CN109857147B - PGV visual scanning head automatic following control circuit - Google Patents
PGV visual scanning head automatic following control circuit Download PDFInfo
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- CN109857147B CN109857147B CN201910208371.1A CN201910208371A CN109857147B CN 109857147 B CN109857147 B CN 109857147B CN 201910208371 A CN201910208371 A CN 201910208371A CN 109857147 B CN109857147 B CN 109857147B
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Abstract
The invention relates to an automatic following control circuit of a PGV visual scanning head, belonging to the technical field of intelligent control. The invention realizes that the following control motor automatically rotates under the control of the PLC controller, so that a PGV visual scanning head arranged on the following control motor can automatically follow the walking direction of the AGV, the angular deflection value of the visual scanning head is always in a working range, a navigation code band can be normally identified on any walking track, correct navigation data is provided for the walking of the AGV, and meanwhile, 4 travel switches can ensure that the PLC can receive a control signal to automatically power off after the following rotation is in place, thereby avoiding the motor stalling. The relay K1 and the relay K2 for controlling the motor rotation are designed into an interlocking circuit, so that the following control motor M1 is ensured not to be short-circuited, and a protection effect is achieved.
Description
Technical Field
The invention belongs to the technical field of intelligent control, and particularly relates to an automatic following control circuit of a PGV visual scanning head.
Background
PGV visual scanning is the AGV car widely used navigation mode, and when the PGV visual scanning head scanned the code strip, when scanning head angle deflection value was in: the code band can be normally identified in the ranges of 0-45 degrees and 315-360 degrees; when the above range is exceeded, the PGV scanning head cannot normally identify the code strip. When the PGV visual scanning head is applied to the AGV, when the traveling track of the AGV needs to be transversely and longitudinally converted, the angular deviation of the PGV visual scanning head and the code band exceeds the working range of the PGV visual scanning head, the code band cannot be normally identified, navigation data cannot be provided, and the AGV cannot normally travel.
Disclosure of Invention
Technical problem to be solved
The technical problem to be solved by the invention is as follows: how to design a PGV vision scanning head automatic following control circuit, realize controlling the automatic walking direction of following the AGV car of PGV vision scanning head, when solving the horizontal vertical walking conversion of AGV car, the angle deflection value of PGV vision scanning head and code strip surpasss working range and can not normally discern the colour code strip, leads to the unable problem of normally walking of AGV car, enlarges the range of application of PGV vision scanning.
(II) technical scheme
In order to solve the technical problem, the invention provides an automatic following control circuit of a PGV visual scanning head, which comprises a direct current breaker Q11, a relay K1 normally open contact 2, a relay K2 normally open contact 3, a PLC controller 4, a travel switch S1 normally open contact 5, a travel switch S2 normally open contact 6, a relay K2 normally closed auxiliary contact 7, a relay K1 normally closed auxiliary contact 8, a relay K1 control coil 9, a relay K2 control coil 10, a travel switch S3 normally closed contact 11, a travel switch S4 normally closed contact 12 and a following control motor M113; the travel switch S1 is a 0-degree travel switch, and the travel switch S2 is a 90-degree travel switch;
the input end of the direct current breaker Q11 is connected with the positive electrode of a 24V direct current power supply, and the output end of the direct current breaker Q11 is simultaneously connected with a normally open positive input contact of a normally open contact 2 of a relay K1 and a normally open positive input contact of a normally open contact 3 of a relay K2; the GND pole of the 24V direct-current power supply is connected with a normally open negative input contact of a normally open contact 2 of a relay K1 and a normally open negative input contact of a normally open contact 3 of a relay K2; the positive electrode of the following control motor M113 is simultaneously connected with a normally open positive output contact of a normally open contact 2 of the relay K1 and a normally open negative output contact of a normally open contact 3 of the relay K2, and the negative electrode is simultaneously connected with a normally open negative output contact of the normally open contact 3 of the relay K1 and a normally open positive output contact of the normally open contact 3 of the relay K2; the first digital quantity input point of the PLC 4 is connected with a normally open contact 5 of a travel switch S1, the second digital quantity input point is connected with a