An AGV trolley emergency stop control method, unit, device and AGV trolley

Abstract

The present invention discloses an AGV trolley emergency stop control method, unit, device and AGV trolley, comprising the following steps: step one: the AGV controller detects whether there is a button emergency stop signal, a collision bar emergency stop signal, and a soft emergency stop control signal. If not, the AGV controller sends a speed message command to the motor drive controller in real time, and enters step two. If any one of them is present, the AGV controller controls the AGV trolley to stop in an emergency through the motor drive controller; step two: the motor drive controller detects whether there is the button emergency stop signal and the collision bar emergency stop signal. If not, the motor drive controller controls the motor speed in real time according to the speed message command. If any one of them is present, the motor drive controller controls the AGV trolley to stop in an emergency. The present invention can control the trolley to stop in an emergency in special circumstances or when it hits an object or is about to hit an object, and realizes dual monitoring by using buttons, anti-collision bars, and virtual controls to ensure that the trolley stops in an emergency and is convenient to control.

Description

Technical Field

[0001] The present invention relates to the field of AGV trolley control technology, and in particular to an AGV trolley emergency stop control method, unit, device and AGV trolley. Background Art

[0002] In special circumstances (such as AGV abnormality, etc.), all motors need to be stopped immediately, regardless of the current motion state of the motors.

[0003] When the software of the AGV main controller detects that the hardware emergency stop button is pressed, it will send a CAN message (such as a disable CAN command) to the corresponding motors through the CAN bus to make them all stop urgently.

[0004] The first shortcoming of the existing technology is that under certain special circumstances, the AGV needs to stop the motor urgently. If the software of its main controller is stuck or crashes, it will not be able to detect the action of pressing the emergency stop button in the first time, thus causing various accidents or incidents.

[0005] The second shortcoming: AGV cannot avoid obstacles in time. When it hits the goods, if the emergency stop button is not pressed immediately, the vehicle will continue to push the goods, causing various accidents or incidents.

[0006] Insufficient three: In certain special circumstances, the AGV needs to be stopped immediately, otherwise it will soon collide with other vehicles or goods, but the operator is a little far away from the AGV, so it cannot be handled in time, resulting in various accidents or incidents. Summary of the invention

[0007] In order to solve the defects of the above-mentioned prior art, the present invention provides an AGV trolley emergency stop control method, unit, device and AGV trolley. The present invention can emergency control the trolley to stop in special circumstances or when it hits an object or is about to hit an object, and realizes dual monitoring by buttons, anti-collision bars and virtual controls to ensure the emergency stop of the trolley and convenient control.

[0008] To achieve the above technical objectives, the present invention adopts the following technical solution: an AGV emergency stop control method, comprising the following steps:

[0009] Step 1: The AGV controller detects whether there is a button emergency stop signal, a collision bar emergency stop signal, or a soft emergency stop control signal. If not, the AGV controller sends a speed message command to the motor drive controller in real time and enters step 2. If any one of them is present, the AGV controller controls the AGV trolley to stop urgently through the motor drive controller;

[0010] Step 2: The motor drive controller detects whether there is the button emergency stop signal or the collision bar emergency stop signal. If not, the motor drive controller controls the motor speed in real time according to the speed message instruction. If any one of them is present, the motor drive controller controls the AGV car to stop urgently.

[0011] Further, when the button emergency stop signal is detected by the AGV controller, controlling the AGV to emergency stop includes the following sub-steps:

[0012] Immediately exit all software on the AGV controller;

[0013] A first instruction is sent to all motor drive controllers, where the first instruction is used by all motor drive controllers to control all motors to be disabled, wherein the first instruction is sent by the AGV controller to the motor drive controllers via a CAN bus.

[0014] Furthermore, when the key emergency stop signal is detected by the motor drive controller, the key emergency stop signal is used by all motor drive controllers to control all motors to be disabled, wherein all motor drive controllers ignore the speed message instruction, which is sent by the AGV controller to the motor drive controller via the CAN bus.

[0015] Further, when the collision bar emergency stop signal is detected by the AGV controller, controlling the AGV to emergency stop includes the following sub-steps:

[0016] Immediately exit all software on the AGV controller;

[0017] A second instruction is sent to all motor drive controllers, where the second instruction is used by all motor drive controllers to control all motors to be disabled, wherein the second instruction is sent by the AGV controller to the motor drive controllers via the CAN bus.

