Device and method for wireless remote sudden stop of AGV (Automatic Guided Vehicle)

Abstract

The invention relates to the technical field of wireless remote sudden stop, in particular to an AGV wireless remote sudden stop device and method.The AGV wireless remote sudden stop device comprises a forklift main body and a wireless radio frequency transmitter, a power motor is installed in the forklift main body, a wireless radio frequency receiver is installed above the forklift main body, and the power motor is connected with the wireless radio frequency receiver; the wireless radio frequency receiver is connected with a main controller through a data line, the main controller is connected with a contactor through a data line, and the contactor is connected with a motor driver through an electric wire. Remote emergency braking of a vehicle is achieved in a wireless remote mode, the safety of debugging personnel is greatly improved, the intelligence of the AMR forklift is improved, universality is achieved for various AMR forklifts, the wireless remote emergency stop concept is applied to the AMR forklifts, the AMR forklifts are more intelligent and safer, and the AMR forklifts are more convenient to use. A reasonable and effective solution is provided for the safety problem that emergency braking is needed in the debugging and running process of the AMR forklift.

Description

Technical Field

[0001] The invention relates to the technical field of wireless remote emergency stop, and in particular to a device and method for wireless remote emergency stop of an AGV vehicle. Background Art

[0002] AMR is the abbreviation of Autonomous Mobile Robot, which is a comprehensive system integrating environmental perception, dynamic decision-making planning, behavior control and execution. Compared with the previous generations of mobile robots AGV that rely on magnetic stripes or QR codes for positioning and navigation, AMR does not need to rely on magnetic stripes or QR codes for positioning and navigation. It has environmental perception and autonomous decision-making and control capabilities, can dynamically plan paths and autonomously avoid obstacles according to on-site conditions, and is currently the most technologically advanced mobile robot. From unmanned to intelligent forklifts, forklifts play a very important role in the logistics system of enterprises. They are the main force in the handling of raw materials and equipment, and are used in different industries. Driven by factors such as the continuous increase in labor costs, the transformation and upgrading of manufacturing enterprises, and the accelerated future development of technology, the AMR market has grown rapidly and market demand has become more diversified. Now an AMR forklift has been developed that can be used for the transportation of warehouse items.

[0003] However, during the development and debugging of existing AMR forklifts, there are often some economic losses caused by bugs or parameter errors in the AMR forklift control program. Since the vehicle is unmanned and automatically driven, the debugging personnel cannot press the emergency stop button on the vehicle in the first time, and the AMR forklifts currently on the market do not have a remote emergency stop function, and remote emergency stop cannot be achieved during driving. When the AMR forklift is about to detect danger, it is necessary to run to the front of the vehicle and press the emergency stop button installed on the vehicle. Since the vehicle cannot be emergency braked in the first time, it is easy to cause the risk of vehicle collision. As a result, the AMR forklift needs to be followed near the vehicle body during normal debugging or sports car testing, which is inconvenient and unsafe for personnel. Especially when the AMR forklift is operating on drive-in shelves and high-rise shelves, there are great safety hazards when personnel debug around the vehicle body. Summary of the invention

[0004] The purpose of the present invention is to provide a device and method for wireless remote emergency stop of an AGV vehicle, so as to solve the problem that the AMR forklift cannot be remotely controlled to stop in an emergency in the above-mentioned background technology.

[0005] To achieve the above object, the present invention provides the following technical solution: a device and method for wireless remote emergency stop of an AGV, comprising:

[0006] A forklift body and a wireless radio frequency transmitter, wherein a power motor is installed inside the forklift body, a wireless radio frequency receiver is installed above the forklift body, the wireless radio frequency receiver is connected to a main controller via a data line, the main controller is connected to a contactor via a data line, the contactor is connected to a motor driver via wires, and the wireless radio frequency receiver, the main controller and the motor driver are all connected to a power battery via wires.

[0007] Preferably, the wireless radio frequency transmitter can control the wireless radio frequency receiver away from the forklift body, and the wireless radio frequency transmitter is powered by a built-in battery and is equipped with an emergency stop button.

[0008] Preferably, the contactor is connected in series to the wires connecting the power battery and the motor driver.

[0009] Preferably, the wireless radio frequency receiver is mounted on the surface of the forklift body by bolts.

[0010] Preferably, the main controller is mounted on a column of the forklift body by bolts.

[0011] Preferably, the contactor is mounted on a column of the forklift body by bolts.

[0012] Preferably, the motor driver can control the emergency stop of the power motor, and the power battery is mounted on the surface of the forklift body by bolts.

[0013] Preferably, the contactor is in an energized closed state during the driving of the forklift body.

