AGV control circuit with charge protection and AGV trolley

Abstract

The utility model discloses AGV control circuit and AGV dolly with charging protection, and this circuit includes power module, automatic charging module, motor drive module and main control module, and power module includes battery and DC circuit breaker, and DC circuit breaker is used to carry out the overdischarge and short circuit protection of battery, automatic charging module includes charging positioning device and the charging contactor of connecting between charging brush board and battery, and charging positioning device is used to determine the relative position of charging brush board and external charging equipment, motor drive module includes a plurality of motor driver, and motor driver is used to drive motor operation, main control module is electric connection with power module, automatic charging module and motor drive module respectively, and main control module is configured as: when charging brush board is not connected external charging equipment, or any motor driver operation, control charging contactor disconnects the charging circuit of charging brush board and battery, provides stable power supply and battery protection for AGV dolly, improves operating efficiency and safety.

Description

Technical Field

[0001] This utility model relates to the field of transportation equipment technology, and in particular to an AGV control circuit with charging protection and an AGV trolley. Background Technology

[0002] With the rapid development of the B2C e-commerce industry, logistics and warehousing have become a bottleneck for the expansion of various industries. Large domestic e-commerce companies are investing heavily in the research and development of next-generation modern warehouses, but most of their investment is spent on sorting and distribution. In the smallest sorting process, which significantly impacts warehouse efficiency, the traditional manual method of moving people but not goods still persists. Therefore, AGVs (Automated Guided Vehicles) with free-path guidance are an effective solution to this problem. AGVs are equipped with electromagnetic or optical automatic guidance devices, enabling them to travel along a predetermined path and providing safety protection and various transfer functions. AGVs require corresponding control circuits to achieve functions such as forward and backward movement, start and stop, lifting, navigation, and steering. However, existing AGVs are typically powered by rechargeable batteries. When the batteries are depleted, they need to be recharged during downtime, requiring manual resetting and recharging, resulting in high labor costs. In addition, the inability to monitor the actual state of the battery during charging can easily lead to over-discharge, affecting battery life and greatly reducing production efficiency. Utility Model Content

[0003] The purpose of this utility model is to solve at least one of the technical problems existing in the prior art, and to provide an AGV control circuit and AGV trolley with charging protection, which can not only ensure that the AGV trolley has a stable power supply and battery protection, but also effectively reduce the safety risks that may be caused by accidental charging, and improve the operating efficiency and safety of the AGV trolley.

[0004] According to a first aspect of the present invention, an AGV control circuit with charging protection includes: a power module, an automatic charging module, a motor drive module, and a main control module. The power module includes a battery and a DC circuit breaker, the DC circuit breaker being used to provide over-discharge and short-circuit protection for the battery. The automatic charging module includes a charging positioning device and a charging contactor connected between the charging brush plate and the battery, the charging positioning device being used to determine the relative position of the charging brush plate and an external charging device. The motor drive module includes multiple motor drivers, the motor drivers being used to drive motors. The main control module is electrically connected to the power module, the automatic charging module, and the motor drive module respectively, and the main control module is configured to: when the charging brush plate is not connected to the external charging device, or when any of the motor drivers is running, control the charging contactor to disconnect the charging line between the charging brush plate and the battery.

[0005] The AGV control circuit with charging protection according to an embodiment of the present invention further includes a functional module, which includes a prompting unit and an anti-collision unit.

[0006] According to an embodiment of the present invention, an AGV control circuit with charging protection is provided, wherein the prompting unit is electrically connected to the main control module and is used to receive alarm prompting signals output by the main control module for audible and visual alarm prompting.

[0007] According to an embodiment of the present invention, the AGV control circuit with charging protection includes a prompting unit comprising a light strip and a voice announcer, wherein the light strip and the voice announcer are respectively connected to the second communication interface of the main control module.

[0008] According to an embodiment of the present invention, an AGV control circuit with charging protection is provided, wherein the anti-collision unit is electrically connected to the main control module and is used to detect obstacles and output obstacle avoidance signals to the main control module.

[0009] According to an embodiment of the present invention, an AGV control circuit with charging protection is provided, wherein the anti-collision unit includes a single-line radar, a laser radar, and an anti-collision strip. The laser radar and the anti-collision strip are respectively connected to the first communication interface of the main control module, and the single-line radar is connected to the third communication interface of the main control module.