[0018] Furthermore, when the collision bar emergency stop signal is detected by the motor drive controller, the collision bar emergency stop signal is used by all motor drive controllers to control all motors to be disabled, wherein all motor drive controllers ignore the speed message instruction, which is sent by the AGV controller to the motor drive controller via the CAN bus.

[0019] Further, it is determined whether there is a soft emergency stop control signal. If so, controlling the AGV to stop suddenly includes the following sub-steps:

[0020] A third instruction is sent to all motor drive controllers, wherein the third instruction is used by all motor drive controllers to control all motors to be disabled, wherein all motor drive controllers ignore the speed message instruction, and the speed message instruction is sent by the AGV controller to the motor drive controller via the CAN bus.

[0021] Furthermore, the enabling step is also included:

[0022] The AGV controller detects whether there is a key recovery signal, and if so, sends a fourth instruction to all motor drive controllers, wherein the key recovery signal represents that the emergency stop button pops up, and the fourth instruction is used by all motor drive controllers to control all motors to enable and update the speed in real time;

[0023] The AGV controller detects whether there is a collision bar recovery signal. If so, a fifth instruction is sent to all motor drive controllers, wherein the collision bar recovery signal represents that the collision bar is not triggered and the emergency stop button is pressed and then popped up. The fifth instruction is used by all motor drive controllers to control all motors to enable and update the speed in real time;

[0024] The AGV controller detects whether there is a soft emergency stop control recovery signal. If so, it sends the sixth instruction to all motor drive controllers, wherein the soft emergency stop control recovery signal represents that the emergency stop button is pressed and then popped up. The sixth instruction is used by all motor drive controllers to first control all motors to enable, and then control all motors to enable the corresponding speed of the CAN bus.

[0025] An AGV trolley emergency stop control unit, comprising:

[0026] The first detection module is placed in the AGV controller to detect whether there is a button emergency stop signal, a collision bar emergency stop signal, or a soft emergency stop control signal. If not, the AGV controller sends a speed message command to the motor drive controller in real time and enters step 2. If any one of them is present, the AGV controller controls the AGV trolley to stop urgently through the motor drive controller;

[0027] The first detection module is also used to detect whether there is a key recovery signal. If so, a fourth instruction is sent to all motor drive controllers, wherein the key recovery signal represents that the emergency stop button is popped up, and the fourth instruction is used by all motor drive controllers to control all motor enables and update the speed in real time; it is also used to detect whether there is a collision bar recovery signal. If so, a fifth instruction is sent to all motor drive controllers, wherein the collision bar recovery signal represents that the collision bar is not triggered and the emergency stop button is pressed and popped up, and the fifth instruction is used by all motor drive controllers to control all motor enables and update the speed in real time; it is also used to detect whether there is a soft emergency stop control recovery signal. If so, a sixth instruction is sent to all motor drive controllers, wherein the soft emergency stop control recovery signal represents that the emergency stop button is pressed and popped up, and the sixth instruction is used by all motor drive controllers to first control all motor enables, and then control all motor enables to execute the corresponding speed of the CAN bus.

[0028] The second detection module is placed in the motor drive controller and is used to detect whether there is the button emergency stop signal or the collision bar emergency stop signal. If not, the motor drive controller controls the motor speed in real time according to the speed message instruction. If either one is present, the motor drive controller controls the AGV car to stop urgently.

[0029] An AGV trolley emergency stop control device includes an AGV trolley emergency stop control unit, and also includes:

[0030] AGV controller;

[0031] AGV car motor drive controller;

[0032] An emergency stop button is provided on the AGV trolley, and the emergency stop button is connected to the port of the AGV controller and the port of the motor drive controller at the same time, so that the AGV controller or the motor drive controller can detect whether there is an emergency stop signal from the button;

[0033] The anti-collision strips are arranged around the AGV trolley, and the anti-collision strips have built-in pressure sensors. The pressure sensors are connected to the ports of the AGV controller and the motor drive controller, and are used by the AGV controller or the motor drive controller to detect whether there is an emergency stop signal from the anti-collision strips;

[0034] A soft emergency stop control on a remote web server, wherein the remote web server is wirelessly or wiredly connected to the AGV controller, and the soft emergency stop control is used by the AGV controller to detect whether there is a soft emergency stop control signal;

[0035] CAN bus.

