Control circuit for switching manual driving mode of fork-type AGV (Automatic Guided Vehicle)

Abstract

The embodiment of the utility model discloses a control circuit for switching a manual driving mode of a fork-type AGV (Automatic Guided Vehicle), which comprises three independent contactors, a universal change-over switch and a load isolation switch, and is characterized in that the three independent contactors are respectively connected between three-phase connection circuits of a walking motor and an AGV walking driver; a C1 terminal of the universal change-over switch is connected with a coil contact of the independent contactor; three groups of terminals of the universal change-over switch are respectively connected with two-phase connecting terminals of the steering motor, the AGV steering driver and the original vehicle steering driver; three groups of terminals of the load isolation switch are respectively connected with three-phase connecting terminals of the oil pump motor, the AGV oil pump driver and the original vehicle oil pump driver, the N phase at the upper end of the load isolation switch is used for being connected with the main power supply end of the AGV, and the N phase at the lower end of the load isolation switch is used for being connected with the main power supply end of original factory forklift equipment.

Description

Technical Field

[0001] The present application relates to the field of warehousing and logistics technology, and in particular to a control circuit for switching a fork-type AGV to a manual driving mode. Background Art

[0002] In the warehousing and logistics scenario, the warehouse inventory may overflow, so the goods need to be piled in the storage aisles to meet the storage capacity requirements. In the AGV automatic forklift warehouse, if the aisles are piled with goods, the AGV's operating path will be occupied, causing the AGV automatic forklift to be unable to operate. In this case, the return on investment of the AGV automatic forklift will be seriously affected, which requires the AGV automatic forklift to be able to automatically control when the aisles meet the automatic operation requirements to realize unmanned operations in the warehouse. In the case of overflow, the AGV can switch to manual driving mode, allowing the AGV to restore the traditional forklift function, allowing the forklift driver to control the forklift to achieve efficient storage and handling, further improving the return on investment of the AGV forklift.

[0003] Although the working modes of AGV are generally automatic control operation and manual handle control, the AGV automatic forklift modified from the forklift body is large, and the movement and turning of the body, the forward movement and retraction of the gantry, and the lifting and lowering of the fork are generally slow when controlled by one handle. It is impossible to achieve the flexibility and speed of the forklift's own movement. As a result, in scenarios where automatic driving is not suitable, if the manual mode is selected for logistics handling operations, the efficiency is extremely low, so the manual mode of the AGV automatic forklift can basically only be used as a temporary means to handle simple AGV movements. Summary of the invention

[0004] The purpose of the present application is to provide a control circuit for switching a fork-type AGV to a manual driving mode, so as to solve the problem in the prior art that when the AGV automatic forklift selects the manual mode for logistics handling operations in scenarios where automatic driving is not suitable, the efficiency is extremely low, so the manual mode of the AGV automatic forklift can basically only be used as a temporary means to handle the simple movement of the AGV.

[0005] To achieve the above-mentioned purpose, the embodiment of the present application provides a control circuit for switching a fork-type AGV to a manual driving mode, comprising: an independent contactor, a universal transfer switch, and a load isolation switch, wherein:

[0006] There are three independent contactors, which are respectively connected between the three-phase connection circuits of the travel motor and the AGV travel driver;

[0007] The C1 terminal of the universal conversion switch is connected to the coil contact of the independent contactor;

[0008] The three groups of terminals of the universal conversion switch are respectively connected to the two-phase connection terminals of the steering motor, the AGV steering drive and the original vehicle steering drive;

[0009] The three groups of terminals of the load isolation switch are respectively connected to the three-phase connection terminals of the oil pump motor, the AGV oil pump driver and the original vehicle oil pump driver. The upper N phase of the load isolation switch is used to connect to the main power supply end of the AGV, and the lower N phase of the load isolation switch is used to connect to the main power supply end of the original forklift equipment.

