AGV interaction area operation safety control method

Abstract

The invention discloses an AGV interaction area operation safety control method, and relates to an AGV interaction area operation safety control system which comprises a plurality of AGVs, a plurality of AGV interaction areas, a main control PLC module and a relay PLC module. The control method comprises the steps that when an AGV runs into an AGV lane from outside to inside or runs out of the AGV lane from inside to outside, a first PLC module obtains driving state information of the AGV and transmits the driving state information to a main control PLC module, and meanwhile, a second PLC module obtains working state information of an AGV charging module or an AGV partner frame corresponding to the AGV lane and transmits the working state information to the main control PLC module through a relay PLC module; and the main control PLC module is matched with the first PLC module to remotely control the AGV trolley to start and stop in the AGV interaction area according to the driving state information and the working state information. Start and stop of the AGV can be accurately controlled, safety is ensured, and operation efficiency is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of AGV control, and particularly discloses an AGV interaction area operation safety control method. BACKGROUND

[0002] AGV, which stands for Automated Guided Vehicle, is a kind of transport equipment that can travel along a predetermined path and perform material handling tasks, and is widely used in production and manufacturing, logistics and warehousing, etc. AGV interaction area is a specific area for information interaction, task handover and physical docking between AGV and other devices or systems, and is usually equipped with multiple lanes for AGV to enter and exit, and AGV charging modules or AGV companion racks are arranged in the lanes to meet the charging needs of AGV and the material handling operation needs. When the AGV charging module charges the AGV, the AGV needs to remain stationary, otherwise it may damage the AGV charging module. When the AGV companion rack is in the state of straight extension or straight reset during operation, the AGV also cannot start to enter and exit the lane to prevent collision.

[0003] To ensure the safety of AGV operation in the AGV interaction area, the existing technology usually installs photoelectric sensors and ultrasonic sensors on the AGV. Specifically, a photoelectric sensor that irradiates downward is arranged in the AGV side charging groove, and the sensor is triggered when the AGV charging module is connected, so that the AGV vehicle-mounted control system prohibits the AGV from starting. At the same time, one ultrasonic sensor with a detection distance of 10 meters is arranged at the head and tail of the AGV roof, which is used to detect obstacles in front and back, and is also triggered to prohibit the AGV from starting.

[0004] However, the existing control method simply relies on sensor feedback signals to determine whether the AGV can start, which depends on the authenticity of the sensor signals, and the control process is not accurate enough, which may affect the production operation. For example, the ultrasonic sensor is prone to false alarm of obstacles in rainy weather, which prevents the AGV from entering the lane; the photoelectric sensor may also fail to sense due to environmental dust or differences in the installation angle of the AGV charging module, which cannot effectively protect the AGV. Moreover, the existing technical solution is only applicable to the control of AGV in a stationary state, and if the AGV has not reset the AGV charging module or the AGV companion rack is not in a side-tilting state when the AGV enters the lane, a collision may still occur, which will also affect the safe operation of the AGV. In addition, for the lane where the AGV companion rack is arranged, since the irradiation range of the ultrasonic sensor is a conical scanning area pointing to the front, if the AGV has stopped in the lane where the AGV companion rack is arranged, the ultrasonic sensor cannot irradiate the AGV companion rack located in its blind area regardless of the state of the AGV companion rack, so it cannot protect the AGV stopped in the lane where the AGV companion rack is arranged, and can only protect the AGV entering the lane where the AGV companion rack is arranged, which affects the production operation. SUMMARY

[0005] The application aims to provide an AGV interaction area operation safety control method, which can accurately control the start and stop of AGV in the AGV interaction area, ensure the safety of AGV operation, and improve the operation efficiency.

[0006] To achieve the above-mentioned purpose, the solution of the application is an AGV interaction area operation safety control method, which relates to an AGV interaction area operation safety control system, the system comprising a plurality of AGV, a plurality of AGV interaction areas, a master PLC module and a relay PLC module.

[0007] Each AGV is respectively provided with a first PLC module, and the first PLC module is in communication connection with the master PLC module.

[0008] Each AGV interaction area is respectively provided with a second PLC module and a plurality of AGV lanes, and each AGV lane is provided with an AGV charging module or an AGV companion rack, and the control unit of the AGV charging module or the control unit of the AGV companion rack is in communication connection with the second PLC module.

[0009] The relay PLC module is in communication connection with the master PLC module and the second PLC module.

[0010] The control method comprises:

[0011] When the AGV drives into the AGV lane from outside to inside or drives out of the AGV lane from inside to outside, the first PLC module obtains the driving state information of the AGV and transmits it to the master PLC module, at the same time, the second PLC module obtains the working state information of the AGV charging module or the AGV companion rack corresponding to the AGV lane and transmits it to the master PLC module through the relay PLC module, and the master PLC module controls the start and stop of the AGV in the AGV interaction area according to the driving state information and the working state information in cooperation with the first PLC module.

[0012] Preferably, the master PLC module is provided with a master information comprehensive processing unit, a plurality of master data receiving units and a plurality of master data sending units, and the master information comprehensive processing unit is in electrical connection with the master data receiving units and the master data sending units.

[0013] Preferably, the relay PLC module is provided with a relay information integration unit, a plurality of relay data receiving units and a relay data sending unit, and the relay information integration unit is in electrical connection with the relay data receiving units and the relay data sending unit, and the relay data sending unit is in communication connection with the master data receiving unit.

[0014] Preferably, the second PLC module is provided with an interactive information integration unit, an interactive data receiving unit and an interactive data sending unit, the interactive information integration unit is electrically connected with the interactive data receiving unit and the interactive data sending unit, the control unit of the AGV charging module or the control unit of the AGV companion frame is in communication connection with the interactive data receiving unit, and the interactive data sending unit is in communication connection with the relay data receiving unit.

[0015] Preferably, the first PLC module is provided with an AGV information comprehensive processing unit, a first data receiving unit, a first data sending unit and a vehicle information acquisition unit, the AGV information comprehensive processing unit is electrically connected with the first data receiving unit, the first data sending unit and the vehicle information acquisition unit, the AGV information comprehensive processing unit is electrically connected with the brake module of the AGV trolley, the first data receiving unit is electrically connected with the master control data sending unit, and the first data sending unit is electrically connected with the master control data receiving unit.

[0016] Preferably, the application further comprises a host computer, which is in communication connection with the master information comprehensive processing unit and the AGV information comprehensive processing unit.