[0036] An AGV trolley includes an AGV trolley emergency stop control device.

[0037] In summary, the present invention has achieved the following technical effects:

[0038] The AGV of the present invention can stop immediately under certain special circumstances, and will not stop immediately due to abnormalities such as software freeze or crash of its main controller;

[0039] When the AGV of the present invention hits the goods for some reason, it can stop immediately, and the AGV will not continue to push the goods because the emergency stop button is not pressed immediately;

[0040] Under certain special circumstances, if the AGV of the present invention collides with another vehicle or cargo soon, the AGV can be stopped immediately by remotely pressing a virtual emergency stop button (soft emergency stop control) on the web, and the operator will not be too late to handle the situation because the operator is far away from the AGV. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 It is a data flow diagram of an AGV emergency stop control method;

[0042] Figure 2 It is a flow chart for realizing the method of the present invention;

[0043] Figure 3 This is the recovery enable flow chart. DETAILED DESCRIPTION

[0044] The present invention is further described in detail below in conjunction with the accompanying drawings.

[0045] This specific embodiment is merely an explanation of the present invention and is not a limitation of the present invention. After reading this specification, those skilled in the art may make non-creative modifications to the present embodiment as needed. However, as long as they are within the scope of the claims of the present invention, they are protected by the patent law.

[0046] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0047] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0048] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0049] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0050] Example:

[0051] like Figure 1 The figure shows a data flow diagram of an AGV trolley emergency stop control method. The emergency stop button and the collision bar (anti-collision bar) divide the signal into two parts through a purely hardware peripheral circuit. One part is connected to the corresponding detection port on the motor drive controller of the AGV motor, and the other part is connected to the corresponding detection port of the AGV controller. According to the actual situation, use the wifi network or 4G network on the tablet or computer to access the server's web page on the browser, and use the soft emergency stop control on the web page interface to send a soft emergency stop signal to the AGV controller.

[0052] Among them, the AGV motor can be a walking motor, a steering motor, a lifting motor, a rotating motor, etc.

[0053] The invention has hardware emergency stop and software emergency stop, wherein the hardware is a button and an anti-collision bar, and the software is a soft emergency stop control on an operation interface of a remote web server.

[0054] The specific steps include:

[0055] Step 1: The AGV controller detects whether there is a button emergency stop signal, a collision bar emergency stop signal, or a soft emergency stop control signal. If not, the AGV controller sends a speed message command to the motor drive controller in real time and enters step 2. If any one of them is present, the AGV controller controls the AGV trolley to stop urgently through the motor drive controller;

[0056] Step 2: The motor drive controller detects whether there is a button emergency stop signal or a collision bar emergency stop signal. If not, the motor drive controller controls the motor speed in real time according to the speed message instruction. If any of them is present, the motor drive controller controls the AGV to stop urgently.

[0057] like Figure 2 The flowchart of the method of the present invention is shown, which includes the following steps: 1. judgment stage, 2. AGV control stage, 3. motor driver control stage, 4. continuous enabling stage;

[0058] 1. The judgment stage is:

[0059] 1-1. AGV is turned on and AGV controller is initialized;

[0060] 1-2. The AGV controller sends an initialization message to the motor drive controller via the CAN bus, changing the motor from a disabled state to an enabled state;

[0061] 1-3. The AGV controller detects each emergency stop signal in real time;

[0062] 1-4. Determine whether any of the collision bar, emergency stop button, and soft emergency stop control is pressed or triggered. If yes, proceed to step 2. If not, proceed to step 1-5.

[0063] 1-5. The AGV controller sends speed message commands in real time through the CAN bus;

[0064] 1-6. The motor drive controller detects each emergency stop signal in real time;

[0065] 1-7. Determine whether any of the collision bar and the emergency stop button is pressed or triggered. If so, go to step 3; if not, go to step 4.

[0066] 2. The AGV control stage is: the AGV controller sends an emergency stop signal to the motor drive controller through the CAN bus.

[0067] 3. The motor driver control stage is:

[0068] 3-1. After receiving the emergency stop signal from the AGV controller in step 1-7 or step 2, the motor drive controller determines whether the motor is in the enabled state;

[0069] 3-2. If the motor is in the enabled state, the motor drive controller will make the motor stop suddenly and change the single-machine enabled state to the disabled state;

[0070] 3-3. The motor drive controller controls the motor via the UVW line.

