Lifting traction type automatic guide carrier loader system

Abstract

The invention belongs to the technical field of carrier loader control, and discloses a lifting traction type automatic guide carrier loader system which comprises a control module, a walking driving module, a navigation module, a communication module, a safety module, a lifting platform lifting module, a traction pin lifting module, a panel and other modules. The control module comprises a CPU module, the CPU module is in communication connection with a touch screen and an industrial wireless client through network cables, and the output ends of the buttons, the knobs, the mechanical anti-collision device, the limiting switch, the proximity switch, the wireless remote control module, the temperature control switch and the laser anti-collision device are electrically connected with the digital quantity input end of the CPU module. The input ends of the signal lamp, the lamp strip, the loudspeaker, the electric push rod, the relay, the contactor and the laser anti-collision device are electrically connected with the digital quantity output end of the CPU module, and a control device of the lifting driver, the walking driver, the navigation module and the battery module is in communication connection with the CPU module through a twisted pair based on a Modbus protocol; the whole system is simple, and efficient control can be carried out.

Description

Technical Field

[0001] The invention belongs to the technical field of carrier vehicle control, and in particular relates to a lifting and traction type automatic guided carrier vehicle system. Background Art

[0002] An AGV is a transport vehicle equipped with electromagnetic or optical automatic guidance devices, capable of traveling along a specified guidance path, and having safety protection and various transfer functions. The development and application of AGVs face some technical challenges, such as autonomous navigation, environmental perception, and path planning. At the same time, AGVs operating in industrial environments need to work in collaboration with personnel, so safety issues are particularly important.

[0003] With the advancement of digital transformation and intelligent manufacturing, automated guided vehicles will play a key role in industrial upgrading and transformation; at the same time, as more industries increase their demand for automation, the market potential of automated guided vehicles will be further released; and research on automated guided vehicles is more inclined towards research on equipment and methods, while ignoring the optimization and transformation of the overall system of automated guided vehicles. Summary of the invention

[0004] The main technical problem to be solved by the present invention is to provide a lifting and pulling type automatic guided vehicle system, the overall system is simple and can be efficiently controlled.

[0005] In order to solve the above technical problems, the present invention provides the following technical solutions: A lifting and traction automatic guided vehicle system comprises a control module, a travel drive module, a navigation module, a communication module, a safety module, a lifting platform lifting module, a traction pin lifting module, a panel and other modules; the control module comprises a CPU module, the CPU module is connected to a touch screen and an industrial wireless client through a network cable, the output ends of various buttons and knobs, mechanical anti-collision, limit switch, proximity switch, wireless remote control module, temperature control switch, and laser anti-collision are electrically connected to the digital input end of the CPU module, the input ends of signal lights, light strips, speakers, electric push rods, relays, contactors, and laser anti-collision are electrically connected to the digital output end of the CPU module, the control devices of the lifting drive, travel drive, navigation module, and battery module are connected to the CPU module through twisted pair communication based on the Modbus protocol, the lifting motor and the lifting motor encoder are electrically connected to the lifting drive, and two travel servo motors and the encoders of their respective travel motors are electrically connected to the travel drive.

[0006] The following is a further optimization of the above technical solution by the present invention: The overall structure of the travel drive module includes a servo motor and a travel drive. The travel drive is used to control the servo motor to work. There are two servo motors. The power output ends of the two servo motors are respectively connected to drive wheels. The servo motor drives the drive wheels to rotate to move the transport vehicle. When the travel drive controls the two servo motors to perform differential motion, the transport vehicle turns.

[0007] Further optimization: The navigation module can be optionally equipped with the following two types: a combination of magnetic navigation and RFID or a combination of laser navigation and visual two-dimensional code positioning. The navigation module and the CPU module are connected via twisted pair communication based on the Modbus protocol.

[0008] Further optimization: the communication module includes an industrial wireless client, the industrial wireless client and the industrial wireless AP are connected to each other by wireless communication, the industrial wireless client is built into the carrier vehicle, and the industrial wireless client is connected to the CPU module by a network cable; the industrial wireless AP is arranged at a suitable location in the factory by wall mounting or guide rails, and the industrial wireless AP is connected to the control and dispatching center through an industrial POE switch and an industrial ring network switch.

[0009] Further optimization: the safety module includes a laser anti-collision device, a mechanical anti-collision device and a broadcasting horn, the output ends of the mechanical anti-collision device and the laser anti-collision device are electrically connected to the digital input end of the CPU module, and the digital output end of the CPU module is electrically connected to the input end of the broadcasting horn and the laser anti-collision device.

