Obstacle avoidance control circuit of AGV (Automatic Guided Vehicle)

Abstract

The utility model discloses an obstacle avoidance control circuit of an AGV (Automatic Guided Vehicle). The obstacle avoidance control circuit comprises a lithium battery, an electromagnetic brake, a normally open relay, a normally closed relay, a whole vehicle controller and an obstacle avoidance sensor, the normally-open relay and the normally-closed relay are arranged in parallel, and are connected in series with the electromagnetic brake between the positive electrode and the negative electrode of the lithium battery; and the vehicle control unit and the obstacle avoidance sensor are respectively connected in series between the positive electrode and the negative electrode of the lithium battery. The output end of the vehicle control unit is electrically connected with the coil end of the normally-open relay so as to control the on-off state of the normally-open relay. The output end of the obstacle avoidance sensor is electrically connected with the coil end of the normally-closed relay, and when the obstacle avoidance sensor detects an obstacle, a high level is output, so that the normally-closed relay is disconnected. When the AGV reaches the goods taking position, the vehicle control unit outputs a high level, the normally-open relay is closed, the electromagnetic brake is kept in a power-on state, and therefore the AGV completes the goods taking action. According to the utility model, the driving safety and the goods taking accuracy of the AGV can be improved.

Description

Technical Field

[0001] The utility model relates to the technical field of AGV control circuits, and more specifically, to an obstacle avoidance control circuit for an AGV vehicle. Background Art

[0002] When the AGV is operating automatically, the forward speed is faster and the reverse speed (fork direction) is slower. For safety reasons and to facilitate automatic charging and picking up and releasing goods, obstacle avoidance sensors are generally installed in the forward direction of the AGV. When driving in the reverse direction, although the speed is slower, there is still a safety hazard due to the lack of obstacle avoidance detection. Now obstacle avoidance sensors are installed in the fork direction to ensure the safety of reverse driving, but when the AGV arrives at the pickup point, the obstacle avoidance sensor is likely to treat the goods as obstacles and not pick up the goods. Therefore, how to ensure the safety of AGV driving in the reverse direction and the normal picking up and releasing of goods is of great significance. Utility Model Content

[0003] The utility model provides an obstacle avoidance control circuit for an AGV trolley, which solves the problem that the existing AGV trolley cannot correctly pick up goods when an obstacle avoidance sensor is installed in the direction of the fork to ensure the safety of reverse driving, and can improve the driving safety of the AGV trolley and the accuracy of picking up goods.

[0004] In order to achieve the above objectives, the utility model provides the following technical solutions:

[0005] An obstacle avoidance control circuit for an AGV vehicle comprises: a lithium battery, an electromagnetic brake, a normally open relay, a normally closed relay, a vehicle controller and an obstacle avoidance sensor;

[0006] The normally open relay and the normally closed relay are arranged in parallel and connected in series with the electromagnetic brake between the positive electrode and the negative electrode of the lithium battery;

[0007] The vehicle controller and the obstacle avoidance sensor are respectively connected in series between the positive electrode and the negative electrode of the lithium battery;

[0008] The output end of the vehicle controller is electrically connected to the coil end of the normally open relay to control the on and off of the normally open relay;

[0009] The output end of the obstacle avoidance sensor is electrically connected to the coil end of the normally closed relay, and when the obstacle avoidance sensor detects an obstacle, it outputs a high level to disconnect the normally closed relay;

[0010] When the normally open relay and the normally closed relay are both disconnected, the electromagnetic brake is powered off and locked, causing the motor to stop running;

[0011] The vehicle controller outputs a high level when the AGV arrives at the pickup position, closing the normally open relay and keeping the electromagnetic brake powered on, so that the AGV completes the pickup action.

[0012] Preferably, it also includes: a key switch;

[0013] The key switch is connected in series to the positive output terminal of the lithium battery, and when the key switch is closed, the lithium battery outputs current to the outside;

[0014] When the key switch is turned off, the electrical connection of the output current of the lithium battery is disconnected.