[0010] Optionally, the independent contactors include KM2 contactors, KM3 contactors, and KM4 contactors, one end of the KM2 contactor is used to connect to the U phase of the walking motor, and the other end is used to connect to the U phase of the AGV walking driver, one end of the KM3 contactor is used to connect to the V phase of the walking motor, and the other end is used to connect to the V phase of the AGV walking driver, one end of the KM4 contactor is used to connect to the W phase of the walking motor, and the other end is used to connect to the W phase of the AGV walking driver.

[0011] Optionally, the X1-1 terminal of the universal conversion switch is used to connect to the positive phase of the steering motor, the X1-2 terminal is used to connect to the negative phase of the steering motor, the A1 terminal is used to connect to the U phase of the AGV steering driver, the B1 terminal is used to connect to the V phase of the AGV steering driver, the A2 terminal is used to connect to the positive pole of the original vehicle steering driver, and the B2 terminal is used to connect to the negative pole of the original vehicle steering driver.

[0012] Optionally, the lower terminals A, B, and C of the load isolation switch are respectively used to connect to the U, V, and W phases of the oil pump motor, the upper terminals A, B, and C of the load isolation switch are respectively used to connect to the U, V, and W phase terminals of the AGV oil pump driver, and the lower terminals A, B, and C of the load isolation switch are respectively used to connect to the U, V, and W phase terminals of the original vehicle oil pump driver.

[0013] The embodiments of the present application have the following advantages:

[0014] An embodiment of the present application provides a control circuit for switching a fork-type AGV to a manual driving mode, comprising: an independent contactor, a universal conversion switch, and a load isolation switch, wherein there are three independent contactors, which are respectively connected between the three-phase connection circuits of a walking motor and an AGV walking driver; the C1 terminal of the universal conversion switch is connected to the coil contact of the independent contactor; the three groups of terminals of the universal conversion switch are respectively connected to the two-phase connection terminals of a steering motor, an AGV steering driver, and an original vehicle steering driver; the three groups of terminals of the load isolation switch are respectively connected to the three-phase connection terminals of an oil pump motor, an AGV oil pump driver, and an original vehicle oil pump driver, the upper N phase of the load isolation switch is used to be connected to the main power supply end of the AGV, and the lower N phase of the load isolation switch is used to be connected to the main power supply end of the original forklift equipment.

[0015] Compared with the prior art, the control circuit provided by the above technical solution can quickly realize the switching between automatic operation and manual driving of the AGV automatic forklift. After adding a set of universal conversion switches and a set of load isolation switches to the AGV control circuit, the purpose of switching the circuit can be achieved by rotating two knobs. Under this circuit design, not only the control mode switching is achieved, but also the electrical equipment in another mode can be protected from the current shock when the other mode is used. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the implementation methods of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for the implementation methods or the description of the prior art. Obviously, the drawings described below are only exemplary, and for ordinary technicians in this field, other implementation drawings can be derived from the provided drawings without creative work.

[0017] Figure 1 A schematic diagram of a travel motor drive switching circuit of a control circuit for switching a fork-type AGV to a manual driving mode provided by at least one embodiment of the present application;

[0018] Figure 2 A schematic diagram of a steering motor drive switching circuit of a control circuit for switching a fork-type AGV to a manual driving mode provided by at least one embodiment of the present application;

[0019] Figure 3 A schematic diagram of an oil pump motor drive switching circuit of a control circuit for switching a fork-type AGV to a manual driving mode provided by at least one embodiment of the present application;

[0020] Figure 4 A schematic diagram of a universal conversion switch structure of a control circuit for switching a fork-type AGV to a manual driving mode provided by at least one embodiment of the present application;

[0021] Figure 5 A schematic diagram of a load isolation switch structure of a control circuit for switching a fork-type AGV to a manual driving mode provided by at least one embodiment of the present application;

[0022] Figure 6 A schematic diagram of the main power supply circuit of a control circuit for switching a fork-type AGV to a manual driving mode provided in at least one embodiment of the present application. DETAILED DESCRIPTION

[0023] The following is a description of the implementation of the present application by specific specific embodiments. People familiar with the technology can easily understand other advantages and effects of the present application from the contents disclosed in this specification. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.