[0010] Further optimization: The laser anti-collision device is provided with a deceleration zone and a stop zone. When the laser anti-collision device detects that there is an object in the deceleration zone, the laser anti-collision device sends a detection signal to the CPU module, and the CPU module sends a control signal to control the walking drive module to decelerate; when the laser anti-collision device detects that there is an object in the stop zone, the laser anti-collision device sends a detection signal to the CPU module, and the CPU module sends a control signal to control the walking drive module to stop working.

[0011] Further optimization: the panel module mainly includes a control button group, a power-on knob, an emergency stop button, a signal light, a light strip, a touch screen, etc. The signal ends of the control button group, the power-on knob and the emergency stop button are electrically connected to the digital input ends of the CPU module of the control module; the digital output end of the CPU module is electrically connected to the control ends of the signal lights and the light strips; the touch screen is connected to the CPU module via a network cable communication; the signal lights and light strips are respectively installed on the body of the carrier, and the CPU module of the control module outputs control signals for controlling the operation of the signal lights and the light strips.

[0012] Further optimization: the other modules include a battery module, a wireless remote control module, a driving wheel lifting module, a proximity switch, a temperature control switch, etc.; the output ends of the proximity switch, the temperature control switch, and the wireless remote control module are electrically connected to the digital input end of the CPU module; the control device of the battery module is connected to the CPU module via a twisted pair communication based on the Modbus protocol; the electric push rod control end of the driving wheel lifting module is electrically connected to the digital output end of the CPU module.

[0013] Further optimization: the lifting platform lifting module includes a lifting motor, a lifting driver, a lifting upper limit switch, a lifting lower limit switch, an object left in-place proximity switch, and an object right in-place proximity switch; the lifting motor and the lifting motor encoder are electrically connected to the lifting driver, and the lifting driver is used to control the lifting motor to work; the signal ends of the lifting upper limit switch, the lifting lower limit switch, the object left in-place proximity switch, and the object right in-place proximity switch are electrically connected to the digital input end of the CPU module; the lifting driver and the CPU module are connected via a twisted pair communication based on the Modbus protocol; the CPU module assists in judgment through the input lifting platform lifting signal, lifting upper and lower limit signals, and object left and right in-place signals, and outputs a control signal to control the lifting motor to work through the lifting driver, and receives the operation information and feedback signal of the lifting motor through the lifting driver.

[0014] Further optimization: the traction pin lifting module includes an electric push rod, a traction pin upper limit switch, and a traction pin lower limit switch; a traction pin is fixedly installed on the telescopic end of the electric push rod, and the upper limit switch and the lower limit switch are used to detect the upper limit position and the lower limit position of the traction pin; the signal ends of the traction pin upper limit switch and the lower limit switch are electrically connected to the digital input end of the CPU module.

[0015] The present invention adopts the above technical scheme, which is ingenious in conception and reasonable in structure. Data is written in the RFID chip or the QR code, and the CPU module reads the corresponding data through the RFID or the code reading camera. The actual meaning of each corresponding byte or word is defined in the CPU module, which mainly includes the following data: including the data number, thereby the carrier can be located; including the speed function, which can be set to high speed, medium speed, low speed, parking speed, etc., and can travel at different speeds in different areas of the factory; including the function label, which can be set to charge, stop, lifting platform rising, lifting platform falling, traction pin rising, traction pin falling, rotating 180° on the spot, etc.; including the obstacle area, which can set different deceleration and stop areas for laser collision avoidance according to different environments; it can optimize the automatic guided carrier system and improve the transportation efficiency, and the system logic is simple, the reliability is high, and the practicality is good.

[0016] The present invention is further described below in conjunction with the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 A schematic diagram of the structure of a system according to an embodiment of the present invention; Figure 2 It is a schematic diagram of the structure of the carrier vehicle in an embodiment of the present invention; Figure 3 A schematic diagram of control logic in an embodiment of the present invention; Figure 4 Schematic diagram of a walking drive module in an embodiment of the present invention; Figure 5 A schematic diagram of a lifting platform lifting module in an embodiment of the present invention; Figure 6 A schematic diagram of a traction pin lifting module in an embodiment of the present invention; Figure 7 is a schematic diagram of a security module in an embodiment of the present invention; Figure 8 is a schematic diagram of a panel module in an embodiment of the present invention; Fig. 9 Schematic diagram of other modules in the embodiment of the present invention; Fig.10 Schematic diagram of a touch screen control screen in an embodiment of the present invention.