[0015] Preferably, it also includes: a DC-DC converter;

[0016] The DC-DC converter is connected in series with the key switch, and the DC-DC converter converts the 48V DC output of the lithium battery into a 24V DC output;

[0017] The output end of the DC-DC converter is electrically connected to the electromagnetic brake, the vehicle controller and the obstacle avoidance sensor respectively.

[0018] Preferably, it also includes: a first fuse;

[0019] The first fuse is connected in series between the DC-DC converter and the electromagnetic brake, and is used for current limiting protection of the power-on current of the electromagnetic brake.

[0020] Preferably, it also includes: a second fuse;

[0021] The second fuse is connected in series between the DC-DC converter and the vehicle controller, and is used for current limiting protection of the power-on current of the vehicle controller.

[0022] Preferably, it also includes: a third fuse;

[0023] The third fuse is connected in series between the DC-DC converter and the obstacle avoidance sensor, and is used for current limiting protection of the power-on current of the obstacle avoidance sensor.

[0024] Preferably, the obstacle avoidance sensor is a laser sensor.

[0025] Preferably, the vehicle controller is connected to the obstacle avoidance sensor signal, and the vehicle controller determines whether an obstacle is encountered based on the obstacle avoidance sensor detection signal.

[0026] The utility model provides an obstacle avoidance control circuit for an AGV trolley, in which a normally open relay and a normally closed relay are arranged in parallel, and are connected in series with an electromagnetic brake between the positive and negative electrodes of the lithium battery. The normally open relay is controlled by a vehicle controller, and the normally closed relay is controlled by an obstacle avoidance sensor. When both the normally open relay and the normally closed relay are disconnected, the electromagnetic brake is powered off and locked, causing the motor to stop running. When the vehicle is in the cargo pickup position, the vehicle controller controls the normally open relay to close, causing the motor to keep running. The utility model solves the problem that the existing AGV trolley cannot correctly pick up cargo when an obstacle avoidance sensor is installed in the cargo fork direction to ensure the safety of reverse driving, and can improve the driving safety of the AGV trolley and the accuracy of cargo pickup. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the specific embodiments of the present utility model, the drawings required for use in the embodiments will be briefly introduced below.

[0028] Figure 1 The utility model is a schematic diagram of an obstacle avoidance control circuit of an AGV car provided by the utility model. DETAILED DESCRIPTION

[0029] In order to enable those skilled in the art to better understand the solutions of the embodiments of the present utility model, the embodiments of the present utility model are further described in detail below in conjunction with the accompanying drawings and implementation methods.

[0030] In view of the problem that the current AGV trolley cannot correctly pick up goods when an obstacle avoidance sensor is installed in the direction of the fork to ensure the safety of reverse driving, the utility model provides an obstacle avoidance control circuit for an AGV trolley, which solves the problem that the existing AGV trolley cannot correctly pick up goods when an obstacle avoidance sensor is installed in the direction of the fork to ensure the safety of reverse driving, and can improve the driving safety of the AGV trolley and the accuracy of picking up goods.

[0031] like Figure 1As shown, an obstacle avoidance control circuit of an AGV vehicle includes: a lithium battery 1, an electromagnetic brake 5, a normally open relay 6, a normally closed relay 7, a vehicle controller 10 and an obstacle avoidance sensor 12. The normally open relay 6 and the normally closed relay 7 are arranged in parallel, and are connected in series with the electromagnetic brake 5 between the positive and negative electrodes of the lithium battery 1. The vehicle controller and the obstacle avoidance sensor are respectively connected in series between the positive and negative electrodes of the lithium battery. The output end of the vehicle controller 10 is electrically connected to the coil end 6-1 of the normally open relay to control the on and off of the normally open relay. The output end of the obstacle avoidance sensor is electrically connected to the coil end 7-1 of the normally closed relay, and outputs a high level when the obstacle avoidance sensor detects an obstacle, so that the normally closed relay 7 is disconnected; when the normally open relay 6 and the normally closed relay 7 are both disconnected, the electromagnetic brake 5 is powered off and locked, so that the motor 8 stops running. The vehicle controller 10 outputs a high level when the AGV arrives at the pickup position, closing the normally open relay 6 and keeping the electromagnetic brake 5 energized, so that the AGV completes the pickup action.

