CN211110917U - Fork truck AGV control system based on laser navigation - Google Patents

Abstract

The utility model relates to the technical field of industrial robots, in particular to a forklift AGV control system based on laser navigation, which comprises a forklift AGV, a power supply module, and a control module connected with the power supply module, wherein a navigation module is connected to the control module, and the A walking module is connected to the control module, a lifting module is connected to the control module, a man-machine interaction module is connected to the control module, the navigation module is connected to the control module, and the navigation module is used for transmitting signals to the control module , the walking module is used to drive the forklift AGV to carry goods, the lifting module is used to drive the forklift AGV to pick and place and stack the goods, the human-computer interaction module is used to realize the real-time monitoring and display terminal of the forklift AGV, the control The module is bidirectionally connected with the human-computer interaction module, the lifting module and the walking module, and the power module is respectively connected with the navigation module, the walking module, the lifting module and the human-computer interaction module.

Description

A forklift AGV control system based on laser navigation

technical field

The utility model relates to the technical field of industrial robots, in particular to a forklift AGV control system based on laser navigation.

Background technique

AGV (Automated Guided Vehicle) is an automatic guided vehicle. As an automated transportation tool in an intelligent workshop, it plays a vital role in modern production. The AGV control system involves optical, mechanical, computer, sensor, control, information processing and other interdisciplinary technologies. The AGV can walk according to the planned navigation path, and has various functions such as programming and selection of parking, safety protection and transfer of loads. In recent years, AGV has been widely used in various fields such as mechanical processing, logistics management, chemical industry, tobacco and alcohol industry, medical food, electromechanical manufacturing, etc. due to its flexibility, intelligence, efficiency and convenience. transportation needs and occasions. Therefore, designing a simple and effective forklift AGV control system is a very meaningful and challenging subject.

AGV navigation technology mainly includes electromagnetic navigation, tape navigation, laser navigation, optical navigation, etc. The electromagnetic navigation method first appeared, and laser navigation is a recently emerging navigation technology. It is favored because of its flexibility and high positioning accuracy, and its development prospects are also the most extensive. The key technology of laser navigation is laser positioning. Laser positioning is to use the high-resolution laser scanner on the AGV to scan landmarks, and to calculate and process the optical signals obtained by scanning, so as to determine the position and direction of the AGV.

Therefore, a forklift AGV control system combined with laser navigation technology is designed. By accurately measuring the position and direction of the AGV, the accurate handling of the specified path of the goods is realized, so the system has a wide range of application prospects and promotion value.

At present, the Chinese Patent Publication No. CN208345697U discloses a forklift-type AGV trolley, which includes a fork, a connection frame installed at the end of the fork, a control system and power supply installed in the connection frame, a drive assembly and a lift assembly, There are at least two forks, and each fork includes a base fixedly connected with the connecting frame and a top seat located above the base, the driving assembly and the lifting assembly are mounted on the base, and the top seat is fixedly mounted on the lifting assembly.

Although this forklift-type AGV trolley greatly reduces the turning radius of the trolley, improves the flexibility of the trolley, and makes the production efficiency more efficient, but: this forklift-type AGV trolley needs a precise control system to control it , so that it can work efficiently with high precision.

Utility model content

In view of the above situation, in order to overcome the defects of the prior art, the purpose of the present invention is to provide a forklift AGV control system based on laser navigation, which has the advantages of good stability, high control precision and high degree of automation.

The above-mentioned technical purpose of the present utility model is achieved through the following technical solutions:

A forklift AGV control system based on laser navigation, comprising a forklift agv, a power module, and a control module connected to the power module, the control module is connected with a navigation module, the control module is connected with a walking module, and the control module There is a lifting module connected to it, a man-machine interaction module is connected to the control module, the navigation module is connected to the control module, the navigation module is used to transmit signals to the control module, and the walking module is used to drive the forklift agv to carry goods , the lifting module is used to drive the forklift AGV to pick and place and stack the goods, the human-computer interaction module is used to realize the real-time monitoring and display terminal of the forklift AGV, and the control module is connected to the human-computer interaction module, the lifting module and the walking module. Two-way connection, the power module is respectively connected with the navigation module, the walking module, the lifting module and the human-computer interaction module.