[0018] In the figure: 1-power on knob; 2-start button; 3-reset button; 4-signal light; 5-mechanical anti-collision device; 6-stop button; 7-emergency stop button; 8-driving wheel; 9-laser anti-collision device; 10-light strip; 11-touch screen; 12-lifting platform; 13-traction pin; 14-object in place switch. DETAILED DESCRIPTION

[0019] like Figure 1-10 As shown: a lifting and traction automatic guided vehicle system, including a control module, a travel drive module, a navigation module, a communication module, a safety module, a lifting platform lifting module, a traction pin lifting module, a panel and other modules; the control module includes a CPU module, the CPU module is connected to the touch screen and the industrial wireless client through a network cable, the output ends of each button and knob, mechanical anti-collision, limit switch, proximity switch, wireless remote control module, temperature control switch, and laser anti-collision are electrically connected to the digital input end of the CPU module, the signal light, light strip, horn, electric push rod, relay, contactor, and the input end of the laser anti-collision are electrically connected to the digital output end of the CPU module, the control device of the lifting drive, travel drive, navigation module, and battery module is connected to the CPU module through a twisted pair communication based on the Modbus protocol, the lifting motor and the lifting motor encoder are electrically connected to the lifting drive, and the two travel servo motors and the encoders of each travel motor are electrically connected to the travel drive.

[0020] In this embodiment, the control module controls the travel drive module, the lifting platform lifting module, and the traction pin lifting module to work according to the collected signals through calculation and processing by a written program.

[0021] The travel drive module is a prior art, and the overall structure of the travel drive module includes a servo motor and a travel drive. The travel drive is used to control the servo motor to work. The power output end of the servo motor is transmission-connected with a drive wheel 8, and the drive wheel 8 is in contact with the ground. The servo motor drives the drive wheel 8 to rotate to move the carrier. When the travel drive controls the servo motor to perform differential movement, the carrier turns.

[0022] In this embodiment, there are two driving wheels 8 in the walking drive module, and there are also two servo motors. The power output ends of the two servo motors are respectively connected to the two driving wheels 8. When the CPU module outputs a control signal to control the two servo motors to work synchronously, the two servo motors are used to drive the driving wheels 8 to rotate, thereby making the transport vehicle perform forward or backward movement.

[0023] When the CPU module outputs a control signal to control the two servo motors to perform differential operation, the two servo motors are used to drive the driving wheels 8 to rotate at different speeds, thereby causing the vehicle to perform a turning motion.

[0024] In this embodiment, the navigation module can be optionally equipped with the following two types: a combination of magnetic navigation and RFID or a combination of laser navigation and visual two-dimensional code positioning. The navigation module and the CPU module are connected via twisted pair communication based on the Modbus protocol.

[0025] The communication module includes an industrial wireless client, which is connected to the industrial wireless AP by wireless communication. The industrial wireless client is built into the carrier vehicle, and is connected to the CPU module by a network cable.

[0026] The industrial wireless AP is arranged at a suitable location in the factory by means of wall mounting or guide rails, and the industrial wireless AP is connected to the control and dispatching center through an industrial POE switch and an industrial ring network switch.

[0027] The safety module includes a laser anti-collision device 9, a mechanical anti-collision device 5 and a broadcasting horn. The output ends of the mechanical anti-collision device 5 and the laser anti-collision device 9 are electrically connected to the digital input end of the CPU module, and the digital output end of the CPU module is electrically connected to the input end of the broadcasting horn and the laser anti-collision device 9.

[0028] The laser anti-collision device 9 is provided with a deceleration zone and a stop zone. When the laser anti-collision device 9 detects that there is an object in the deceleration zone, the laser anti-collision device 9 sends a detection signal to the CPU module of the control module. At this time, the CPU module of the control module sends a control signal to control the walking drive module to perform deceleration.

[0029] When the laser anti-collision device 9 detects an object in the stop zone, the laser anti-collision device 9 sends a detection signal to the CPU module of the control module. At this time, the CPU module of the control module sends a control signal to control the walking drive module to stop working.

[0030] The announcement speaker can be set to silent or audible through the touch screen 11. When the announcement speaker is set to audible, the CPU module outputs a control signal based on the collected signal to control the announcement speaker to play music such as walking, abnormality, obstacle, low battery, etc.

[0031] The panel module mainly includes a control button group, a power-on knob 1, an emergency stop button 7, a signal light 4, a light strip 10, a touch screen 11, etc. The signal ends of the control button group, the power-on knob 1 and the emergency stop button 7 are electrically connected to the digital input end of the CPU module of the control module; the digital output end of the CPU module is electrically connected to the control end of the signal light 4 and the light strip 10; the touch screen 11 is connected to the CPU module via a network cable communication.

