AGV emergency vehicle moving control device and control method

Abstract

The application discloses an AGV emergency vehicle moving control device and a control method, relates to the field of vehicle control, and solves the problem that a vehicle cannot be quickly moved when the AGV controller fails. The manual control module is directly connected with each motor driver and does not depend on CAN communication of the AGV main controller, and can independently output mode switching signals and motor action trigger signals, fundamentally avoiding the influence of AGV main controller failure on motor control and avoiding the whole vehicle from being paralyzed when the main controller fails. Each motor driver is pre-set with two sets of independent programs, executes external signal control logic, responds to the manual control module signals, needs to continuously receive the motor action trigger signals for a preset time length, executes the external signal control logic, and improves operation safety. The manual control module can be immediately enabled without waiting for accessories or relying on a travelling crane, and an operator can control the AGV to move by switching modes and triggering buttons, thereby improving vehicle moving efficiency.

Description

Technical Field

[0001] This application relates to the field of vehicle control, and in particular to an AGV emergency relocation control device and control method. Background Technology

[0002] The Automated Guided Vehicle (AGV) controller is the core control unit of the AGV, responsible for coordinating key functions such as motion control, path planning, environmental perception, and system communication to achieve automated operations in scenarios such as material handling and warehousing logistics.

[0003] For warehouses with dozens of AGVs, if an AGV controller malfunctions and cannot be moved, it will not only affect the overall operational efficiency of the warehouse, but may also cause other AGVs to collide with it and cause traffic congestion due to the offline status of the malfunctioning AGV.

[0004] Currently, the main reason for AGV malfunctions on the market is that the damage to a certain device causes communication problems for the entire vehicle, preventing the AGV main controller from controlling the motor driver to perform actions such as steering, walking, and fork lifting. There are several common solutions: the AGV supplier sends a replacement part to the site; the communication controller sends a command to energize the motor's brake, putting the motor in a follow-up state, and then the malfunctioning AGV is manually pushed or pulled; or the AGV is lifted out of the area using a crane.

[0005] However, the above solutions have drawbacks such as long replacement cycles or energizing the motor's brake, which puts the motor in a follow-up state and does not allow the motor to rotate in a fully controllable manner, making them inconvenient for on-site implementation.

[0006] Therefore, how to quickly and promptly transfer a faulty vehicle when it stops due to an AGV controller malfunction is a technical problem that urgently needs to be solved by those in this field. Summary of the Invention

[0007] The purpose of this application is to provide an AGV emergency vehicle relocation control device and control method to solve the problem of being unable to quickly relocate a faulty vehicle when it stops due to an AGV controller malfunction.

[0008] To solve the above-mentioned technical problems, this application provides an AGV emergency relocation control device, applied to the AGV body, including: multiple motor drivers installed on the AGV body, motor assemblies respectively connected to each motor driver, and a manual control module connected to each of the motor drivers; The manual control module is used to output mode switching signals and motor action trigger signals to each of the motor drivers; Each of the motor drivers has two sets of control logic programs pre-set inside, namely CAN communication control logic and external signal control logic. The motor driver executes the corresponding control logic program according to the received mode switching signal. When the mode switching signal received by the motor driver is a first preset value, the CAN communication control logic is executed to respond to the CAN communication command sent by the AGV main controller. When the mode switching signal received by the motor driver is the second preset value, and the motor action trigger signal is continuously received for a preset duration, the external signal control logic is executed to control the corresponding motor component to perform the vehicle moving operation.

[0009] As an optional solution, in the above-mentioned AGV emergency relocation control device, the manual control module includes: a mode switching switch and at least one motor action button; The mode switching switch is connected to each of the motor drivers and is used to output the mode switching signal; The motor action button is connected to the corresponding motor driver and is used to output the motor action trigger signal for the corresponding motor component to act, and different motor action buttons correspond to different action states of the motor component.

[0010] As an optional solution, in the above-mentioned AGV emergency relocation control device, the motor assembly includes a walking motor, a steering motor, and an oil pump motor; Correspondingly, the motor driver includes: a travel driver, a steering driver, and an oil pump driver; The walking driver is connected to the walking motor signal and is used to receive control signals and drive the walking motor to move to realize the forward or backward movement of the AGV. The steering drive is signal-connected to the steering motor and is used to receive control signals and drive the steering motor to achieve left or right turns of the AGV. The oil pump driver is connected to the oil pump motor signal and is used to receive control signals and drive the oil pump motor to lift the AGV forks.

