AGV (Automatic Guided Vehicle) and trolley electrical connection fool-proof detection method, unhooking detection method and system

Abstract

The invention discloses an AGV and trolley electrical connection fool-proof detection method and system, and an unhooking detection method and system. The method comprises the steps of obtaining a physical connection signal of an unhooking mechanism and an electrical connection signal of an electrical connector; determining a physical connection state based on the physical connection signal, and determining an electrical connection state based on the electrical connection signal; if the physical connection state is inconsistent with the electrical connection state, alarm prompting is carried out; and if the physical connection state is consistent with the electrical connection state, prompting that the state is normal. According to the invention, state detection of electrical connection between the AGV and the trolley can be realized, and timely disconnection of an electrical cable during unhooking and normal connection of the electrical cable during hooking are ensured.

Description

Technical Field

[0001] The present invention relates to the technical field of industrial vehicles, and particularly to a foolproof detection method for the electrical connection between an AGV and a trolley, a hook-on / hook-off detection method, and a system. Background Art

[0002] The AGV and the trolley can be physically connected and disconnected through a hook-on / hook-off mechanism. To implement some special functions, such as an emergency stop function, a button function, etc., a control circuit also needs to be set between the AGV and the trolley. In the prior art, electrical connectors are set between the AGV and the trolley to meet these functions through electrical connection.

[0003] Due to the design requirements of the safety circuit, these functions must use a wired connection method, but it also brings additional risks, specifically as follows:

[0004] (1) When the AGV and the trolley are physically disconnected, the electrical connector is not disconnected in time, and there is a risk that the circuit cable will be torn off.

[0005] (2) When the AGV hooks onto the trolley, the electrical connector is not connected, and functions such as the emergency stop and safety edge of the rear trolley will fail, leading to safety risks. Summary of the Invention

[0006] The main purpose of the present invention is to overcome the above-mentioned defects in the prior art, and propose a foolproof detection method for the electrical connection between an AGV and a trolley, a hook-on / hook-off detection method, and a system, which can realize the state detection of the electrical connection between the AGV and the trolley, ensure that the electrical cable is disconnected in time when unhooking, and the electrical cable is normally connected when hooking.

[0007] The present invention adopts the following technical solutions:

[0008] On the one hand, a foolproof detection method for the electrical connection between an AGV and a trolley includes:

[0009] Obtain the physical connection signal of the hook-on / hook-off mechanism and the electrical connection signal of the electrical connector; the hook-on / hook-off mechanism is used to realize the hooking / unhooking of the AGV and the trolley; the electrical connector is used to realize the electrical connection / disconnection between the AGV and the trolley;

[0010] Judge the physical connection state based on the physical connection signal, and judge the electrical connection state based on the electrical connection signal;

[0011] If the physical connection state is inconsistent with the electrical connection state, give an alarm prompt;

[0012] If the physical connection state is consistent with the electrical connection state, prompt that the state is normal.

[0013] Preferably, if the physical connection state is inconsistent with the electrical connection state, give an alarm prompt, specifically including:

[0014] If the physical connection status is unconnected and the electrical connection status is connected, it is prompted that the trolley connection line has not been removed;

[0015] If the physical connection status is connected and the electrical connection status is unconnected, it is prompted that the trolley connection line has not been connected.

[0016] Preferably, if the physical connection status is consistent with the electrical connection status, it is prompted that the status is normal, specifically including:

[0017] If the physical connection status is connected and the electrical connection status is connected; or, if the physical connection status is unconnected and the electrical connection status is unconnected, it is prompted that the status is normal.

[0018] Preferably, the physical connection signal includes one, which is the decoupling hook signal; the electrical connection signals include two, which are the first signal and the second signal respectively. The first signal is used to indicate whether the AGV is connected to the trolley, and the second signal is used to indicate whether the AGV / trolley is connected to the tail plug.

[0019] Preferably, the physical connection status is judged based on the physical connection signal, and the electrical connection status is judged based on the electrical connection signal, specifically including:

[0020] If the decoupling hook signal is 1, the physical connection status is unconnected; if the decoupling hook signal is 0, the physical connection status is connected; if the first signal is 0 and the second signal is 1, the electrical connection status is unconnected; if the first signal is 1 and the second signal is 0, the electrical connection status is connected; if the first signal is 0 and the second signal is 1, the electrical connection status is unconnected.