[0014] A method for wireless remote emergency stop of AGV:

[0015] S1. When the vehicle needs to stop urgently, press the emergency stop button of the wireless RF transmitter. After the wireless RF transmitter receives the emergency stop signal sent by the wireless RF receiver wirelessly, it sends it to the main controller via wired mode;

[0016] S2. When the main controller receives the emergency stop signal from the wireless RF receiver, it will immediately disconnect the contactor coil and energize it, thereby disconnecting the contactor contacts, disconnecting the power supply to the motor driver, and the power motor will stop working immediately, thereby achieving remote emergency braking of the AMR forklift.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] (1) The present invention realizes remote emergency braking of the vehicle through wireless remote control, which greatly improves the safety of the commissioning personnel and enhances the intelligence of the AMR forklift.

[0019] (2) The present invention is universal for all types of AMR forklifts.

[0020] (3) The present invention first applies the concept of wireless remote emergency stop to AMR forklifts, making the AMR forklifts more intelligent and safer.

[0021] (4) The present invention provides a reasonable and effective solution to the safety problem of emergency braking during the commissioning and operation of AMR forklifts. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a front schematic diagram of the overall structure of the present invention;

[0023] Figure 2 It is a schematic diagram of the back side of the overall structure of the present invention;

[0024] Figure 3 It is a structural schematic diagram of the forklift body of the present invention;

[0025] Figure 4 It is a schematic diagram of the structure of the wireless radio frequency transmitter, the wireless radio frequency receiver, the main controller, the contactor, the motor driver and the power battery of the present invention;

[0026] Figure 5 The figure is a flow chart of the device operating system of the present invention.

[0027] In the figure: 01, forklift body; 02, wireless radio frequency transmitter; 03, wireless radio frequency receiver; 04, main controller; 05, contactor; 06, motor driver; 07, power motor; 08, power battery. DETAILED DESCRIPTION

[0028] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0029] See also Figure 1-5 , an embodiment provided by the present invention:

[0030] A device and method for wireless remote emergency stop of an AGV, comprising:

[0031] A forklift body 01 and a wireless radio frequency transmitter 02. The wireless radio frequency transmitter 02 is a device that uses an antenna to send radio waves. A power motor 07 is installed inside the forklift body 01. A wireless radio frequency receiver 03 is installed above the forklift body 01. The function of the wireless radio frequency receiver 03 is opposite to that of the wireless radio frequency transmitter 02. It mainly receives the signal in the channel and converts it into information with the same physical form as when it is sent, and then transmits it to the destination, that is, completing the so-called decoding process. The wireless radio frequency receiver 03 is connected to the main controller 04 through a data line. The main controller 04 can issue commands according to certain logical operation requirements and can control the on and off of the contactor 05. The main controller 04 is connected to the contactor 05 through a data line. Contactor 05 is a widely used switching electrical appliance. It uses electromagnetic, pneumatic or hydraulic principles to realize the on and off of the main circuit through the control circuit. Contactor 05 has the advantages of strong current breaking ability, rapid action, safe operation, frequent operation and remote control. Contactor 05 is connected to motor driver 06 through wires. Motor driver 06 is a device that converts electrical energy into mechanical energy. It uses an energized coil to generate a rotating magnetic field and acts on the rotor to form a magneto-electrical rotational torque. The wireless RF receiver 03, the main controller 04 and the motor driver 06 are all connected to the power battery 08 through wires. The power battery 08 is the power source that provides power for the tool and can continuously supply power to the wireless RF receiver 03, the main controller 04 and the motor driver 06.

[0032] Furthermore, the wireless RF transmitter 02 can control the wireless RF receiver 03 away from the forklift body 01. The wireless RF transmitter 02 is powered by a built-in battery and is equipped with an emergency stop button. The wireless RF transmitter 02 is a device that uses an antenna to send radio waves.

[0033] Furthermore, contactor 05 is connected in series to the wires connecting the power battery 08 and the motor driver 06. Contactor 05 is a widely used switching device that uses electromagnetic, pneumatic or hydraulic principles to control the main circuit through the control circuit. Contactor 05 has the advantages of strong current breaking capability, rapid action, safe operation, frequent operation and remote control.

[0034] Furthermore, the wireless RF receiver 03 is installed on the surface of the forklift body 01 by bolts. The function of the wireless RF receiver 03 is opposite to that of the wireless RF transmitter 02. It mainly receives the signal in the channel and converts it into information with the same physical form as when it was sent, and then transmits it to the destination, completing the so-called decoding process.

[0035] Furthermore, the main controller 04 is installed on the column of the forklift body 01 by bolts. The main controller 04 can issue commands according to certain logic operation requirements and control the on and off of the contactor 05.

[0036] Furthermore, the contactor 05 is installed on the column of the forklift body 01 by bolts to ensure the stability of the contactor 05. The contactor 05 is a widely used switching device that uses electromagnetic, pneumatic or hydraulic principles to realize the on and off of the main circuit through the control circuit. The contactor 05 has the advantages of strong current breaking capacity, rapid action, safe operation, frequent operation and remote control.

