Lateral movement control circuit for automatic goods picking and placing of AGV (Automatic Guided Vehicle)

Abstract

The utility model discloses a lateral movement control circuit for automatic goods picking and placing of an AGV. The lateral movement control circuit comprises a lithium battery, a pump electric controller, a pump motor, a DCDC converter, a VCU controller and a lateral movement encoder. The lithium battery is electrically connected with the pump electric controller and the DCDC converter, and the output end of the DCDC converter is electrically connected with the VCU controller so as to supply 24V power to the VCU controller. And the VCU controller is respectively in communication connection with the side shift encoder and the pump electric control through a CAN (Controller Area Network) bus. The lateral movement encoder is arranged on the pallet fork lateral movement frame so as to detect the lateral movement position of the pallet fork in real time and feed the lateral movement position back to the VCU controller and the pump electric controller through the CAN bus. And the VCU controller sends a fork lateral movement message to the pump electric controller according to the fork lateral movement position. And the pump electric controller is in signal connection with a pump motor and controls operation or stop of the pump motor according to the pallet fork lateral movement message so as to control the lateral movement distance of the pallet fork of the AGV. According to the utility model, the intelligence of the AGV can be improved, and the operation safety can be enhanced.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of AGV taking and placing goods control, more particularly to a kind of AGV automatic taking and placing goods'side shift control circuit. BACKGROUND

[0002] AGV is automatic guided vehicle, and AGV realizes unmanned, automation handling in logistics transfer in industrial application, to achieve the purpose of reducing production cost, improving the economic efficiency of industry.But when existing AGV carries out automatic taking task, it is according to the fixed path of laser navigation algorithm planning, for some taking place is not fixed, for example, in the end is no power transmission line taking goods, with the weight of goods is different, goods is pushed to the position of power transmission line in transmission line, easy to cause side shift control inaccuracy, there is security risk.Therefore, how to realize AGV in the side shift accurate control of automatic taking and placing goods, it is of great significance. SUMMARY

[0003] The utility model provides a kind of AGV automatic taking and placing goods'side shift control circuit, solve the problem that existing AGV carries out automatic taking and placing goods when side shift control is not accurate, there is security risk, can improve the convenience and accuracy of AGV automatic storage and taking control, improve the intelligence of AGV, increase the security of operation.

[0004] To achieve the above object, the utility model provides the following technical scheme:

[0005] A kind of AGV automatic taking and placing goods'side shift control circuit, comprising: lithium battery, pump electric control, pump motor, DCDC converter, VCU controller and side shift encoder;

[0006] The lithium battery is electrically connected with the pump electric control and the DCDC converter respectively, and the output end of the DCDC converter is electrically connected with VCU controller, to supply 24V power supply to the VCU controller;

[0007] The VCU controller is communicatedly connected with the side shift encoder and the pump electric control respectively by CAN bus;

[0008] The side shift encoder is arranged on fork side shift frame, to detect fork side shift position in real time and feedback to the VCU controller and the pump electric control by CAN bus;

[0009] The VCU controller sends fork side shift message to the pump electric control according to the fork side shift position;

[0010] The pump electric control is signal connected with the pump motor, and according to the fork side shift message, the operation or stop of the pump motor is controlled, to control the side shift distance of the fork of AGV.

[0011] Preferably, it also includes: a host computer;

[0012] The VCU controller sends a control message to the pump control system according to the preset pick-up and drop-off positions in the host computer;

[0013] The pump control system controls the operation of the pump motor according to the control message and the fork side-shift message, so as to control the automatic picking and placing of goods by the AGV.

[0014] Preferably, it also includes: a left-shifting solenoid valve;

[0015] The first output terminal of the VCU controller is connected to the control terminal of the left-moving solenoid valve, and the left-moving solenoid valve is set in the left-moving control oil circuit of the fork.

[0016] When the first output of the VCU controller is high, the left-shifting solenoid valve is turned on to control the AGV's forks to move to the left.

[0017] Preferably, it also includes: a right-shifting solenoid valve;

[0018] The second output terminal of the VCU controller is connected to the control terminal of the right-moving solenoid valve, and the right-moving solenoid valve is set on the right-moving control oil circuit of the fork.

[0019] When the second output of the VCU controller is high, the right-moving solenoid valve is turned on to control the AGV's forks to move to the right.

[0020] Preferably, it also includes: a touch sensor;

[0021] The touch sensor is located in front of the fork tip of the AGV fork. The output end of the touch sensor is connected to the first input end of the VCU controller and is used to detect whether the pallet position on the fork is normal when loading or unloading goods.