[0021] Preferably, judging the electrical connection status based on the electrical connection signal further includes:

[0022] If the first signal is 0 and the second signal is 0, it means that neither the AGV nor the trolley is connected to the tail plug; if the first signal is 1 and the second signal is 1, it means that the line connection is incorrect.

[0023] Preferably, the anti-fooling detection method for the electrical connection between the AGV and the trolley further includes:

[0024] If the first signal is 0 and the second signal is 0, it is prompted that the tail plug has not been inserted;

[0025] If the first signal is 1 and the second signal is 1, it is prompted that the line connection is incorrect.

[0026] On the other hand, an AGV and trolley decoupling hook detection method includes:

[0027] Receiving a decoupling instruction and entering the decoupling detection step; receiving a decoupling instruction and entering the hooking detection step;

[0028] The decoupling detection step includes:

[0029] Controlling the decoupling and hooking mechanism to perform decoupling; the decoupling and hooking mechanism is used to realize the hooking / decoupling between the AGV and the trolley;

[0030] Obtaining the physical connection signal of the decoupling and hooking mechanism, judging the physical connection state, if it has been disconnected, controlling the electrical connector between the AGV and the trolley to disconnect; otherwise, giving an alarm prompt; the electrical connector is used to realize the electrical connection / disconnection between the AGV and the trolley;

[0031] Obtaining the electrical connection signal of the electrical connector, judging the electrical connection state, if it has been disconnected, prompting that the decoupling is successful; otherwise, giving an alarm prompt;

[0032] The hooking detection step includes:

[0033] Controlling the decoupling and hooking mechanism to perform hooking;

[0034] Obtaining the physical connection signal of the decoupling and hooking mechanism, judging the physical connection state, if it has been connected, controlling the electrical connector between the AGV and the trolley to connect; otherwise, giving an alarm prompt;

[0035] Obtaining the electrical connection signal of the electrical connector, judging the electrical connection state, if it has been connected, prompting that the hooking is successful; otherwise, giving an alarm prompt.

[0036] Preferably, the physical connection signal includes one, which is the decoupling and hooking signal; the electrical connection signals include two, namely the first signal and the second signal. The first signal is used to indicate whether the AGV and the trolley are connected, and the second signal is used to indicate whether the AGV / trolley and the tail plug are connected.

[0037] On the other hand, a decoupling and hooking detection system for an AGV and a trolley includes: an AGV, a trolley, an electrical connector, a sensor and a tail plug; the AGV and the trolley are electrically connected through the electrical connector; the AGV and the trolley realize decoupling or hooking through the decoupling and hooking mechanism; the sensor collects the physical connection signal of the decoupling and hooking mechanism and sends it to the AGV controller; the electrical connector collects the connection signal between the AGV and the trolley and the connection signal between the AGV / trolley and the tail plug and sends them as electrical connection signals to the AGV controller; the AGV controller receives the physical connection signal and the electrical connection signal, judges the physical connection state based on the physical connection signal, judges the electrical connection state based on the electrical connection signal, if the physical connection state is inconsistent with the electrical connection state, gives an alarm prompt, if the physical connection state is consistent with the electrical connection state, prompts that the state is normal.

[0038] As can be seen from the above description of the present invention, compared with the prior art, the present invention has the following beneficial effects:

[0039] (1) The present invention can realize the state detection of the electrical connection between the AGV and the trolley, ensure that the electrical cable is disconnected in time when unhooking, and the electrical cable is normally connected when hooking, that is, verify the unhooking / hooking state (physical connection state) and the state of the connector (electrical connection state), and give prompt in time to improve the safety level of the system;

[0040] (2) The present invention can also detect whether the tail plug is inserted and whether there is a wiring error, and give an alarm prompt in time;

[0041] (3) The present invention can prevent damage to the connection cable and electrical connector caused by human negligence and reduce risks;

[0042] (4) The present invention can prevent the safety function failure caused by the lack of electrical connection between the AGV and the trolley;

[0043] (5) The AGV of the present invention supports the connection of one or more trolleys, and the detection circuits of the electrical connectors on the AGV side and the trolley side are the same, which is convenient for mass production and use. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 is a flowchart of the anti-fool detection method for the electrical connection between the AGV and the trolley in the first embodiment;