By adopting the above technical solutions, the navigation module is used to detect the distance signal between the forklift AGV and the target position in real time and transmit it to the control module, the walking module is used to drive the forklift AGV for cargo handling, and the lift module is used for the forklift AGV to pick and place and stack goods , The human-computer interaction module is used to realize the real-time monitoring and display terminal of the forklift AGV. The power supply module provides the required power for the control module, walking module, lifting module, navigation module and human-computer interaction module.

Further setting: the walking module includes a steering mechanism and a walking mechanism, the steering mechanism includes a first motor driver and a first DC brushless motor connected to the first motor driver, and the walking mechanism includes a second motor driver and a The second brushless DC motor is connected to the second motor driver, and the lifting module includes a third motor driver and a third brushless DC motor connected to the third motor driver.

Further setting: the navigation module includes a laser scanner, the laser scanner is installed at one end of the forklift agv, and the human-computer interaction module includes a touch screen.

Further setting: the control module includes a programmable controller and an industrial switch, the programmable controller is connected with the industrial switch, and the touch screen is compatible and matched with the programmable controller.

Further setting: the power supply module includes a lead-acid battery and a DC step-down module connected with the lead-acid battery, the DC step-down module is respectively connected with a programmable controller, a laser scanner, and a touch screen, and the lead-acid battery is respectively connected. It is connected to the first motor driver, the second motor driver, the third motor driver and the industrial switch.

To sum up, the utility model has the following beneficial effects: realizes the organic combination of programmable control technology, laser navigation technology, motor driving technology and visual interface, high precision, high stability, and has certain promotion value. The interactive module operation interface realizes the local monitoring and parameter modification of the AGV of the forklift, and realizes convenient and fast visual human-computer interaction.

Description of drawings

The accompanying drawings described here are used to provide a further understanding of the present utility model and constitute a part of this application, but do not constitute an improper limitation to the present utility model. In the accompanying drawings:

Fig. 1 is the overall connection schematic diagram of the system of embodiment 1;

Fig. 2 is the connection schematic diagram of the power module in embodiment 1;

Figure 3 is the electrical schematic diagram of the power module;

Fig. 4 is the electrical schematic diagram of the PLC controller of the control module;

Figure 5 is an electrical schematic diagram of the control module switch;

Figure 6 is an electrical schematic diagram of the walking part of the walking module;

Figure 7 is an electrical schematic diagram of the steering part of the walking module;

Figure 8 is an electrical schematic diagram of the lifting module;

Figure 9 is an electrical schematic diagram of the navigation module.

In the figure, 1, forklift agv; 2, power supply module; 21, lead-acid battery; 22, DC step-down module; 3, control module; 31, programmable controller; 32, industrial switch; 4, navigation module; 41, Laser scanner; 5. Walking module; 51. Steering mechanism; 511, First motor driver; 512, First DC brushless motor; 52, Walking mechanism; 521, Second motor driver; 522, Second DC brushless motor Motor; 6. Lifting module; 61. Third motor driver; 62. Third brushless DC motor; 7. Human-computer interaction module; 71. Touch screen.

Detailed ways

The foregoing and other technical contents, features and effects of the present invention will be clearly presented in the following detailed description of the embodiments with reference to FIG. 1 to FIG. 9 . The structural contents mentioned in the following embodiments are all referenced to the accompanying drawings.

Exemplary embodiments of the present invention will be described below with reference to the accompanying drawings.