[0011] As an optional solution, in the above-mentioned AGV emergency relocation control device, the motor action buttons include a forward button, a reverse button, a left turn button, a right turn button, and a lift button; The signal output terminals of the forward button and the backward button are respectively connected to the digital signal input port of the walking driver, and are used to output forward trigger signal and backward trigger signal to the walking driver. When the walking driver receives a mode switching signal of the second preset value and continuously receives a forward trigger signal for a preset duration or a backward trigger signal for a preset duration, it controls the walking motor to move forward or backward. The signal output terminals of the left turn button and the right turn button are respectively connected to the digital signal input port of the steering driver, and are used to output left turn trigger signal and right turn trigger signal to the steering driver. When the steering driver receives a mode switching signal of the second preset value and continuously receives a left turn trigger signal for a preset duration or a right turn trigger signal for a preset duration, it controls the steering motor to turn left or right. The signal output terminal of the lifting button is connected to the digital signal input port of the oil pump driver, and is used to output a lifting trigger signal to the oil pump driver. When the oil pump driver receives a mode switching signal of the second preset value and continues to receive the lifting trigger signal for a preset duration, it controls the oil pump motor to lift.

[0012] As an optional solution, in the above-mentioned AGV emergency relocation control device, when the walking driver executes the external signal control logic, it controls the walking motor to rotate at a speed of 50 rpm; when the steering driver executes the external signal control logic, it controls the steering motor to rotate at a speed of 20 degrees / min; and when the oil pump driver executes the external signal control logic, it controls the oil pump motor to rotate at a speed of 50 rpm.

[0013] As an optional solution, the above-mentioned AGV emergency relocation control device also includes: a load detection module; The load detection module is connected to the travel driver, steering driver, and oil pump driver respectively, and the detection end of the load detection module is respectively set on the output shaft side of the travel motor, steering motor, and oil pump motor to collect the load data of each motor output shaft in real time during the operation process. When the load data of a motor is detected to exceed the preset safe load threshold of the motor, the load detection module sends a load over-limit signal to the corresponding motor driver; the motor driver performs a protection action after receiving the load over-limit signal.

[0014] As an optional solution, the above-mentioned AGV emergency relocation control device also includes: multiple sets of load indicator lights; The load indicator light is connected to the load detection module. Each set of load indicator lights corresponds to the travel motor, steering motor, and oil pump motor respectively; each set of load indicator lights includes multiple LEDs of different colors to indicate the current load status.

[0015] As an optional solution, in the above-mentioned AGV emergency relocation control device, the mode switching switch is a rotary switch; The rotary switch has two positions, which correspond to the mode switching signals of the first preset value and the second preset value, respectively. Each of the two positions of the rotary switch has a position positioning protrusion, which mechanically limits the rotation of the knob to the corresponding position. When the knob is turned to automatic mode, a first preset value signal is output; when the knob is turned to manual mode, a second preset value signal is output.

[0016] As an optional solution, in the above-mentioned AGV emergency relocation control device, the manual control module is connected to the AGV body via a quick-release interface; The quick-release interface includes a female connector on the AGV body and a male connector on the manual control module. The female connector is connected to the motor driver signal line inside the AGV body, and the male connector is electrically connected to the signal output terminal of the manual control module. The male connector is connected by a snap-fit ​​structure after being inserted into the female connector.

[0017] To address the aforementioned technical problems, this application also provides an AGV emergency relocation control method, applied to an AGV emergency relocation control device, comprising: multiple motor drivers mounted on the AGV body, motor assemblies respectively connected to each motor driver, and a manual control module connected to each motor driver; the manual control module is used to output mode switching signals and motor action trigger signals to each motor driver; each motor driver has two preset control logic programs, namely CAN communication control logic and external signal control logic, and the motor driver executes the corresponding control logic program according to the received mode switching signal; when the mode switching signal received by the motor driver is a first preset value, the CAN communication control logic is executed to respond to the CAN communication command sent by the AGV main controller; when the mode switching signal received by the motor driver is a second preset value, and the motor action trigger signal is continuously received for a preset duration, the external signal control logic is executed to control the corresponding motor assembly to move, thereby realizing the relocation operation; The method includes: Receives the mode switching signal and motor action trigger signal sent by the manual control module; When the mode switching signal is a first preset value, the CAN communication control logic is executed to respond to the CAN communication command sent by the AGV main controller; When the mode switching signal is the second preset value and the motor action trigger signal is continuously received for a preset duration, the external signal control logic is executed to control the corresponding motor component to operate.

[0018] The AGV emergency relocation control device provided in this application features a manual control module that connects directly to each motor driver, independent of the AGV main controller's CAN communication. It can independently output mode switching signals and motor action trigger signals, fundamentally avoiding the impact of AGV main controller failure on motor control and preventing the entire vehicle from becoming paralyzed due to main controller failure. Each motor driver has two preset independent programs: one executes CAN communication control logic and the other responds to normal commands from the AGV main controller. This dual-logic design enables switching between normal and fault conditions, ensuring uninterrupted AGV operation while providing dedicated control logic for fault relocation. The external signal control logic responds to signals from the manual control module, requiring continuous reception of motor action trigger signals for a preset duration before execution. This prevents accidental AGV movement due to button presses during fault relocation, improving operational safety. The manual control module can be activated immediately without waiting for spare parts or relying on overhead cranes. Operators can control AGV movement by switching modes and triggering buttons, improving relocation efficiency, effectively preventing aisle blockage, and ensuring continuous warehouse operations.