[0045] Figure 2 is a circuit schematic diagram of the electrical connector on the AGV side in the first embodiment;

[0046] Figure 3 is a circuit schematic diagram of the electrical connection between the AGV and the tail plug in the first embodiment;

[0047] Figure 4 is a circuit schematic diagram of the electrical connection between the AGV and a single trolley in the first embodiment;

[0048] Figure 5 is a circuit schematic diagram of the electrical connection between the AGV and multiple trolleys in the first embodiment;

[0049] Figure 6 is a logic schematic diagram for judging a wiring connection error based on the electrical connection signal in the first embodiment;

[0050] Figure 7 is a logic schematic diagram for judging that the tail plug is not inserted based on the electrical connection signal in the first embodiment;

[0051] Figure 8 is a logic schematic diagram for judging that the trolley connection cable is not connected based on the electrical connection signal in the first embodiment;

[0052] Figure 9 It is a logic schematic diagram for judging that the trolley connection line has not been removed based on the electrical connection signal in the first embodiment;

[0053] Figure 10 It is a logic schematic diagram for judging that the state is normal based on the electrical connection signal in the first embodiment;

[0054] Figure 11 It is a flowchart of the decoupling detection method in the second embodiment;

[0055] Figure 12 It is a flowchart of the hook detection method in the second embodiment. Detailed implementation manners

[0056] The present invention will be further described below through specific implementation manners.

[0057] Embodiment 1

[0058] Refer to Figure 1 As shown, an anti-fooling detection method for the electrical connection between an AGV and a trolley includes:

[0059] S101, obtaining the physical connection signal of the decoupling and coupling mechanism and the electrical connection signal of the electrical connector; the decoupling and coupling mechanism is used to realize the coupling / decoupling between the AGV and the trolley; the electrical connector is used to realize the electrical connection / disconnection between the AGV and the trolley;

[0060] S102, judging the physical connection state based on the physical connection signal and judging the electrical connection state based on the electrical connection signal;

[0061] S103, if the physical connection state is inconsistent with the electrical connection state, giving an alarm prompt;

[0062] S104, if the physical connection state is consistent with the electrical connection state, prompting that the state is normal.

[0063] Specifically, the above anti-fooling detection method for the electrical connection between the AGV and the trolley can be implemented by a controller on the AGV, and specific processing can be carried out according to the actual situation, which is not limited in this embodiment.

[0064] In this embodiment, if the physical connection state is inconsistent with the electrical connection state, giving an alarm prompt specifically includes:

[0065] If the physical connection state is not connected and the electrical connection state is connected, prompting that the trolley connection line has not been removed;

[0066] If the physical connection state is connected and the electrical connection state is not connected, prompting that the trolley connection line is not connected.

[0067] If the physical connection state is consistent with the electrical connection state, prompting that the state is normal, specifically including:

[0068] If the physical connection status is connected and the electrical connection status is connected; or, if the physical connection status is not connected and the electrical connection status is not connected, the prompt status is normal.

[0069] See Figure 2 As shown, in this embodiment, taking an electrical connector of a safety edge and an emergency stop as an example, an anti-fool detection circuit is added, and the anti-fool detection circuit outputs a first signal (Signal 1) and a second signal (Signal 2).

[0070] In this embodiment, the physical connection signal includes one, which is the unhooking signal. The electrical connection signals include two, namely the first signal and the second signal. The first signal is used to indicate whether the AGV is connected to the trolley, and the second signal is used to indicate whether the AGV / trolley is connected to the tail plug.

[0071] Judging the physical connection status based on the physical connection signal and judging the electrical connection status based on the electrical connection signal, specifically including:

[0072] If the unhooking signal is 1, the physical connection status is not connected, that is, unhooked; if the unhooking signal is 0, the physical connection status is connected, that is, hooked; if the first signal is 0 and the second signal is 1, the electrical connection status is not connected; if the first signal is 1 and the second signal is 0, the electrical connection status is connected; if the first signal is 0 and the second signal is 1, the electrical connection status is not connected;

[0073] If the first signal is 0 and the second signal is 0, it means that neither the AGV nor the trolley is connected to the tail plug; if the first signal is 1 and the second signal is 1, it means that the line connection is incorrect.