Example 1: A forklift agv1 control system based on laser navigation, as shown in Figure 1 and Figure 2, the entire control system is applied to the forklift agv1, the system includes six modules, including a power supply module 2 for power supply, The navigation module 4 for detecting the distance between the forklift agv1 and the target, the walking module 5 for driving the forklift agv1 to carry goods, the lifting module 6 for driving the forklift agv1 to pick, place and stack the goods, for concentrating, transmitting signals and implementing control The control module 3 is used to realize the real-time monitoring of the forklift truck agv1 and the human-computer interaction module 7 of the display terminal. The power module 2 is respectively connected with the control module 3, the navigation module 4, the walking module 5, the lifting module 6 and the human-computer interaction module 7, The power module 2 provides the other five modules with the power required for work, the control module 3 is connected to the walking module 5, the lifting module 6, and the navigation module 4 respectively, and the control module 3 is connected to the human-computer interaction module 7 in both directions.

As shown in FIG. 1 , the walking module 5 includes a steering mechanism 51 and a walking mechanism 52 , wherein the steering mechanism 51 uses a first motor driver 511 and a first brushless DC motor 512 , and the walking mechanism 52 uses a second motor driver 521 , For the second brushless DC motor 522 , the first motor driver 511 is connected to the first brushless DC motor 512 , and the second motor driver 521 is connected to the second brushless DC motor 522 .

As shown in Figure 1 and Figure 6, the walking mechanism 52 uses the DB80M048030-ENM05J DC brushless motor and the N5-2-3 motor driver as the driving power. The motor can provide a rated torque of 170Ncm, and the maximum torque is 500Ncm. With encoder, it can be compatible with the N5-2-3 motor driver that supports encoder feedback. The N5-2-3 motor driver supports 18A rated current output, brake output, and EtherNet/IP control. The N5-2-3 motor driver receives the commands sent by the controller through the EtherNet/IP network, and realizes the precise control of the steering part. The C5-E-1-11 motor driver and the DB80S048030-ENM05J DC brushless motor are used for steering control.

As shown in Figure 1 and Figure 7, the steering mechanism 51 adopts the C5-E-1-11 motor driver and the DB80S048030-ENM05J DC brushless motor to realize the steering function of the forklift AGV, and the C5-E-1-11 motor driver rated current output It is 6A, supports a maximum power output of 288W and supports encoder input and brake output functions. The DB80S048030-ENM05J DC brushless motor is matched with the above motors to provide braking and encoder feedback functions, and can provide a rated torque of 90Ncm.

As shown in FIG. 1 and FIG. 8 , the lifting module 6 includes a third motor driver 61 and a third brushless DC motor 62 , and the third motor driver 61 and the third brushless DC motor 62 are connected to each other, wherein N5-2 is used. -3 motor driver and DB80M048030-ENM05J DC brushless motor to realize the lifting function of the forklift. Using the same motor driver and motor as the walking part of the walking module 5 can make the system more convenient for later maintenance and use.

As shown in FIG. 1 and FIG. 9 , the navigation module 4 includes a laser scanner 41 whose specific model is TIM781S-2174104. The laser scanner 41 is installed at one end of the forklift agv1, and the laser safety scanner is used to collect the surrounding environment information. The collected information is transmitted to the controller through EtherNet/IP, and the SLAM technology is used to process the information to realize the navigation function of the forklift AGV.

As shown in Figures 1 and 9, the human-computer interaction module 7 includes a touch screen 71, the specific model is 2711C-T7T, which integrates an EtherNet/IP interface and is directly connected to the control module 3 through twisted pair cables. The wiring is simple and convenient. The data transmission between the two follows the industrial EtherNet/IP industrial Ethernet communication protocol. The touch screen 71 can be used to design the control interface through the ConnectedComponents Workbench software to realize the functions of monitoring, functional parameter modification, fault diagnosis, and information recording of the forklift AGV.

As shown in Figure 1, Figure 4 and Figure 5, the control module 3 includes a programmable controller 31 and an industrial switch 32. The programmable controller 31 is connected to the industrial switch 32, and the CompactLogix5370 controller is used as the system controller. Support EtherNet/IP, realize information=connection with navigation module 4, walking module 5, lifting module 6, human-computer interaction module 7 through switch connection, and realize motor control through EtherNet/IP, and send relevant information Display and record on the touch screen 71 .