normally open contact 6 of a travel switch S2, and the digital signal point is simultaneously connected with the common point of the travel switch S1 and the common point of the travel switch S2; a first digital output point of the PLC controller 4 is connected with a normally closed input contact of the normally closed auxiliary contact 7 of the relay K2, and a second digital output point of the PLC controller 4 is connected with a normally closed input contact of the normally closed auxiliary contact 8 of the relay K1; the power supply point of the PLC controller 4 is simultaneously connected with the common point of the travel switch S3 and the common point of the travel switch S4; the negative pole of the control coil of the relay K1 control coil 9 is connected with the normally closed output contact of the relay K2 normally closed auxiliary contact 7, and the positive pole of the control coil of the relay K1 control coil 9 is connected with the normally closed point of the travel switch S311; the negative electrode of the control coil of the relay K2 control coil 10 is connected with the normally closed output contact of the relay K1 normally closed auxiliary contact 8, and the positive electrode of the control coil of the relay K2 control coil 10 is connected with the normally closed point of the travel switch S412;
the PLC controller 4 is configured to: when the AGV travels longitudinally, a low-voltage control signal is output through a first digital output point, a control coil of a relay K1 is connected with a power supply, a normally open contact 2 of a relay K1 is attracted, a normally closed auxiliary contact 8 of a relay K1 is disconnected, a control motor M113 is connected with the power supply to rotate forwards, and meanwhile, it is ensured that a control coil 10 of the relay K2 is not connected with the power supply, and a normally open contact 3 of the relay K2 is in a disconnected state;
when the scanning head rotates to 90 degrees, the travel switch S1 is triggered, the normally open contact 5 of the travel switch S1 is closed, the first digital input point of the PLC 4 receives a control signal and then closes the control signal output by the first digital output point, the control wire packet 9 of the relay K1 is disconnected, the normally open contact 2 of the relay K1 is disconnected, the control motor M113 is controlled to be disconnected at the moment, the stop rotation of the power supply is cut off, and the effective working angle deflection value of the scanning head is as follows: the code band can be normally identified within the ranges of 0-45 degrees, 135-225 degrees and 315-360 degrees;
when the AGV travels transversely, a low-voltage control signal is output through a second digital output point of the PLC 4, at the moment, a relay K2 controls a coil 10 to be connected with a power supply, a relay K2 normally-open contact 3 is attracted, meanwhile, a relay K2 normally-closed auxiliary contact 7 is disconnected, at the moment, a control motor M113 is connected with the power supply to rotate reversely, and meanwhile, it is ensured that a relay K1 controls a coil 9 not to be electrified, and a relay K1 normally-open contact 2 is in a disconnected state;
when the scanning head rotates to 0 degree, the travel switch S2 is triggered, the normally open contact 6 of the travel switch S2 is closed, the second digital quantity input point of the PLC 4 receives a control signal and then closes the control signal output by the second digital quantity input point, the relay K2 controls the coil 10 to be disconnected, the normally open contact 3 of the relay K2 is disconnected, the power supply stops rotating when the control motor M113 is disconnected, and the effective working angle deflection value of the scanning head is as follows: the code band can be normally identified within the range of 45-135 degrees and 225-315 degrees.
Preferably, the model of the direct current breaker Q11 is C65H-DC C2A.
Preferably, the relays K1 and K2 are LY3N-J in model number.
Preferably, the PLC controller 4 is S7-200.
Preferably, the travel switches S1, S2, S3 and S4 are S5-GGL 13.
Preferably, the following control motor M113 is of the type XD-37GB 555.
(III) advantageous effects
The invention realizes that the following control motor automatically rotates under the control of the PLC controller, so that a PGV visual scanning head arranged on the following control motor can automatically follow the walking direction of the AGV, the angular deflection value of the visual scanning head is always in a working range, a navigation code band can be normally identified on any walking track, correct navigation data is provided for the walking of the AGV, and meanwhile, 4 travel switches can ensure that the PLC can receive a control signal to automatically power off after the following rotation is in place, thereby avoiding the motor stalling. The relay K1 and the relay K2 for controlling the motor rotation are designed into an interlocking circuit, so that the following control motor M1 is ensured not to be short-circuited, and a protection effect is achieved.
Drawings
FIG. 1 is a circuit diagram of the present invention.