[0010] According to an embodiment of the present invention, the AGV control circuit with charging protection includes a power supply module that further includes a switching power supply, and the DC circuit breaker is connected between the battery and the switching power supply.

[0011] According to an embodiment of the present invention, the AGV control circuit with charging protection includes a power module that further includes a circuit protection unit. The circuit protection unit includes multiple fuses and multiple circuit breakers. One end of each fuse is electrically connected to the switching power supply, and the other end of each fuse is electrically connected to the main control module and the functional module, respectively. One end of each circuit breaker is electrically connected to the DC circuit breaker, and the other end of each circuit breaker is electrically connected to the multiple motor drivers, respectively.

[0012] According to a second aspect of the present invention, the AGV trolley includes the AGV control circuit with charging protection described in the first aspect of the present invention.

[0013] According to an embodiment of the present invention, the AGV trolley further includes a vehicle body, a lifting mechanism, a telescopic mechanism, a gripping mechanism, and two drive wheels disposed at the bottom of the vehicle body. The motor driver (310) includes a lifting driver, a telescopic driver, a gripping driver, and a walking driver. The lifting mechanism is disposed on the vehicle body, the lifting mechanism is connected to the telescopic mechanism, the telescopic mechanism is connected to the gripping mechanism, the lifting driver is connected to and drives the motor of the lifting mechanism, the telescopic driver is connected to and drives the motor of the telescopic mechanism, the gripping driver is connected to and drives the motor of the gripping mechanism, and the walking driver is connected to and drives the motor of the drive wheels.

[0014] Compared with the prior art, the embodiments of this utility model have at least the following beneficial effects: The DC circuit breaker in the power module provides over-discharge and short-circuit protection for the battery, and the charging positioning device in the automatic charging module determines the relative position of the charging brush plate and the external charging equipment, enabling the AGV to automatically position and charge. Simultaneously, multiple motor drivers in the motor drive module drive the motors, and the main control module obtains the positioning signal sent by the charging positioning device to determine whether the charging brush plate is connected to the external charging equipment. Therefore, when the charging brush plate is not connected to the external charging equipment, the main control module can control the charging contactor to disconnect the charging line between the charging brush plate and the battery. Alternatively, the main control module can obtain the operating status of the motor drivers and, when the motor drivers are running, control the charging contactor to disconnect the charging line between the charging brush plate and the battery, thus achieving charging protection for the AGV. The embodiments of this utility model not only provide a stable power supply and battery protection for the AGV, but also effectively reduce the safety risks that may be caused by accidental charging, improving the operating efficiency and safety of the AGV.

[0015] Other features and advantages of this invention will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of this invention can be realized and obtained by means of the structures particularly pointed out in the description and the drawings. Attached Figure Description

[0016] The accompanying drawings are provided to further understand the technical solution of this utility model and constitute a part of the specification. They are used together with the embodiments of this utility model to explain the technical solution of this utility model, and do not constitute a limitation on the technical solution of this utility model.

[0017] The present invention will be further described below with reference to the accompanying drawings and embodiments;

[0018] Figure 1 An overall structural block diagram of an AGV control circuit with charging protection provided for an embodiment of this utility model;

[0019] Figure 2 A schematic diagram of an AGV (Automated Guided Vehicle) provided in an embodiment of this utility model;

[0020] Figure 3 This is a bottom view diagram of the AGV vehicle provided in an embodiment of the present invention.

[0021] The attached figures are labeled as follows: power module 100, battery 110, DC circuit breaker 120, switching power supply 130, circuit protection unit 140, automatic charging module 200, charging positioning device 210, charging contactor 220, motor drive module 300, motor driver 310, lifting driver 311, telescopic driver 312, gripping driver 313, walking driver 314, drive board 320, industrial control board 330, main control module 400, vehicle body 500, lifting mechanism 600, telescopic mechanism 700, gripping mechanism 800, drive wheel 900, driven wheel 1000, first communication interface W1, second communication interface W2, and third communication interface W3. Detailed Implementation

[0022] This section will describe in detail the specific embodiments of the present utility model. The preferred embodiments of the present utility model are shown in the accompanying drawings. The purpose of the drawings is to supplement the textual description with graphics, so that people can intuitively and vividly understand each technical feature and overall technical solution of the present utility model, but they should not be construed as limiting the scope of protection of the present utility model.