[0074] Furthermore, the anti-fool detection method for the electrical connection between the AGV and the trolley further includes:

[0075] If the first signal is 0 and the second signal is 0, it is prompted that the tail plug is not inserted;

[0076] If the first signal is 1 and the second signal is 1, it is prompted that the line connection is incorrect.

[0077] See Figure 3 As shown is the circuit schematic diagram of the electrical connection between the AGV and the tail plug; see Figure 4 As shown is the circuit schematic diagram of the electrical connection between the AGV and a single trolley; see Figure 5The figure shows a schematic circuit diagram of the electrical connection between the AGV and multiple trolleys. When the AGV is not connected to the trolley, the electrical connector needs to be connected to the tail plug; when the AGV is connected to a single trolley, the electrical connector on the AGV side is connected to the trolley, the electrical connector on the trolley side is connected to the tail plug, and the electrical connector circuit on the AGV side; when the AGV is not connected to the trolley, the electrical connector needs to be connected to the tail plug. From Figures 2 to 5 It can be seen that in the anti-fooling detection circuit of the electrical connector in this embodiment, a first signal (Signal 1) and a second signal (Signal 2) are provided on the AGV side, which are respectively connected to the circuit on the trolley side or the tail plug.

[0078] Refer to Table 1 below for the judgment of the combination of Signal 1, Signal 2 and the hook-unhook signal.

[0079] Table 1

[0080] Signal 1 Signal 2 Uncoupled state (1 for uncoupled state, 0 for coupled state) Result 0 0 0 Rear plug not inserted 0 0 1 Rear plug not inserted 0 1 0 Trolley connection line not connected 0 1 1 Status normal 1 0 0 Status normal 1 0 1 Trolley connection line not removed 1 1 0 Line error 1 1 1 Line error

[0081] Specifically, when the AGV is not connected to the tail plug and not connected to the trolley, both Signal 1 and Signal 2 are false;

[0082] When the AGV is connected to the tail plug, Signal 1 is false and Signal 2 is true;

[0083] When the AGV is connected to the trolley and the rear of the trolley is not connected to the tail plug, both Signal 1 and Signal 2 are false;

[0084] When the AGV is connected to the trolley and the rear of the trolley is connected to the tail plug, Signal 1 is true and Signal 2 is false.

[0085] It should be noted that the above table is only a combination of a schematic embodiment, and the state definitions of Signal 1, Signal 2 and the hook-unhook state can be changed as needed (for example, 0 represents the unhooked state and 1 represents the hooked state), as long as it can meet the prompts of the normal state and error scenarios, and this embodiment is not limited.

[0086] Corresponding to Table 1 above, the schematic diagram of the logical judgment of the controller on the AGV side is shown in Figures 6 to 10 as shown. It should be noted that Figures 6 to 10 The figure shown is only a schematic diagram of logical judgment, and whether it is implemented by hardware or software in the controller can be set as needed, and this embodiment is not limited.

[0087] The abnormal states are as follows:

[0088] When both Signal 1 and Signal 2 are true, the circuit is incorrect;

[0089] When both Signal 1 and Signal 2 are false, the tail plug is not inserted;

[0090] When signal 1 is true, signal 2 is false, and the upper hook state of the trolley is true, the trolley connection line is not connected;

[0091] When signal 1 is false, signal 2 is true, and the upper hook state of the trolley is false, the trolley connection line is not removed;

[0092] The normal state is as follows:

[0093] When signal 1 is true, signal 2 is false, and the upper hook state of the trolley is false;

[0094] When signal 1 is false, signal 2 is true, and the upper hook state of the trolley is true.

[0095] This embodiment can also detect whether the tail plug is inserted and whether there is a wiring error, and give an alarm prompt in time; it can prevent damage to the connection cable and electrical connector caused by human negligence and reduce risks; it can prevent the safety function failure caused by the non-electrical connection between the AGV and the trolley; the AGV can support the connection of one or more trolleys, and the detection circuits of the electrical connectors on the AGV side and the trolley side are the same, which is convenient for mass production and use.

