CN102156477A - AGV (automatic guided vehicle) control platform and realizing method of AGV control platform - Google Patents
AGV (automatic guided vehicle) control platform and realizing method of AGV control platform Download PDFInfo
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Abstract
The invention discloses an AGV (automatic guided vehicle) control platform having a distributed structure, which comprises a main node and three secondary nodes which are communicated through LIN (local interconnect network) bus bidirectional data, wherein the three secondary nodes are mutually independent and all have LIN interface modules for communicating with the main node based on the LIN bus communication and specific local identifiers; the main node comprises a main control board, an LIN interface module, an infrared tracking module, a motor driving module and a power supply module; and each secondary node comprises a driven control board for controlling and feeding back the AGV running and acquiring the tracking information for the main node to process procedures, an ultrasonic barrier-avoiding module, a temperature detection module, a vehicle acceleration inclining-detection module, a vehicle infrared left-wheel speed-measuring module, an electric quantity detection module and a vehicle infrared right wheel speed-measuring module. By using the LIN bus technique to realize the connection between sensors in the AGV system, the wires are reduced while the maintaining cost is lowered. Because of the high reliability and high anti-interference property, the whole system is more stable and reliable.
Description
Technical field
The present invention relates to a kind of electrical control platform, relate in particular to a kind of control platform and its implementation that the LIN bussing technique is applied to the automatic guiding of logistics dolly.
Background technology
The development of AGV and application prospect:
AGV is the english abbreviation of homing guidance dolly (Automated Guided Vehicle).Carry the definition of logistics association according to the U.S., AGV is meant and is equipped with electromagnetism or optical target sounding device, can travel along the guide path of regulation, has the travelling bogie of dolly programming and parking selecting arrangement, safeguard protection and various transfer functions.AGV is the important component part of advanced manufacturing system, is system flexibilityization, and is integrated, and efficient operation provides important assurance.It is the integrated intelligence transportation equipment that integrates technology such as machinery, electronics, computing machine and fieldbus.
Along with the development of electronics and control technology, the technology of AGV is also in continuous progress, and towards performance is more superior, more cheap, degree of freedom is higher, function is abundant more and perfect direction develops, its application is also in continuous expansion in the AGV system.Just as the logistics conveying equipment in the factory, not only be confined to now within the factory before this more than ten years, it is all multidisciplinary successfully to be applied to office, restaurant, hospital and supermarket etc., and has obtained good effect.In recent years, AGV is very fast at national developments such as Japan, the U.S., Germany, Belgium, Sweden, and the factory that has has realized the automatic guided vehicles ystem from store keeping to the overall process that manufactures a finished product.Particularly Japanese, total platform number of AGV, annual ratio with 20% increases.Along with the high development of the production automation and the requirement of flexible manufacturing system, the AGV system that develops the low cost that is fit to national conditions, high reliability, appropriate flexibility will bring huge economic benefit and social benefit.
Fieldbus development and application prospect:
IEC (International Electrotechnical Commission, International Electrotechnical Commissio) fieldbus one speech is defined as: fieldbus is a kind of production scene that is applied to, at the scene between the equipment, carry out the technology of two-way, serial, multinode digital communication between field apparatus and the control device.It is one is the complex art of main contents with intelligent sensing, control, computing machine, data communication, is the focus of current automatic field development, is described as the LAN (Local Area Network) of automatic field.Because the various fields demand is different, adds ordering about of commercial interest, this makes unified standard for Fieldbus remain unfulfilled so far.Have tens kinds of standard for Fieldbus at present in the world, popular have FF (foundation fieldbus), CAN (controller local area network), LIN, a Profibus etc.Various buses all have the characteristics of oneself, have formed advantage separately in the different application field.
The LIN bus is by famous in the world automobile vendor, the coordinated enterprise that BMW, Daimler-Chrysler, masses, Volvo associating semiconductor maker Motorola Inc., technical tool support merchant VCT company are formed and a kind of high-performance serial communication protocol of developing.Formally issued the LIN1.2 standard in November, 2000.LIN is as a kind of agreement towards low end communication, has advantages such as low cost, high reliability, high noise immunity, realization are simple.It is high but to the occasion of Price Sensitive that it is mainly used in required communication rate, integrated as the vehicle body ECU (Electrical Control Unit), intelligent actuator and sensor are connected to vehicle body major network etc.As a kind of emerging bus protocol, LIN more and more has been applied in automobile industry and the industrial occasions.At present, LIN protocol application hot of research and development concentrates on the U.S., Europe and Japanese.Along with the increase of bus node on the car, high performance system to the control of the development of low and middle-grade automobiles and automatic field to cost of products, the higher relatively realization cost of CAN bus just becomes a kind of obstacle, the LIN bus is subjected to increasing favor.