[0023] In the description of this utility model, it should be understood that the directional descriptions, such as up, down, front, back, left, right, etc., indicate the directional or positional relationship based on the directional or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0024] In the description of this utility model, "several" means one or more, "multiple" means two or more, "greater than," "less than," and "exceeding" are understood to exclude the stated number, while "above," "below," and "within" are understood to include the stated number. If "first" or "second" is used in the description, it is only for the purpose of distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the order of the indicated technical features.

[0025] In the description of this utility model, unless otherwise explicitly defined, terms such as "setting," "installation," and "connection" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this utility model in conjunction with the specific content of the technical solution.

[0026] With the rapid development of the B2C e-commerce industry, logistics and warehousing have become a bottleneck for the expansion of various industries. Large domestic e-commerce companies are investing heavily in the research and development of next-generation modern warehouses, but most of their investment is spent on sorting and distribution. In the smallest sorting process, which significantly impacts warehouse efficiency, the traditional manual method of moving people but not goods still persists. Therefore, AGVs (Automated Guided Vehicles) with free-path guidance are an effective solution to this problem. AGVs are equipped with electromagnetic or optical automatic guidance devices, enabling them to travel along a predetermined path and providing safety protection and various transfer functions. AGVs require corresponding control circuits to achieve functions such as forward and backward movement, start and stop, lifting, navigation, and steering. However, existing AGVs are typically powered by rechargeable batteries. When the batteries are depleted, they need to be recharged during downtime, requiring manual resetting and recharging, resulting in high labor costs. In addition, the inability to monitor the actual state of the battery during charging can easily lead to over-discharge, affecting battery life and greatly reducing production efficiency.

[0027] Based on this, the present invention provides an AGV control circuit and AGV trolley with charging protection, which not only provides a stable power supply and battery protection for the AGV trolley, but also effectively reduces the safety risks that may be caused by accidental charging, thereby improving the operating efficiency and safety of the AGV trolley.

[0028] The embodiments of this utility model will be further described below with reference to the accompanying drawings.

[0029] Reference Figure 1The first aspect of this utility model discloses an AGV control circuit with charging protection, comprising: a power module 100, an automatic charging module 200, a motor drive module 300, and a main control module 400. The power module 100 includes a battery 110 and a DC circuit breaker 120, which provides over-discharge and short-circuit protection for the battery 110. The automatic charging module 200 includes a charging positioning device 210 and a charging contactor 220 connected between the charging brush plate and the battery 110. The charging positioning device 210 determines the relative position of the charging brush plate and an external charging device. The motor drive module 300 includes multiple motor drivers 310, which drive motors. The main control module 400 is electrically connected to the power module 100, the automatic charging module 200, and the motor drive module 300. The main control module 400 is configured to control the charging contactor 220 to disconnect the charging line between the charging brush plate and the battery 110 when the charging brush plate is not connected to an external charging device or when any motor driver 310 is running.

[0030] Understandably, during normal operation of the AGV, current flows from the battery 110 to the circuit components through the DC circuit breaker 120. If an overload or short circuit is detected in the circuit components, the DC circuit breaker 120 will quickly trip, cutting off the circuit and preventing the battery 110 from over-discharging, thereby effectively extending the battery 110's lifespan and improving operational safety. Once the fault is cleared and the circuit returns to normal, the DC circuit breaker 120 can be manually or automatically reset, ensuring reliable operation of the AGV.

[0031] Furthermore, in this embodiment, the multiple motor drivers 310 of the motor drive module 300 drive the corresponding motors by adjusting the voltage and current of the corresponding motors. For example, parameters such as speed, direction, and torque can be changed, enabling the AGV to flexibly cope with different tasks and improve operating efficiency and stability. In some embodiments, the motor driver 310 may include a telescopic driver, a left-walking driver, a right-walking driver, a lifting driver, and a gripping driver.