[0032] The signal light 4 and the light strip 10 are respectively installed on the body of the carrier vehicle, and the CPU module of the control module outputs a control signal for controlling the signal light 4 and the light strip 10 to work.

[0033] Turning the power-on knob 1 to the left turns on the electric control system of the vehicle, outputs a control signal for powering on and starting the vehicle; pressing the emergency stop button 7 turns off the electric control system of the vehicle.

[0034] The control button group includes a start button 2, a stop button 6 and a reset button 3. The manual-automatic mode of the carrier can be switched through the manual-automatic switch button on the touch screen, and the default mode is automatic mode. When the green start button 2 is long pressed for at least 1 second (to prevent shaking or false touch), and the manual-automatic switch button on the touch screen is not pressed, and the carrier does not alarm, the mode is set to automatic mode; when the red stop button 6 is pressed, or the manual-automatic switch button is detected to be pressed, the automatic mode signal is reset. When the manual-automatic switch button is detected to be pressed and the automatic mode is not triggered, the manual mode is entered.

[0035] The other modules include a battery module, a wireless remote control module, a driving wheel lifting module, a proximity switch, a temperature control switch, etc.; the output ends of the proximity switch, the temperature control switch, and the wireless remote control module are electrically connected to the digital input end of the CPU module; the control device of the battery module is connected to the CPU module via a twisted pair communication based on the Modbus protocol; the electric push rod control end of the driving wheel lifting module is electrically connected to the digital output end of the CPU module.

[0036] The CPU module polls and reads the battery device, the inclinometer, the RFID sensor or the visual code reader and polls and reads and writes the lifting drive and the travel drive through the Modbus protocol based on RS485.

[0037] In this embodiment, the inclinometer is installed in the lifting platform of the carrier vehicle. The inclinometer is optional and can measure the tilt angle of the lifting platform 12 in the lifting platform lifting module, so that the CPU module obtains more signals for analysis.

[0038] The lifting platform lifting module includes a lifting motor, a lifting driver, a lifting upper limit switch, a lifting lower limit switch, an object left in-place proximity switch, and an object right in-place proximity switch; the lifting motor and the lifting motor encoder are electrically connected to the lifting driver, and the lifting driver is used to control the lifting motor to work; the signal ends of the lifting upper limit switch, the lifting lower limit switch, the object left in-place proximity switch, and the object right in-place proximity switch are electrically connected to the digital input end of the CPU module; the lifting driver and the CPU module are connected via a twisted pair communication based on the Modbus protocol; the CPU module assists in judgment through the input lifting platform lifting signal, lifting upper and lower limit, and object left and right in-place signals, and outputs a control signal to control the lifting motor to work through the lifting driver, and receives the operation information and feedback signal of the lifting motor through the lifting driver.

[0039] In this embodiment, the mechanical structure of the lifting module of the lifting platform on the carrier vehicle also includes a lifting assembly and a lifting platform 12. The lifting platform 12 is fixedly installed on the lifting end of the lifting assembly, and the lifting assembly is a prior art and is no longer described here. The power output end of the lifting motor is transmission-connected to the lifting assembly, and the lifting motor drives the lifting assembly to work, and the lifting assembly is used to drive the lifting platform 12 to move up and down.

[0040] The lifting platform lifting module works in coordination with the travel drive module. In this embodiment, the CPU module outputs a control signal to control the lifting motor of the lifting platform lifting module and the servo motor of the travel drive module to work in coordination and then to control the lifting platform 12 to perform lifting and moving operations, thereby being able to drive the transported materials into place.

[0041] The traction pin lifting module includes an electric push rod, a traction pin upper limit switch, and a traction pin lower limit switch. A traction pin 13 is fixedly installed on the telescopic end of the electric push rod. The upper limit switch and the lower limit switch are used to detect the upper limit position and the lower limit position of the traction pin 13; the signal ends of the traction pin upper limit switch and the lower limit switch are electrically connected to the digital input end of the CPU module.

[0042] The remote control module is a prior art, and the remote control module is Bluetooth controlled. In the manual mode of the transport vehicle, the transport vehicle can be remotely controlled to move forward, backward, turn left, turn right, rotate on the spot, etc., and the action signals are interlocked, that is, when any two or more signals are triggered at the same time (for example, pressing the forward and backward keys at the same time), the transport vehicle does not move. The transport vehicle action can also be changed in manual mode by manually operating the forward, backward, left turn, and right turn buttons on the touch screen 11 manual operation interface.

[0043] In the described navigation module, the magnetic navigation and RFID navigation methods are not affected by high noise and light, and have the advantages of stability, reliability, simplicity and low cost; the laser navigation and visual two-dimensional code positioning navigation methods have high requirements on the environment, but have the advantages of high flexibility and aesthetics.