[0019] In addition, this application also provides an AGV emergency relocation control method, which corresponds to the above-mentioned AGV emergency relocation control device and has the same effect. Attached Figure Description

[0020] To more clearly illustrate the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This application provides a schematic diagram of an AGV emergency relocation control device; Figure 2 This application provides a schematic diagram of a manual control module panel; Figure 3 This application provides a schematic diagram of the control signal transmission for a manual control module; Figure 4 This application provides a flowchart of an AGV emergency relocation control method.

[0022] Figure label: 11-Manual control module; 12-Motor driver; 13-Motor assembly; 14-AGV main controller. Detailed Implementation

[0023] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of this application.

[0024] The core of this application is to provide an AGV emergency relocation control device and control method.

[0025] To enable those skilled in the art to better understand the present application, the present application will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0026] This application provides an AGV emergency relocation control device, applied to the AGV body, such as... Figure 1 As shown, it includes: multiple motor drivers 12 mounted on the AGV body, motor assemblies 13 connected to each motor driver 12 respectively, and manual control modules 11 connected to each motor driver 12; The manual control module 11 is used to output mode switching signals and motor action trigger signals to each motor driver 12; Each motor driver 12 has two sets of control logic programs pre-set inside, namely CAN communication control logic and external signal control logic. The motor driver 12 executes the corresponding control logic program according to the received mode switching signal. When the mode switching signal received by the motor driver 12 is the first preset value, the CAN communication control logic is executed to respond to the CAN communication command sent by the AGV main controller 14. When the mode switching signal received by the motor driver 12 is the second preset value, and the motor action trigger signal is continuously received for a preset duration, the external signal control logic is executed to control the corresponding motor component 13 to move the vehicle.

[0027] It should be noted that the motor driver 12 in this embodiment is not limited to a specific model; it can be a common type such as a DC motor driver 12, a servo motor driver 12, or a stepper motor driver 12. Generally, DC motor drivers 12 are often used in warehouse AGVs because they are lower in cost and can meet the torque requirements for vehicle movement. In AGVs in precision assembly workshops, servo motor drivers 12 can be selected to improve vehicle movement accuracy. However, regardless of the type used, the core requirement is that two sets of switchable control logic programs must be built in; this does not mean that only a specific type of driver can implement this solution.

[0028] The specific configuration of the motor assembly 13 needs to be determined according to the functional requirements of the AGV. For example, for an AGV that only needs planar movement, the motor assembly 13 may only include a travel motor and a steering motor; while for an AGV with material handling function, an oil pump motor is also required to control the lifting of the forks. It should be noted that the number of motor assemblies 13 corresponds one-to-one with the number of motor drivers 12, that is, each motor is equipped with an independent driver. This is to ensure that the control of other motors is not affected when one motor fails, but it does not mean that multiple motors cannot share some circuit modules of the same driver.

[0029] The manual control module 11 can be an integrated control panel or a portable remote control. For example, an integrated control panel is typically fixed to the side of the AGV body and includes a mode switch and multiple action buttons, suitable for scenarios where operators can approach the AGV; on the other hand, a portable remote control connects to the motor driver 12 wirelessly and is suitable for scenarios where the AGV is stopped in a narrow area and is difficult for personnel to access. It should be noted that both forms must have signal output functionality and do not necessarily require a wired connection.

[0030] The first and second preset values ​​can take different signal forms. For example, the first preset value can be set to a low-level signal (0V) and the second preset value can be set to a high-level signal (24V), which is a common signal logic in industrial control; alternatively, the first preset value can be set to a digital signal "0" and the second preset value can be set to a digital signal "1", transmitted through a communication protocol. That is to say, as long as a clear distinction between the two states can be achieved, this embodiment does not impose strict limitations.

[0031] The preset duration should be determined by considering both ease of operation and safety. Generally, it can be set to 1-3 seconds: when the AGV has a light load or the working environment is open, 1 second can be used to improve operational efficiency; when the AGV has a heavy load or is in a densely populated area, 3 seconds can be used to reduce the risk of accidental activation. It should also be noted that the preset duration can be adjusted through the parameter configuration interface of the motor driver 12 and is not a fixed value.

[0032] The CAN communication control logic can execute actions immediately upon receiving commands from the main controller, making it suitable for dynamic control during normal operation. Alternatively, it can perform verification (such as command format and authorization verification) before executing actions, making it suitable for scenarios with high security requirements. It can execute actions at preset speeds and torques, with simple and easy-to-implement programs. It can also dynamically adjust action parameters based on load, environment, and other parameters, making it more suitable for complex operating conditions.

[0033] Motor action trigger signals can be mechanically triggered, generating signals through the on / off state of a physical button, which is simple and reliable; they can also be inductively triggered, generating signals through non-contact methods such as infrared or touch, which is suitable for harsh environments such as dust and humidity; or they can be combined to trigger, requiring the simultaneous triggering of two or more signal sources to be effective, further reducing the risk of misoperation.

