| The central control system of magnetic tape guided AGV is to make the vehiclerunning along the tapes laying on the ground and also has the function including:traction control、landmark recognition、light control、obstacle avoidance and thewireless communication between the vehicle and the main control computer. Thevehicle’s central control system by receiving the input signals from magnetic guidingsensor、landmark recognition sensor and a series of obstacle avoidance sensors, andthen sent them to the control core PLC to implementation the two motor’s speedcontrol of drive unit in order to realize the vehicle’s start、stop、tracking、acceleration、deceleration、path recognition、derailment control、obstacle avoidance and lightcontrol and etc. The traditional AGV used more with the single chip processor as thecore of the circuit board as the control system, its integrity and cost-effective, hashigh reliability. But the programming equipment is cumbersome, it is difficult tovalidate the algorithm and system reliability and has a long development cycle. At thesame time, is not easy to make a change when the industrial field needs somechanging of the vehicle to corresponding function improvement, the basic changeinvolves the hardware modifications.Because of these reasons, the PLC has thefeature of flexibility、commonality、high reliability、anti-interference ability, high costperformance, simple interface, convenient maintenance, strong scalability, modularity,simple programming and easy to master become a very good choice.In this paper, use PLC control technology to design a central control system formagnetic guided AGV. Using the MASTER-K120S series DR60U type PLC andsome necessary digital/analog input/output/conversion module produced by LSelectricity for automatic collection and processing all kinds of control signals. Usetwo high quality DC motor with gear box to drive the wheels of the vehicle. Use16points S extremely magnetic guidance sensors and N/S landmark sensor to realize thevehicle’s tracking movement and the landmark recognition. Choose Zigbee to realizethe wireless communication. Use the MCGS configuration software to realize the PCremote monitoring interface.Through debugging for many times, the magnetic tape guided AGV centralcontrol system introduced in this paper can make the vehicle running along the tape with good stability (travel deviation around1cm to5cm) and it has a good accuracyand a fast response in landmark recognition.It also has a good implementation inacceleration、deceleration、turning、bifurcation、avoidance、light control and etc. Thewireless communication system works well within100m in a space where has somebarriers, the PC remote wireless monitoring has a good function and reliability. Theinnovation point of this paper is that the syetem can set the landmark figures to adaptdifferent industrial fields to meet the different needs. Fully realized the initial designrequirements and achieved the expected design effect. |
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