[0022] Preferably, it also includes: a load sensor;

[0023] The load sensor is installed at the root of the AGV fork, and the output end of the load sensor is connected to the second input end of the VCU controller to detect whether the fork has completed the action of picking up and picking up goods.

[0024] Preferably, it also includes: a terminal recognition camera;

[0025] The end-of-line identification camera is connected to the VCU controller via an Ethernet cable and is installed at the root of the forks to identify the pallet position and calculate the distance between the pallet and the AGV.

[0026] The VCU controller controls the lateral movement distance of the forks based on the distance and the fork lateral movement message.

[0027] Preferably, it also includes: a key switch;

[0028] The key switch is connected in series with the positive output terminal of the lithium battery and is used to control the power-on or power-off of the AGV.

[0029] This invention provides a lateral movement control circuit for automatic AGV fork loading and unloading. The VCU controller communicates with the offset encoder and the pump control unit via a CAN bus. Based on the lateral movement position of the forks detected by the offset encoder, the VCU sends a fork lateral movement message to the pump control unit, causing the pump control unit to control the operation or stop of the pump motor, thereby controlling the lateral movement distance of the AGV forks. This solves the problem of inaccurate lateral movement control and safety hazards in existing AGV automatic fork loading and unloading operations, improves the convenience and accuracy of AGV automatic storage and retrieval control, enhances the intelligence of the AGV, and increases operational safety. Attached Figure Description

[0030] To more clearly illustrate the specific embodiments of this utility model, the accompanying drawings used in the embodiments will be briefly described below.

[0031] Figure 1 This is a schematic diagram of a side-shift control circuit for automatic AGV picking and placing of goods, provided by this utility model. Detailed Implementation

[0032] To enable those skilled in the art to better understand the embodiments of this utility model, the embodiments of this utility model will be further described in detail below with reference to the accompanying drawings and implementation methods.

[0033] To address the issues of inaccuracy, inconvenience, and safety hazards in the current lateral movement control of AGV automatic retrieval and placement, this utility model provides a lateral movement control circuit for AGV automatic retrieval and placement. This circuit solves the problems of inaccurate lateral movement control and safety hazards in existing AGV automatic retrieval and placement, improves the convenience and accuracy of AGV automatic storage and retrieval control, enhances the intelligence of AGVs, and increases operational safety.

[0034] like Figure 1As shown, an AGV automatic cargo retrieval and placement side-shift control circuit includes: a lithium battery 1, a key switch 2, a DC-DC converter 5, a VCU controller 6, a pump control unit 3, a pump motor 4, a side-shift encoder 9, a solenoid valve, a load sensor 11, a contact sensor 10, an end-effector camera 12, and a host computer 13. The lithium battery 1 supplies power to the entire vehicle. The DC-DC converter 5 converts the lithium battery voltage to power the VCU and other electrical components. The VCU controller 6 sends commands to control the AGV's operation via CAN communication. The side-shift encoder 9 feeds back the distance moved by the side-shift mechanism and sends this information to the VCU controller via CAN communication for program judgment. The solenoid valve controls the side-shifting of the forks. The load sensor 11 determines whether the AGV has completed cargo retrieval. The contact sensor 10 determines the position of the forks and the pallet. The end-effector camera 12 identifies the pallet and calculates its position. The host computer sends automatic control commands to the VCU controller via CAN communication. At the cargo retrieval station of the AGV automatic transport line, the end-effector camera scans the pallet position of the cargo, calculates the distance, and feeds it back to the VCU controller. The VCU controller then controls the forks to move to the pallet position to perform the picking task.

[0035] Specifically, the side shift control circuit includes: a lithium battery 1 connected in series with a key switch 2 to power a pump control 3; a pump motor 4 connected to the pump control 3 via a cable, which provides power and operating commands; a DC-DC converter 5 converting the lithium battery power to a 24V regulated power supply to power the VCU controller 6 and other electrical components; a left-shifting solenoid valve 7 and a right-shifting solenoid valve 8 connected to the output ports OUT1 and OUT2 of the VCU controller 6 respectively, controlling the oil circuit opening and closing; a side shift encoder 9 installed on the fork side shift frame, detecting the distance of the fork side shift and feeding it back to the VCU controller 6 via CAN communication for program judgment; a touch sensor 10 installed in front of the fork tip, with its signal connected to the input port IN1 of the VCU controller 6, detecting whether the fork position is normal when picking up goods; a load sensor 11 installed at the base of the fork, with its signal connected to the input port IN2 of the VCU controller 6, detecting whether the goods have been picked up; an end-of-line recognition camera 12 installed at the base of the fork, recognizing the pallet position and calculating the distance, feeding it back to the VCU controller 6 via Ethernet for program judgment; and a host computer 13 connected to the VCU controller 6 via CAN communication, providing automatic operation control commands.