[0032] It should be noted that the charging positioning device 210 in this embodiment can be a magnetic positioning device or an optical positioning device. Specifically, magnetic positioning can be achieved by pre-setting magnetic strips or nails on the ground of the charging station or charging station, and using a magnetic positioning device on the AGV, such as a magnetic sensor, to detect the magnetic field signal and determine the relative position of the AGV's charging brush plate to the charging station or external charging equipment. In another embodiment, optical sensors can be installed on the AGV and the charging station or charging station to perform optical communication positioning using infrared or laser communication, so that the main control module 400 can determine whether the charging brush plate is connected to the external charging equipment based on the positioning signal received from the charging positioning device 210. It should be understood that during the charging process, the charging positioning device 210 sends a positioning signal to the main control module 400. If the positioning signal received by the main control module 400 is normal and stable, it indicates that the charging brush plate has been connected to the external charging equipment, and then the charging contactor 220 is closed to allow normal charging. Furthermore, in this embodiment, by installing a charging contactor 220 between the charging brush plate and the battery 110 of the AGV, the main control module 400 can control the charging contactor 220 to disconnect the charging circuit between the charging brush plate and the battery 110 when the charging brush plate is not connected to an external charging device. Alternatively, when any motor driver 310 of the AGV is running, indicating that the AGV is in operation, the main control module 400 can control the charging contactor 220 to disconnect the charging circuit between the charging brush plate and the battery 110, preventing current from flowing to the charging brush plate, preventing the charging brush plate from becoming energized, protecting personnel safety, and improving the operating efficiency and safety of the AGV.

[0033] Reference Figure 1 In some embodiments of the present invention, the AGV control circuit with charging protection also includes a functional module, which includes a prompting unit and an anti-collision unit.

[0034] Reference Figure 1In some embodiments of the AGV control circuit with charging protection provided by this utility model, the prompting unit is electrically connected to the main control module 400 and is used to receive alarm prompting signals output by the main control module 400 for audible and visual alarm prompting. In some embodiments, the prompting unit includes a light strip and a voice announcer, which are respectively connected to the second communication interface W2 of the main control module 400. Specifically, the light strip can intuitively display the operating status of the AGV through different colors and flashing modes. For example, green indicates normal operation, yellow indicates a warning, and red indicates a fault or emergency stop. Furthermore, the voice announcer can broadcast the operating status and fault information of the vehicle in real time, such as "the vehicle is about to turn," "an obstacle has been detected," and "the battery is low," ensuring that operators can obtain the vehicle status information in a timely and accurate manner. The audible and visual alarm prompting method of the prompting unit not only improves the safety of AGV operation but also helps operators understand the vehicle's operating status and improves work efficiency.

[0035] Reference Figure 1 In some embodiments of the AGV control circuit with charging protection provided by this utility model, the anti-collision unit is electrically connected to the main control module 400 and is used to detect obstacles and output obstacle avoidance signals to the main control module 400. In some embodiments, the anti-collision unit includes a single-line radar, a laser radar, and an anti-collision strip, wherein the laser radar and the anti-collision strip are respectively connected to the first communication interface W1 of the main control module 400, and the single-line radar is connected to the third communication interface W3 of the main control module 400. It should be noted that when the AGV is running, the laser radar measures the distance to the obstacle by emitting a laser beam and receiving the reflected light. Once the distance is detected to be lower than a set threshold, it sends an obstacle avoidance signal to the main control module 400. Further, the anti-collision strip acts as a passive triggering device. When the AGV has a slight collision with an obstacle, the anti-collision strip deforms and triggers an internal microswitch, sending an emergency stop signal to the main control module 400. Furthermore, the single-line radar is mainly used to detect obstacles in a single direction of the AGV. It determines the position and distance of obstacles by emitting radar waves and receiving reflected signals. When an obstacle is detected, it also sends an obstacle avoidance signal to the main control module 400. Upon receiving the obstacle avoidance signal, the main control module 400 can output an emergency stop signal to the motor drive module 300, causing all motors on the AGV to stop immediately. This ensures a timely response in case of abnormal situations or foreign object intrusion around the AGV, preventing potential harm to personnel or objects and effectively improving the safety of AGV operation.

[0036] Reference Figure 1In some embodiments of the AGV control circuit with charging protection provided by this utility model, a wireless communication unit is also included. The wireless communication unit is connected to the first communication interface W1 of the main control module 400. It is understood that the wireless communication unit supports wireless communication protocols such as Wi-Fi, Bluetooth, or 4G / 5G, and can upload the AGV's position, status, and fault information to the central control system in real time. It can also receive remote commands to adjust operating parameters or receive task assignments, thereby achieving efficient remote monitoring and precise control of the AGV. In some embodiments, the main control module 400 can wirelessly communicate with the charging station or charging station through the wireless communication unit to obtain charging position information before opening the charging contactor 220 to start charging, thereby ensuring the safety of the charging process and avoiding charging abnormalities due to position deviations.