[0017] Preferably, the first PLC module and the master PLC module and the relay PLC module and the master PLC module are in communication connection through a 5G wireless Ethernet.

[0018] Preferably, the control unit of the AGV charging module or the control unit of the AGV companion frame is in communication connection with the second PLC module through an industrial Ethernet, and the second PLC module and the relay PLC module are in communication connection through an industrial Ethernet.

[0019] After the above-mentioned scheme is adopted, the application has the following advantages:

[0020] When the AGV trolley drives into or out of the AGV lane, the first PLC module obtains the driving state information of the AGV trolley and transmits it to the master PLC module, at the same time, the second PLC module obtains the working state information of the AGV charging module or the AGV companion frame corresponding to the AGV lane and transmits it to the master PLC module through the relay PLC module, so that the master PLC module can remotely control the start and stop of the AGV trolley in the AGV interactive area according to the driving state information and the working state information in cooperation with the first PLC module, each AGV trolley and each AGV interactive area are unified managed through the master PLC module and the relay PLC module, the start and stop of the AGV trolley in the AGV interactive area can be accurately controlled, the safety of the AGV trolley during operation is ensured, and the operation and production efficiency is improved. BRIEF DESCRIPTION OF DRAWINGS

[0021] Figure 1 is a schematic block diagram of the AGV interaction area operation safety control system in the embodiment of the present application;

[0022] Figure 2 is a detailed schematic block diagram of the AGV interaction area operation safety control system in the embodiment of the present application;

[0023] Figure 3 is a schematic diagram of the electronic fence set in the AGV lane of the AGV interaction in the embodiment of the present application;

[0024] Figure 4 is an interface diagram of the upper computer for centrally displaying the working state information of the AGV charging module and the AGV companion rack in the AGV lane of each AGV interaction area in the embodiment of the present application;

[0025] Figure 5 is an interface diagram of the upper computer for displaying the hard stop instruction received by the AGV trolley from the master control PLC module in the embodiment of the present application.

[0026] Label explanation:

[0027] 1, AGV trolley; 11, first PLC module; 12, AGV information comprehensive processing unit; 13, first data receiving unit; 14, first data sending unit; 15, vehicle information acquisition unit; 16, brake module;

[0028] 2, AGV interaction area; 21, second PLC module; 22, AGV lane; 23, AGV charging module; 24, AGV companion rack; 25, interaction information integration unit; 26, interaction data receiving unit; 27, interaction data sending unit;

[0029] 3, master control PLC module; 31, master control information comprehensive processing unit; 32, master control data receiving unit; 33, master control data sending unit;

[0030] 4, relay PLC module; 41, relay information integration unit; 42, relay data receiving unit; 43, relay data sending unit;

[0031] 5, upper computer;

[0032] 6, electronic fence; 61, charging protection area; 62, companion protection area. DETAILED DESCRIPTION

[0033] The present application will be further described in conjunction with the drawings and specific embodiments.

[0034] The embodiment provides an AGV interaction area operation safety control method, and relates to an AGV interaction area operation safety control system, as shown in Figure 1As shown, the system comprises a plurality of AGV trolleys 1, a plurality of AGV interaction areas 2, a master PLC module 3 and a relay PLC module 4;

[0035] Each AGV trolley 1 is provided with a first PLC module 11, and the first PLC module 11 is in communication connection with the master PLC module 3;

[0036] Each AGV interaction area 2 is provided with a second PLC module 21 and a plurality of AGV lanes 22, and each AGV lane 22 is provided with an AGV charging module 23 or an AGV companion rack 24, and the control unit of the AGV charging module 23 or the control unit of the AGV companion rack 24 is in communication connection with the second PLC module 21;

[0037] The relay PLC module 4 is in communication connection with the master PLC module 3 and the second PLC module 21 respectively;

[0038] The control method comprises:

[0039] When the AGV trolley 1 drives into the AGV lane 22 from outside to inside or drives out of the AGV lane 22 from inside to outside, the first PLC module 11 acquires the driving state information of the AGV trolley 1 and transmits it to the master PLC module 3, at the same time, the second PLC module 21 acquires the working state information of the AGV charging module 23 or the AGV companion rack 24 corresponding to the AGV lane 22 and transmits it to the master PLC module 3 through the relay PLC module 4, and the master PLC module 3 controls the start and stop of the AGV trolley 1 in the AGV interaction area 2 according to the driving state information and the working state information in cooperation with the first PLC module 11.

[0040] The master PLC module 3 of the embodiment acquires the driving state information of the AGV trolley 1 through the first PLC module 11 and acquires the working state information of the AGV charging module 23 or the AGV companion rack 24 through the second PLC module 21, so as to acquire the dynamic state and working condition of the AGV trolley 1 in the AGV interaction area 2, thereby accurately controlling the AGV trolley 1.

[0041] In the embodiment, the master PLC module 3 can be arranged in a duty room far away from the working site of the AGV trolley 1, which is convenient for remote control and more humanized. Of course, the number of AGV trolleys 1, AGV interaction areas 2 and AGV lanes 22 in each AGV interaction area 2 can be set according to actual conditions.

[0042] As Figure 1 and Figure 2As shown, the master PLC module 3 of the embodiment is provided with a master information comprehensive processing unit 31, a plurality of master data receiving units 32 and a plurality of master data sending units 33, and the master information comprehensive processing unit 31 is electrically connected with the master data receiving units 32 and the master data sending units 33 respectively.

[0043] The master information comprehensive processing unit 31 of the embodiment as the core can centrally analyze and process the information from different master data receiving units 32, thereby improving the speed and efficiency of data processing. The plurality of master data receiving units 32 and the master data sending units 33 can work in parallel, which is suitable for the AGV trolley 1 with high real-time requirement in the working scene.

[0044] As shown in Figure 1 and Figure 2 The relay PLC module 4 of the embodiment is provided with a relay information integration unit 41, a plurality of relay data receiving units 42 and a relay data sending unit 43, the relay information integration unit 41 is electrically connected with the relay data receiving units 42 and the relay data sending unit 43 respectively, and the relay data sending unit 43 is in communication connection with the master data receiving unit 32.

[0045] Since the working environment of the AGV trolley 1 is relatively complex, in order to avoid the attenuation of signals in the transmission process and cause unstable data transmission, the relay PLC module 4 of the embodiment can effectively enhance the signal strength, prolong the data transmission distance, and at the same time ensure that the real-time working state information of the AGV charging module 23 and the AGV companion rack 24 of each AGV lane 22 of all AGV interaction areas 2 can be synchronously uploaded to the master PLC module 3, thereby improving the efficiency of data transmission and the synchronicity of data update, and making the control of the AGV trolley 1 more accurate.