[0032] Specifically, when the AGV arrives at the pickup point, the output terminal of the vehicle controller VCU outputs a high level, closing the normally open relay. At this time, the obstacle avoidance sensor may regard the goods at the pickup point as an obstacle, and the output terminal of the obstacle avoidance sensor outputs a high level, disconnecting the normally closed relay. Although the normally closed relay is disconnected, the normally open relay in parallel with the normally closed relay is closed, so that the electromagnetic brake is energized, and the motor of the AGV is still in operation, which can realize the pickup action. This circuit can improve the safety of AGV driving and the accuracy of picking up goods.

[0033] The circuit also includes: a key switch 2; the key switch 2 is connected in series to the positive output terminal of the lithium battery 1, and when the key switch 2 is closed, the lithium battery outputs current to the outside; when the key switch 2 is opened, the electrical connection of the output current of the lithium battery is disconnected.

[0034] The circuit also includes: a DC-DC converter 3; the DC-DC converter 3 is connected in series with the key switch 2, and the DC-DC converter 3 converts the 48V DC output of the lithium battery into a 24V DC output; the output end of the DC-DC converter 3 is electrically connected to the electromagnetic brake 5, the vehicle controller 10 and the obstacle avoidance sensor 12 respectively.

[0035] The circuit further comprises: a first fuse 4; the first fuse 4 is connected in series between the DC-DC converter 3 and the electromagnetic brake 5, and is used for current limiting protection of the power-on current of the electromagnetic brake.

[0036] The circuit also includes: a second fuse 9; the second fuse 9 is connected in series between the DC-DC converter 3 and the vehicle controller 10, and is used for current limiting protection of the power-on current of the vehicle controller.

[0037] Preferably, it also includes: a third fuse 11; the third fuse 11 is connected in series between the DC-DC converter 3 and the obstacle avoidance sensor, and is used for current limiting protection of the power-on current of the obstacle avoidance sensor 12.

[0038] Furthermore, the obstacle avoidance sensor adopts a laser sensor.

[0039] Furthermore, the vehicle controller is connected to the obstacle avoidance sensor signal, and the vehicle controller determines whether an obstacle is encountered based on the obstacle avoidance sensor detection signal.

[0040] In actual application, the obstacle avoidance sensor 12 adopts a laser sensor. The AGV automatically runs in the picking and releasing path. There is an obstacle in the path. After the laser sensor detects the obstacle, the laser sensor output terminal OUT outputs a high level, and the normally closed relay coil terminal 7-1 is energized, so that the normally closed relay 7 is disconnected, the electromagnetic brake 5 circuit is disconnected, the electromagnetic brake 5 is powered off and locked, the motor 8 stops rotating, and the AGV stops running. After the obstacle is manually removed, the laser sensor does not detect the obstacle, the laser sensor output terminal OUT outputs a low level, the normally closed relay coil terminal 7-1 loses power, the normally closed relay 7 is energized, the electromagnetic brake 5 circuit is energized, the motor 8 rotates normally, and the AGV continues to travel.

[0041] When arriving at the pick-up and release station, after the AGV fork performs the pick-up and release action, although it will trigger the laser sensor, making the laser sensor output terminal OUT high level, the normally closed relay coil terminal 7-1 is energized, and the normally closed relay 7 is disconnected, but because when arriving at the pick-up and release station, the vehicle controller VCU output terminal OUT outputs a high level, the normally open relay coil terminal 6-1 is energized, and the normally open relay 6 is energized, so that the electromagnetic brake 5 circuit is still energized, and the motor 8 still rotates normally, thereby completing the pick-up and release action.