[0044] In this embodiment, data is written in the RFID chip or the QR code, and the carrier vehicle CPU module reads the corresponding data through the RFID or the code reading camera, and the actual meaning of each corresponding byte or word is defined in the CPU module, which mainly includes the following data: it includes a data number, thereby locating the carrier vehicle; it includes a speed function, which can be set to high speed, medium speed, low speed, parking speed, etc., and can travel at different speeds in different areas of the factory; it includes a function label, which can be set to charge, stop, lift platform 12 rise, lift platform 12 fall, traction pin 13 rise, traction pin 13 fall, rotate 180° on the spot, etc.; it includes an obstacle area, and different deceleration and stop areas of the laser anti-collision device 9 can be set according to different environments.

[0045] In this embodiment, in automatic mode, when the transport vehicle scans the stop function and pre-turn deceleration function landmarks, it interacts with the dispatching system, which issues travel and turning signals. The transport vehicle receives the signals and executes the actions, and sends back the corresponding signals to let the dispatching system know whether the transport vehicle has executed the corresponding instructions; other signals that the transport vehicle interacts with the dispatching system include but are not limited to the transport vehicle's operating mode (manual or automatic mode), current status (running or stopped status), current travel and lifting speeds, battery power, landmark data, alarm information, heartbeat signals between the CPU and the dispatching system, etc.

[0046] When the emergency stop button 7 of the carrier vehicle is pressed, the module has an error code (navigation module, travel or lifting drive), the laser anti-collision device 9 fails, the mechanical anti-collision device 5 is triggered, the communication with the dispatching system is interrupted, and any other fault judgment conditions are triggered, the carrier vehicle alarm signal is set, the indicator light is red, the speaker plays abnormal alarm music, and the designated position of the touch screen 11 main page cyclically scrolls and displays the alarm information, and the alarm screen has real-time alarm information and historical alarm records.

[0047] The staff can solve the fault according to the alarm information and long press the reset button 3 to reset the alarm signal of the carrier. When the obstacle deceleration and stop signals are triggered and the shielded obstacle is not triggered, the automatic obstacle stop signal is effective; the indicator light includes a light strip 10 and a signal light 4, which mainly lights up red, green and yellow. The red light indicates that the carrier is faulty, the green light indicates that the carrier is normal, and the yellow light indicates that the carrier is on standby. The indicator light colors are set to be mutually exclusive.

[0048] When the rising edge of any signal of the carrier vehicle starting charging, stopping, traction pin 13 rising, traction pin 13 falling, lifting motor rising, and lifting motor falling is valid, the carrier vehicle function stop signal is set.

[0049] When charging is completed, the reset button 3 is pressed, the upper dispatch is released after the landmark function stops, the traction pin 13 is raised and lowered, and the lifting platform 12 is raised and lowered, any of the following functions is completed, the carrier function stop signal is reset. For example, when the lifting platform 12 is raised and in place, when the lifting motor rising signal is valid, the carrier function stop signal is valid, and the lifting upper limit is triggered, and the object left and right in place signals are triggered (they are located on the surface of the lifting platform 12, when the lifting platform 12 is carrying goods, these two proximity switches will be triggered), this state lasts for 3s (wait for the goods to be placed steadily), and the carrier function stop signal is reset.

[0050] When the vehicle function stops, the yellow reset button 3 is pressed, or any fault alarm signal is valid, the automatic mode vehicle stop signal is triggered.

[0051] When the automatic mode vehicle stop, automatic obstacle stop, alarm and battery power lower than the set value signal are not triggered, the indicator light of the vehicle lights up green; when the vehicle function stop signal is triggered and the automatic obstacle stop, alarm and battery power lower than the set value signal are not triggered, the indicator light of the vehicle lights up yellow; when any of the automatic obstacle stop, alarm or battery power lower than the set value signal is triggered, the indicator light of the vehicle lights up red.

[0052] In this embodiment, the main steps of the walking subroutine are as follows: (1) The driving data of the travel driver is written into the CPU module of the transport vehicle, which mainly includes signals such as the forward and backward direction, enable, speed, left and right turn direction, and control mode. The forward and backward direction signals are first generated, and then enabled. This transport vehicle is designed to have only the forward direction, but it can rotate 180° on the spot to turn around.

[0053] (2) In automatic mode, and when the touch screen 11 manual automatic switch button is not pressed, the automatic forward travel signal of the carrier is valid; when the falling edge of automatic forward travel or automatic obstacle stop is valid, and the automatic mode carrier stop signal is not triggered, and the forward direction is valid, the travel drive enable signal is set.