[0071] 4. Continue to enable the stage:

[0072] 4-1. The motor drive controller determines whether the motor is in the enabled state;

[0073] 4-2. If the motor is in the enabled state, the motor drive controller controls the motor speed according to the CAN message speed command;

[0074] 4-3. The motor drive controller controls the motor via the UVW line.

[0075] The present invention utilizes an AGV controller and a motor drive controller to detect buttons, collision bars, and soft emergency stop controls, respectively. Specifically, the AGV controller detects buttons, collision bars, and soft emergency stop controls, and the motor drive controller detects buttons and collision bars. When the AGV controller detects an emergency stop signal, the motor drive controller immediately controls the motor to be disabled. When the AGV controller does not detect an emergency stop signal, the motor drive controller continues to control the motor to be enabled. When the motor drive controller detects an emergency stop signal, the motor is immediately disabled. When the motor drive controller does not detect an emergency stop signal, the motor continues to be enabled. The AGV controller monitors the abnormal conditions of the AGV trolley in the early stage, and the motor drive controller monitors the abnormal conditions of the AGV trolley in the later stage, which greatly ensures that the AGV trolley can stop immediately if there is an abnormality.

[0076] The emergency stop button of the present invention is monitored by the AGV controller and the motor drive controller at the same time. It is monitored by the AGV controller in the early stage and by the motor drive controller in the later stage. It can provide double insurance to obtain the abnormal situation of the AGV car according to the button. The specific situation is as follows:

[0077] A1. When the button emergency stop signal is detected by the AGV controller, controlling the AGV to stop urgently includes the following sub-steps:

[0078] Immediately exit all software on the AGV controller;

[0079] A first instruction is sent to all motor drive controllers, where the first instruction is used by all motor drive controllers to control all motors to be disabled, wherein the first instruction is sent by the AGV controller to the motor drive controllers via the CAN bus.

[0080] In this embodiment, under normal circumstances, the emergency stop button is not pressed, and the AGV controller detects that there is no emergency stop signal at the corresponding port. The emergency stop signal is, for example, a low level or a high level. At this time, the collision bar is not triggered, and the soft emergency stop control is not pressed. The software on the AGV controller will send corresponding speed commands to all motor drive controllers of the AGV through the CAN bus according to the current task.

[0081] In an abnormal situation, the emergency stop button is pressed, and the AGV controller detects an emergency stop signal on the corresponding port. Then the software on the AGV controller will immediately exit the task regardless of the current task, and then send corresponding commands to all motor drive controllers of the AGV through the CAN bus to make them stop immediately. The first instruction sent by the AGV controller is, for example, a zero speed command, followed by a corresponding disable command, so that the motor runs at zero speed and stops.

[0082] A2. When the key emergency stop signal is detected by the motor drive controller, the key emergency stop signal is used by all motor drive controllers to control all motors to be disabled, wherein all motor drive controllers ignore the speed message instruction, which is sent by the AGV controller to the motor drive controller via the CAN bus.

[0083] In this embodiment, under normal circumstances, the emergency stop button is not pressed, and all motor drive controllers of the AGV detect that there is no emergency stop signal in the corresponding port. The emergency stop signal is, for example, a low level or a high level, and the collision bar is not triggered at this time. Then, according to the corresponding speed message instructions in the CAN bus, the speed of the motor is controlled in real time.

[0084] In an abnormal situation, the emergency stop button is pressed, and all motor drive controllers of the AGV detect that there is an emergency stop signal at the corresponding port, and immediately control the motor to stop, for example, disable the motor, and no longer pay attention to the corresponding speed message instructions in the CAN bus.

[0085] The collision bar of the present invention is monitored by the AGV controller and the motor drive controller at the same time. The AGV controller monitors it in the early stage and the motor drive controller monitors it in the later stage. It can provide double insurance to obtain abnormal conditions of the AGV car according to the key press. The specific conditions are as follows:

[0086] A3. When the collision bar emergency stop signal is detected by the AGV controller, controlling the AGV to stop urgently includes the following sub-steps:

[0087] Immediately exit all software on the AGV controller;

[0088] A second instruction is sent to all motor drive controllers, where the second instruction is used by all motor drive controllers to control all motors to be disabled, wherein the second instruction is sent by the AGV controller to the motor drive controllers via the CAN bus.