[0096] Embodiment 2

[0097] See Figure 11 and 12 As shown in

[0098] Receive the decoupling instruction and enter the decoupling detection step; receive the coupling instruction and enter the coupling detection step;

[0099] The decoupling detection step includes:

[0100] Control the decoupling and coupling mechanism to decouple;

[0101] Obtain the physical connection signal of the decoupling and coupling mechanism, judge the physical connection state, if it is disconnected, control the electrical connector between the AGV and the trolley to disconnect; otherwise, give an alarm prompt;

[0102] Obtain the electrical connection signal of the electrical connector, judge the electrical connection state, if it is disconnected, prompt that the decoupling is successful; otherwise, give an alarm prompt;

[0103] The coupling detection step includes:

[0104] Control the decoupling and coupling mechanism to couple;

[0105] Obtain the physical connection signal of the decoupling and coupling mechanism, judge the physical connection state, if it is connected, control the electrical connector between the AGV and the trolley to connect; otherwise, give an alarm prompt;

[0106] Obtain the electrical connection signal of the electrical connector, judge the electrical connection status. If it is connected, prompt that the hooking is successful; otherwise, give an alarm prompt.

[0107] Specifically, the physical connection signal includes one, which is the unhooking / hooking signal; the electrical connection signals include two, namely the first signal and the second signal. The first signal is used to indicate whether the AGV is connected to the trolley, and the second signal is used to indicate whether the AGV / trolley is connected to the tail plug.

[0108] For other specific implementations of this embodiment, they are the same as those of Embodiment 1 and will not be repeated here.

[0109] This embodiment can realize the detection of the electrical connection state between the AGV and the trolley, ensure that the electrical cable is disconnected in time when unhooking, and the electrical cable is normally connected when hooking, that is, verify the unhooking / hooking state (physical connection state) and the connector state (electrical connection state), and give prompts in time to improve the safety level of the system.

[0110] Embodiment 3

[0111] Corresponding to the above Embodiment 1 and Embodiment 2, this embodiment discloses an AGV and trolley unhooking / hooking detection system, including: an AGV, a trolley, an electrical connector, a sensor, and a tail plug; the AGV and the trolley are electrically connected through the electrical connector; the AGV and the trolley realize unhooking or hooking through the unhooking / hooking mechanism; the sensor collects the physical connection signal of the unhooking / hooking mechanism and sends it to the AGV controller; the electrical connector collects the connection signal between the AGV and the trolley and the connection signal between the AGV / trolley and the tail plug and sends them as electrical connection signals to the AGV controller; the AGV controller receives the physical connection signal and the electrical connection signal, judges the physical connection state based on the physical connection signal, judges the electrical connection state based on the electrical connection signal. If the physical connection state is inconsistent with the electrical connection state, give an alarm prompt. If the physical connection state is consistent with the electrical connection state, prompt that the state is normal.

[0112] For other specific implementations of Embodiment 3, they are the same as those of Embodiment 1 and Embodiment 2 and will not be repeated here.

[0113] The above is only the specific implementation manner of the present invention, but the design concept of the present invention is not limited thereto. Any non-substantive modification made to the present invention using this concept shall fall within the scope of infringement of the protection of the present invention.

Claims

1. An anti-fooling detection method for the electrical connection between an AGV and a trolley, characterized in that, it includes: Obtain the physical connection signal of the hook-unhook mechanism and the electrical connection signal of the electrical connector; the hook-unhook mechanism is used to realize the hooking / unhooking of the AGV and the trolley; the electrical connector is used to realize the electrical connection / disconnection between the AGV and the trolley; Judge the physical connection status based on the physical connection signal, and judge the electrical connection status based on the electrical connection signal; If the physical connection status is inconsistent with the electrical connection status, give an alarm prompt; If the physical connection status is consistent with the electrical connection status, prompt that the status is normal.

2. The anti-fooling detection method for the electrical connection between an AGV and a trolley according to claim 1, characterized in that, If the physical connection status is inconsistent with the electrical connection status, give an alarm prompt, specifically including: If the physical connection status is not connected and the electrical connection status is connected, prompt that the trolley connection line has not been removed; If the physical connection status is connected and the electrical connection status is not connected, prompt that the trolley connection line has not been connected.

3. The anti-fooling detection method for the electrical connection between an AGV and a trolley according to claim 1, characterized in that, If the physical connection status is consistent with the electrical connection status, prompt that the status is normal, specifically including: If the physical connection status is connected and the electrical connection status is connected; or, if the physical connection status is not connected and the electrical connection status is not connected, prompt that the status is normal.