[0046] As shown in Figure 1 and Figure 2 The second PLC module 21 of the embodiment is provided with an interaction information integration unit 25, an interaction data receiving unit 26 and an interaction data sending unit 27, the interaction information integration unit 25 is electrically connected with the interaction data receiving unit 26 and the interaction data sending unit 27 respectively, the control unit of the AGV charging module 23 or the control unit of the AGV companion rack 24 is in communication connection with the interaction data receiving unit 26 respectively, and the interaction data sending unit 27 is in communication connection with the relay data receiving unit 42.

[0047] The interactive information integration unit 25 of the embodiment as the core can efficiently integrate the working state information received by the interactive data receiving unit 26 from the AGV charging module control unit or the AGV companion rack control unit. Through the unified management and scheduling of the interactive information integration unit 25, the information interaction between the AGV charging module, the AGV companion rack and the relay PLC module is more stable and reliable.

[0048] As shown in Figure 1 and Figure 2 , the first PLC module 11 of the embodiment is provided with an AGV information comprehensive processing unit 12, a first data receiving unit 13, a first data sending unit 14 and a vehicle information acquisition unit 15, the AGV information comprehensive processing unit 12 is electrically connected with the first data receiving unit 13, the first data sending unit 14 and the vehicle information acquisition unit 15 respectively, the AGV information comprehensive processing unit 12 is electrically connected with the brake module 16 of the AGV trolley 1, the first data receiving unit 13 is electrically connected with the master data sending unit 33, and the first data sending unit 14 is electrically connected with the master data receiving unit 32.

[0049] The AGV information comprehensive processing unit 12 of the embodiment can receive the driving state information of the AGV trolley 1 collected by the vehicle information acquisition unit 15, such as position, speed, power, running state, etc., but not limited thereto, the first data receiving unit 13 and the first data sending unit 14 are electrically connected with the master data sending unit 33 and the master data receiving unit 32 of the master PLC module 3 respectively, realizing the bidirectional data communication between the first PLC module 11 and the master PLC module 3, realizing the collaborative scheduling of multiple AGV trolleys 1 working at the same time, also facilitating the later expansion and upgrading, and adapting to different types of AGV trolleys 1.

[0050] As shown in Figure 1 and Figure 2 , the embodiment also includes a host computer 5, which is communicatively connected with the master information comprehensive processing unit 31 and the AGV information comprehensive processing unit 12 respectively.

[0051] The embodiment sets the host computer 5, which uses the display screen of the host computer 5 to centrally display the real-time state of the AGV charging module 23 and the AGV companion rack 24 in all AGV interaction areas 2, and also can display the running state of the AGV trolley 1, the communication condition between the AGV trolley 1 and the master PLC module 3, whether the emergency brake instruction is received, the emergency brake reason, etc. in real time, facilitating the user to manage. Figure 4 and Figure 5 The display interface of the host computer 5 is shown in

[0052] As shown in Figure 1 and Figure 2As shown, the first PLC module 11 of the embodiment and the master PLC module 3, and the relay PLC module 4 and the master PLC module 3 are connected by 5G wireless Ethernet, which has low delay and good reliability, can quickly transmit a large amount of data, and makes the control of the AGV 1 more real-time and accurate. Of course, other ways can also be used to establish a communication connection in other embodiments.

[0053] As shown in Figure 1 and Figure 2 The control unit of the AGV charging module 23 or the control unit of the AGV companion frame 24 of the embodiment is connected to the second PLC module 21 through industrial Ethernet, and the second PLC module 21 is connected to the relay PLC module 4 through industrial Ethernet, which has strong anti-interference ability and can meet the demand for fast exchange of a large amount of data between the AGV charging module, the AGV companion frame and the PLC module. Of course, other ways can also be used to establish a communication connection in other embodiments.

[0054] In combination with Figures 1 to 3 , the following will be further described by taking 18 AGV cars, 8 AGV interaction areas, and 3 AGV lanes in each AGV interaction area as an example.

[0055] Among them, the master PLC module can be set in the duty room and other places far from the work site, and the relay PLC module can be set at the No. 8 AGV interaction area, responsible for receiving and summarizing the working state information of the AGV charging module and the AGV companion frame of each AGV interaction area, including the real-time state of the AGV charging module and the AGV companion frame, whether to reset, etc., and transmitting it to the master PLC module in real time. The 18 AGV cars at the work site are directly connected to the master PLC module respectively, and each uploads its driving state information in real time, including the real-time position coordinates of the AGV car, whether the AGV car receives the motor car instruction, the instruction target point, etc. The master PLC module summarizes all these information, makes logical judgment, and issues emergency stop instruction to the AGV car with pulling or collision risk in static or dynamic state, and gives the reason for the emergency stop.

[0056] Since the AGV lane of the embodiment needs to set an electronic fence 6 to ensure the safety of charging by the AGV charging module or working by the AGV companion frame. Therefore, the first key point of the embodiment is the selection of the coordinate setting value of the electronic fence 6 in the master information comprehensive processing unit of the master PLC module, which is as follows.

[0057] The AGV charging module of the embodiment is a charging arm. Taking the No. 1 and No. 2 AGV lanes as an example, the No. 3 AGV lane is set with an AGV companion frame, and referring to the actual data of the AGV car, the AGV interaction area, the AGV charging module and the AGV companion frame, it is known that:

[0058] Length of each AGV lane in AGV interaction area L 车道 = 45 m;

[0059] Length of each AGV L AGV = 15 m, width of each AGV D AGV = 3 m;

[0060] Maximum driving speed of AGV in AGV interaction area V AGV = 1 m / s;

[0061] Mechanical delay of emergency brake T 机械延时 = 0.5 s, sliding distance of tire on ground S 滑 = 0.1 m;

[0062] Distance between the end of AGV lane and the charging arm of AGV lane 1 and 2 S 充电臂 = 2 m;

[0063] Distance between the side edge of AGV and the charging arm when the charging arm is in retracted state is 50 cm;

[0064] Speed of extension and retraction of charging arm is 10 cm / s;

[0065] Distance between the end of AGV lane and the start of AGV companion frame of AGV lane 3 S 伴侣 = 15.5 m;

[0066] Speed of extension and retraction of AGV companion frame is 10 cm / s, and angular speed of lateral opening and closing is 10° / s.

