolley to stop running.

The detection module 16 is a laser distance sensor.

The on-board control system of the AGV car also includes a vehicle drive module 17, which is connected with the navigation module 15 and drives the AGV car to run.

Compared with the prior art, the present invention has the following advantages:

In the present invention, by setting the programming module, the staff can re-edit the operation map, work site and operation parameters of the AGV car according to the situation of the work site through the programming module, so that the on-board control system of the AGV car can adapt to various site conditions, greatly improving Improve the flexibility of the AGV trolley.

【Description of drawings】

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings that need to be used in the description of the embodiments.

Fig. 1 is the functional block diagram of the on-board control system of the AGV trolley of the present invention.

【detailed description】

The present invention is described in detail below in conjunction with accompanying drawing:

As shown in Figure 1, an on-board control system of an AGV trolley includes:

The vehicle-mounted controller 11 is arranged on the AGV trolley and controls the AGV trolley to travel to the work site for operation;

Programming module 12, which is used to edit the on-site operation map, work site and edit the operating parameters of the AGV car according to the needs of the site; the programming module 12 can support the staff to draw the operation map of the on-site AGV car, and can use the map for the dispatching system; Support users to add work sites, specify the attributes of work sites, and add work site commands; support path planning, automatically plan the route to each work site; support the setting of basic operating parameters of AGV cars. Through the programming module 12 editing the relevant operation maps, work stations and operating parameters of the AGV, the on-board control system of the AGV can adapt to various site conditions, greatly improving the flexibility of the AGV.

Execution file generation module 13, it is connected with described programming module 12, and the on-the-spot operation map edited by described programming module, work site and the operation parameter of AGV trolley are converted into the execution file that AGV can read and analyze.

File delivery module 14, which is connected with the execution file generation module 13, and communicates with the on-board controller 11, and sends the execution file generated by the execution file generation module 13 to the on-board controller 11 for on-board Controller 11 calls.

The vehicle-mounted controller 11 also includes a vehicle-mounted signal receiving module 111 , which receives the call signal sent by the job site and the execution file sent by the file delivery module 14 .

The vehicle-mounted controller 11 also includes: a navigation module 15 connected to the vehicle-mounted signal receiving module 111 for storing the execution file and realizing the automatic navigation of the AGV trolley according to the operation site.

Described navigation module 15 comprises:

A storage module 151, which is connected to the on-vehicle signal receiving module 111 and used to store the execution file;

The path selection module 152 is connected to the storage module 151, and it calculates the travel path, travel speed and steering information from the current position of the AGV trolley to the work site according to the execution file stored in the storage module 151. The path selection module 152 reads the distribution map of the work sites stored in the storage module 151, recognizes the location of the AGV trolley and the location of the call site in the map, and then calculates the shortest distance between the two location points, and judges that the location of the location in the shortest distance The steering direction of each node on the grid, and finally a driving path is obtained.

The navigation module 15 also includes a guide module 153, which is connected to the path selection module 152, and guides the AGV trolley to the operation site according to the set travel route, travel speed and steering information. In this specific embodiment, the guidance module 153 adopts laser guidance, specifically, a laser reflector with accurate position is installed around the driving path of the AGV trolley. The laser beam is used to determine its current position and direction, and the guidance of the AGV car is realized through continuous triangular geometric operations. This guidance method can make the positioning of the AGV trolley accurate, and no other positioning facilities are required on the ground. The driving path of the AGV trolley can be flexible and changeable, and can adapt to various on-site environments. Of course, other ways of guidance can also be used, such as tape guidance technology, optical guidance technology, etc., as long as the way of guiding the AGV trolley to the destination can be realized.