[0037] Reference Figure 1 In some embodiments of the AGV control circuit with charging protection provided by this utility model, the functional module further includes a barcode reader. The barcode reader is connected to the first communication interface W1 of the main control module 400 and is used to identify QR codes and / or barcodes on the ground for AGV vehicle path navigation. In some embodiments, the barcode reader can be installed on the bottom of the AGV vehicle. By scanning the QR codes or barcodes pre-laid on the driving path, which contain location information and navigation instructions, the barcode reader reads and transmits the information to the main control module 400 in real time. Further, after the main control module 400 parses the information, it compares the location information with a pre-stored map to determine the position of the AGV vehicle, thereby planning the driving path of the AGV vehicle and ensuring that the vehicle travels along the correct path.

[0038] Reference Figure 1 In some embodiments of the AGV control circuit with charging protection provided by this utility model, the power module 100 further includes a switching power supply 130, and a DC circuit breaker 120 is connected between the battery 110 and the switching power supply 130. Specifically, the switching power supply 130 converts the DC power output from the battery 110 into DC power of different voltages, and can monitor and stabilize the output voltage in real time, so as to accurately power the various module components of the AGV control circuit.

[0039] Reference Figure 1In some embodiments of the AGV control circuit with charging protection provided by this utility model, the power module 100 further includes a circuit protection unit 140. The circuit protection unit 140 includes multiple fuses and multiple circuit breakers. One end of the multiple fuses is electrically connected to the switching power supply 130, and the other end of the multiple fuses is electrically connected to the main control module 400 and the functional modules, respectively. One end of the multiple circuit breakers is electrically connected to the DC circuit breaker 120, and the other end of the multiple circuit breakers is electrically connected to multiple motor drivers 310, respectively. It should be noted that in the AGV control circuit with charging protection in this embodiment, the circuit protection unit 140 is composed of multiple fuses and multiple circuit breakers. The fuses provide overload and short-circuit protection for the main control module 400 and the functional modules. Once the current in the circuit exceeds a predetermined threshold, the fuse will quickly melt and cut off the circuit, effectively preventing equipment damage caused by overload or short circuit, and ensuring that the core control system and various functional modules of the AGV can operate stably and safely.

[0040] Furthermore, one end of each of the multiple circuit breakers is electrically connected to the DC circuit breaker 120, and the other end is electrically connected to each of the multiple motor drivers 310, thereby realizing overload and short-circuit protection for the motor drivers 310. Specifically, when an abnormally large current occurs in the motor driver 310, the circuit breaker can detect it in time and act quickly to cut off the circuit, preventing the motor driver 310 from being damaged due to overload or short circuit, and ensuring the reliable operation of the AGV.

[0041] Reference Figure 1 In the AGV control circuit with charging protection provided in some embodiments of this utility model, the motor drive module 300 also includes a drive board 320. The drive board 320 is electrically connected to each motor driver 310. The drive board 320 generates drive signals and sends them to each motor driver 310. At the same time, it monitors the working status of the motor drivers 310. After receiving the drive signals, the motor drivers 310 drive the corresponding motors by adjusting the voltage and current of the corresponding motors. For example, parameters such as speed, direction and torque can be changed, so that the AGV can flexibly cope with different tasks and improve operating efficiency and stability.

[0042] In some embodiments, the motor drive module 300 further includes an industrial control board 330, which is communicatively connected to the drive board 320. The industrial control board 330 receives control commands from the main control module 400, generates PWM control signals and sends them to the drive board 320, and feeds back the operating status of the motor driver 310 to the main control module 400. It is understood that through the communicative connection between the industrial control board 330 and the drive board 320 of the motor drive module 300, the industrial control board 330 can not only receive control commands from the main control module 400 and generate corresponding PWM control signals, and then send these PWM control signals to the drive board 320, enabling the drive board 320 to generate drive signals upon receiving the PWM control signals, but also promptly feeds back the real-time monitoring data of the motor driver 310, such as speed, current, and temperature, to the main control module 400. This not only improves the operating efficiency of the AGV but also enhances its operational reliability and reduces the risk of failure.

[0043] In some embodiments, one end of a plurality of fuses in the circuit protection unit 140 is electrically connected to the switching power supply 130, and the other end of the plurality of fuses is also electrically connected to the drive board 320 and the industrial control board 330 respectively, and provides overload and short circuit protection for the drive board 320 and the industrial control board 330.

