Modular design method of AGV

Abstract

The invention relates to a design method of transportation equipment, in particular to a modular design method of an AGV (Automatic Guided Vehicle), and aims to solve the problems that the customization difficulty is relatively high and large-scale production is not facilitated when an existing non-standard AGV faces different use scenes and diversified requirements of customers. The method comprises the following steps: 1) dividing an AGV into five modules: a power supply unit module, an interaction unit module, a feedback unit module, a safety protection unit module and a power unit module, wherein the five modules are connected through standard interfaces, and the five modules and an AGV master controller are connected through standard interfaces; 2) respectively carrying out standardized design on the five modules; 3) selecting proper modules according to actual requirements to form an AGV; and 4) performing a simulation test on the assembled AGV, and completing design or redesigning according to a test result.

Description

Technical Field

[0001] The invention relates to a design method of transportation equipment, and in particular to a modular design method of an AGV. Background Art

[0002] An Automated Guided Vehicle (AGV) is an unmanned automated transport vehicle that uses batteries as a power source and is equipped with a non-contact control guide device. Warehousing and logistics and industrial manufacturing are the two major areas where AGVs are currently used the most. Relatively speaking, the application environment in the warehousing and logistics field is relatively simple, and it is also easier to deploy. Therefore, this type of Kiva-style warehouse robot has a higher degree of standardization, and the project is easier to replicate and easy to apply on a large scale. However, in the field of industrial manufacturing, due to differences in industries and manufacturing processes, the factory environment will also be very different. In addition, different links within the factory will also have different requirements for automated handling. In the field of industrial manufacturing, the diverse application scenarios have led to the need for AGVs to be customized to adapt to the environment, but the customized development of AGVs has hindered the large-scale application of equipment to a certain extent.

[0003] For AGV companies, when facing the diverse needs of customers, non-standard products are difficult to quickly increase profits, because some customized demand companies need to consume more manpower and funds, and the manpower consumption is large, the project implementation cycle is long, the service cost is high, the cases cannot be completely copied, and the customization difficulty is high. It is not only not conducive to the promotion of AGV companies, but also for the application side, the long cycle will also affect the production progress to a certain extent, which is not conducive to large-scale production. Therefore, both AGV manufacturers and application sides hope to standardize and generalize AGV products, adapt to different scenarios, and do not need to spend a lot of energy on transformation, and can be copied in large quantities. Therefore, how to find a balance between the standardization of AGV products and the non-standard needs of customers has become one of the main problems facing the industry.

[0004] At the same time, along with the standardized design of AGV, modular design came into being. Modular design refers to a design method that divides and designs a series of functional modules based on the functional analysis of products with different functions or the same functions but different performance and specifications within a certain range. Different products can be formed through the selection and combination of modules to meet the different needs of the market. Modular design must meet the following two principles: ① Strive to form as many products as possible with a small number of modules, and make the products high in precision, stable in performance, simple in structure, low in cost, and the connection between modules as simple as possible on the basis of meeting the requirements; ② The purpose of the serialization of modules is to use limited product varieties and specifications to meet the user's requirements to the maximum extent and economically and reasonably. Therefore, it is urgent to develop a standardized AGV modular design method. Summary of the invention

[0005] The purpose of the present invention is to solve the problem that the existing non-standard AGV is difficult to customize and unfavorable for large-scale production when facing different usage scenarios and diverse needs of customers, and to provide a modular design method for AGV.

[0006] A modular design method for AGV, which is special in that it includes the following steps:

[0007] Step 1: Divide the AGV into five modules: power supply unit module, interaction unit module, feedback unit module, safety protection unit module and power unit module. The five modules and the AGV master controller are connected through standardized interfaces.