[0036] When key switch 2 is closed, the entire vehicle is powered on. The host computer 13 sends instructions to control the AGV to run the conveyor line and pick up goods at the pickup station. The end-effector camera 12 scans the pallet position and calculates the distance Hmm from the pallet to the AGV. This calculation is then fed back to the VCU controller 6 via Ethernet. The VCU controller 6 controls the forks to move sideways by a distance Hmm.

[0037] Leftward movement: When the distance Hmm is positive and less than 50mm, VCU controller 6 sends a leftward movement message 01 to pump control 3 and sends a 300 rpm command to the pump motor through pump control 3. VCU controller 6 controls the OUT1 port to output a low level 0, the leftward movement solenoid valve 7 opens, the pump motor 4 rotates, and the forks move to the left. When the distance fed back by the side-shift encoder 9 is Hmm, VCU controller 6 sends a stop message 00 to pump control 3 and sends a 0 rpm command to the pump motor through pump control 3. VCU controller 6 controls the OUT1 port to output a high level, the leftward movement solenoid valve 7 closes, the pump motor 4 stops rotating, and the forks stop.

[0038] When the distance Hmm is positive and greater than 50mm, VCU controller 6 sends a left shift message 01 to pump control 3 and sends a 1000 rpm command to the pump motor through pump control 3. VCU controller 6 controls the OUT1 port to output a low level 0, the left shift solenoid valve 7 opens, the pump motor 4 rotates, and the forks move to the left. When the distance fed back by the side shift encoder 9 is (H-50)mm, VCU controller 6 sends a 300 rpm command to pump control 3, the pump motor 4 decelerates and continues to move to the left until the distance fed back by the side shift encoder 9 is Hmm. At this point, VCU controller 6 sends a stop message 00 to pump control 3 and sends a 0 rpm command to the pump motor through pump control 3. VCU controller 6 controls the OUT1 port to output a high level, the left shift solenoid valve 7 closes, the pump motor 4 stops rotating, and the forks stop.

[0039] Rightward movement: When the distance Hmm is negative and greater than -50mm, VCU controller 6 sends a rightward movement message 02 to pump control 3 and sends a 300 rpm command to the pump motor through pump control 3. VCU controller 6 controls the OUT2 port to output a low level of 0, the rightward movement solenoid valve 8 opens, the pump motor 4 rotates, and the forks move to the right. When the distance fed back by the side-shift encoder 9 is Hmm, VCU controller 6 sends a stop message 00 to pump control 3 and sends a 0 rpm command to the pump motor 4 through pump control 3. VCU controller 6 controls the OUT2 port to output a high level of 0, the rightward movement solenoid valve 8 closes, the pump motor 4 stops rotating, and the forks stop.

[0040] When the distance Hmm is negative and less than -50mm, VCU controller 6 sends a right shift message 02 to pump control 3 and sends a 1000 rpm command to the pump motor through pump control 3. VCU controller 6 controls the OUT2 port to output a low level 0, the right shift solenoid valve 8 opens, the pump motor 4 rotates, and the forks move to the right. When the distance fed back by the side shift encoder 9 is (H+50)mm, VCU controller 6 sends a 300 rpm command to pump control 3, the pump motor 4 decelerates and continues to move to the right until the distance fed back by the side shift encoder 9 is Hmm. At this point, VCU controller 6 sends a stop message 00 to pump control 3 and sends a 0 rpm command to the pump motor through pump control 3. VCU controller 6 controls the OUT2 port to output a high level, the right shift solenoid valve 8 closes, the pump motor 4 stops rotating, and the forks stop.

[0041] After the forks move to the correct position, the status of the touch sensor 10 is checked. A high level is input to input port IN1 of the VCU controller 6, triggering the touch sensor 10. The forks have accurately moved the distance. The end effector camera 12 rescans the pallet position, and the lateral movement continues until a low level is input to input port IN1 of the VCU controller 6. At this point, the AGV moves to retrieve the goods. The status of the load sensor 11 is checked, and a high level is input to input port IN2 of the VCU controller 6, triggering the load sensor 11 and completing the retrieval.