[0024] In the description of the present application, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first", "second", and "third" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance. Unless otherwise clearly specified and limited, the terms "set", "install", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be a connection between the two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific circumstances.

[0025] In addition, the technical features involved in the different embodiments of the present application described below can be combined with each other as long as they do not conflict with each other.

[0026] For reach trucks on conventional forklift bodies, all operating actions are controlled by the original controller provided by the forklift manufacturer. The controller collects forklift operating data through various input and output signals. When controlling the output signal, it refers to the forklift operating data to achieve peak suppression of the control threshold to ensure safe and stable manual driving.

[0027] The automatic driving mode of AGV automatic forklift is similar to that of manual forklift control. It adds positioning technology and safety modules as the perception function of the automatic forklift, replacing human eyes. Through the control module of AGV automatic forklift, the position, height, speed, angle and other information provided by the perception function are obtained. The three main power output devices of the forklift, namely the travel motor, steering motor and hydraulic oil pump motor, are controlled to complete the forklift's travel, steering and lifting and lowering of the fork.

[0028] Based on the above technical foundation, if you want to switch between AGV automatic forklift and manual driving, you can do it in the following ways:

[0029] Both the original forklift controller and the AGV automatic forklift controller issue control instructions to the original motor driver. In manual mode, the AGV automatic forklift controller keeps the control signal silent and does not output any control signal. In the case of automatic driving, the original forklift controller keeps the signal silent and does not output any control signal.

[0030] This solution has the following difficulties:

[0031] (1) The communication protocol of the original forklift controller cannot be obtained, and there is no way to realize the control of the original motor driver by the AGV automatic forklift controller;

[0032] (2) It is impossible to ensure that the control signal of the original vehicle controller is silent in automatic mode, which may cause control confusion under automatic operation and lead to accidents.

[0033] (3) In automatic mode, if manual driving is turned on at the same time, the data fed back by the sensor to the original vehicle controller will be erroneous due to the operation under automatic driving, resulting in program confusion in manual driving mode.

[0034] Based on the above reasons, it is necessary to achieve complete isolation of the two control signals between the AGV automatic control and manual driving modes. While keeping the circuit, control driver, sensor, and driving remote sensing button of the original vehicle's manual driving system unchanged, an independent set of automatic driving circuits, control drivers, and sensor systems are added to the AGV automatic driving mode to achieve complete isolation of the two systems.

[0035] Since the two systems ultimately control several key devices, including the travel motor, steering motor, oil pump motor, and oil pump solenoid valve, the travel motor, steering motor, and oil pump motor have high power and relatively large current during operation. If the U, V, and W three-phase AC circuits of the two systems are always connected in parallel, there is a high possibility that when the driver in one mode supplies power to the motor, the output end of the driver in another mode will have a large reverse current, causing damage to the driver.

[0036] In order to solve the above problems, the following embodiment of the present application provides a control circuit, which disconnects the power supply of another circuit when switching between two operating modes, so that the two control systems of the AGV automatic forklift do not interfere with each other.

[0037] Since it is necessary to install an electric box on the forklift body when converting from a manual forklift to an AGV automatic forklift, in order to minimize the obstruction of the driver's field of vision during manual driving, the electric box needs to be designed as compact as possible, so the device for switching the circuit needs to be designed as small as possible. Among the three motors of the forklift, the travel motor and the oil pump motor usually use AC asynchronous motors, and three power supply lines need to be disconnected. The steering motor is a DC brushed motor, and one power supply line needs to be disconnected. In order to prevent the main controller from receiving sensor data when it is not working, causing program errors, it is necessary to switch the power supply circuit of the main controller in the two modes at the same time.