[0044] In this embodiment of the invention, the first communication interface W1 uses an Ethernet interface, the second communication interface W2 uses an RS485 interface, and the third communication interface W3 uses a UART serial port. It is understood that the communication methods used by the first communication interface W1, the second communication interface W2, and the third communication interface W3 are not limited. In practical applications, the first communication interface W1, the second communication interface W2, and the third communication interface W3 can use any one of the following communication methods: Ethernet, USB, UART, UART, SPI, RS485, CAN, I2C, etc.

[0045] In summary, the AGV control circuit with charging protection in this embodiment of the present invention provides over-discharge and short-circuit protection for the battery 110 through the DC circuit breaker 120 in the power module 100. Furthermore, the charging positioning device 210 of the automatic charging module 200 determines the relative position of the charging brush plate and the external charging equipment, enabling the AGV to automatically position and charge. Simultaneously, the multiple motor drivers 310 of the motor drive module 300 drive the motors. The main control module 400 obtains the positioning signal sent by the charging positioning device 210 to determine whether the charging brush plate is connected to the external charging equipment. Therefore, when the charging brush plate is not connected to the external charging equipment, it can control the charging contactor 220 to disconnect the charging line between the charging brush plate and the battery 110. Alternatively, the main control module 400 obtains the operating status of the motor driver 310, and can control the charging contactor 220 to disconnect the charging line between the charging brush plate and the battery 110 when the motor driver 310 is running, thus achieving charging protection for the AGV. This utility model embodiment not only provides a stable power supply and battery protection for AGV vehicles, but also effectively reduces the safety risks that may be caused by accidental charging, thereby improving the operating efficiency and safety of AGV vehicles.

[0046] A second aspect of this utility model also provides an AGV trolley, including the AGV control circuit with charging protection described in the first aspect embodiment above.

[0047] Reference Figures 1 to 3 In some embodiments, the AGV also includes a vehicle body 500, a lifting mechanism 600, a telescopic mechanism 700, a gripping mechanism 800, and two drive wheels 900 disposed at the bottom of the vehicle body 500. The motor driver 310 includes a lifting driver 311, a telescopic driver 312, a gripping driver 313, and a walking driver 314. The lifting mechanism 600 is disposed on the vehicle body 500 and is connected to the telescopic mechanism 700. The telescopic mechanism 700 is connected to the gripping mechanism 800. The lifting driver 311 is connected to and drives the motor of the lifting mechanism 600. The telescopic driver 312 is connected to and drives the motor of the telescopic mechanism 700. The gripping driver 313 is connected to and drives the motor of the gripping mechanism 800. The walking driver 314 is connected to and drives the motor of the drive wheels 900.

[0048] It should be noted that the vehicle body 500, serving as the support and mobile foundation for the entire equipment, can be made of sturdy and durable metal materials, possessing good load-bearing capacity and stability. (Refer to...) Figure 2The lifting mechanism 600 is mounted on the vehicle body 500 and can adopt an electric screw lifting structure. The electric screw is driven to rotate by a motor. The lifting driver 311 is connected to the motor of the electric screw and drives the motor to run. Through the cooperation of the screw and nut, the rotational motion is converted into linear motion, thereby driving the telescopic mechanism 700 to move up and down vertically. Furthermore, the telescopic mechanism 700 is connected to the lifting mechanism 600, and the telescopic mechanism 700 can adopt an electric push rod structure. The electric push rod is driven by a motor and a rack and pinion transmission. The telescopic driver 312 is connected to the motor of the electric push rod structure and drives the motor to run, realizing the horizontal telescopic movement of the telescopic mechanism 700. Further, the front end of the telescopic mechanism 700 is connected to a gripping mechanism 800. The gripping mechanism 800 can adopt a mechanical gripper structure. Through the extension and retraction of the electric push rod, the gripping mechanism 800 is driven to move closer to or away from the goods. At the same time, the gripping driver 313 is connected to the motor of the mechanical gripper and drives the motor to run, thereby controlling the opening and closing of the mechanical gripper to complete the action of gripping or releasing the goods.