[0067] In the embodiment:

[0068] Time delay of the second PLC module of AGV interaction area receiving action signal when the charging arm or AGV companion frame is in action is 1 program cycle 10 ms, i.e. T 交互区动作 = 10 ms;

[0069] Time delay of the second PLC module packing the information together with other information is 1 program cycle, i.e. T 交互区打包 = 10 ms;

[0070] Frequency of the second PLC module sending out the packed data frame using UDP communication is 5 times per second, i.e. maximum time delay T 交互区发送 = 0.2 s;

[0071] The relay PLC module is connected with the second PLC module of each AGV interaction area through an industrial Ethernet line, and the delay of receiving a data frame through UDP communication is less than 1 ms, which is negligible;

[0072] The relay PLC module packs and aggregates the information of each AGV interaction area together, and the delay is 1 program cycle, T 中继汇总 = 10 ms;

[0073] The relay PLC module sends out the aggregated data frame at a frequency of 5 times per second, that is, the maximum delay T 中继发送 = 0.2 s;

[0074] The main control PLC module receives the data frame sent by the relay PLC module through the wireless 5G network, and the delay is less than 30 ms through PING test, and the maximum value is taken, that is, T 主控 _5G_ 接收 = 30 ms;

[0075] The main control PLC module parses the received UDP data frame, which needs 1 program cycle, that is, T 主控解析 = 10 ms;

[0076] The main control PLC module combines the parsed charging arm state with the real-time uploaded X and Y coordinates of the AGV car in the main control information comprehensive processing unit, performs logical judgment, and obtains the hard stop instruction result, and the longest total time is when the 18th AGV car enters the 8th AGV interaction area of the 2nd AGV lane, The whole logic is completed within 1 program cycle, and the program cycle is 50 ms, that is, T 主控判断 = 50 ms;

[0077] The main control PLC module packs the logical judgment result, which takes 1 program cycle, T 主控打包 = 10 ms, and uses UDP communication to send to the corresponding AGV car, and the sending frequency is also 5 times per second, that is, T 主控发送 = 0.2 s;

[0078] The AGV car receives the instruction frame sent by the main control PLC module through 5G wireless Ethernet using UDP communication, and the delay is less than 30 ms through PING test, and the maximum value is taken, that is, T AGV_5G_接收 = 30 ms;

[0079] The AGV car parses the instruction package, which needs 1 program cycle, T AGV解析 = 10 ms;

[0080] The AGV car sends the hard stop instruction to the brake module, and the mechanical delay of the hard stop brake is T AGV机械延时 = 0.5 s;

[0081] The farthest forward sliding distance S under the final tire lock state AGV滑 = 0.1m, the final emergency braking is completed.

[0082] Therefore, if you want to stop before the AGV collides with the charging arm, you must determine the timeliness of the control system, that is, the maximum lag time T 滞后时间 of the whole process, and the maximum lag distance S 滞后距离 of the AGV car maximum speed, which is uniformly effective for No. 1, No. 2 and No. 3 AGV lanes.

[0083] That is, T 滞后时间 = T 交互区动作 + T 交互区打包 + T 交互区发送 + T 中继汇总 + T 中继发送 + T 主控 _5G_ 接收 + T 主控解析 + T 主控判断 + T 主控打包 + T 主控发送 + T AGV_5G_接收 + T AGV解析 + T AGV机械延时

[0084] = 0.01s + 0.01s + 0.2s + 0.01s + 0.2s + 0.03s + 0.01s + 0.05s + 0.01s + 0.2s + 0.03s + 0.01s + 0.5s

[0085] = 1.27s;

[0086] S 滞后距离 = T 滞后时间 * V AGV + S AGV滑

[0087] = 1.27s * 1m / s + 0.1m

[0088] = 1.37m.

[0089] Taking the end of the AGV lane as the starting point of the X coordinate, that is, X 起点 = 0, combined with the relative coordinates of the charging arm, the edge coordinates of the charging protection area 61 of No. 1 and No. 2 AGV lanes can be determined, that is,

[0090] X 充电车道 _ 边缘 _ 最小 = X 起点 + S 充电臂 + S 滞后距离

[0091] = 0 + 2m + 1.37m

[0092] = 3.37m;

[0093] As shown in Figure 3 , that is, when the AGV enters the AGV lane provided with the charging arm from the outside to the inside, if the charging arm is not in the retracted position, actually, when the current center point coordinate X_now of the AGV is less than X 充电车道 _ 边缘 _ 最小 + 1 / 2*L AGV = 3.37 + 7.5 = 10.87m, logical judgment is needed, so that the stop command can be given in time, and the AGV is finally stopped at the edge position about to collide with the charging arm.

[0094] As for the No. 3 AGV lane, the edge coordinate calculation method of the partner protection area 62 is the same as that of the No. 1 and No. 2 AGV lanes, except that S 伴侣 is replaced by S 充电臂 , that is

[0095] X 伴侣车道 _ 边缘 _ 最小 = X 起点 + S 伴侣 + S 滞后距离

[0096] = 0 + 15.5m + 1.37m

[0097] = 16.87m;

[0098] As shown in Figure 3 , that is, when the AGV enters the AGV lane provided with the AGV partner frame from the outside to the inside, if the AGV partner frame is not in the avoidance position or the lifting position, actually, when the center point coordinate X_now of the AGV is less than X 伴侣车道 _ 边缘 _ 最小 + 1 / 2*L AGV = 16.87 + 7.5 = 24.37m, logical judgment is needed, so that the stop command can be given in time, and the AGV is finally stopped at the edge position about to collide with the AGV partner frame.

[0099] It should be noted that, for both the AGV lane provided with the charging arm and the AGV lane provided with the AGV partner frame, the AGV should not be stopped too early, otherwise it will block the passage of other AGVs vertically running on the driving lane outside the interaction area, that is, the maximum edge X coordinate of the electronic fence 6 is

[0100] X 充电车道 _边缘 _ 最大 =X 伴侣车道 _ 边缘 _ 最大 =L 车道 -1 / 2*D AGV -L AGV

[0101] =45m - 1 / 2 * 3m - 15m

[0102] =28.5m;

[0103] At this time, the coordinates of the center point of the AGV are:

[0104] X_now=X 充电车道 _ 边缘 _ 最大 +1 / 2*L AGV =28.5m + 7.5m = 36.0m.