[0008] Step 2, obtaining multiple application scenario data of AGV, and standardizing the design of the power supply unit module, the interaction unit module, the feedback unit module, the safety protection unit module, the power unit module and the distribution cabinet in the computer software according to the different application scenario data of AGV, and obtaining a number of power supply unit modules, interaction unit modules, feedback unit modules, safety protection unit modules, power unit modules and distribution cabinets suitable for different application scenarios of AGV, and forming a power supply unit module library, an interaction unit module library, a power unit module library, a feedback unit module library, a safety protection unit module library and a distribution cabinet library by category; wherein the distribution cabinet is used to supply power to the power supply unit module of AGV;

[0009] Step 3, select one from the multiple application scenario data of AGV obtained in step 2, and according to the selected application scenario, select a power supply unit module, an interactive unit module, a feedback unit module, a safety protection unit module, a power unit module and a distribution cabinet from the power supply unit module library, the interactive unit module library, the power unit module library, the feedback unit module library, the safety protection unit module library and the distribution cabinet library respectively, and assemble them to form an AGV model;

[0010] Step 4: Select the next application scenario data of AGV, and return to step 3 until the AGV models under all application scenarios are obtained;

[0011] Step 5: Perform simulation tests on all AGV models obtained in step 4. If the test results of the AGV model in one application scenario meet the actual needs, the modular design of the AGV in this scenario is completed; if the test results of the AGV model in one application scenario do not meet the actual needs, return to step 2 to redesign each module, or return to step 3 to reselect modules for assembly until the test results meet the actual needs, and the modular design of the AGV in this scenario is completed; when the test results of the AGV model in all application scenarios meet the actual needs, the modular design of the AGV is completed.

[0012] Furthermore, in step 1, the standardized interface includes an electrical connection interface and a mechanical connection interface; the electrical connection interface includes an RJ45 network interface, a 485 / 232 serial port and a DI / DO interface.

[0013] Furthermore, in step 2, the standardized design of the power supply unit module includes power supply voltage design and power supply interface design; the power supply voltage is DC48V, DC96V or DC307V; the power supply interface is Anderson interface, national standard fast charging interface, national standard slow charging interface or European standard charging interface.

[0014] Furthermore, in step 2, the standardized design of the interactive unit module includes interactive mode design; the interactive mode includes remote control and real machine driving.

[0015] Furthermore, in step 2, the standardized design of the feedback unit module includes a navigation module design; the navigation module is a magnetic navigation module, a laser navigation module or a Beidou navigation module.

[0016] Furthermore, in step 2, the standardized design of the power unit module includes a wheel design, and the wheel is a steering wheel, a wheat wheel or a differential wheel.

[0017] Furthermore, in step 2, the standardized design of the safety protection unit module includes an obstacle avoidance module design, and the obstacle avoidance module includes at least one of a linear obstacle avoidance radar, an anti-collision edge and a single-point obstacle avoidance radar.

[0018] Furthermore, in step 2, the standardized design of the power distribution cabinet includes cabinet size design and internal circuit layout design.

[0019] Furthermore, in step 1, the feedback unit module and the AGV master controller are connected via a DI / DO interface, and the AGV master controller and the safety protection unit module are connected via an RJ45 interface.

[0020] Compared with the prior art, the present invention has the following beneficial effects:

[0021] The present invention provides a modular design method for AGV, which divides the AGV into five modules, can meet the actual needs of multiple different application scenarios, and has strong scalability. Each module is easy to replace and has strong adaptability. It can save the manufacturing and use costs of the AGV, meet the customized needs of different customers, and is conducive to the large-scale production of AGV. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 is a flow chart of an embodiment of the present invention;

[0023] Figure 2 This is a schematic diagram of the module division of the AGV in step 1 of an embodiment of the present invention;

[0024] Description of reference numerals:

[0025] 1. AGV; 11. Power supply unit module; 12. Interaction unit module; 13. Feedback unit module; 14. Safety protection unit module; 15. Power unit module. DETAILED DESCRIPTION

[0026] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0027] A modular design method for AGV, the flow chart is shown in Figure 1 , including the following steps:

[0028] Step 1: Divide AGV1 into five modules, see Figure 2 : Power supply unit module 11, interactive unit module 12, feedback unit module 13, safety protection unit module 14 and power unit module 15, the five modules and the five modules and the AGV master controller 16 are connected through standardized interfaces, the standardized interfaces include electrical connection interfaces and mechanical connection interfaces, the electrical connection interfaces include RJ45 network interfaces, 485 / 232 serial ports and DI / DO interfaces, and the applicability of each interface is detailed in Table 1; in this embodiment, the AGV master controller 16 and the safety protection unit module 14 are connected through the RJ45 network interface, and the AGV master controller 16 and the feedback unit module 13 are connected through the DI / DO interface;

[0029] Step 2, obtain application scenario data of multiple AGVs, and the application scenarios of AGVs include smart factories, smart warehouses, bicycle manufacturing plants, and parking lots; according to the application scenario data of different AGVs, the power supply unit module 11, the interaction unit module 12, the feedback unit module 13, the safety protection unit module 14, the power unit module 15, and the distribution cabinet are standardized in the computer software to obtain a number of power supply unit modules 11, interaction unit modules 12, feedback unit modules 13, safety protection unit modules 14, power unit modules 15, and distribution cabinets suitable for different AGV application scenarios, and form a power supply unit module library, an interaction unit module library, a power unit module library, a feedback unit module library, a safety protection unit module library, and a distribution cabinet library according to categories; wherein the distribution cabinet is used to supply power to the power supply unit module 11 of AGV1;

[0030] The "standardized design of the power supply unit module 11" includes the design of the power supply voltage and the design of the power supply interface; the power supply voltage is DC48V, DC96V or DC307V; the power supply interface is Anderson interface, national standard fast charging interface, national standard slow charging interface or European standard charging interface; the power supply unit module 11 is designed according to the whole machine power of the AGV;

[0031] “Standardizing the design of the interactive unit module 12” includes the design of the interactive mode; the interactive mode includes remote control and real machine driving, and the advantages and disadvantages of each interactive mode are detailed in Table 5;

[0032] “Standardizing the design of the feedback unit module 13” includes the design of a navigation module; the navigation module is a magnetic navigation module, a laser navigation module or a Beidou navigation module, and the advantages and disadvantages of various navigation methods are detailed in Table 3;

[0033] “Standardizing the design of the power unit module 15” includes wheel design, the wheel is a steering wheel, a wheat wheel or a differential wheel, and the application scenarios of various types of drive wheels are detailed in Table 2;

[0034] “Standardized design of the safety protection unit module 14” includes the design of an obstacle avoidance module, which is at least one of a linear obstacle avoidance radar, an anti-collision edge and a single-point obstacle avoidance radar. The advantages and disadvantages of various radars are detailed in Table 4;

[0035] "Standardized design of power distribution cabinets" includes cabinet size design and internal circuit layout design;

[0036] Step 3, select one from the multiple application scenario data of AGV obtained in step 2, and according to the selected application scenario, select a power supply unit module 11, an interactive unit module 12, a feedback unit module 13, a safety protection unit module 14, a power unit module 15 and a distribution cabinet adapted to the selected application scenario from the power supply unit module library, the interactive unit module library, the power unit module library, the feedback unit module library, the safety protection unit module library and the distribution cabinet library respectively and assemble them to form an AGV model;

[0037] Step 4: Repeat step 3 until the AGV models for all application scenarios are obtained;

[0038] Step 5: Perform simulation tests on all AGV models obtained in step 4. If the test results of the AGV model in one application scenario meet the actual needs, the modular design of AGV1 in this scenario is completed; if the test results of the AGV model in one application scenario do not meet the actual needs, return to step 2 to redesign each module, or return to step 3 to reselect modules for assembly until the test results meet the actual needs, and the modular design of AGV1 in this scenario is completed; when the test results of the AGV model in all application scenarios meet the actual needs, the modular design of AGV1 is completed.