[0054] (3) The speed settings include high speed, medium speed, low speed and positioning speed. The four are mutually exclusive and are limited to a certain speed in the speed conversion. When the input value is higher than this interval, the maximum value set is assigned and the speed value input from the touch screen 11 is converted into a value written to the driver. In automatic mode, if the carrier stop signal is not triggered, the corresponding converted speed value is written into the speed register of the travel driver. The default speed is low speed.

[0055] (4) In automatic mode, the vehicle goes straight by default, and the dispatching system sends left and right turn signals, or a forced left and right turn signal is set on the touch screen 11. The priority of the input signals when they are triggered simultaneously can be set.

[0056] (5) Automatic mode: When the vehicle stop signal is triggered, alarm is sounded, automatic obstacle stops, stop button 6 or emergency stop button 7 is pressed, and any of the signals is valid, the vehicle brakes, resets the travel drive enable signal, and assigns a value of 0 to the travel drive speed register.

[0057] (6) In manual mode, when the touch screen 11 or remote controller is used to control the vehicle to move forward, backward, turn left, or turn right, the state, direction, and speed of the two servo motors (the motors on the left and right sides of the vehicle) are set respectively; when braking, the state and speed of the two servo motors are reset.

[0058] The main contents and steps of the lifting subroutine are as follows: (1) When the vehicle alarm, stop button 6 or emergency stop button 7 is pressed, the stop lifting signal is valid.

[0059] (2) Under the premise that none of the lifting upper limit, lifting stop and lifting lowering flag signals are triggered, when in automatic mode, the lifting motor rising signal and the carrier function stop signal are both valid, the lifting rising flag is valid; when in manual mode, the lifting rising button on the touch screen 11 is pressed and the lifting lowering button is not pressed, the lifting rising flag is valid.

[0060] (3) Under the premise that none of the lift lower limit, lift stop and lift up flag signals are triggered, when in automatic mode, the lift motor down signal and the carrier function stop signal are both valid, the lift down flag is valid; in manual mode, when the lift down button on the touch screen 11 is pressed and the lift up button is not pressed, the lift down flag is valid.

[0061] (4) The default lifting speed is 10mm / s, the maximum lifting height is 50mm, and the maximum lifting speed is limited to ±12mm / s; when the lifting up mark is valid, 10mm / s is assigned to lifting speed No. 1, otherwise when the lifting down mark is valid, -10mm / s is assigned to lifting speed No. 1; since the height lifted by each screw rotation is 5mm, multiply it by 60 to get the screw lifting speed (r / min), then multiply it by the motor reduction ratio 20, and round it to get the lifting motor speed (r / min). When either the lifting up or down mark signal is valid, the lifting mark signal is valid.

[0062] (5) When the rising edge of the lifting mark signal is valid, the lifting motor does not brake the signal. If there is no rising edge signal input within 2 seconds after receiving the falling edge of the lifting mark signal, the lifting motor brake signal is valid.

[0063] (6) The lifting driver is set to be enabled at power-on. When the lifting mark is valid, the converted motor speed is written into the lifting driver motor speed register. When the carrier vehicle has an alarm, the stop button 6 or the emergency stop button 7 is pressed, the lifting mark is not triggered but the current speed of the lifting motor is not 0, any of the signals is valid, 0 is written into the lifting driver motor speed register.

[0064] (7) For example, in automatic mode, the effective signal of the lifting mark is timed. After it lasts for 2 seconds, the current speed of the lifting driver motor is read. If it is 0, or its duration is greater than or equal to 60 seconds, the lifting fault No. 1 is set. After solving the problem, long press the reset button 3 to reset this fault signal.

[0065] When the task is busy, the dispatch system can determine when the battery level of the carrier is less than 15%-20%, and dispatch the carriers to the charging piles in turn for charging; when the task is not busy, the dispatch system can issue charging instructions in sequence according to the tasks of each carrier and the remaining battery power. The dispatch system or the on-board touch screen 11 can dynamically adjust the charging time. Considering that frequent charging and discharging and full charging and discharging will shorten the battery life, the default charging time is 30 minutes, and the maximum charging capacity is set to 97%; when the battery level of the carrier is less than 10%, and the low-battery signal is not shielded, this state will trigger a low-battery alarm after 1 minute.