Wherein: 1. a dc chopper Q1; 2. relay K1 normally open contact; 3. relay K2 normally open contact; 4. a PLC controller; 5. a travel switch S1 normally open contact; 6. a travel switch S2 normally open contact; 7. relay K2 normally closes the auxiliary contacts; 8. relay K1 normally closes the auxiliary contacts; 9. relay K1 control coil; 10. relay K2 control coil; 11. a travel switch S3 normally closed contact; 12. a travel switch S4 normally closed contact; 13. the follow control motor M1.
Detailed Description
In order to make the objects, contents, and advantages of the present invention clearer, the following detailed description of the embodiments of the present invention will be made in conjunction with the accompanying drawings and examples.
The invention provides an automatic following control circuit and method for a PGV visual scanning head, which can control the PGV visual scanning head to automatically follow the traveling direction of an AGV, so that the angular deflection value of the PGV visual scanning head is always in a working range, a navigation code band can be normally identified on any traveling track, and correct navigation data can be provided for the traveling of the AGV.
As shown in fig. 1, the PGV visual scanning head automatic following control circuit of the present invention includes a dc circuit breaker Q11, a relay K1 normally open contact 2, a relay K2 normally open contact 3, a PLC controller 4, a travel switch S1 normally open contact 5, a travel switch normally open contact S26, a relay K2 normally closed auxiliary contact 7, a relay K1 normally closed auxiliary contact 8, a relay K1 control coil 9, a relay K2 control coil 10, a travel switch S3 normally closed contact 11, a travel switch S4 normally closed contact 12, and a following control motor M113. The travel switch S1 is a 0 ° travel switch, and the travel switch S2 is a 90 ° travel switch.
The input end of the direct current breaker Q11 is connected with the positive pole of a 24V direct current power supply, and the output end of the direct current breaker Q11 is simultaneously connected with a normally open positive input contact (5) of a normally open contact 2 of a relay K1 and a normally open positive input contact (5) of a normally open contact 3 of a relay K2; the GND pole of the 24V direct-current power supply is connected with a normally open negative input contact (6) of a normally open contact 2 of a relay K1 and a normally open negative input contact (6) of a normally open contact 3 of a relay K2; the positive electrode of the following control motor M1 is simultaneously connected with a normally open positive output contact (9) of a normally open contact 2 of the relay K1 and a normally open negative output contact (10) of a normally open contact 3 of the relay K2, and the negative electrode is simultaneously connected with a normally open negative output contact (10) of a normally open contact 3 of the relay K1 and a normally open positive output contact (9) of a normally open contact 3 of the relay K2; the PLC controller digital input point (DI1) is connected with a normally open contact (NO) of a travel switch S1, the digital input point (DI2) is connected with a normally open contact (NO) of a travel switch S2, and a digital signal point (DGND) is simultaneously connected with a common point (COM) of the travel switch S1 and a common point (COM) of the travel switch S2; a digital quantity output point (DO1) of the PLC controller 4 is connected with a normally closed input contact (4) of a normally closed auxiliary contact 7 of a relay K2, and a digital quantity output point (DO2) of the PLC controller 4 is connected with a normally closed input contact (4) of a normally closed auxiliary contact 8 of a relay K1; and a power supply point (Vdd) of the PLC 4 is simultaneously connected with a common point (COM) of the travel switch S3 and a common point (COM) of the travel switch S4. The negative electrode (13) of the control coil of the relay K1 control coil 9 is connected with the normally closed output contact (12) of the relay K2 normally closed auxiliary contact 7, and the positive electrode (14) of the control coil of the relay K1 control coil 9 is connected with the normally closed point (NC) of the travel switch S311; the negative electrode (13) of the control coil of the relay K2 control coil 10 is connected with the normally closed output contact (12) of the relay K1 normally closed auxiliary contact 8, and the positive electrode (14) of the control coil of the relay K2 control coil 10 is connected with the normally closed point (NC) of the travel switch S412;
the model of the direct current breaker Q11 is C65H-DC C2A. The types of the relays K1 and K2 are LY 3N-J. The PLC controller 4 is S7-200. The travel switches S1, S2, S3 and S4 are S5-GGL 13. The type of the following control motor M113 is XD-37GB 555.