[0038] Therefore, the embodiment of the present application provides a control circuit for switching a forklift AGV to a manual driving mode, referring to Figures 1 to 6 , including: independent contactor, universal transfer switch, load isolation switch, among which,

[0039] There are three independent contactors, which are respectively connected between the three-phase connection circuits of the travel motor and the AGV travel driver.

[0040] Specifically, the specific design is as follows Figure 1 As shown in the figure, the travel drive and the travel motor use three independent contactors to control the on and off. The contactors are closed by contact point control to control the on and off of the three phases U, V, and W respectively. The contact signals of the three independent contactors are provided by the third phase of the universal conversion switch of the steering drive, so that the travel drive can be switched at the same time as the steering drive is switched. Figure 1 The right part of the figure is the circuit principle of three independent contactors. Since three power supply circuits need to be controlled during the transformation, namely the main power supply circuit, the walking motor drive circuit, and the steering motor drive circuit, but the AGV installation space is limited and two load isolation switches cannot be installed, the contactor linkage control signal is used here to achieve the purpose of switching the circuit.

[0041] In some embodiments, the independent contactors include KM2 contactors, KM3 contactors, and KM4 contactors, one end of the KM2 contactor is used to connect to the U phase of the walking motor, and the other end is used to connect to the U phase of the AGV walking driver, one end of the KM3 contactor is used to connect to the V phase of the walking motor, and the other end is used to connect to the V phase of the AGV walking driver, one end of the KM4 contactor is used to connect to the W phase of the walking motor, and the other end is used to connect to the W phase of the AGV walking driver.

[0042] The C1 terminal of the universal conversion switch is connected to the coil contact of the independent contactor.

[0043] Specifically, the AGV travel drive wiring is as follows Figure 1 As shown, when the travel motor is connected to the AGV travel driver, the U phase is connected to KM2, the V phase is connected to KM3, and the W phase is connected to one end of KM4 ( Figure 1 The U1, V1, and W1 of the travel motor in the figure represent the corresponding U phase, V phase, and W phase respectively. The coil contacts of the contactors KM2, KM3, and KM4 are connected as follows: Figure 4 In the schematic diagram of the universal conversion switch, the C1 terminal is connected. When switched to C1 gear, the X1-3 circuit is connected, so that the coil contacts of KM2, KM3, and KM4 receive signals. At this time, KM2, KM3, and KM4 are connected, so that the travel drive and the travel motor are connected.

[0044] The three groups of terminals of the universal conversion switch are respectively connected to the two-phase connection terminals of the steering motor, the AGV steering driver and the original vehicle steering driver.

[0045] Specifically, the steering drive is implemented through a universal conversion switch, and the circuit on-off switching between the manual driving steering drive and the automatic driving steering drive is performed.

[0046] In some embodiments, the X1-1 terminal of the universal conversion switch is used to connect to the positive phase of the steering motor, the X1-2 terminal is used to connect to the negative phase of the steering motor, the A1 terminal is used to connect to the U phase of the AGV steering driver, the B1 terminal is used to connect to the V phase of the AGV steering driver, the A2 terminal is used to connect to the positive pole of the original vehicle steering driver, and the B2 terminal is used to connect to the negative pole of the original vehicle steering driver.

[0047] Specifically, the functions of the original car driver (including the original car steering driver, the original car oil pump driver, etc.) and the AGV driver (including the AGV steering driver, the AGV oil pump driver, etc.) are to control the motor to rotate, and control the motor to accelerate and decelerate through the speed loop, position loop and current loop. The difference is that the control signal received by the original car driver is a control signal from the manual control lever through the analog voltage, which controls the drive to control the speed of the motor. The size of all signals depends on the amplitude of the driver pushing the control lever. The AGV controller receives the CAN bus signal, which has a clear speed size in the signal. The AGV controller completes the smooth acceleration and deceleration of the motor through PID adjustment according to the speed of the motor feedback. The original car driver accepts qualitative amplitude control by humans, and the AGV driver accepts quantitative control by computers. Therefore, the original car driver and the AGV driver correspond to the manual driving mode and the automatic driving mode respectively.