[0039] The following is a detailed description of the application scenarios, advantages and disadvantages of each module or interface:

[0040] Table 1 Standardized electrical connection interface data table

[0041]

[0042] Table 2 Power unit module data sheet

[0043]

[0044] In Table 2, the steering wheel driven AGV is suitable for heavy-duty enterprises and can easily meet the material handling needs of more than 2 tons. Due to its high integration and strong adaptability, the AGV can be quickly deployed with the controller and servo drive. The Mai wheel driven AGV is suitable for high-load scenarios, such as movement on complex terrain. Due to its strong carrying capacity and omnidirectional mobility, it is suitable for use in complex environments. The Mai wheel has the ability to achieve omnidirectional movement and rotation in place, has a strong load-bearing capacity, and is suitable for movement on complex terrain. The differential wheel driven AGV is suitable for enterprises that do not have high requirements for the environment and application accuracy. Due to its high flexibility and low cost, it is suitable for use in environments with low requirements. The differential wheel achieves steering through two-wheel drive, can achieve actions such as spinning in place, and has low requirements for motor and control accuracy and low cost.

[0045] Table 3 Feedback unit module data sheet

[0046]

[0047] Table 4 Safety protection unit module data sheet

[0048]

[0049] In Table 4, the anti-collision touch edge has the characteristics of high sensitivity, low cost and easy installation. The anti-collision touch edge of AGV adopts a pressure-sensitive switch design, which can quickly sense the approach of obstacles and immediately stop the vehicle in a triggered manner to ensure safety. The cost of the anti-collision touch edge is relatively low, and its mechanical principle is simple. The main cost is concentrated on the design of production process, materials, and sensing method. The anti-collision touch edge is usually designed in a strip or circular shape, which can be flexibly installed around the AGV body to form a safe edge belt with strong adaptability. As a common detection device for AGV, linear obstacle avoidance radar plays an important role in the AGV system. It is mainly used for obstacle avoidance and navigation. It has high precision. The single-line laser radar has a fast response in angular frequency and sensitivity, and can accurately capture the contour and distance information of the target object. Therefore, it has high accuracy in testing the distance and accuracy of surrounding obstacles. The single-line laser radar has a high scanning speed and can quickly complete the scanning of the surrounding environment to provide real-time obstacle avoidance information for the AGV. The single-line radar technology is mature and stable, and can maintain high environmental performance in various complex environments. Single-point obstacle avoidance radar has the characteristics of high measurement accuracy, stable perception, fast scanning speed, high reliability, wide application range, small size, light weight, etc. The touch edge is generally installed around the frame body, enclosing a closed area and wrapping the body to achieve the purpose of installation protection.

[0050] Table 5 Interaction unit module data table

[0051]

[0052] For the distribution cabinet, in an application scenario, the power supply circuit can be set in the upper part of the cabinet, and the communication low-voltage signal circuit can be set in the lower part of the cabinet. At the same time, the distribution cabinet is divided into left and right, the power supply and power lines are routed and wired on the left, and the communication and low-voltage signal lines are routed on the right. Then the appearance and external interface of the distribution cabinet are standardized, and the distribution cabinet is made as compact, streamlined and integrated as possible, which can reduce the size of the distribution cabinet by 15% to 30%, so that it can better adapt to AGV. The installation size of the components in the distribution cabinet is as unified as possible, which can improve the maintainability of the equipment and better replace and shift the components. It is also necessary to standardize and unify the external interface of the distribution cabinet. Connectors of the same series and standard level in the industry can be selected, such as GJB599, J599G, Y50EX and other connectors.

[0053] In short, modular design plays a vital role in the design and manufacture of AGV. It not only improves the flexibility and maintainability of AGV, but also reduces costs and shortens product development cycles. With the continuous advancement of technology, modular design will continue to play its unique value in the field of AGV.