The working principle of the invention is as follows:
manual closed direct current breaker Q11, when the AGV car was vertically walked, PLC controller 4 passed through Do1 point output low voltage control signal, and relay K1's control coil switch on power this moment, relay K1 normally open contact 2 actuation, and relay K1 normally closed auxiliary contact 8 disconnection simultaneously follows control motor M113 switch on power forward and rotates this moment. Meanwhile, the relay K2 is ensured to control the solenoid 10 not to be electrified, and the normally open contact 3 of the relay K2 is in an open state. The following control motor M113 is ensured not to be short-circuited, and a protection effect is achieved.
When the PGV follower bracket rotates to 90 degrees, the travel limit collision block of the PGV follower bracket contacts with the rotation limit bracket and simultaneously triggers a travel switch S1, and a normally open contact 5 of the travel switch S1 is closed. The DI1 point of the PLC 4 receives the control signal and then closes the control signal output by the Do1 point, at the moment, the control wire packet 9 of the relay K1 is powered off, the normally open contact 2 of the relay K1 is powered off, and at the moment, the power supply is disconnected along with the control motor M113 to stop rotating. The effective working angle deflection value of the scanning head is as follows: the code band can be normally identified within the ranges of 0-45 degrees, 135-225 degrees and 315-360 degrees;
when the AGV transversely walks, the PLC 4 outputs a low-voltage control signal through a Do2 point, at the moment, the relay K2 controls the coil 10 to be powered on, the normally open contact 3 of the relay K2 is attracted, meanwhile, the normally closed auxiliary contact 7 of the relay K2 is disconnected, and at the moment, the follow-up control motor M113 is powered on to rotate reversely. Meanwhile, the relay K1 is ensured to control the solenoid 9 not to be electrified, and the normally open contact 2 of the relay K1 is in an open state. The following control motor M113 is ensured not to be short-circuited, and a protection effect is achieved.
When the PGV follower bracket rotates to 0 degree, the travel limit collision block of the PGV follower bracket contacts with the rotation limit bracket and simultaneously triggers a travel switch S2, and a normally open contact 6 of the travel switch S2 is closed. The DI2 point of the PLC 4 receives the control signal and then closes the control signal output by the Do2 point, at the moment, the relay K2 controls the wire package 10 to cut off the power supply, the normally open contact 3 of the relay K2 is cut off, and at the moment, the power supply is cut off by the following control motor M113 to stop rotating. The effective working angle deflection value of the scanning head is as follows: the code band can be normally identified within the range of 45-135 degrees and 225-315 degrees;
in conclusion, no matter whether the AGV travels longitudinally or transversely, the effective working angle of the scanning head can be controlled to be all effective within the range of 0-360 degrees through the control circuit.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
Claims (7)
1. An automatic following control circuit of a PGV visual scanning head is characterized by comprising a direct current breaker Q1(1), a relay K1 normally open contact (2), a relay K2 normally open contact (3), a PLC (programmable logic controller) (4), a travel switch S1 normally open contact (5), a travel switch S2 normally open contact (6), a relay K2 normally closed auxiliary contact (7), a relay K1 normally closed auxiliary contact (8), a relay K1 control solenoid (9), a relay K2 control solenoid (10), a travel switch S3 normally closed contact (11), a travel switch S4 normally closed contact (12) and a following control motor M1 (13); the travel switch S1 is a 0-degree travel switch, and the travel switch S2 is a 90-degree travel switch;
the input end of the direct current breaker Q1(1) is connected with the positive electrode of a direct current power supply, and the output end of the direct current breaker Q1(1) is simultaneously connected with a normally open positive input contact of a normally open contact (2) of a relay K1 and a normally open positive input contact of a normally open contact (3) of a relay K2; the pole of the direct-current power supply GND is connected with a normally open negative input contact of a normally open contact (2) of the relay K1 and a normally open negative input contact of a normally open contact (3) of the relay K2 at the same time; the positive electrode of the following control motor M1(13) is simultaneously connected with a normally open positive output contact of a normally open contact (2) of the relay K1 and a normally open negative output contact of a normally open contact (3) of the relay K2, and the negative electrode is simultaneously connected with a normally open negative output contact of the normally open contact (3) of the relay K1 and a normally