[0089] In this embodiment, under normal circumstances, the collision bar is not touched, the AGV controller detects that the corresponding port has no touch signal, the touch signal, for example, the voltage value sampled by AD is less than 2V, and the emergency stop button is not pressed at this time, and the soft emergency stop control is not pressed. The software on the controller will continue to send corresponding speed commands to all motor drive controllers of the AGV through the CAN bus according to the current task.

[0090] In an abnormal situation, the collision bar is touched, and the AGV controller detects a touch signal on the corresponding port, for example, the voltage value sampled by the AD is greater than 2V. Then the software on the AGV controller will immediately exit the task regardless of the current task, and then send a corresponding command to all the motor drive controllers of the AGV through the CAN bus to make them stop immediately. The second instruction is, for example, to send a zero speed first and then send a corresponding disable command.

[0091] A4. When the collision bar emergency stop signal is detected by the motor drive controller, the collision bar emergency stop signal is used by all motor drive controllers to control all motors to be disabled, wherein all motor drive controllers ignore the speed message instruction, which is sent by the AGV controller to the motor drive controller via the CAN bus.

[0092] In this embodiment, under normal circumstances, the collision bar is not touched, and the drive controllers of all motors of the AGV detect that there is no collision signal on the corresponding port. The collision signal, for example, the voltage value sampled by the AD is less than 2V, and the emergency stop button is not pressed at this time. The motor drive controller controls the speed of the motor in real time according to the corresponding speed message instructions in the CAN bus.

[0093] In an abnormal situation, the collision bar is touched, and the drive controllers of all motors of the AGV detect that there is a collision signal at the corresponding port. If the voltage value sampled by the AD is greater than 2V, the motor will be immediately controlled to stop, for example, the motor will be disabled, and the corresponding speed message instructions in the CAN bus will no longer be ignored.

[0094] The soft emergency stop control of the present invention is detected by the AGV controller as follows:

[0095] A5. Determine whether there is a soft emergency stop control signal. If so, control the AGV to stop urgently, including the following sub-steps:

[0096] Send a third instruction to all motor drive controllers, the third instruction is used for all motor drive controllers to control all motors to be disabled, wherein all motor drive controllers ignore the speed message instruction, and the speed message instruction is sent by the AGV controller to the motor drive controller through the CAN bus.

[0097] Under normal circumstances, when the soft emergency stop control on the remote web server is not pressed, the software on the AGV controller will not receive the corresponding soft emergency stop message. In addition, the collision bar is not triggered and the emergency stop button is not pressed. The software on the controller will continue to send corresponding speed commands to the drive controllers of all motors of the AGV through the CAN bus according to the current task.

[0098] In this embodiment, in an abnormal situation, when the soft emergency stop control on the remote web server is pressed, the server will send a soft emergency stop signal to the corresponding AGV controller through a wireless wifi network or a 4G network. After receiving the message, the software on the AGV controller will send a disabled message to the drive controllers of all motors of the AGV. After receiving the message, the drive controllers of all motors of the AGV will immediately control the corresponding motors to stop. At this time, the motor drive controller no longer pays attention to the corresponding speed message instructions in the CAN bus. The third instruction is, for example, a disabled message.

[0099] In another embodiment of the present invention, it further includes enabling step 5:

[0100] 5-1. The AGV controller detects each emergency stop signal in real time;

[0101] 5-2. Determine whether the emergency stop button pops up;

[0102] 5-3. If it pops up, the AGV controller sends an enable command to the motor via the CAN bus;

[0103] 5-4. The motor drive controller enables the motor;

[0104] 5-5. The motor drive controller controls the motor via the UVW line.

[0105] When detecting each emergency stop signal, it is divided into the detection of button signal, anti-collision bar signal, and soft emergency stop control signal, which are:

[0106] B1. The AGV controller detects whether there is a key recovery signal. If so, it sends a fourth instruction to all motor drive controllers, wherein the key recovery signal represents that the emergency stop button pops up. The fourth instruction is used by all motor drive controllers to control all motors to enable and update the speed in real time;

[0107] like Figure 3As shown, in this embodiment, when the emergency stop button is pressed, the motor is always in a disabled and stopped state, and is not affected or controlled by any message on the CAN bus.