[0034] This application establishes a main controller-CAN communication ( Figure 1 (connected by dashed line) and manual control module 11 - external signal ( Figure 1 The AGV main controller 14 operates normally, while the motor driver 12 executes the CAN communication control logic, which does not affect the AGV's normal operation. When the main controller fails, the motor can be switched to the external signal control logic via the manual control module 11, thus enabling controllable motor operation.

[0035] The AGV emergency relocation control device provided in this application has a manual control module 11 that is directly connected to each motor driver 12, without relying on the CAN communication of the AGV main controller 14. It can independently output mode switching signals and motor action trigger signals, fundamentally avoiding the impact of AGV main controller 14 failure on motor control and preventing the entire vehicle from being paralyzed due to main controller failure. Each motor driver 12 has two preset independent programs, executing CAN communication control logic and responding to normal commands from the AGV main controller 14. This dual-logic design enables switching between normal and fault conditions, ensuring normal AGV operation without affecting it, while providing dedicated control logic for fault relocation. It executes external signal control logic, responding to signals from the manual control module 11. It requires continuous reception of motor action trigger signals for a preset duration before executing the external signal control logic, preventing accidental AGV movement due to button presses during fault relocation and improving operational safety. The manual control module 11 can be activated immediately without waiting for spare parts or relying on overhead cranes. Operators can control AGV movement by switching modes and triggering buttons, improving relocation efficiency, effectively preventing aisle blockage, and ensuring continuous warehouse operations.

[0036] According to the above embodiment, specifically, the manual control module 11 includes: a mode switching switch and at least one motor action button; A mode switching switch is connected to each motor driver 12 and is used to output a mode switching signal; The motor action button is connected to the corresponding motor driver 12 and is used to output the motor action trigger signal for the corresponding motor component 13. Different motor action buttons correspond to different action states of the motor component 13.

[0037] The mode switching switch, as the core of the control logic switching, is connected to each motor driver 12 in a manner that allows one mode switching switch to simultaneously output the same mode switching signal to all motor drivers 12, including the travel driver, steering driver, and oil pump driver. This ensures that all motor drivers 12 switch control logic synchronously, avoiding a chaotic situation where some drivers are in CAN communication mode while others are in external signal mode.

[0038] The mode switch can be a rotary knob with automatic and manual positions. When the knob is turned to the automatic position, a first preset signal (e.g., low level 0V) is output. At this time, all motor drivers 12 execute the CAN communication control logic and respond to the commands of the AGV main controller 14. When the knob is turned to the manual position, a second preset signal (e.g., high level 24V) is output, and all motor drivers 12 synchronously switch to the ready-to-trigger state of the external signal control logic. It should be noted that the signal level values ​​here are only examples and do not represent mandatory values. In actual applications, they can be adjusted according to the electrical parameters of the motor drivers 12.

[0039] In addition, the mode switch can also adopt a button-type structure, allowing mode switching by long-pressing (e.g., for 2 seconds), while also equipped with an indicator light to display the current mode. For example, a green indicator light indicates CAN communication mode, and a red indicator light indicates external signal mode, preventing accidental mode switching and improving operational safety.

[0040] The number of motor action buttons corresponds to the number of action states of motor assembly 13. For example, the travel motor needs to achieve both forward and backward states, so a forward button and a backward button are provided; the steering motor needs to achieve both left and right turns, so a left turn button and a right turn button are provided; the oil pump motor needs to achieve the fork lifting state, so a lift button is provided. It should be noted that this does not mean that the number of motor action buttons is fixed. If the AGV needs to perform other actions (such as fork lowering), corresponding motor action buttons can be added.

[0041] Secondly, the motor operation buttons are connected one-to-one with their corresponding motor drivers 12. Specifically, the forward and reverse buttons are connected to the travel driver, the left and right turn buttons are connected to the steering driver, and the lift button is connected to the oil pump driver. The advantage of this connection method is that each motor operation button only controls its corresponding motor driver 12, avoiding signal interference. For example, when the forward button is pressed, only a forward trigger signal is output to the travel driver, without affecting the working status of the steering driver and the oil pump driver.

[0042] Different motor operation buttons correspond to different operating states of motor assembly 13, which is achieved by outputting different trigger signals. For example, when the forward button outputs a high-level signal, the travel driver controls the travel motor to rotate forward; when the reverse button outputs a high-level signal, the travel driver controls the travel motor to rotate in reverse. Similarly, the left turn button and the right turn button output different trigger signals to the steering driver to control the steering motor to rotate forward and in reverse.

[0043] When the AGV main controller 14 is working normally, the mode switch is in automatic mode, outputting the first preset value signal. All motor drivers 12 execute CAN (Controller Area Network) communication control logic, and the signal from the motor action button will not affect the working state of the motor driver 12. When the AGV main controller 14 malfunctions, the operator turns the mode switch to manual mode, outputting the second preset value signal. All motor drivers 12 switch to the standby state of the external signal control logic. At this time, pressing the corresponding motor action button will cause the corresponding motor driver 12 to control the motor assembly 13 to execute the corresponding action after continuously receiving the trigger signal for a preset time. The manual control module 11 realizes global switching of control logic through the mode switch and precise control of specific actions through the motor action buttons, ensuring both automated operation of the AGV during normal operation and controllable movement of the AGV during malfunctions.