[0048] Specifically, the AGV steering drive wiring is as follows Figure 2As shown in the figure, the steering motor is a brushed DC motor, so only two power supply lines are needed, which are connected to the U and V phase wiring segments of the steering driver respectively, which is actually a positive and a negative power supply. Figure 4 The electrical code of the universal conversion switch shown in the figure, the positive phase of the steering motor is connected to the X1-1 terminal of Q1, and the negative phase is connected to the X1-2 terminal of Q1. The U terminal of the AGV steering driver is connected to the A1 terminal of Q1, and the V terminal is connected to the B1 terminal of Q1. The positive pole of the original vehicle steering driver is connected to the A2 terminal of Q1, and the negative pole is connected to the B2 terminal of Q1. When the universal conversion switch rotates, it can control the on and off of the steering motor and the driver. Figure 4 In the figure, 1 represents a contact, 2 represents a contact spring, 3 represents a cam, and 4 represents a rotating shaft.

[0049] The three groups of terminals of the load isolation switch are respectively connected to the three-phase connection terminals of the oil pump motor, the AGV oil pump driver and the original vehicle oil pump driver. The upper N phase of the load isolation switch is used to connect to the main power supply end of the AGV, and the lower N phase of the load isolation switch is used to connect to the main power supply end of the original forklift (original vehicle) equipment.

[0050] Specifically, the oil pump driver performs dual-circuit control through the load isolation switch, and manual switching is achieved by turning the handle of the load isolation switch. While switching the oil pump motor power supply circuit, the circuit connected to the N phase simultaneously controls the power supply circuit of the main controller in both modes.

[0051] In some embodiments, the lower terminals A, B, and C of the load isolation switch are respectively used to connect to the U, V, and W phases of the oil pump motor, the upper terminals A, B, and C of the load isolation switch are respectively used to connect to the U, V, and W phase terminals of the AGV oil pump driver, and the lower terminals A, B, and C of the load isolation switch are respectively used to connect to the U, V, and W phase terminals of the original vehicle oil pump driver.

[0052] Specifically, the oil pump drive wiring of AGV is as follows: Figure 3 As shown, the oil pump motor is a three-phase AC motor with three phases U, V, and W. The oil pump motor is connected to the lower output terminal of the load isolation switch, and the three phases U, V, and W are connected to the lower layers of the three terminals A, B, and C respectively. Figure 3 Where F1 is the code for the load isolating switch. Figure 3 The U, V, and W three-phase terminals of the AGV oil pump driver are connected to the A, B, and C terminals at the upper end of the load isolation switch, and the main power supply of the AGV is connected to the N phase at the upper end of F1. Figure 6 The U, V, and W phases of the original vehicle oil pump driver are connected to the A, B, and C phases at the bottom of F1, and the main power supply of the original forklift equipment is connected to the N phase at the bottom of F1. After the wiring is completed, the original vehicle power supply and the AGV power supply are switched by the manual wrench of the isolation switch.

[0053] Through the above implementation process, the power supply circuits of the forklift's travel and steering motors can be switched by turning Q1. The power supply circuits of the forklift's main power supply and the oil pump motor can be switched by moving the F1 wrench. The original forklift control circuit and the AGV control circuit are completely isolated. The free switching function between the AGV's automatic mode and manual driving mode is realized.

[0054] In summary, compared with the prior art, the control circuit provided by the above technical solution can quickly realize the switching between automatic operation and manual driving of the AGV automatic forklift. After adding a set of universal conversion switches and a set of load isolation switches to the AGV control circuit, the purpose of switching the circuit can be achieved by rotating two knobs. Under this circuit design, not only the control mode switching (switching between manual driving mode and automatic driving mode) is achieved, but also the electrical equipment in another mode can be protected from the current shock when the other mode is used.