[0042] It can be seen that the utility model provides an obstacle avoidance control circuit for an AGV trolley, in which a normally open relay and a normally closed relay are arranged in parallel, and are connected in series with an electromagnetic brake between the positive and negative electrodes of the lithium battery. The normally open relay is controlled by the vehicle controller, and the normally closed relay is controlled by the obstacle avoidance sensor. When the normally open relay and the normally closed relay are both disconnected, the electromagnetic brake is powered off and locked to stop the motor. When the vehicle is in the pickup position, the vehicle controller controls the normally open relay to close to keep the motor running. This solves the problem that the existing AGV trolley cannot correctly pick up goods when an obstacle avoidance sensor is installed in the direction of the fork to ensure the safety of reverse driving, and can improve the driving safety of the AGV trolley and the accuracy of picking up goods.

[0043] The above describes in detail the structure, features and effects of the utility model based on the embodiments shown in the drawings. The above is only a preferred embodiment of the utility model, but the utility model is not limited to the scope of implementation as shown in the drawings. Any changes made in accordance with the concept of the utility model, or modifications to equivalent embodiments with equivalent changes, which still do not exceed the spirit covered by the description and the drawings, should be within the protection scope of the utility model.

Claims

1. An obstacle avoidance control circuit for an AGV, characterized in that: include: Lithium battery, electromagnetic brake, normally open relay, normally closed relay, vehicle controller and obstacle avoidance sensor; The normally open relay and the normally closed relay are arranged in parallel and connected in series with the electromagnetic brake between the positive electrode and the negative electrode of the lithium battery; The vehicle controller and the obstacle avoidance sensor are respectively connected in series between the positive electrode and the negative electrode of the lithium battery; The output end of the vehicle controller is electrically connected to the coil end of the normally open relay to control the on and off of the normally open relay; The output end of the obstacle avoidance sensor is electrically connected to the coil end of the normally closed relay, and when the obstacle avoidance sensor detects an obstacle, it outputs a high level to disconnect the normally closed relay; When the normally open relay and the normally closed relay are both disconnected, the electromagnetic brake is powered off and locked, causing the motor to stop running; The vehicle controller outputs a high level when the AGV arrives at the pickup position, closing the normally open relay and keeping the electromagnetic brake powered on, so that the AGV completes the pickup action.

2. The obstacle avoidance control circuit of the AGV according to claim 1 is characterized in that: Also includes: Key switch; The key switch is connected in series to the positive output terminal of the lithium battery, and when the key switch is closed, the lithium battery outputs current to the outside; When the key switch is turned off, the electrical connection of the output current of the lithium battery is disconnected.

3. The obstacle avoidance control circuit of the AGV according to claim 2 is characterized in that: Also includes: DC-DC converter; The DC-DC converter is connected in series with the key switch, and the DC-DC converter converts the 48V DC output of the lithium battery into a 24V DC output; The output end of the DC-DC converter is electrically connected to the electromagnetic brake, the vehicle controller and the obstacle avoidance sensor respectively.

4. The obstacle avoidance control circuit of the AGV according to claim 3 is characterized in that: Also includes: First fuse; The first fuse is connected in series between the DC-DC converter and the electromagnetic brake, and is used for current limiting protection of the power-on current of the electromagnetic brake.

5. The obstacle avoidance control circuit of the AGV according to claim 4 is characterized in that: Also includes: Second fuse; The second fuse is connected in series between the DC-DC converter and the vehicle controller, and is used for current limiting protection of the power-on current of the vehicle controller.

6. The obstacle avoidance control circuit of the AGV according to claim 5, characterized in that: Also includes: The third fuse; The third fuse is connected in series between the DC-DC converter and the obstacle avoidance sensor, and is used for current limiting protection of the power-on current of the obstacle avoidance sensor.

7. The obstacle avoidance control circuit of the AGV according to any one of claims 1 to 6, characterized in that: The obstacle avoidance sensor adopts a laser sensor.

8. The obstacle avoidance control circuit of the AGV according to claim 7, characterized in that: The vehicle controller is connected to the obstacle avoidance sensor signal, and the vehicle controller determines whether an obstacle is encountered based on the obstacle avoidance sensor detection signal.

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