Common a few money AGV characteristic analysis and comparison:
From guidance mode relatively:
At present common a few money AGV mainly are divided into four kinds according to the guide mode in its automatic driving process: electromagnetism guiding type AGV, and visual guidance formula AGV, laser guiding AGV, us guide formula AGV, its guide mode is more as shown in table 1.
Table 1
By in the table as can be seen, though these four kinds of guide modes commonly used respectively have characteristics, the ubiquity cost is higher, flexibility is lower, realize problem such as complexity, this makes them be difficult to extensively be promoted.
From control mode relatively:
The control mode of AGV control system mainly contains two kinds of centralized control and distributed control modes, as shown in Figure 1.The traditional centralized control of the many employings of the AGV system of home market at present, this mode adopts point-to-point single communication mostly, and each functions of modules is focused on by main control chip, and module seldom is related each other.Along with the AGV system trends towards intellectuality, networking, the function of system is also abundant and perfect more, the functional module that control system need connect is more and more, and the main control chip resource-constrained, so not only increased the complicacy of system, make wiring system become greatly more and more huger, and make system maintenance difficulty more.
Introduce bussing technique and realize distributed control on control system, then can well address this problem, it can make between each module more independent, but gets in touch more conveniently, makes total system be easy to maintenance and expansion.The characteristics that provided two kinds of control modes in the table 2 compare.
Table 2
By above to the guide mode of AGV and the analysis and the comparison of control mode two aspects, as can be seen, though commercially available many moneys AGV respectively has characteristics at present, but, cause in all kinds of industrial and mining enterprises, working environment, to be widely used because cost is high, difficult in maintenance, flexibility is lower, complex process.
Summary of the invention
In view of the defective that above-mentioned prior art exists, the objective of the invention is to propose a kind of AGV control platform and its implementation based on the LIN bus, solve the problem that traditional AGV is unsuitable for applying owing to many-sided defective.
Above-mentioned first purpose of the present invention, its technical solution is:
A kind of AGV control platform, it is characterized in that described AGV control platform is a distributed frame, comprise a host node and three slave nodes of linking to each other by LIN bus bidirectional data communication, and the first slave node, the second slave node and the 3rd slave node are separate, all have be used for host node based on the LIN interface module of LIN bus communication and specific local identifier; Wherein said host node comprises master control board, LIN interface module, infrared tracking module, motor drive module and energy supply module; The described first slave node comprises first and keeps away barrier module and temperature detecting module from control panel, ultrasound wave; The described second slave node comprises second and surveys incline module and the infrared revolver speed measuring module of dolly from control panel, dolly acceleration; Described the 3rd slave node comprises the 3rd from the infrared right wheel speed measuring module of control panel, electric weight detection module and dolly.
Further, comprise hand-held programmable device or phonic warning module in the composition structure of described host node.
Above-mentioned second purpose of the present invention, its implementation is:
Be mounted with mainframe program in the master control board of host node in the described AGV control platform, and each of three slave nodes is mounted with the slave program respectively from control panel, host node links to each other by the LIN communication interface routine with program in each slave node, and wherein the module of the corresponding control of the slave program of each slave intranodal itself operates and state own is sent to host node; And described mainframe program has the subroutine that is positioned at different Physical layers, comprise that timer overflows the terminal system task dispatch, motor-driven program and serial ports interrupt system self-test procedure, wherein said timer overflows the terminal system task dispatch and is used to switch LIN communication and infrared tracking, under infrared tracking task, host node is carried out serial ports interrupt system self-test procedure and motor-driven program in turn, under the LIN communication task, host node is according to specific local identifier and each slave node interactive information, acquisition trajectories information and each slave node state, described infrared tracking refers to host node and carries out environment self-adaption according to collecting trace information, control three slave nodes, realize that AGV keeps away barrier, test the speed, detect the function that electric weight and body sway are reported to the police.