[0044] According to the above embodiments, specifically, the motor assembly 13 includes a travel motor, a steering motor, and an oil pump motor; Correspondingly, the motor driver 12 includes: a travel driver, a steering driver, and an oil pump driver; The walking driver is connected to the walking motor signal and is used to receive control signals and drive the walking motor to move the AGV forward or backward. The steering drive is connected to the steering motor signal and is used to receive control signals and drive the steering motor to achieve the left or right turn of the AGV. The oil pump driver is connected to the oil pump motor signal and is used to receive control signals and drive the oil pump motor to lift the AGV forks.

[0045] This embodiment defines motor assembly 13 as including a travel motor, a steering motor, and an oil pump motor. These three types of motors correspond to different movement requirements of the AGV. The travel motor, as the core of the AGV's movement, is typically a DC geared motor. Its output shaft is connected to the AGV wheels through a transmission mechanism, achieving forward or backward movement through forward and reverse rotation. The steering motor changes the AGV's direction of movement. It typically uses a stepper motor or servo motor, connected to the AGV's steering wheels through a gear transmission mechanism, achieving steering by precisely controlling the rotation angle. The oil pump motor is mainly used to drive the hydraulic system, realizing the lifting action of the AGV's forks, and is generally a hydraulic motor. Its working principle is that the motor drives the hydraulic pump to operate, delivering hydraulic oil to the fork lifting cylinder, thereby realizing the lifting of the forks. It should be noted that the lowering action of the forks usually does not require the oil pump motor to drive, but is achieved through the control of hydraulic valves. Therefore, the main function of the oil pump motor is to provide lifting power.

[0046] The motor drive 12 is also divided into a travel drive, a steering drive, and a hydraulic pump drive. The travel drive needs to have forward and reverse rotation control functions and speed adjustment functions. The core function of the steering drive is to precisely control the rotation angle of the steering motor, and its control signal is usually a pulse signal or angle command. For example, when a left turn trigger signal is received, the steering drive outputs a specific number of pulses to control the steering motor to rotate a preset angle (such as 30 degrees); when a right turn trigger signal is received, it outputs reverse pulses to control the steering motor to rotate in the opposite direction by the same angle. The main function of the hydraulic pump drive is to control the start, stop, and speed of the hydraulic pump motor, and its output power needs to match the hydraulic pump motor. When a lifting trigger signal is received, the hydraulic pump drive outputs a drive voltage to make the hydraulic pump motor run, and controls the motor speed by adjusting the output voltage, thereby controlling the lifting speed of the forks.

[0047] The one-to-one correspondence between the motor assembly 13 and the motor driver 12 ensures the independent implementation of each function, while also enabling collaborative work through unified control logic.

[0048] According to the above embodiments, specifically, as follows: Figure 2 As shown, the motor operation buttons include a forward button, a reverse button, a left turn button, a right turn button, and a hoist button; The signal output terminals of the forward button and the backward button are respectively connected to the digital signal input port of the walking driver, and are used to output forward trigger signals and backward trigger signals to the walking driver. When the walking driver receives a mode switching signal of the second preset value and continuously receives a forward trigger signal for a preset duration or a backward trigger signal for a preset duration, it controls the walking motor to move forward or backward. The signal output terminals of the left turn button and the right turn button are respectively connected to the digital signal input port of the steering drive to output left turn trigger signal and right turn trigger signal to the steering drive. When the steering drive receives the mode switching signal as the second preset value and continuously receives the left turn trigger signal for a preset duration or the right turn trigger signal for a preset duration, it controls the steering motor to turn left or right. The signal output terminal of the lifting button is connected to the digital signal input port of the oil pump driver, and is used to output a lifting trigger signal to the oil pump driver. When the oil pump driver receives the mode switching signal of the second preset value and continues to receive the lifting trigger signal for a preset duration, it controls the oil pump motor to lift.

[0049] The connection between the motor action button and the corresponding motor driver 12 adopts digital signal transmission. Digital signals have the characteristics of strong anti-interference ability and stable transmission, and are suitable for control signal transmission in industrial environments.

[0050] Specifically, such as Figure 3 As shown, the signal output terminals of the forward and reverse buttons are connected to two digital signal input ports (e.g., DL-1 and DL-2) of the travel drive via wires, while the left and right turn buttons are connected to two digital signal input ports (e.g., DL-3 and DL-4) of the steering drive, and the lift button is connected to one digital signal input port (e.g., DL-5) of the oil pump drive. In practical applications, the configuration can be based on the button type and does not necessarily require a specific signal format.

[0051] The corresponding connection design between each button and the drive ensures that different actions are independent of each other. For example, steering will not affect walking, and lifting will not interfere with steering. This makes complex vehicle movement scenarios (such as turning while moving forward) possible and improves the flexibility of the device. In fact, by combining the operation of different buttons, complex movement trajectories of the AGV can be achieved to meet the vehicle movement needs in different warehouse environments.