[0049] Reference Figure 3 The bottom of the vehicle body 500 is equipped with two drive wheels 900. A travel driver 314 is connected to the motors of the drive wheels 900. During AGV operation, the travel driver 314 drives the motors of the drive wheels 900, enabling the AGV to move forward, backward, and turn. Furthermore, the bottom of the vehicle body 500 also has two driven wheels 1000. The structure of the two drive wheels 900 and two driven wheels 1000 arranged at four corners, with the drive wheels 900 positioned diagonally, provides stable support for the vehicle body 500, ensuring the balance of the equipment during operation.

[0050] It should be noted that since the AGV of this utility model adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought about by the technical solutions of the above embodiments, and will not be described in detail here.

[0051] The embodiments of the present utility model have been described in detail above with reference to the accompanying drawings. However, the present utility model is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of the present utility model.

Claims

1. An AGV control circuit with charging protection, characterized in that, include: The power module (100) includes a battery (110) and a DC circuit breaker (120), the DC circuit breaker (120) being used to protect the battery (110) from over-discharge and short-circuit. An automatic charging module (200) includes a charging positioning device (210) and a charging contactor (220) connected between the charging brush plate and the battery (110). The charging positioning device (210) is used to determine the relative position of the charging brush plate and an external charging device. The motor drive module (300) includes a plurality of motor drivers (310) for driving motors to run; The main control module (400) is electrically connected to the power module (100), the automatic charging module (200) and the motor drive module (300), respectively. The main control module (400) is configured to control the charging contactor (220) to disconnect the charging line between the charging brush and the battery (110) when the charging brush is not connected to the external charging device or when any of the motor drivers (310) is running.

2. The AGV control circuit with charging protection according to claim 1, characterized in that, It also includes a functional module, which is electrically connected to the main control module (400), and the functional module includes a prompting unit and an anti-collision unit.

3. The AGV control circuit with charging protection according to claim 2, characterized in that, The prompting unit is electrically connected to the main control module (400) and is used to receive the alarm prompting signal output by the main control module (400) for sound and light alarm prompting.

4. The AGV control circuit with charging protection according to claim 3, characterized in that, The prompting unit includes a light strip and a voice broadcaster, which are respectively connected to the second communication interface (W2) of the main control module (400).

5. The AGV control circuit with charging protection according to claim 2, characterized in that, The anti-collision unit is electrically connected to the main control module (400) and is used to detect obstacles and output obstacle avoidance signals to the main control module (400).

6. The AGV control circuit with charging protection according to claim 5, characterized in that, The anti-collision unit includes a single-line radar, a lidar, and an anti-collision strip. The lidar and the anti-collision strip are respectively connected to the first communication interface (W1) of the main control module (400), and the single-line radar is connected to the third communication interface (W3) of the main control module (400).

7. The AGV control circuit with charging protection according to claim 2, characterized in that, The power module (100) also includes a switching power supply (130), and the DC circuit breaker (120) is connected between the battery (110) and the switching power supply (130).

8. The AGV control circuit with charging protection according to claim 7, characterized in that, The power module (100) further includes a circuit protection unit (140), which includes multiple fuses and multiple circuit breakers. One end of the multiple fuses is electrically connected to the switching power supply (130), and the other end of the multiple fuses is electrically connected to the main control module (400) and the functional module, respectively. One end of the multiple circuit breakers is electrically connected to the DC circuit breaker (120), and the other end of the multiple circuit breakers is electrically connected to the multiple motor drivers (310), respectively.

9. An AGV (Automated Guided Vehicle) trolley, characterized in that, Includes an AGV control circuit with charging protection as described in any one of claims 1 to 8.

10. The AGV trolley according to claim 9, characterized in that, The AGV also includes a vehicle body (500), a lifting mechanism (600), a telescopic mechanism (700), a gripping mechanism (800), and two drive wheels (900) located at the bottom of the vehicle body. The motor driver (310) includes a lifting driver (311), a telescopic driver (312), a gripping driver (313), and a walking driver (314). The lifting mechanism (600) is located on the vehicle body (500). The lifting mechanism (600) is connected to the telescopic mechanism (700). The telescopic mechanism (700) is connected to the gripping mechanism (800). The lifting driver (311) is connected to and drives the motor of the lifting mechanism (600). The telescopic driver (312) is connected to and drives the motor of the telescopic mechanism (700). The gripping driver (313) is connected to and drives the motor of the gripping mechanism (800). The walking driver (314) is connected to and drives the motor of the drive wheels (900).

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