[0108] When the emergency stop button pops up again (i.e. the emergency stop button returns to the unpressed state), the AGV controller will send the corresponding enable CAN message command and speed message command to all motor drive controllers. At this time, after the motor drive controller receives the CAN message command on the CAN bus to re-enable its motor, it will re-enable all motors of the AGV. In addition, the motor drive controller will receive the corresponding CAN speed message command from the CAN bus to allow the motor to update the speed in real time. The fourth instruction is, for example, the enable CAN message command and the speed message command.

[0109] B2. The AGV controller detects whether there is a collision bar recovery signal. If so, it sends the fifth instruction to all motor drive controllers, where the collision bar recovery signal indicates that the collision bar is not triggered and the emergency stop button is pressed and then popped up. The fifth instruction is used by all motor drive controllers to control all motors to enable and update the speed in real time;

[0110] In this embodiment, when the collision bar is triggered, the motor is always in a disabled and stopped state, and is not affected or controlled by any message on the CAN bus.

[0111] If the collision bar returns to its original state, it will not be triggered and the motor will still be disabled and stopped.

[0112] If the collision bar returns to its original state, it will not be triggered. If you want the AGV motor to return to its original operating state, you must first press the emergency stop button and then release it. During this process, after the AGV controller detects whether the emergency stop button pops up (the transition from pressing to releasing), it will send the corresponding enable CAN message command to all motor drive controllers. After receiving the corresponding enable CAN message command, the AGV's motor drive controller will re-enable all motors of the AGV. In addition, the motor drive controller will receive the corresponding CAN speed message command from the CAN bus to allow the motor to update the speed in real time. The fifth instruction is, for example, an enable CAN message instruction.

[0113] B3, the AGV controller detects whether there is a soft emergency stop control recovery signal. If so, it sends the sixth instruction to all motor drive controllers, where the soft emergency stop control recovery signal represents that the emergency stop button is pressed and then popped up. The sixth instruction is used by all motor drive controllers to first control all motors to enable, and then control all motors to enable the corresponding speed of the CAN bus;

[0114] In this embodiment, when the emergency stop control on the remote web is pressed, the motor is always in a disabled and stopped state, and is not affected or controlled by any message on the CAN bus.

[0115] At this time, if you want the AGV to resume its original operating state, press the emergency stop button first and then release it. In this process, the AGV controller detects that the emergency stop button is released and sends the corresponding enable CAN message command to all motors. After receiving the corresponding enable CAN message command, the AGV's motor drive controller will resume the working state, enabling the motor first and then letting it execute the corresponding speed on the CAN bus. The sixth instruction is, for example, the enable CAN message instruction.

[0116] When the emergency stop button or collision bar is triggered, the AGV of the present invention has a dual emergency stop protection mechanism. When the emergency stop button or collision bar is triggered, the AGV controller and the motor drive controller will simultaneously receive the corresponding button emergency stop signal or collision bar emergency stop signal. The motor drive controller will actively disable and stop the corresponding motor. At the same time, the AGV controller will also send an emergency stop-related message (disability message) to the motor drive controller through the CAN bus to stop its motor urgently. This approach can achieve dual protection. In case the corresponding motor does not detect the emergency stop signal, the corresponding motor can also be stopped at this time.

[0117] An AGV trolley emergency stop control unit, comprising:

[0118] The first detection module is placed in the AGV controller to detect whether there is a button emergency stop signal, a collision bar emergency stop signal, or a soft emergency stop control signal. If not, the AGV controller sends a speed message command to the motor drive controller in real time and enters step 2. If any one of them is present, the AGV controller controls the AGV trolley to stop urgently through the motor drive controller;

[0119] The first detection module is also used to detect whether there is a key recovery signal. If so, the fourth instruction is sent to all motor drive controllers, wherein the key recovery signal represents that the emergency stop button is popped up, and the fourth instruction is used by all motor drive controllers to control all motor enables and update the speed in real time; it is also used to detect whether there is a collision bar recovery signal. If so, the fifth instruction is sent to all motor drive controllers, wherein the collision bar recovery signal represents that the collision bar is not triggered and the emergency stop button is pressed and popped up, and the fifth instruction is used by all motor drive controllers to control all motor enables and update the speed in real time; it is also used to detect whether there is a soft emergency stop control recovery signal. If so, the sixth instruction is sent to all motor drive controllers, wherein the soft emergency stop control recovery signal represents that the emergency stop button is pressed and popped up, and the sixth instruction is used by all motor drive controllers to first control all motor enables, and then control all motor enables to execute the corresponding speed of the CAN bus.