open positive output contact of the normally open contact (3) of the relay K2; a first digital quantity input point of the PLC (4) is connected with a normally open contact (5) of a travel switch S1, a second digital quantity input point is connected with a normally open contact (6) of a travel switch S2, and digital signal points are simultaneously connected with a common point of the travel switch S1 and a common point of the travel switch S2; a first digital quantity output point of the PLC (4) is connected with a normally closed input contact of a normally closed auxiliary contact (7) of the relay K2, and a second digital quantity output point of the PLC (4) is connected with a normally closed input contact of a normally closed auxiliary contact (8) of the relay K1; the power supply point of the PLC (4) is simultaneously connected with the common point of the travel switch S3 and the common point of the travel switch S4; the negative pole of the control coil of the relay K1 control coil (9) is connected with the normally closed output contact of the relay K2 normally closed auxiliary contact (7), and the positive pole of the control coil of the relay K1 control coil (9) is connected with the normally closed point of the travel switch S3; the negative pole of the control coil of the relay K2 control coil (10) is connected with the normally closed output contact of the relay K1 normally closed auxiliary contact (8), and the positive pole of the control coil of the relay K2 control coil (10) is connected with the normally closed point of the travel switch S4;
the PLC controller (4) is used for: when the AGV travels longitudinally, a low-voltage control signal is output through a first digital output point, a control coil of a relay K1 is connected with a power supply, a normally open contact (2) of the relay K1 is attracted, a normally closed auxiliary contact (8) of a relay K1 is disconnected, a following control motor M1(13) is connected with the power supply to rotate forwards, a control coil (10) of the relay K2 is ensured not to be electrified, and a normally open contact (3) of the relay K2 is in a disconnected state;
when the scanning head rotates to 90 degrees, the travel switch S1 is triggered, the normally open contact (5) of the travel switch S1 is closed, the first digital input point of the PLC (4) receives a control signal and then closes the control signal output by the first digital output point, the control coil (9) of the relay K1 is powered off, the normally open contact (2) of the relay K1 is disconnected, the power supply stops rotating when the control motor M1(13) is disconnected, and the effective working angle deflection value of the scanning head is as follows: the code band can be normally identified within the ranges of 0-45 degrees, 135-225 degrees and 315-360 degrees;
when the AGV transversely walks, a low-voltage control signal is output through a second digital output point of the PLC (4), at the moment, a relay K2 controls a coil (10) to be connected with a power supply, a relay K2 normally-open contact (3) is attracted, meanwhile, a relay K2 normally-closed auxiliary contact (7) is disconnected, at the moment, a following control motor M1(13) is connected with the power supply to rotate reversely, and meanwhile, it is ensured that a relay K1 controls a coil (9) not to be electrified, and a relay K1 normally-open contact (2) is in a disconnected state;
when the scanning head rotates to 0 degree, the travel switch S2 is triggered, the normally open contact (6) of the travel switch S2 is closed, the second digital quantity input point of the PLC (4) receives a control signal and then closes the control signal output by the second digital quantity input point, the relay K2 controls the coil (10) to be powered off, the normally open contact (3) of the relay K2 is disconnected, the power supply is disconnected and stops rotating along with the disconnection of the control motor M1(13), and the effective working angle deflection value of the scanning head is as follows: the code band can be normally identified within the range of 45-135 degrees and 225-315 degrees.
2. The circuit of claim 1, wherein the DC breaker Q1(1) is of the type C65H-DC C2A.
3. The circuit according to claim 1, characterized in that the relays K1, K2 are of type LY 3N-J.
4. A circuit as claimed in claim 1, wherein the PLC controller (4) is of type S7-200.
5. The circuit of claim 1, wherein the travel switches S1, S2, S3, S4 are model numbers S5-GGL 13.
6. A circuit according to claim 1, wherein the follow-up control motor M1(13) is of the type XD-37GB 555.
7. The circuit of claim 1, wherein the dc power supply is a 24V dc power supply.
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| CN201910208371.1A CN109857147B (en) | 2019-03-19 | 2019-03-19 | PGV visual scanning head automatic following control circuit |
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| CN201910208371.1A CN109857147B (en) | 2019-03-19 | 2019-03-19 | PGV visual scanning head automatic following control circuit |
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