[0052] According to the above embodiments, specifically, when the travel driver executes the external signal control logic, it controls the travel motor to rotate at a speed of 50 rpm; when the steering driver executes the external signal control logic, it controls the steering motor to rotate at a speed of 20 degrees / min; when the oil pump driver executes the external signal control logic, it controls the oil pump motor to rotate at a speed of 50 rpm.

[0053] When the travel drive executes external signal control logic, the travel motor speed is set to 50 rpm to avoid high-speed operation (typically 80-120 rpm) during normal operation. Lowering the speed allows sufficient reaction time, preventing collisions due to operational errors. While the operator moves synchronously with the AGV and controls it in real time, this speed is not the only selectable value. Preferably, the travel motor speed can be adjusted through the travel drive's parameter interface. For example, when moving the vehicle in an open area, the speed can be increased to 60-70 rpm to improve efficiency; in narrow alleys or densely populated areas, it can be reduced to 30-40 rpm to enhance safety.

[0054] The steering motor is designed with a speed of 20 degrees / min. Steering actions require precise angle control (such as 30 degrees to the left and 45 degrees to the right). Low-speed rotation helps to achieve precise angle control and avoids oversteering due to excessive speed.

[0055] The oil pump motor speed is set to 50 rpm. The oil pump motor speed directly affects the output flow of the hydraulic pump. The flow rate corresponding to 50 rpm can ensure that the forks lift at a suitable speed (such as 50 mm / s), so that the goods will not shake due to excessive speed, nor will the moving efficiency be affected by excessive speed.

[0056] According to the above embodiments, specifically, it also includes: a load detection module; The load detection module is connected to the travel driver, steering driver, and oil pump driver respectively, and the detection end of the load detection module is set on the output shaft side of the travel motor, steering motor, and oil pump motor respectively, to collect the load data of each motor output shaft in real time during the operation process. When the load data of a motor is detected to exceed the preset safe load threshold of the motor, the load detection module sends a load over-limit signal to the corresponding motor driver 12; the motor driver 12 performs protection action after receiving the load over-limit signal.

[0057] The load detection module does not represent a single sensor device, but can be a distributed detection system composed of multiple detection units. Specifically, independent load detection units are configured for the travel motor, steering motor, and oil pump motor. These units are connected to the central control module via a signal bus, and the central control module then establishes signal connections with the travel drive, steering drive, and oil pump drive, respectively.

[0058] For travel motors and oil pump motors, the detection end is usually installed at the connection between the motor output shaft and the transmission mechanism, and the output torque data is collected by a torque sensor; for steering motors, the detection end is installed on the steering drive shaft, and the steering load is indirectly calculated by an angle sensor combined with a current detection circuit.

[0059] The preset safe load threshold for each motor is set individually based on the motor's rated parameters and actual operating conditions. It can be adjusted through the configuration interface of the load detection module to adapt to different usage scenarios.

[0060] When the load detection module detects that the load data of a certain motor exceeds its preset threshold, it will immediately send a load over-limit signal to the corresponding motor driver 12. For example, when the AGV encounters an obstacle during fault relocation and the output torque of the travel motor exceeds the safety threshold, the load detection module sends a high-level signal to the travel driver. Upon receiving this signal, the travel driver will immediately execute a protection action without waiting for other conditions to prevent the motor from being damaged due to continuous overload.

[0061] According to the above embodiments, specifically, it also includes: multiple sets of load indicator lights; The load indicator light is connected to the load detection module. Each set of load indicator lights corresponds to the travel motor, steering motor, and oil pump motor respectively; each set of load indicator lights includes multiple LEDs of different colors to indicate the current load status.

[0062] Multiple load indicator lights correspond one-to-one with the load detection module. This ensures that the load status of a particular motor is displayed only through its dedicated indicator light group, avoiding confusion of load information between different motors.

[0063] Each load indicator light typically has 3-4 LEDs of different colors. A common combination is "green, yellow, and red" (3 LEDs), where green represents safety, yellow represents warning, and red represents danger.

[0064] The number of LED beads is set to match the number of load status levels. In this embodiment, "green (light load), yellow (medium load), and red (overload)" are used as examples.

[0065] The load indicator light can be integrated into the surface of the manual control module 11, allowing operators to simultaneously observe the load status while operating the buttons; or it can be installed independently on the AGV body, labeled with the motor type, facilitating side observation of the load status by other personnel when multiple people are working together. The load indicator light can also assist operators in diagnosing the cause of malfunctions.

[0066] According to the above embodiment, specifically, the mode switching switch is a rotary switch; The rotary switch has two positions, which correspond to the mode switching signals of the first preset value and the second preset value, respectively. Each position of the rotary switch has a position positioning protrusion, which mechanically limits the rotation of the knob to the corresponding position. When the knob is turned to automatic mode, a first preset value signal is output; when the knob is turned to manual mode, a second preset value signal is output.