[0120] The second detection module is placed in the motor drive controller and is used to detect whether there is a button emergency stop signal or a collision bar emergency stop signal. If not, the motor drive controller controls the motor speed in real time according to the speed message instruction. If any of them is present, the motor drive controller controls the AGV car to stop urgently.

[0121] An AGV trolley emergency stop control device also includes:

[0122] AGV controller;

[0123] AGV car motor drive controller;

[0124] The emergency stop button is installed on the AGV trolley. The emergency stop button is connected to the port of the AGV controller and the port of the motor drive controller at the same time. It is used for the AGV controller or the motor drive controller to detect whether there is a button emergency stop signal.

[0125] The anti-collision strips are installed around the AGV trolley. The anti-collision strips have built-in pressure sensors. The pressure sensors are connected to the ports of the AGV controller and the motor drive controller at the same time. They are used by the AGV controller or the motor drive controller to detect whether there is an emergency stop signal from the anti-collision strips.

[0126] A soft emergency stop control on a remote web server, the remote web server is connected to the AGV controller wirelessly or by wire, and the soft emergency stop control is used by the AGV controller to detect whether there is a soft emergency stop control signal;

[0127] CAN bus.

[0128] An AGV trolley includes an AGV trolley emergency stop control device.

[0129] The present invention uses an AGV controller to detect an emergency stop signal, and the AGV controller sends an emergency stop command to the motor drive controller, and the motor drive controller controls the motor to be disabled, so that the trolley stops suddenly. The motor drive controller can also be used to detect the emergency stop signal, and the motor drive controller directly controls the motor to be disabled, so that the trolley stops suddenly. In the prior art, the AGV controller detects the emergency stop signal, and the AGV controller sends an emergency stop command to the motor drive controller, and the motor drive controller controls the motor to be disabled. The emergency stop can only be controlled through the intermediate component of the motor drive controller. When either the AGV controller or the motor drive controller fails, the trolley cannot stop suddenly. The present invention realizes emergency stop from two directions, and can realize emergency stop no matter which one fails.

[0130] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any form. Any simple modification, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention are within the scope of the technical solution of the present invention.

Claims

1. An AGV emergency stop control method, characterized in that: The following steps are included: Step 1: The AGV controller detects whether there is a button emergency stop signal, a collision bar emergency stop signal, or a soft emergency stop control signal. If not, the AGV controller sends a speed message command to the motor drive controller in real time and enters step 2. If any one of them is present, the AGV controller controls the AGV trolley to stop suddenly through the motor drive controller. The remote web server is connected to the AGV controller wirelessly or by wire. The soft emergency stop control on the remote web server is used by the AGV controller to detect whether there is a soft emergency stop control signal. Step 2: The motor drive controller detects whether there is the button emergency stop signal or the collision bar emergency stop signal. If not, the motor drive controller controls the speed of the motor in real time according to the speed message instruction. If any one of them is present, the motor drive controller controls the AGV to stop urgently. Also includes enabling steps: The AGV controller detects whether there is a key recovery signal, and if so, sends a fourth instruction to all motor drive controllers, wherein the key recovery signal represents that the emergency stop button pops up, and the fourth instruction is used by all motor drive controllers to control all motors to enable and update the speed in real time; The AGV controller detects whether there is a collision bar recovery signal. If so, a fifth instruction is sent to all motor drive controllers, wherein the collision bar recovery signal represents that the collision bar is not triggered and the emergency stop button is pressed and then popped up. The fifth instruction is used by all motor drive controllers to control all motors to enable and update the speed in real time; The AGV controller detects whether there is a soft emergency stop control recovery signal. If so, it sends the sixth instruction to all motor drive controllers, wherein the soft emergency stop control recovery signal represents that the emergency stop button is pressed and then popped up. The sixth instruction is used by all motor drive controllers to first control all motors to enable, and then control all motors to enable the corresponding speed of the CAN bus.

2. The AGV emergency stop control method according to claim 1, characterized in that: When the button emergency stop signal is detected by the AGV controller, controlling the AGV to emergency stop includes the following sub-steps: Immediately exit all software on the AGV controller; A first instruction is sent to all motor drive controllers, where the first instruction is used by all motor drive controllers to control all motors to be disabled, wherein the first instruction is sent by the AGV controller to the motor drive controllers via a CAN bus.