[0066] The charging position has a landmark fixed point. When the landmark charging function is scanned and the rising edge of the carrier vehicle function stop signal is valid, the carrier vehicle charging contactor signal is set. At this time, the brush block under the vehicle contacts the brush plate on the ground, and the carrier vehicle starts to charge; when the carrier vehicle fails or the landmark charging function is invalid, the carrier vehicle charging contactor signal is reset. When the landmark charging function is valid, and the start button 2 or the reset button 3 is pressed, and the battery power reaches the set maximum charging amount, any signal is valid, the carrier vehicle charging contactor signal is also reset, and the carrier vehicle stops charging.

[0067] In automatic mode, when the landmark traction pin 13 rising signal is scanned (whether it can be set to be linked with the lifting platform 12), and the carrier vehicle function stop signal is valid, and the upper limit of the traction pin 13 is not triggered, and the reversal signal of the traction pin 13 is invalid, the forward rotation signal of the traction pin 13 is valid; in manual mode, press and hold the traction pin 13 rising button on the touch screen 11, and the traction pin 13 lowering button is not pressed, and the upper limit of the traction pin 13 is not triggered, and the reversal signal of the traction pin 13 is invalid, the forward rotation signal of the traction pin 13 is valid.

[0068] Similarly, in automatic mode, when the landmark traction pin 13 descending signal is scanned, and the carrier vehicle function stop signal is valid, and the lower limit of the traction pin 13 is not triggered, and the forward signal of the traction pin 13 is invalid, the reversal signal of the traction pin 13 is valid; in manual mode, press and hold the traction pin 13 descending button on the touch screen 11, and the traction pin 13 ascending button is not pressed, and the lower limit of the traction pin 13 is not triggered, and the forward signal of the traction pin 13 is invalid, the reversal signal of the traction pin 13 is valid.

[0069] The function of the driving wheel 8 lifting push rod is generally used to facilitate the movement of the transport vehicle when the transport vehicle needs maintenance or is in a faulty state, or when the driving wheel 8 is locked. When the driving lifting push rod rotates forward into position, the two driving wheels 8 of the transport vehicle rise, and the four driven wheels of the transport vehicle are on the ground at this time, so the transport vehicle can be easily pushed; in manual mode, press and hold the driving up button on the touch screen 11, and the driving lifting push rod reverse signal is invalid. After this state lasts for 1s (to prevent accidental touch), the driving lifting push rod forward signal is valid (the push rod is provided with a forward and reverse in place signal); press and hold the driving down button on the touch screen 11, and the driving lifting push rod forward signal is invalid. After this state lasts for 1s (to prevent accidental touch), the driving lifting push rod reverse signal is valid.

[0070] When using, follow the steps below: (1) The power-on knob 1 of the left-hand system, after the carrier is powered on, under normal conditions, the indicator light is yellow; press the start button 2 (press and hold for 1s), the carrier starts to move, the indicator light is green, and the walking music is played; when it reaches the corresponding functional landmark, the corresponding stop, acceleration, deceleration, lifting platform 12 rising, lifting platform 12 lowering, traction pin 13 rising, traction pin 13 lowering, rotation on the spot, charging and other functions are executed. The dispatching system can wirelessly control the start of the carrier and the left and right turns of the fork road.

[0071] (2) When a fault occurs, the indicator light turns red, a "beep" alarm music plays, and a real-time alarm prompt appears on the alarm screen of the touch screen 11. At this time, the fault red light on all screens of the touch screen 11 turns on, and the transport vehicle stops moving. After handling the fault according to the prompt, press the reset button 3 to reset the fault; press the emergency stop button 7 to cut off the power to the transport vehicle and stop the transport vehicle urgently.

[0072] (3) Under normal circumstances, by pressing the manual automatic switching button on the touch screen 11, the transport vehicle switches to manual mode, and the transport vehicle can be remotely controlled to move forward, backward, turn left, and turn right. On the manual operation page of the touch screen 11, the lifting platform 12 can be raised or lowered, the traction pin 13 can be raised or lowered, the drive wheel 8 can be raised or lowered, and relevant information about the transport vehicle can be viewed. The transport vehicle performs relevant actions when the buttons are pressed, and the actions stop when the buttons are released.

[0073] (4) In automatic mode, if an obstacle is detected in the deceleration detection area of ​​the laser anti-collision device 9 (the shape and distance of the detection area can be set), the transport vehicle decelerates to 10m / min (the speed is adjustable) and plays obstacle warning music. If an obstacle is detected in the stop detection area, the transport vehicle stops, the indicator light turns red, and the warning music continues. After the obstacle is removed, the obstacle warning music stops, the indicator light turns from red to green, and the transport vehicle continues to move, playing walking music.

[0074] For those skilled in the art, according to the teachings of the present invention, without departing from the principles and spirit of the present invention, changes, modifications, substitutions and variations made to the implementation methods are still within the protection scope of the present invention.