[0055] Note that, unless otherwise directly stated, all features disclosed in this specification (including any attached claims, abstracts and drawings) may be replaced by alternative features for achieving the same, equivalent or similar purposes. Therefore, unless otherwise explicitly stated, each feature disclosed is only an example of a group of equivalent or similar features. Where used, further, preferably, further and more preferably are simple beginnings for elaborating another embodiment based on the aforementioned embodiment, and the content of the further, preferably, further or more preferably followed by the combination with the aforementioned embodiment constitutes a complete construction of another embodiment. Several further, preferably, further or more preferably settings following the same embodiment can be arbitrarily combined to form another embodiment.

[0056] In the implementation of functions and steps, the corresponding functions and steps in various embodiments may also occur in a different order than shown. For example, two consecutive functions and steps may actually be performed or implemented substantially in parallel, and they may sometimes be performed or implemented in the opposite order, depending on the functions involved.

[0057] Although the present application has been described in detail above with general descriptions and specific embodiments, it is obvious to those skilled in the art that some modifications or improvements may be made to the present application. Therefore, these modifications or improvements made without departing from the spirit of the present application all fall within the scope of protection claimed in the present application.

Claims

1. A control circuit for switching a forklift AGV to a manual driving mode, characterized in that: include: Independent contactor, universal transfer switch, load isolation switch, among which, There are three independent contactors, which are respectively connected between the three-phase connection circuits of the travel motor and the AGV travel driver; The C1 terminal of the universal conversion switch is connected to the coil contact of the independent contactor; The three groups of terminals of the universal conversion switch are respectively connected to the two-phase connection terminals of the steering motor, the AGV steering driver and the original vehicle steering driver; The three groups of terminals of the load isolation switch are respectively connected to the three-phase connection terminals of the oil pump motor, the AGV oil pump driver and the original vehicle oil pump driver. The upper N phase of the load isolation switch is used to connect to the main power supply end of the AGV, and the lower N phase of the load isolation switch is used to connect to the main power supply end of the original forklift equipment.

2. The control circuit for switching the forklift AGV to the manual driving mode according to claim 1 is characterized in that: The independent contactors include KM2 contactor, KM3 contactor and KM4 contactor. One end of the KM2 contactor is used to connect to the U phase of the walking motor, and the other end is used to connect to the U phase of the AGV walking driver. One end of the KM3 contactor is used to connect to the V phase of the walking motor, and the other end is used to connect to the V phase of the AGV walking driver. One end of the KM4 contactor is used to connect to the W phase of the walking motor, and the other end is used to connect to the W phase of the AGV walking driver.

3. The control circuit for switching the forklift AGV to the manual driving mode according to claim 1 is characterized in that: The X1-1 terminal of the universal conversion switch is used to be connected to the positive phase of the steering motor, the X1-2 terminal is used to be connected to the negative phase of the steering motor, the A1 terminal is used to be connected to the U phase of the AGV steering driver, the B1 terminal is used to be connected to the V phase of the AGV steering driver, the A2 terminal is used to be connected to the positive pole of the original vehicle steering driver, and the B2 terminal is used to be connected to the negative pole of the original vehicle steering driver.

4. The control circuit for switching the forklift AGV to the manual driving mode according to claim 1 is characterized in that: The lower terminals A, B, and C of the load isolation switch are respectively used to connect to the U, V, and W phases of the oil pump motor, the upper terminals A, B, and C of the load isolation switch are respectively used to connect to the U, V, and W phase terminals of the AGV oil pump driver, and the lower terminals A, B, and C of the load isolation switch are respectively used to connect to the U, V, and W phase terminals of the original vehicle oil pump driver.

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