[0042] As can be seen, this utility model provides a lateral movement control circuit for automatic AGV loading and unloading. The VCU controller communicates with the offset encoder and the pump control unit via a CAN bus. Based on the lateral movement position of the forks detected by the offset encoder, it sends a fork lateral movement message to the pump control unit, causing the pump control unit to control the operation or stop of the pump motor, thereby controlling the lateral movement distance of the AGV forks. This solves the problem of inaccurate lateral movement control and safety hazards in existing AGV automatic loading and unloading operations, improves the convenience and accuracy of AGV automatic loading and unloading control, enhances the intelligence of the AGV, and increases operational safety.

[0043] The structure, features and effects of this utility model have been described in detail above with reference to the embodiments shown in the figures. The above description is only a preferred embodiment of this utility model, but the scope of implementation of this utility model is not limited to what is shown in the figures. Any changes made in accordance with the concept of this utility model, or modifications to equivalent embodiments, that do not exceed the spirit covered by the specification and figures, shall be within the protection scope of this utility model.

Claims

1. A lateral movement control circuit for automatic AGV picking and placing of goods, characterized in that, include: Lithium-ion batteries, pump control, pump motor, DC-DC converter, VCU controller, and side-shift encoder; The lithium battery is electrically connected to the pump control and the DC-DC converter respectively. The output of the DC-DC converter is electrically connected to the VCU controller to supply 24V power to the VCU controller. The VCU controller is connected to the side-shift encoder and the pump electrical control via a CAN bus. The side shift encoder is installed on the fork side shift frame to detect the side shift position of the forks in real time and feed it back to the VCU controller and the pump control via CAN bus; The VCU controller sends a fork lateral movement message to the pump control according to the fork lateral movement position; The pump control is connected to the pump motor signal and controls the operation or stop of the pump motor according to the fork lateral movement message, so as to control the lateral movement distance of the AGV forks.

2. The lateral movement control circuit for automatic AGV pickup and delivery according to claim 1, characterized in that, Also includes: Host computer; The VCU controller sends a control message to the pump control system according to the preset pick-up and drop-off positions in the host computer; The pump control system controls the operation of the pump motor according to the control message and the fork side-shift message, so as to control the automatic picking and placing of goods by the AGV.

3. The lateral movement control circuit for automatic AGV picking and placing of goods according to claim 2, characterized in that, Also includes: Left-shifting solenoid valve; The first output terminal of the VCU controller is connected to the control terminal of the left-moving solenoid valve, and the left-moving solenoid valve is set in the left-moving control oil circuit of the fork. When the first output of the VCU controller is high, the left-shifting solenoid valve is turned on to control the AGV's forks to move to the left.

4. The lateral movement control circuit for automatic AGV picking and placing of goods according to claim 3, characterized in that, Also includes: Right-shifting solenoid valve; The second output terminal of the VCU controller is connected to the control terminal of the right-moving solenoid valve, and the right-moving solenoid valve is set on the right-moving control oil circuit of the fork. When the second output of the VCU controller is high, the right-moving solenoid valve is turned on to control the AGV's forks to move to the right.

5. The lateral movement control circuit for automatic AGV picking and placing of goods according to claim 4, characterized in that, Also includes: Touch sensor; The touch sensor is located in front of the fork tip of the AGV fork. The output end of the touch sensor is connected to the first input end of the VCU controller and is used to detect whether the pallet position on the fork is normal when loading or unloading goods.

6. The lateral movement control circuit for automatic AGV pickup and delivery according to claim 5, characterized in that, Also includes: Load sensor; The load sensor is installed at the root of the AGV fork, and the output end of the load sensor is connected to the second input end of the VCU controller to detect whether the fork has completed the action of picking up and picking up goods.

7. The lateral movement control circuit for automatic AGV pickup and delivery according to claim 6, characterized in that, Also includes: Terminal recognition camera; The end-of-line identification camera is connected to the VCU controller via an Ethernet cable and is installed at the root of the forks to identify the pallet position and calculate the distance between the pallet and the AGV. The VCU controller controls the lateral movement distance of the forks based on the distance and the fork lateral movement message.

8. The lateral movement control circuit for automatic AGV picking and placing of goods according to claim 7, characterized in that, Also includes: Key switch; The key switch is connected in series with the positive output terminal of the lithium battery and is used to control the power-on or power-off of the AGV.

Images