[0105] In summary, for the main control information processing unit of the main control PLC module, the core algorithm's logical judgment involves setting a preset value X for the X coordinate of the edge of the charging protection zone 61 of the AGV lane of the charging arm. 充电车道 _ 边缘 _ 预设 And the preset value X of the edge X coordinate of the companion protection zone 62 of the AGV lane where the AGV companion frame is set. 伴侣车道 _ 边缘 _ 预设 It should meet the following requirements:

[0106] 3.37 <X 充电车道 _ 边缘 _ 预设 <28.5 and 16.87 <X 伴侣车道 _ 边缘 _ 预设 <28.5;

[0107] The control system in this embodiment takes the intermediate value and sets it as X. 充电车道 _ 边缘 _ 预设 =16m, X 伴侣车道 _ 边缘 _ 预设 =23m.

[0108] For AGV lanes equipped with charging arms, actual tests showed that when an AGV enters from the outside at a maximum speed of 1 m / s, if the charging arm is manually extended to simulate an emergency before the AGV reaches the electronic fence 6, the final emergency stop position of the AGV, with the front of the vehicle approximately 14 meters from the charging arm, is similar to the theoretical value X. 充电车道_边缘_预设-S滞后距离= 14.63m is very close, which shows the correctness of the theory and the inevitability of the data flow delay in the actual operation process. It is reasonable to set a larger electronic fence 6 area. When the AGV vehicle has entered the range of the electronic fence 6, the charging arm is extended, and the final emergency stop position of the AGV vehicle will be closer to the charging arm.

[0109] In the motion state of the AGV vehicle, the most extreme working condition for the AGV lane with the charging arm is that the AGV vehicle is driving in and the extension line of the charging arm has hit the vehicle. The extension speed of the charging arm is 10 cm / s, the total stroke from the retracted position to the tangent with the AGV vehicle side wall is 30 cm, and it takes 3 seconds. That is, in the most extreme case, it takes 3 seconds from the extension of the charging arm to the AGV vehicle to the scratching of the AGV vehicle side wall. As can be seen from the above analysis, after T 滞后时间 = 1.27 seconds, the control system will completely stop the AGV vehicle, so as to ensure that the AGV vehicle will not continue to move and scratch the charging arm. The actual measurement shows that when the AGV vehicle stops, the distance between the front end of the charging arm and the AGV vehicle side body is about 15 cm, which is close to the theoretical value 0.3-1.27*0.1=0.173m, thereby ensuring safety.

[0110] In the motion state of the AGV, for the AGV lane provided with the AGV companion frame, the most extreme working condition is that the AGV is driving in and a part of the AGV body has entered the AGV companion frame, at this time the AGV companion frame suddenly moves. In this extreme working condition, the initial state of the AGV companion frame can only be one of the two safe positions of the avoidance position or the jacking position. If the initial state of the AGV companion frame is the avoidance position, suddenly receiving the folding instruction, the angle between the AGV companion frame and the ground in the avoidance position is 45°, the angular velocity of the upward folding movement of the AGV companion frame is 5° / s, and the relative angle of the AGV companion frame and the ground when the AGV companion frame scratches the side of the AGV body is 60°, that is, (60°-45°) / (5° / s) = 3 seconds. If the AGV does not stop, the AGV companion frame will collide with the AGV, and then continue to cause secondary damage to the moving AGV body through sliding friction. As can be seen from the above analysis, the AGV will completely stop after 1.27 seconds of the AGV companion frame movement, which is less than 3 seconds, thereby minimizing the damage. It is measured that the AGV companion frame contacts the AGV after 1.5 seconds of the AGV stopping, which is close to the theoretical value of 3-1.27 = 1.73 seconds. If the initial state of the AGV companion frame is the jacking position, suddenly receiving the descending instruction, the distance between the upper end of the AGV companion frame and the AGV roof in the jacking position is 65 cm, the descending speed of the AGV companion frame is 10 cm / s, and the time required for the AGV companion frame to start descending to contact the AGV roof is 6.5 seconds. If the AGV continues to move after the contact, it will cause serious scratching. Obviously, the AGV will stop after 1.27 seconds to minimize the damage. It is measured that the AGV companion frame contacts the AGV after 5 seconds of the AGV stopping, which is close to the theoretical value of 6.5-1.27 = 5.23 seconds, thereby ensuring safety.

[0111] The second key point of the embodiment is the setting logic of the main control information comprehensive processing unit of the main control PLC module for issuing the emergency stop decision code, which is specifically as follows.

[0112] After the electronic coordinate fence is set, the core algorithm in the main control information comprehensive processing unit of the main control PLC module first determines the AGV lane in which the AGV is located according to the real-time coordinates of the AGV, that is, the AGV lane in the AGV interaction area, and then gives the corresponding emergency stop decision code according to the state of the AGV charging module or the AGV companion frame in the AGV lane, in combination with the pre-set edge coordinates of the electronic fence and whether the moving vehicle instruction is received, and the target point of the moving vehicle instruction, that is:

[0113] (1) AGV current coordinate X_now > L 车道 :

[0114] Indicates that the AGV trolley is currently not in the AGV interaction area, not in the charging protection area 61 and companion protection area 62 of the electronic fence 6. At this time, the AGV trolley can continue to move, and there is no need to issue a tight stop instruction, and the tight stop decision code is 991.

[0115] 991: The AGV trolley is currently outside the AGV interaction area, and there is no risk of moving, and there is no need to stop.

[0116] (2) The current lateral coordinate Y_now of the AGV trolley matches the Y coordinate of the electronic fence 6 of the AGV lane where the charging arm is set, but X 边缘 _ 充电车道 <X_now-L AGV <L 车道 :

[0117] Indicates that the AGV trolley is currently in the AGV lane where the charging arm is set in the AGV interaction area, but not in the charging protection area 61 of the electronic fence 6. At this time, the AGV trolley can continue to move, and there is no need to issue a tight stop instruction, and the tight stop decision code is 992.

[0118] 992: The AGV trolley is currently in the AGV interaction area, but not in the charging protection area 61 of the electronic fence 6, and there is no risk of moving, and there is no need to stop.

[0119] (3) The current lateral coordinate Y_now of the AGV trolley matches the Y coordinate of the electronic fence 6 of the AGV lane where the charging arm is set, the AGV trolley is currently in a static state, the AGV trolley is in a local control mode, the charging arm corresponding to the AGV lane has not been retracted to the position, and X 边缘 _ 充电车道 >X_now-L AGV :

[0120] Indicates that the AGV trolley will collide with the charging arm if it continues to move, so the AGV trolley cannot continue to move, and a tight stop instruction is given, and the tight stop decision code is 101.