As shown in Figure 1, Figure 4, and Figure 5, the specific model of the programmable controller 31 is a combination of the 1769-L30EM host and the 1769-IF4 expansion module. The 1769-IF4 expansion module is connected to a 48V voltage source by connecting a 2.4KΩ resistor in series. Monitoring of the power of the lead-acid battery 21. Through real-time monitoring, the work of the forklift AGV can be better planned and the automatic charging function can be realized.

As shown in Figure 1, Figure 4, and Figure 5, the industrial switch 32 adopts CISCO's SF90D-08-CN switch, and the switch is used to network the forklift AGV system, which provides hardware conditions for network control. , simplify the system line.

As shown in Figures 1 and 3, the power module 2 includes a lead-acid battery 21 and a DC step-down module 22. The lead-acid battery 21 is connected to the DC step-down module 22, and the S1 knife switch is used as the main power switch of the system, and the 48V power source is directly Directly supply power to the first DC motor driver, the second DC motor driver, and the third DC motor driver; generate a 24V voltage source through the 48V to 24V DC step-down module 22, which is the programmable controller 31, the laser scanner 41, and the touch screen 71 Power supply; through the YK-DD3648S12X step-down module from 48V to 12V, a 12V voltage source is generated to supply power to the industrial switch 32.

The above is a further detailed description of the present utility model in conjunction with the specific embodiments, and it cannot be considered that the specific implementation of the present utility model is limited to this; Under the premise of the idea of the scheme, the expansion, the replacement of the operation method and the data should all fall within the protection scope of the present invention.

Claims (5)

1. A forklift AGV control system based on laser navigation, comprising a forklift agv (1), a power module (2), and a control module (3) connected to the power module (2), characterized in that: the control module (3) ) is connected with a navigation module (4), the control module (3) is connected with a walking module (5), the control module (3) is connected with a lifting module (6), and the control module (3) is connected with A human-computer interaction module (7) is connected, the navigation module (4) is connected to the control module (3), the navigation module (4) is used for transmitting signals to the control module (3), and the walking module (5) The lifting module (6) is used for driving the forklift agv (1) to carry goods, the lifting module (6) is used for driving the forklift agv (1) to pick, place and stack goods, and the human-computer interaction module (7) is used for realizing real-time monitoring of the forklift AGV With the display terminal, the control module (3) is bidirectionally connected with the human-computer interaction module (7), the lifting module (6), and the walking module (5), and the power supply module (2) is respectively connected with the navigation module (4), the walking module (4), and the walking module (5). The module (5) and the lifting module (6) are connected with the human-computer interaction module (7). 2. A laser navigation-based forklift AGV control system according to claim 1, characterized in that: the walking module (5) comprises a steering mechanism (51), a walking mechanism (52), and the steering mechanism (51) ) includes a first motor driver (511) and a first brushless DC motor (512) connected to the first motor driver (511), the walking mechanism (52) includes a second motor driver (521) and a second motor driver (521) and a second brushless motor (512) a second brushless DC motor (522) connected to the motor driver (521), the lifting module (6) includes a third motor driver (61) and a third brushless DC motor (522) connected to the third motor driver (61) 62). 3. A forklift AGV control system based on laser navigation according to claim 2, characterized in that: the navigation module (4) comprises a laser scanner (41), and the laser scanner (41) is installed on the forklift At one end of the agv (1), the human-computer interaction module (7) includes a touch screen (71). 4. A laser navigation-based forklift AGV control system according to claim 3, characterized in that: the control module (3) comprises a programmable controller (31) and an industrial switch (32), the programmable The controller (31) is connected with the industrial switch (32), and the touch screen (71) is compatible and matched with the programmable controller (31). 5. A forklift AGV control system based on laser navigation according to claim 4, characterized in that: the power module (2) comprises a lead-acid battery (21) and a DC connected to the lead-acid battery (21). A step-down module (22), the DC step-down module (22) is respectively connected with a programmable controller (31), a laser scanner (41), and a touch screen (71), and the lead-acid battery (21) is respectively connected with the first A motor driver (511), a second motor driver (521), a third motor driver (61), and an industrial switch (32) are connected.

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