基于PLC的轮对RGV输送车自动控制系统

Automatic Control System of Wheel RGV Conveyor Based on PLC

为实现轮对RGV输送车在具有不同类型、不同数量障碍物的场景中稳定运行,设计基于PLC的轮对RGV输送车自动控制系统。红外光电传感器检测到障碍物,采用改进人工势场法的RGV输送车避障算法规划避障路径,PLC控制模块下达避障运行指令至循迹电路,实现轮对RGV输送车避障运行。实验结果验证系统可以实现轮式RGV输送车无碰撞运行,在具有不同类型、不同数量障碍物的场景中,具有一定抗干扰性,使用性能稳定,仍可控制轮式RGV输送车完成无碰撞运行。

In order to realize the stable operation of wheelset RGV conveyor in the scene with different types and different numbers of obstacles,an automatic control system of wheelset RGV conveyor based on PLC is designed.The infrared photoelectric sensor detects obstacles,uses the improved artificial potential field method of RGV conveyor vehicle obstacle avoidance algorithm to plan the obstacle avoidance path,and the PLC control module issues the obstacle avoidance operation command to the tracking circuit to realize the obstacle avoidance operation of wheel set RGV conveyor vehicle.The experimental results show that the system can realize the collision free operation of wheeled RGV conveyor vehicle.In the scene with different types and different numbers of obstacles,it has certain anti-interference and stable performance,and can still control the wheeled RGV conveyor vehicle to complete the collision free operation.