[0121] 101: The AGV trolley is currently in a local mode and stopped in the charging protection area 61 of the electronic fence 6, the charging arm has not been retracted to the position, and the AGV trolley is prohibited from moving.

[0122] (4) The current lateral coordinate Y_now of the AGV trolley matches the Y coordinate of the electronic fence 6 of the AGV lane where the charging arm is set, the AGV trolley is currently in a static state, the AGV trolley is in a remote automatic control mode, the charging arm corresponding to the AGV lane has not been retracted to the position, and X 边缘 _ 充电车道 >X_now-L AGV , but |X_now-X_goal|<5cm, that is, the AGV trolley has not received a new moving instruction:

[0123] AGV is currently stationary and risk-free, but if the vehicle is pulled at this time, the AGV cannot continue to move the vehicle, but does not give a tight stop instruction, and the tight stop decision code is 993.

[0124] 993: AGV is currently in remote control mode, stopped in the charging protection area 61 of the electronic fence 6, the charging arm is not retracted, the main control PLC module is in alert, and if the vehicle instruction is received, it will be stopped.

[0125] This judgment logic includes an important working condition: AGV is charging, and will not issue a tight stop to interrupt charging, but if a vehicle instruction is received during charging, a tight stop will be given to protect the charging arm from being pulled. The specific logic is explained in the third key point below.

[0126] (5) The current lateral coordinate Y_now of the AGV matches the Y coordinate of the electronic fence 6 of the AGV lane where the charging arm is set, the AGV is currently in a stationary state, the AGV is in a remote automatic control mode, the charging arm of the corresponding lane is not retracted, and X 边缘 _ 充电车道 > X_now-L AGV , and |X_now-X_goal|≥5cm, that is, the AGV receives a new vehicle instruction:

[0127] It means that the AGV has a risk of pulling or colliding with the charging arm, so the AGV cannot start the vehicle and needs to issue a tight stop instruction, and the tight stop decision code is 102.

[0128] 102: AGV is currently in remote control mode, stopped in the charging protection area 61 of the electronic fence 6, the charging arm is not retracted, and the vehicle instruction is received, and the tight stop is stopped.

[0129] (6) The current lateral coordinate Y_now of the AGV matches the Y coordinate of the electronic fence 6 of the AGV lane where the charging arm is set, the charging arm of the corresponding lane is not retracted, and X 边缘 _ 充电车道 > X_now-L AGV , the AGV is currently in a moving state:

[0130] It means that the AGV has a risk of pulling or colliding with the charging arm, so the AGV cannot continue to move the vehicle and needs to issue a tight stop instruction, and the tight stop decision code is 103.

[0131] 103: AGV is currently in the charging protection area 61 of the electronic fence 6, the charging arm is not retracted, and the vehicle is prohibited to continue to move, and the tight stop is stopped.

[0132] (7) AGV current lateral coordinate Y_now matches the electronic fence 6Y coordinate of the AGV lane where a certain set of charging arms is located, the charging arms of the corresponding lane have been retracted to the position, and X 边缘 充电车道 > X_now - L AGV

[0133] It means that the AGV is currently free of risks of moving without power, and the tight stop decision code is 994.

[0134] 994: The AGV is currently in the charging protection area 61 of the electronic fence 6, the charging arms have been retracted to the position, and the AGV can move.

[0135] The protection logic of the AGV lane where the AGV companion frame is set is similar to that of the AGV lane where the charging arms are set, except that "the charging arms have been retracted to the position" is replaced by "the AGV companion frame is in the jacking position or avoidance position", and "the charging arms have not been retracted to the position" is replaced by "the AGV companion frame is in the normal position or in action". This will not be repeated. The tight stop decision codes are as follows:

[0136] 991: The current AGV is outside the AGV interaction area, and there is no risk of moving without power, and there is no need to stop tightly;

[0137] 995: The current AGV is in the AGV interaction area, but not in the companion protection area 62 of the electronic fence 6, and there is no risk of moving without power, and there is no need to stop tightly;

[0138] 201: The AGV is currently in local mode, stopped in the companion protection area 62 of the electronic fence 6, and the AGV companion frame is in the normal position or in action, and local movement is prohibited;

[0139] 996: The AGV is currently in remote control mode, stopped in the companion protection area 62 of the electronic fence 6, and the AGV companion frame is in the normal position or in action, and the master PLC module is in alert, and if a moving command is received, it will stop tightly;

[0140] 202: The AGV is currently in remote control mode, stopped in the companion protection area 62 of the electronic fence 6, and the AGV companion frame is in the normal position or in action, and a moving command is received, and it will stop tightly;

[0141] 203: The AGV is currently stopped in the companion protection area 62 of the electronic fence 6, and the AGV companion frame is in the normal position or in action, and the movement is prohibited, and it will stop tightly;

[0142] 997: The AGV is currently stopped in the companion protection area 62 of the electronic fence 6, and the AGV companion frame is in the jacking position or avoidance position, and the AGV can move.

[0143] ​​The third key point of the embodiment is that the master information comprehensive processing unit of the master PLC module has a protection strategy for all working conditions, i.e., the fastest protection strategy in the AGV vehicle motion state, the dynamic vehicle instruction closed-loop protection strategy in the AGV vehicle static state, and the no-delay starting strategy in the absolute safety state, which are as follows.

[0144] (1) The fastest protection strategy in the AGV vehicle motion state

[0145] The fastest protection strategy in the AGV vehicle motion state refers to that the total time from when the AGV vehicle just enters the electronic fence 6 to when the AGV vehicle receives the parking instruction issued by the master PLC module and finally completes the braking should be as fast as possible. According to the analysis in the first key point, the total delay of the control system of the embodiment to protect the dynamic AGV vehicle is 1.27 seconds, and the total travel distance of the AGV vehicle is 1.37 meters. The edge coordinates of the electronic fence 6 meet the requirements through theoretical design and experimental verification, and the specific reference is made to the analysis in the first key point. 滞后时间 滞后距离

[0146] (2) The dynamic vehicle instruction closed-loop protection strategy in the AGV vehicle static state

[0147] When the AGV vehicle stops at the charging position in the AGV lane where the charging arm is set and is not charging, the received master PLC module has a tight stop decision code 994 (the AGV vehicle is currently in the charging protection area 61 of the electronic fence 6, the charging arm has been retracted to the position, and the AGV vehicle can move). When the AGV vehicle starts charging, the received tight stop decision code will change to 993 (the AGV vehicle is currently in the remote control mode, stops in the charging protection area 61 of the electronic fence 6, the charging arm has not been retracted to the position, the master PLC module is in an alert state, and if a dynamic vehicle instruction is received, the AGV vehicle will be stopped immediately). At this time, if the AGV vehicle receives a dynamic vehicle instruction, if the control system does not perform closed-loop detection on the instruction, the AGV vehicle will receive a tight stop instruction from the remote master PLC module after 1.27 seconds of dynamic vehicle, and at this time the charging arm has been damaged by the AGV vehicle.