[0037] Furthermore, the motor driver 06 can control the emergency stop of the power motor 07. When the contactor 05 is powered off, the motor driver 06 loses power and the power motor 07 stops working. The motor driver 06 is a device that converts electrical energy into mechanical energy. It uses an energized coil to generate a rotating magnetic field and acts on the rotor to form a magneto-electric power rotation torque. The power battery 08 is installed on the surface of the forklift body 01 by bolts. The power battery 08 is the power source for the tool and can continuously power the wireless RF receiver 03, the main controller 04 and the motor driver 06.

[0038] Furthermore, during the driving of the forklift body 01, the contactor 05 is in an energized and closed state. When the contactor 05 is in an energized and closed state, the power of the power battery 08 can be transmitted to the motor driver 06 through the wires to ensure that the power motor 07 can work continuously. The contactor 05 is a widely used switching electrical appliance. It uses electromagnetic, pneumatic or hydraulic principles to realize the on and off of the main circuit through the control circuit. The contactor 05 has the advantages of strong current breaking capability, fast action, safe operation, frequent operation and remote control.

[0039] A method for wireless remote emergency stop of AGV:

[0040] S1. When the vehicle needs to stop urgently, press the emergency stop button of the wireless RF transmitter 02. After the wireless RF transmitter 02 receives the emergency stop signal from the wireless RF receiver 03 wirelessly, it is sent to the main controller 04 by wire;

[0041] S2. When the main controller 04 receives the emergency stop signal from the wireless RF receiver 03, it will immediately disconnect the contactor 05 coil and energize it, so that the contactor 05 contacts are disconnected, so that the motor driver 06 is disconnected from the power supply. The motor driver 06 is powered off, and the power motor 07 stops working immediately, thereby realizing the remote emergency braking of the AMR forklift.

[0042] Working principle: When the present invention is in use, first, when the vehicle needs to stop urgently, press the emergency stop button of the wireless RF transmitter 02. After the wireless RF transmitter 02 receives the emergency stop signal sent by the wireless RF receiver 03 in a wireless manner, it sends it to the main controller 04 in a wired manner. When the main controller 04 receives the emergency stop signal from the wireless RF receiver 03, it will immediately disconnect the coil of the contactor 05 and energize it. The contacts of the contactor 05 are thereby disconnected, so that the motor driver 06 is disconnected from the power supply. The motor driver 06 is powered off, and the power motor 07 immediately stops working, thereby realizing remote emergency braking of the AMR forklift.

[0043] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

Claims

1. A wireless remote emergency stop device for an AGV, characterized in that: include: A forklift body (01) and a wireless radio frequency transmitter (02), wherein a power motor (07) is installed inside the forklift body (01), a wireless radio frequency receiver (03) is installed above the forklift body (01), the wireless radio frequency receiver (03) is connected to a main controller (04) via a data line, the main controller (04) is connected to a contactor (05) via a data line, the contactor (05) is connected to a motor driver (06) via wires, and the wireless radio frequency receiver (03), the main controller (04) and the motor driver (06) are all connected to a power battery (08) via wires.

2. The wireless remote emergency stop device for an AGV according to claim 1 is characterized in that: The wireless radio frequency transmitter (02) can control the wireless radio frequency receiver (03) away from the forklift body (01); the wireless radio frequency transmitter (02) is powered by a built-in battery and is equipped with an emergency stop button.

3. The wireless remote emergency stop device for an AGV according to claim 1 is characterized in that: The contactor (05) is connected in series to the electric wires connecting the power battery (08) and the motor driver (06).

4. The wireless remote emergency stop device for an AGV according to claim 1 is characterized in that: The wireless radio frequency receiver (03) is mounted on the surface of the forklift body (01) by means of bolts.

5. The wireless remote emergency stop device for an AGV according to claim 1 is characterized in that: The main controller (04) is mounted on the column of the forklift body (01) by means of bolts.

6. The wireless remote emergency stop device for an AGV according to claim 2 is characterized in that: The contactor (05) is mounted on a column of the forklift body (01) by means of bolts.

7. The wireless remote emergency stop device for an AGV according to claim 3 is characterized in that: The motor driver (06) can control the emergency stop of the power motor (07), and the power battery (08) is installed on the surface of the forklift body (01) by bolts.

8. The wireless remote emergency stop device for an AGV according to claim 4 is characterized in that: During the travel of the forklift body (01), the contactor (05) is in an energized closed state.

9. The device and method for wireless remote emergency stop of an AGV according to claims 1-8, characterized in that: S1. When the vehicle needs to stop urgently, press the emergency stop button of the wireless RF transmitter (02). After the wireless RF transmitter (02) receives the emergency stop signal from the wireless RF receiver (03) by wireless means, it sends it to the main controller (04) by wired means; S2. Upon receiving the emergency stop signal from the wireless radio frequency receiver (03), the main controller (04) immediately disconnects the power supply to the contactor (05) coil, thereby disconnecting the contact points of the contactor (05), disconnecting the power supply to the motor driver (06), and the power driver (06) is powered off, and the power motor (07) immediately stops working, thereby achieving remote emergency braking of the AMR forklift.

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