[0067] The two positions of the rotary switch (automatic and manual) correspond one-to-one with the on / off states of the internal electrical contacts. When the knob is turned to the automatic position, the first set of contacts closes and outputs a first preset value signal (e.g., low level 0V or digital signal 0); when the knob is turned to the manual position, the second set of contacts closes and outputs a second preset value signal (e.g., high level 24V or digital signal 1).

[0068] The knob switch has two position positioning protrusions that cooperate with the internal groove structure of the knob: when the knob is rotated to automatic or manual mode, the protrusions will engage with the corresponding grooves to prevent the knob from accidentally sliding when the AGV vibrates or is slightly bumped.

[0069] According to the above embodiment, specifically, the manual control module 11 is connected to the AGV body through a quick-release interface; The quick-release interface includes a female connector on the AGV body and a male connector on the manual control module 11. The female connector is connected to the signal line of the motor driver 12 inside the AGV body, and the male connector is electrically connected to the signal output terminal of the manual control module 11. After the male connector is inserted into the female connector, it is connected by a snap-fit ​​structure.

[0070] The female connector is pre-installed on the side or front of the AGV body, and integrates multiple sets of signal contacts, which are connected to the signal lines of the travel driver, steering driver, and oil pump driver, respectively. The male connector is fixed to the back of the manual control module 11, and its contact number and arrangement match those of the female connector. When the male connector is inserted into the female connector, the signal contacts of both are precisely aligned, enabling signal communication between the manual control module 11 and each motor driver 12.

[0071] The AGV body's female connector and the manual control module 11's male connector can be connected via a connecting cable with a female connector and a male connector, respectively. This increases the physical transmission distance. When operators cannot approach the AGV, a 3-meter or 5-meter long connecting cable allows operators to control the AGV's movement from a safe distance, avoiding accidental risks. For example, if the AGV stops under a shelf due to a malfunction and the shelf is at risk of collapse, the operator can stand in a safe area and control the AGV to move out of the danger zone via the long connecting cable without entering the risk area.

[0072] This application also provides an AGV emergency relocation control method, applied to an AGV emergency relocation control device, including: multiple motor drivers mounted on the AGV body, motor components connected to each motor driver, and a manual control module connected to each motor driver; the manual control module is used to output mode switching signals and motor action trigger signals to each motor driver; each motor driver has two sets of preset control logic programs, namely CAN communication control logic and external signal control logic, and the motor driver executes the corresponding control logic program according to the received mode switching signal; when the mode switching signal received by the motor driver is a first preset value, the CAN communication control logic is executed to respond to the CAN communication command sent by the AGV main controller; when the mode switching signal received by the motor driver is a second preset value, and the motor action trigger signal is continuously received for a preset duration, the external signal control logic is executed to control the corresponding motor component to move, so as to realize the relocation operation; like Figure 4 As shown, the method includes: S11: Received the mode switching signal and motor action trigger signal sent by the manual control module; S12: When the mode switching signal is the first preset value, execute the CAN communication control logic to respond to the CAN communication command sent by the AGV main controller; S13: When the mode switching signal is the second preset value and the motor action trigger signal is continuously received for a preset duration, the external signal control logic is executed to control the corresponding motor component to operate.

[0073] This embodiment corresponds to the embodiment of the AGV emergency relocation control device section. Please refer to the description of the embodiment of the AGV emergency relocation control device section, which will not be repeated here.

[0074] The AGV emergency relocation control device and control method provided in this application have been described in detail above. The various embodiments in the specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the devices disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the descriptions are relatively simple; relevant parts can be referred to in the method section. It should be noted that those skilled in the art can make several improvements and modifications to this application without departing from the principles of this application, and these improvements and modifications also fall within the protection scope of the claims of this application.

[0075] It should also be noted that, in this specification, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes the element.

Claims

1. An AGV emergency relocation control device, applied to the AGV body, characterized in that, include: Multiple motor drivers mounted on the AGV body, motor assemblies connected to each motor driver, and manual control modules connected to each motor driver; The manual control module is used to output mode switching signals and motor action trigger signals to each of the motor drivers; Each of the motor drivers has two sets of control logic programs pre-set inside, namely CAN communication control logic and external signal control logic. The motor driver executes the corresponding control logic program according to the received mode switching signal. When the mode switching signal received by the motor driver is a first preset value, the CAN communication control logic is executed to respond to the CAN communication command sent by the AGV main controller. When the mode switching signal received by the motor driver is the second preset value, and the motor action trigger signal is continuously received for a preset duration, the external signal control logic is executed to control the corresponding motor component to perform the vehicle moving operation.

2. The AGV emergency relocation control device according to claim 1, characterized in that, The manual control module includes: a mode switching switch and at least one motor action button; The mode switching switch is connected to each of the motor drivers and is used to output the mode switching signal; The motor action button is connected to the corresponding motor driver and is used to output the motor action trigger signal for the corresponding motor component to act, and different motor action buttons correspond to different action states of the motor component.