[0148] ​​Based on this, the method given by the control system of the embodiment is that: in the control program of the first PLC module of the AGV, a "vehicle allowed" flag is added, and the current received emergency stop decision code is recorded. If the received emergency stop decision code is 993, the "vehicle allowed" flag is forced to be 0 immediately. At this time, if the AGV receives a vehicle instruction, the AGV will not start immediately, but wait for the emergency stop decision code from the remote master PLC module. When the code becomes 102 (the AGV is currently in remote control mode, stops in the charging protection area 61 of the electronic fence 6, the charging arm is not retracted to the position, receives the vehicle instruction, and stops), it is considered that the remote master PLC module has completed the judgment of the vehicle instruction, that is, the vehicle is not allowed, thereby completing the closed-loop protection of the vehicle instruction.

[0149] Similarly, for the AGV lane provided with the AGV companion frame, when the emergency stop decision code is 996 (the AGV is currently in remote control mode, stops in the companion protection area 62 of the electronic fence 6, the AGV companion frame is in a normal position or in action, the master PLC module is in an alert state, and if a vehicle instruction is received, it will stop), the closed-loop protection strategy of the vehicle instruction is also followed.

[0150] (3) No-delay starting strategy in absolute safety state

[0151] When the AGV stops at the charging position in the AGV lane provided with the charging arm and is not charging, the emergency stop decision code received from the master PLC module is 994 (the AGV is currently in the charging protection area 61 of the electronic fence 6, the charging arm has been retracted to the position, and the AGV can move). In the control program of the first PLC module of the AGV, the above-mentioned "vehicle allowed" flag will change to 1 following the emergency stop decision code 994. If the AGV is not charging at this position, the emergency stop decision code received by the AGV will always be 994 and remain unchanged, and the "vehicle allowed" will also always remain 1. If the AGV receives a vehicle instruction during this period, the AGV can be started directly according to the "vehicle allowed" flag being 1, without waiting for the 1.27-second closed-loop detection delay. This is the no-delay starting strategy in the absolute safety state.

[0152] Similarly, for the AGV lane provided with the AGV companion frame, when the decision code is 997 (the AGV is currently stopped in the companion protection area 62 of the electronic fence 6, the AGV companion frame is in a lifting position or an avoidance position, and the AGV can move), the no-delay starting strategy is also followed.

[0153] Take the 1st AGV driving into the 2nd AGV lane of the 3rd AGV interaction area from outside to inside as an example for further illustration.

[0154] Firstly, the host PLC module judges which AGV interaction area the No.1 AGV trolley is currently in according to the real-time driving state information uploaded by the No.1 AGV trolley, including X, Y coordinate information, in combination with the coordinate range of each AGV interaction area.

[0155] After judging that the No.1 AGV trolley is in the No.3 AGV interaction area, the host PLC module continues to judge which AGV lane of the No.3 AGV interaction area the No.1 AGV trolley is in according to the Y coordinate of the No.1 AGV trolley.

[0156] After judging that the No.1 AGV trolley is in the No.2 AGV lane, the host PLC module further analyzes the state information of the AGV charging module at the end of the No.2 AGV lane of the No.3 AGV interaction area and the state information of the AGV companion frame in the No.2 AGV lane of the No.3 AGV interaction area according to the state information of all AGV charging modules and AGV companion frames in the AGV interaction area collected by the AGV interaction area relay PLC module, and gives an instruction whether the No.1 AGV trolley can continue to drive in or not in combination with the X coordinate of the No.1 AGV trolley, i.e. whether the No.1 AGV trolley has entered the charging protection area 61 of the electronic fence 6 or not.

[0157] If the charging arm of the No.3 AGV interaction area No.2 AGV lane is not retracted at this time, it is obvious that the No.1 AGV trolley will collide with the charging arm if it continues to drive in. When the X coordinate of the No.1 AGV trolley is less than the preset X coordinate of the edge of the charging protection area 61, the host PLC module will issue a tight stop instruction to the No.1 AGV trolley, with a tight stop decision code of 103 (the No.1 AGV trolley is currently in the charging protection area 61 of the electronic fence 6, the charging arm is not retracted, and driving is prohibited, tight stop).

[0158] Further illustration is made by taking the case that the No.1 AGV trolley stops in the AGV companion frame of the No.3 AGV lane of the No.3 interaction area and receives a driving instruction from the remote host PLC module.

[0159] Suppose that the AGV companion frame is in a normal position at this time, i.e. the No.1 AGV trolley is clamped in the AGV companion frame, and the No.1 AGV trolley is not allowed to drive. At this time, the host PLC module is only in an alert mode. Since the No.1 AGV trolley only stops in the AGV companion frame, a tight stop instruction does not need to be issued. However, once a remote driving instruction is received, i.e. |X_goal-X_now|>5cm, the host PLC module will immediately issue a tight stop instruction to the No.1 AGV trolley, with a tight stop decision code of 202 (the No.1 AGV trolley is currently in a remote control mode, stops in the companion protection area 62 of the electronic fence 6, and the AGV companion frame is in a normal position or is in action, receives a driving instruction, and tight stop), and based on the "driving instruction closed-loop protection strategy of AGV trolley in a stationary state", the No.1 AGV trolley will not start by itself before receiving the tight stop instruction from the host PLC module, thereby ensuring that each driving is protected by decision making.