The on-board control system of the AGV car also includes a detection module 16, which is connected to the on-board signal receiving module 11, and detects the obstacle situation around it during the running of the AGV car, and continuously sends out an obstacle when it detects that the direction of motion is close to the obstacle. Signal, after the vehicle-mounted signal receiving module 111 receives the obstacle signal, the vehicle-mounted controller 11 controls the AGV trolley to stop running. In this specific embodiment, the detection module 17 is a laser distance sensor. The laser ranging sensor sends out light pulse signals, and the target distance can be measured by recording and processing the time elapsed from the light pulse sending out to the return being received. By measuring the distance to the obstacle, when the obstacle distance is less than the set value, the obstacle signal is sent. Of course, other sensors may also be used, such as infrared distance measuring sensors, ultrasonic distance measuring sensors, and the like. The present invention does not limit the specific type of the detection module, it only needs to be able to measure whether it is close to an obstacle and send out an obstacle signal.

The on-board control system of the AGV car also includes a vehicle drive module 17, which is connected with the navigation module 15 and drives the AGV car to run. The vehicle driving module 17 drives the AGV trolley to complete actions such as forward, backward, acceleration, deceleration, parking, left turn, right turn, etc.

In the present invention, by setting the programming module, the staff can re-edit the operation map, work site and operation parameters of the AGV car according to the situation of the work site through the programming module, so that the on-board control system of the AGV car can adapt to various site conditions, greatly improving Improve the flexibility of the AGV trolley.

The foregoing is an implementation mode provided in conjunction with specific content, and it is not considered that the specific implementation of the present invention is limited to these descriptions. Any approach or similarity to the methods and structures of the present invention, or some technical deduction or replacement based on the concept of the present invention shall be regarded as the scope of protection of the present invention.

Claims (8)

1. a kind of vehicle control syetem of AGV dollies, it is characterised in that including：

Vehicle Controller (11), is arranged on AGV dollies and controls AGV dollies to travel to the progress operation of operation post point；

Programming module (12), it is used to edit scene operation map, working terminal and is needed to edit AGV dollies according to scene Operational factor；

File generating module (13) is performed, it is connected with the programming module (12), and by the scene of the programming module editor The operational factor of operation map, working terminal and AGV dollies, which is converted into AGV, can read the execution file of parsing；

File issues module (14), its with it is described execution file generating module (13) be connected, and with the Vehicle Controller (11) Mutually communication, and the execution file of execution file generating module (13) generation is issued to Vehicle Controller (11) for vehicle-mounted Controller (11) is called.

2. a kind of vehicle control syetem of AGV dollies according to claim 1, it is characterised in that：Described vehicle-mounted control Device (11) also includes cab signal receiving module (111), and it is received under the call signal that sends of operation website and the file Send out the execution file that module (14) is sent.

3. a kind of vehicle control syetem of AGV dollies according to claim 2, it is characterised in that：The Vehicle Controller (11) also include：Navigation module (15), it is connected with cab signal receiving module (111), for storing the execution file simultaneously AGV dolly self-navigations are realized according to operation website.

4. a kind of vehicle control syetem of AGV dollies according to claim 3, it is characterised in that：The navigation module (15) include：

Memory module (151), it is connected with the cab signal receiving module (111), and for storing the execution file；

Path selection module (152), it is connected with memory module (151), and it performs text according to memory module (151) memory storage Part is calculated by AGV dollies current location to the driving path of operation website, travel speed and direction information.

5. a kind of vehicle control syetem of AGV dollies according to claim 4, it is characterised in that：The navigation module (15) guiding module (153) is also included, it is connected with path selection module (152), according to the driving path of setting, travel speed Travelled with direction information guiding AGV dollies to operation website.

6. a kind of vehicle control syetem of AGV dollies according to claim 1, it is characterised in that：The car of the AGV dollies Borne control system also includes detecting module (16), and it is connected with cab signal receiving module (11), and running in AGV dollies The obstacle situation around it is detected in journey, obstacle signal, vehicle-mounted letter are continuously sent out when detecting the direction of motion close to barrier Number receiving module (111) receives Vehicle Controller (11) control AGV dollies after obstacle signal and stops traveling.

7. a kind of vehicle control syetem of AGV dollies according to claim 6, it is characterised in that：The detecting module (16) it is laser distance sensor.

8. a kind of vehicle control syetem of AGV dollies according to claim 5, it is characterised in that：The car of the AGV dollies Borne control system also includes vehicle traction module (17), and it is connected with navigation module (15) and drives AGV trolley travellings.