3. The AGV emergency relocation control device according to claim 2, characterized in that, The motor assembly includes a travel motor, a steering motor, and an oil pump motor; Correspondingly, the motor driver includes: a travel driver, a steering driver, and an oil pump driver; The walking driver is connected to the walking motor signal and is used to receive control signals and drive the walking motor to move to realize the forward or backward movement of the AGV. The steering drive is signal-connected to the steering motor and is used to receive control signals and drive the steering motor to achieve left or right turns of the AGV. The oil pump driver is connected to the oil pump motor signal and is used to receive control signals and drive the oil pump motor to lift the AGV forks.

4. The AGV emergency relocation control device according to claim 3, characterized in that, The motor operation buttons include a forward button, a reverse button, a left turn button, a right turn button, and a lift button; The signal output terminals of the forward button and the backward button are respectively connected to the digital signal input port of the walking driver, and are used to output forward trigger signal and backward trigger signal to the walking driver. When the walking driver receives a mode switching signal of the second preset value and continuously receives a forward trigger signal for a preset duration or a backward trigger signal for a preset duration, it controls the walking motor to move forward or backward. The signal output terminals of the left turn button and the right turn button are respectively connected to the digital signal input port of the steering driver, and are used to output left turn trigger signal and right turn trigger signal to the steering driver. When the steering driver receives a mode switching signal of the second preset value and continuously receives a left turn trigger signal for a preset duration or a right turn trigger signal for a preset duration, it controls the steering motor to turn left or right. The signal output terminal of the lifting button is connected to the digital signal input port of the oil pump driver, and is used to output a lifting trigger signal to the oil pump driver. When the oil pump driver receives a mode switching signal of the second preset value and continues to receive the lifting trigger signal for a preset duration, it controls the oil pump motor to lift.

5. The AGV emergency relocation control device according to claim 3, characterized in that, When the travel drive executes the external signal control logic, it controls the travel motor to rotate at a speed of 50 rpm; when the steering drive executes the external signal control logic, it controls the steering motor to rotate at a speed of 20 degrees / min; when the oil pump drive executes the external signal control logic, it controls the oil pump motor to rotate at a speed of 50 rpm.

6. The AGV emergency relocation control device according to claim 3, characterized in that, It also includes: a load detection module; The load detection module is connected to the travel driver, steering driver, and oil pump driver respectively, and the detection end of the load detection module is respectively set on the output shaft side of the travel motor, steering motor, and oil pump motor to collect the load data of each motor output shaft in real time during the operation process. When the load data of a motor is detected to exceed the preset safe load threshold of the motor, the load detection module sends a load over-limit signal to the corresponding motor driver; the motor driver performs a protection action after receiving the load over-limit signal.

7. The AGV emergency relocation control device according to claim 6, characterized in that, It also includes: multiple sets of load indicator lights; The load indicator light is connected to the load detection module. Each set of load indicator lights corresponds to the travel motor, steering motor, and oil pump motor respectively; each set of load indicator lights includes multiple LEDs of different colors to indicate the current load status.

8. The AGV emergency relocation control device according to claim 2, characterized in that, The mode switching switch is a rotary switch; The rotary switch has two positions, which correspond to the mode switching signals of the first preset value and the second preset value, respectively. Each of the two positions of the rotary switch has a position positioning protrusion, which mechanically limits the rotation of the knob to the corresponding position. When the knob is turned to automatic mode, a first preset value signal is output; when the knob is turned to manual mode, a second preset value signal is output.

9. The AGV emergency relocation control device according to claim 2, characterized in that, The manual control module is connected to the AGV body via a quick-release interface; The quick-release interface includes a female connector on the AGV body and a male connector on the manual control module. The female connector is connected to the motor driver signal line inside the AGV body, and the male connector is electrically connected to the signal output terminal of the manual control module. The male connector is connected by a snap-fit ​​structure after being inserted into the female connector.

10. An AGV emergency relocation control method, characterized in that, An emergency vehicle relocation control device for AGVs includes: multiple motor drivers mounted on the AGV body, motor assemblies connected to each motor driver, and a manual control module connected to each motor driver. The manual control module outputs mode switching signals and motor action trigger signals to each motor driver. Each motor driver has two pre-set control logic programs: CAN communication control logic and external signal control logic. The motor driver executes the corresponding control logic program based on the received mode switching signal. When the received mode switching signal is a first preset value, the motor driver executes the CAN communication control logic to respond to the CAN communication command sent by the AGV main controller. When the received mode switching signal is a second preset value, and the motor action trigger signal is continuously received for a preset duration, the motor driver executes the external signal control logic to control the corresponding motor assembly to perform the vehicle relocation operation. The method includes: Receives the mode switching signal and motor action trigger signal sent by the manual control module; When the mode switching signal is a first preset value, the CAN communication control logic is executed to respond to the CAN communication command sent by the AGV main controller; When the mode switching signal is the second preset value and the motor action trigger signal is continuously received for a preset duration, the external signal control logic is executed to control the corresponding motor component to operate.

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