Claims

1. A lifting and pulling automatic guided vehicle system, characterized in that: It includes a control module, a travel drive module, a navigation module, a communication module, a safety module, a lifting platform lifting module, a traction pin lifting module, a panel and other modules; the control module includes a CPU module, which is connected to the touch screen and the industrial wireless client through a network cable; the output ends of each button and knob, mechanical anti-collision, limit switch, proximity switch, wireless remote control module, temperature control switch, and laser anti-collision are electrically connected to the digital input end of the CPU module; the input ends of signal lights, light strips, speakers, electric push rods, relays, contactors, and laser anti-collision are electrically connected to the digital output end of the CPU module; the control devices of the lifting drive, travel drive, navigation module, and battery module are connected to the CPU module through twisted pair communication based on the Modbus protocol.

2. The lifting and pulling automatic guided vehicle system according to claim 1, characterized in that: The overall structure of the travel drive module includes a servo motor and a travel drive. The travel drive is used to control the servo motor to work. There are two servo motors. The power output ends of the two servo motors are respectively connected to drive wheels. The servo motor drives the drive wheels to rotate to move the transport vehicle. When the travel drive controls the two servo motors to perform differential motion, the transport vehicle turns.

3. A lifting and pulling automatic guided vehicle system according to claim 2, characterized in that: The navigation module can be optionally equipped with the following two types: a combination of magnetic navigation and RFID or a combination of laser navigation and visual two-dimensional code positioning. The navigation module and the CPU module are connected via twisted pair communication based on the Modbus protocol.

4. The lifting and pulling automatic guided vehicle system according to claim 3, characterized in that: The communication module includes an industrial wireless client, which is connected to the industrial wireless AP by wireless communication. The industrial wireless client is built into the carrier vehicle, and the industrial wireless client is electrically connected to the CPU module via a network cable.

5. The lifting and pulling automatic guided vehicle system according to claim 4, characterized in that: The safety module includes a laser anti-collision device, a mechanical anti-collision device and a broadcasting horn. The output ends of the mechanical anti-collision device and the laser anti-collision device are electrically connected to the digital input end of the CPU module, and the digital output end of the CPU module is electrically connected to the input end of the horn and the laser anti-collision device.

6. The lifting and pulling automatic guided vehicle system according to claim 5, characterized in that: The panel module mainly includes a control button group, a power-on knob, an emergency stop button, a signal light, a light strip, a touch screen, etc.; the signal ends of the control button group, the power-on knob and the emergency stop button are electrically connected to the digital input ends of the CPU module; the digital output end of the CPU module is electrically connected to the control ends of the signal light and the light strip; the touch screen is communicatively connected to the CPU module.

7. The lifting and pulling automatic guided vehicle system according to claim 6, characterized in that: The other modules include a battery module, a wireless remote control module, a driving wheel lifting module, a proximity switch, a temperature control switch, etc.; the output ends of the proximity switch, the temperature control switch, and the wireless remote control module are electrically connected to the digital input end of the CPU module; the control device of the battery module is connected to the CPU module via a twisted pair communication based on the Modbus protocol; the electric push rod control end of the driving wheel lifting module is electrically connected to the digital output end of the CPU module.

8. The lifting and pulling automatic guided vehicle system according to claim 7, characterized in that: The lifting platform lifting module includes a lifting motor, a lifting driver, a lifting upper limit switch, a lifting lower limit switch, an object left in-place proximity switch, and an object right in-place proximity switch; the lifting motor and the lifting motor encoder are electrically connected to the lifting driver, and the lifting driver is used to control the lifting motor to work; the signal ends of the lifting upper limit switch, the lifting lower limit switch, the object left in-place proximity switch, and the object right in-place proximity switch are electrically connected to the digital input end of the CPU module; the lifting driver and the CPU module are connected via a twisted pair communication based on the Modbus protocol; the CPU module assists in judgment through the input lifting platform lifting signal, lifting upper and lower limit, and object left and right in-place signals, and outputs a control signal to control the lifting motor to work through the lifting driver, and receives the operation information and feedback signal of the lifting motor through the lifting driver.

9. The lifting and pulling automatic guided vehicle system according to claim 8, characterized in that: The traction pin lifting module includes an electric push rod, a traction pin upper limit switch, and a traction pin lower limit switch; a traction pin is fixedly installed on the telescopic end of the electric push rod, and the upper limit switch and the lower limit switch are used to detect the upper limit position and the lower limit position of the traction pin; the signal ends of the traction pin upper limit switch and the lower limit switch are electrically connected to the digital input end of the CPU module.

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