Claims

1. A modular design method for AGV, characterized in that: The following steps are involved: Step 1, dividing the AGV (1) into five modules: a power supply unit module (11), an interaction unit module (12), a feedback unit module (13), a safety protection unit module (14) and a power unit module (15), wherein the five modules are connected to each other and to the AGV master controller (16) through standardized interfaces; Step 2, obtaining multiple application scenario data of the AGV, and performing standardized design on the power supply unit module (11), the interaction unit module (12), the feedback unit module (13), the safety protection unit module (14), the power unit module (15) and the distribution cabinet in computer software according to the different application scenario data of the AGV, so as to obtain a plurality of power supply unit modules (11), the interaction unit module (12), the feedback unit module (13), the safety protection unit module (14), the power unit module (15) and the distribution cabinet suitable for different application scenarios of the AGV, and respectively forming a power supply unit module library, an interaction unit module library, a power unit module library, a feedback unit module library, a safety protection unit module library and a distribution cabinet library according to categories; wherein the distribution cabinet is used to supply power to the power supply unit module (11) of the AGV (1); Step 3, selecting one of the multiple application scenario data of the AGV obtained in step 2, and selecting a power supply unit module (11), an interaction unit module (12), a feedback unit module (13), a safety protection unit module (14), a power unit module (15) and a distribution cabinet adapted to the selected application scenario from the power supply unit module library, the interaction unit module library, the power unit module library, the feedback unit module library, the safety protection unit module library and the distribution cabinet library respectively according to the selected application scenario, and assembling them to form an AGV model; Step 4: Select the next application scenario data of AGV, and return to step 3 until the AGV models under all application scenarios are obtained; Step 5: Perform simulation tests on all AGV models obtained in step 4. If the test results of the AGV model in one application scenario meet the actual requirements, the modular design of the AGV (1) in this scenario is completed. If the test results of the AGV model in one application scenario do not meet the actual requirements, return to step 2 to redesign each module, or return to step 3 to reselect modules for assembly until the test results meet the actual requirements, thus completing the modular design of the AGV (1) in this scenario. When the test results of the AGV model in all application scenarios meet the actual requirements, the modular design of the AGV (1) is completed.

2. The modular design method of an AGV according to claim 1, characterized in that: In step 1, the standardized interface includes an electrical connection interface and a mechanical connection interface; The electrical connection interface includes an RJ45 network interface, a 485 / 232 serial port and a DI / DO interface.

3. The modular design method of an AGV according to claim 2, characterized in that: In step 2, the standardized design of the power supply unit module (11) includes a power supply voltage design and a power supply interface design; the power supply voltage is DC48V, DC96V or DC307V; the power supply interface is an Anderson interface, a national standard fast charging interface, a national standard slow charging interface or a European standard charging interface.

4. The modular design method of an AGV according to claim 3, characterized in that: In step 2, the standardized design of the interactive unit module (12) includes interactive mode design; the interactive mode includes remote control and real machine driving.

5. The modular design method of an AGV according to claim 4, characterized in that: In step 2, the standardized design of the feedback unit module (13) includes a navigation module design; the navigation module is a magnetic navigation module, a laser navigation module or a Beidou navigation module.

6. The modular design method of an AGV according to claim 5, characterized in that: In step 2, the standardized design of the power unit module (15) includes a wheel design, and the wheel is a steering wheel, a wheat wheel or a differential wheel.

7. The modular design method of an AGV according to claim 6, characterized in that: In step 2, the standardized design of the safety protection unit module (14) includes an obstacle avoidance module design, and the obstacle avoidance module includes at least one of a linear obstacle avoidance radar, an anti-collision edge and a single-point obstacle avoidance radar.

8. The modular design method of an AGV according to claim 7, characterized in that: In step 2, the standardized design of the power distribution cabinet includes cabinet size design and internal circuit layout design.

9. The modular design method of an AGV according to claim 1, characterized in that: In step 1, the feedback unit module (13) and the AGV master controller (16) are connected via a DI / DO interface, and the AGV master controller (16) and the safety protection unit module (14) are connected via an RJ45 interface.

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