4. The anti-fooling detection method for the electrical connection between an AGV and a trolley according to claim 1, characterized in that, The physical connection signal includes one, which is the hook-unhook signal; the electrical connection signal includes two, which are the first signal and the second signal respectively. The first signal is used to indicate whether the AGV and the trolley are connected, and the second signal is used to indicate whether the AGV / trolley and the tail plug are connected.

5. The anti-fooling detection method for the electrical connection between an AGV and a trolley according to claim 4, characterized in that, Judge the physical connection status based on the physical connection signal, and judge the electrical connection status based on the electrical connection signal, specifically including: If the hook-unhook signal is 1, the physical connection status is not connected; if the hook-unhook signal is 0, the physical connection status is connected; if the first signal is 0 and the second signal is 1, the electrical connection status is not connected; if the first signal is 1 and the second signal is 0, the electrical connection status is connected; if the first signal is 0 and the second signal is 1, the electrical connection status is not connected.

6. The anti-fooling detection method for the electrical connection between an AGV and a trolley according to claim 4, characterized in that, Judging the electrical connection status based on the electrical connection signal further includes: If the first signal is 0 and the second signal is 0, it means that neither the AGV nor the trolley is connected to the tail plug; if the first signal is 1 and the second signal is 1, it means that the line connection is incorrect.

7. The anti-fooling detection method for the electrical connection between an AGV and a trolley according to claim 6, characterized in that, The anti-fooling detection method for the electrical connection between an AGV and a trolley further includes: If the first signal is 0 and the second signal is 0, prompt that the tail plug is not inserted; If the first signal is 1 and the second signal is 1, prompt that the line connection is incorrect.

8. An AGV and trolley decoupling and coupling detection method, Characterized in that, Comprising: Receiving a decoupling instruction and entering the decoupling detection step; Receiving a coupling instruction and entering the coupling detection step; The decoupling detection step includes: Controlling the decoupling and coupling mechanism to perform decoupling; the decoupling and coupling mechanism is used to realize the coupling / decoupling between the AGV and the trolley; Obtaining the physical connection signal of the decoupling and coupling mechanism, judging the physical connection state, if it is disconnected, controlling the electrical connector between the AGV and the trolley to disconnect; otherwise, giving an alarm prompt; the electrical connector is used to realize the electrical connection / disconnection between the AGV and the trolley; Obtaining the electrical connection signal of the electrical connector, judging the electrical connection state, if it is disconnected, prompting successful decoupling; otherwise, giving an alarm prompt; The coupling detection step includes: Controlling the decoupling and coupling mechanism to perform coupling; Obtaining the physical connection signal of the decoupling and coupling mechanism, judging the physical connection state, if it is connected, controlling the electrical connector between the AGV and the trolley to connect; otherwise, giving an alarm prompt; Obtaining the electrical connection signal of the electrical connector, judging the electrical connection state, if it is connected, prompting successful coupling; otherwise, giving an alarm prompt.

9. The AGV and trolley decoupling and coupling detection method according to claim 8, Characterized in that, The physical connection signal includes one, which is the decoupling and coupling signal; the electrical connection signals include two, which are the first signal and the second signal respectively. The first signal is used to indicate whether the AGV and the trolley are connected, and the second signal is used to indicate whether the AGV / trolley and the tail plug are connected.

10. An AGV and trolley decoupling and coupling detection system, Characterized in that, Comprising: An AGV, a trolley, an electrical connector, a sensor and a tail plug; the AGV and the trolley are electrically connected through the electrical connector; the AGV and the trolley realize decoupling or coupling through the decoupling and coupling mechanism; the sensor collects the physical connection signal of the decoupling and coupling mechanism and sends it to the AGV controller; the electrical connector collects the connection signal between the AGV and the trolley and the connection signal between the AGV / trolley and the tail plug and sends them as electrical connection signals to the AGV controller; the AGV controller receives the physical connection signal and the electrical connection signal, judges the physical connection state based on the physical connection signal, judges the electrical connection state based on the electrical connection signal, if the physical connection state is inconsistent with the electrical connection state, gives an alarm prompt, if the physical connection state is consistent with the electrical connection state, prompts that the state is normal.

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