3. The AGV emergency stop control method according to claim 1 is characterized in that: When the key emergency stop signal is detected by the motor drive controller, the key emergency stop signal is used by all motor drive controllers to control all motors to be disabled, wherein all motor drive controllers ignore the speed message instruction, which is sent by the AGV controller to the motor drive controller via the CAN bus.

4. The AGV emergency stop control method according to claim 1 is characterized in that: When the collision bar emergency stop signal is detected by the AGV controller, controlling the AGV to stop urgently includes the following sub-steps: Immediately exit all software on the AGV controller; A second instruction is sent to all motor drive controllers, where the second instruction is used by all motor drive controllers to control all motors to be disabled, wherein the second instruction is sent by the AGV controller to the motor drive controllers via the CAN bus.

5. The AGV emergency stop control method according to claim 1 is characterized in that: When the collision bar emergency stop signal is detected by the motor drive controller, the collision bar emergency stop signal is used by all motor drive controllers to control all motors to be disabled, wherein all motor drive controllers ignore the speed message instruction, which is sent by the AGV controller to the motor drive controller via the CAN bus.

6. The AGV emergency stop control method according to claim 1, characterized in that: Determine whether there is a soft emergency stop control signal. If so, control the AGV to stop urgently, including the following sub-steps: A third instruction is sent to all motor drive controllers, wherein the third instruction is used by all motor drive controllers to control all motors to be disabled, wherein all motor drive controllers ignore the speed message instruction, and the speed message instruction is sent by the AGV controller to the motor drive controller via the CAN bus.

7. An AGV emergency stop control unit, characterized in that: A method for executing an emergency stop control method of an AGV as claimed in any one of claims 1 to 6, comprising: The first detection module is placed in the AGV controller to detect whether there is a button emergency stop signal, a collision bar emergency stop signal, or a soft emergency stop control signal. If not, the AGV controller sends a speed message command to the motor drive controller in real time and enters step 2. If any one of them is present, the AGV controller controls the AGV trolley to stop urgently through the motor drive controller; The first detection module is also used to detect whether there is a key recovery signal. If so, a fourth instruction is sent to all motor drive controllers, wherein the key recovery signal represents that the emergency stop button is popped up, and the fourth instruction is used by all motor drive controllers to control all motor enables and update the speed in real time; it is also used to detect whether there is a collision bar recovery signal. If so, a fifth instruction is sent to all motor drive controllers, wherein the collision bar recovery signal represents that the collision bar is not triggered and the emergency stop button is pressed and popped up, and the fifth instruction is used by all motor drive controllers to control all motor enables and update the speed in real time; it is also used to detect whether there is a soft emergency stop control recovery signal. If so, a sixth instruction is sent to all motor drive controllers, wherein the soft emergency stop control recovery signal represents that the emergency stop button is pressed and popped up, and the sixth instruction is used by all motor drive controllers to first control all motor enables, and then control all motor enables to execute the corresponding speed of the CAN bus. The second detection module is placed in the motor drive controller and is used to detect whether there is the button emergency stop signal or the collision bar emergency stop signal. If not, the motor drive controller controls the motor speed in real time according to the speed message instruction. If either one is present, the motor drive controller controls the AGV car to stop urgently.

8. An AGV emergency stop control device, characterized in that: The AGV emergency stop control unit according to claim 7 further comprises: AGV controller; The motor drive controller of the AGV car; An emergency stop button is provided on the AGV trolley, and the emergency stop button is connected to the port of the AGV controller and the port of the motor drive controller at the same time, so that the AGV controller or the motor drive controller can detect whether there is an emergency stop signal from the button; The anti-collision strips are arranged around the AGV trolley, and the anti-collision strips have built-in pressure sensors. The pressure sensors are connected to the ports of the AGV controller and the motor drive controller, and are used by the AGV controller or the motor drive controller to detect whether there is an emergency stop signal from the anti-collision strips; A soft emergency stop control on a remote web server, wherein the remote web server is wirelessly or wiredly connected to an AGV controller, and the soft emergency stop control is used by the AGV controller to detect whether there is a soft emergency stop control signal.

9. An AGV vehicle, characterized in that: It includes an AGV emergency stop control device as described in claim 8.

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