[0160] The accurate position and other driving state information of each AGV and the accurate state of the AGV charging module and AGV companion rack in the AGV lane of each AGV interaction area are summarized to the master PLC module. An algorithm is written in the master information comprehensive processing unit of the master PLC module. The current coordinate point of each AGV, the target point of the driving instruction, and the working state information of the AGV charging module or AGV companion rack in the AGV lane of each AGV interaction area are used. Each AGV interaction area lane, AGV charging module, and AGV companion rack are projected into the coordinate system of the AGV working plane. A protection frame with a fixed coordinate range, i.e., an electronic fence 6, is established. The charging protection area 61 and the companion protection area 62 are set through the electronic fence 6. Then, in combination with the coordinate information of each AGV, it is judged in real time whether an AGV enters or leaves each protection area. In combination with the state of the charging arm in the charging protection area 61 and the state of the AGV companion rack in the companion protection area 62, i.e., the working state information of the AGV charging module or AGV companion rack, it is comprehensively judged whether the AGV can move. When the AGV receives a moving instruction, a conclusion is given as to whether emergency stopping is needed. Finally, the emergency stopping instruction is issued to the corresponding AGV. At the same time, through the upper computer remote monitoring interface, the real-time state of the AGV charging module and AGV companion rack in all interaction areas is displayed, and it is marked whether a certain AGV enters the AGV lane electronic fence 6 to set the charging protection area 61 and the companion protection area 62, as shown in Figure 4 and Figure 5 , so that the on-duty personnel can easily understand the working conditions and safety hazards of the AGVs in the AGV interaction area. When a dangerous situation occurs, the personnel can also know how to handle it in the first time, realize precise control of the AGVs, and ensure the safety of the AGVs during operation.

[0161] The embodiment can protect the AGVs in all working conditions, such as entering the AGV interaction area, leaving the AGV interaction area, receiving a moving instruction when stationary outside the AGV interaction area, and receiving a moving instruction when stationary inside the AGV interaction area. The accuracy is not affected by external environments such as weather. At the same time, through the fastest protection strategy under the AGV motion state, the moving instruction closed-loop protection strategy under the AGV stationary state, and the no-delay starting strategy under the absolute safety state, the judgment speed of the control system and the safety of the moving AGV are ensured to improve the efficiency of production operation.

[0162] It should be noted that the accurate position of the AGV, i.e., the X and Y coordinate information, can be obtained according to the vehicle positioning system, which is composed of four wheel speed encoders, four steering angle encoders, and two navigation positioning antennas. A classic inertial navigation scheme is used to obtain relatively accurate position information.

[0163] The real-time working state information of the AGV charging module (i.e., the charging arm) in the AGV lane of the AGV interaction area in the embodiment can be obtained according to two mechanical limit switches installed on the side of the charging arm, which belongs to a classic position judgment scheme in the existing industrial field, and the accuracy is guaranteed.

[0164] The real-time working state information of the AGV companion frame in the AGV lane of the AGV interaction area in the embodiment can be obtained according to eight inductive limit switches installed around the AGV companion frame and four magnetic scales installed inside the AGV companion frame, which belongs to a classic hydraulic cylinder position judgment scheme in the existing industrial field, and the accuracy is guaranteed.

[0165] The above only describes the preferred embodiments of the present application, and is not a limitation on the design of the present application. Any equivalent changes made according to the key design of the present application shall fall within the scope of protection of the present application.

Claims

1. A method for safety control of AGV interactive area operations, characterized in that: The application relates to an AGV interaction area operation safety control system, which comprises a plurality of AGV trolleys, a plurality of AGV interaction areas, a main control PLC module and a relay PLC module. Each AGV trolley is provided with a first PLC module, and the first PLC module is in communication connection with the main control PLC module. Each AGV interaction area is provided with a second PLC module and a plurality of AGV lanes, each AGV lane is provided with an AGV charging module or an AGV companion frame, and the control unit of the AGV charging module or the control unit of the AGV companion frame is in communication connection with the second PLC module. The relay PLC module is in communication connection with the main control PLC module and the second PLC module. The control method comprises the following steps: When the AGV trolley drives into the AGV lane from the outside to the inside or drives out of the AGV lane from the inside to the outside, the first PLC module acquires the driving state information of the AGV trolley and transmits the driving state information to the main control PLC module, meanwhile, the second PLC module acquires the working state information of the AGV charging module or the AGV companion frame corresponding to the AGV lane and transmits the working state information to the main control PLC module through the relay PLC module, and the main control PLC module controls the start and stop of the AGV trolley in the AGV interaction area according to the driving state information and the working state information and cooperates with the first PLC module.

2. The AGV interaction zone job safety control method of claim 1, wherein: The main control PLC module is provided with a main control information comprehensive processing unit, a plurality of main control data receiving units and a plurality of main control data sending units, and the main control information comprehensive processing unit is in electrical connection with the main control data receiving units and the main control data sending units.

3. The AGV interaction zone job safety control method of claim 2, wherein: The relay PLC module is provided with a relay information integration unit, a plurality of relay data receiving units and a relay data sending unit, the relay information integration unit is in electrical connection with the relay data receiving units and the relay data sending unit, and the relay data sending unit is in communication connection with the main control data receiving unit.

4. The AGV interaction zone job safety control method of claim 3, wherein: The second PLC module is provided with an interaction information integration unit, an interaction data receiving unit and an interaction data sending unit, the interaction information integration unit is in electrical connection with the interaction data receiving unit and the interaction data sending unit, the control unit of the AGV charging module or the control unit of the AGV companion frame is in communication connection with the interaction data receiving unit, and the interaction data sending unit is in communication connection with the relay data receiving unit.

5. The AGV interaction zone job safety control method of claim 2, wherein: The first PLC module is provided with an AGV information comprehensive processing unit, a first data receiving unit, a first data sending unit and a vehicle information acquisition unit, the AGV information comprehensive processing unit is in electrical connection with the first data receiving unit, the first data sending unit and the vehicle information acquisition unit, the AGV information comprehensive processing unit is in electrical connection with the brake module of the AGV trolley, the first data receiving unit is in electrical connection with the main control data sending unit, and the first data sending unit is in electrical connection with the main control data receiving unit.

6. The AGV interaction zone job safety control method of claim 5, wherein: The upper computer is in communication connection with the main control information comprehensive processing unit and the AGV information comprehensive processing unit.

7. The AGV interaction zone job safety control method of claim 1, wherein: The first PLC module and the main control PLC module and the relay PLC module and the main control PLC module are in communication connection through a 5G wireless Ethernet.

8. The AGV interaction zone job safety control method of claim 1, wherein: The control unit of the AGV charging module or the control unit of the AGV companion frame is respectively connected with the second PLC module through industrial Ethernet, and the second PLC module is connected with the relay PLC module through industrial Ethernet.

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