Further, each described slave node has the message identifier that receives and send two types, and acceptance comprises that from the information of LIN bus node writes NodeX_White, node is read NodeX_Read and is broadcasted three kinds of Broadcast, distribute by information being carried out ID, each slave node is the identification message kind automatically.
Further, also comprise hand-held programmable device interface routine in the described mainframe program, host node receives the order of hand-held programmable device, revises corresponding operational factor or response data after the analyzing and processing and shows to hand-held programmable device, analyzes during for debugging and uses.
Further, also comprise the keyboard interrupt program in the described mainframe program, host node is handled external command by keyboard interrupt, determines current AGV operational mode according to different button and the key combination of identification, or direct manipulation AGV walking under manual mode.
Application implementation AGV control of the present invention platform, its significant effect is:
Utilize this communication protocol novel, low-cost and high-performance of LIN bussing technique, realize the connection between the sensor in the AGV system, not only can reduce wire harness, reduce maintenance cost, and because its high reliability and high noise immunity also can make total system more reliable and stable.
Following constipation closes the embodiment accompanying drawing, the specific embodiment of the present invention is described in further detail, so that technical solution of the present invention is easier to understand, grasp.
Description of drawings
Fig. 1 is two kinds of AGV control system control mode synoptic diagram;
Fig. 2 is the system framework figure of AGV control platform of the present invention;
Fig. 3 is a further detailed system chart of AGV control platform shown in Figure 2;
Fig. 4 is the system program structured flowchart of AGV control platform shown in Figure 2;
Fig. 5 is the schematic flow sheet of AGV control platform master routine of the present invention;
Fig. 6 is that the system task scheduling is an enforcement synoptic diagram in the master routine;
Fig. 7 is the schematic flow sheet that overflows interrupt routine in the AGV control platform of the present invention;
Fig. 8 is the schematic flow sheet of keyboard interrupt program in the AGV control platform of the present invention;
Fig. 9 is the algorithm process schematic flow sheet that adaptive environment changes in the AGV control platform of the present invention;
Figure 10 is the on-the-spot operating path figure of a preferred embodiment of the present invention.
Embodiment
(Automated Guided Vehicle AGV) is the important component part of advanced manufacturing system to the homing guidance dolly.The present invention has designed the AGV control platform that low price, the system of the use of a suitable domestic medium and small sized enterprises are reliable and practical, be convenient to safeguard expansion.
The LIN bussing technique is as a kind of communication protocol of novel low-cost and high-performance, be suitable for very much industrial occasions to cost sensitivity, system introduces control system with the LIN of infant industry bus cheaply bussing technique, make up the distributed bus structure and realize the connection between the sensor in the AGV system by it, not only can reduce wire harness, reduce maintenance cost, and because its high reliability and high noise immunity can make also total system more reliable and stable.And the applied research of LIN agreement is also had very high value.
The present invention has realized the control platform design based on the AGV system of LIN bus.Make up the control platform by the LIN bus, realized task scheduling algorithm, and the tracking of AGV has been adopted the adaptive method of illumination three nodes.
One, the performance index and the framed structure of AGV control platform design of the present invention:
Requiring AGV can be the black steering tape load-carrying automatic tracking walking of 5cm along the fixation locus width, can automatic obstacle-avoiding, detecting the gradient, and during body sway or detect accumulator electric-quantity when not enough, system can the audio alert prompting.System can stop to travel and finishing automatic unloading after arriving stop line.Under special circumstances, AGV can transfer manual mode to, is walked by controlled by keyboard.System performance index is referring to table 3:
Table 3
In view of the actual index of system design, higher functional module of minimum mechanical part, optional price ratio and control mode development AGV are used in plan among the present invention.The design adopts the optical navigation mode, uses the infrared sensor guiding, and this mode not only guide tracks laying cost is very low, be easy to safeguard, and realization is simple, and precision is higher.In order to reduce the system maintenance cost, make systemic-function more reliable and stable, and, among the present invention the LIN bussing technique has been applied in the control system conveniently to function expansion, system adopts distributed control, as shown in Figure 2.
Two, the hardware of AGV control platform constitutes:
The control system of this AGV control platform is the key of whole AGV system, and its design is directly determining the operational paradigm of system.Control system is mainly by principal and subordinate's control panel, compositions such as LIN interface module and other functional module.As shown in Figure 3, system is made up of the LIN bus interconnection by four nodes.Wherein, the host node part is mainly by master control board, infrared tracking module, LIN interface module, phonic warning module, compositions such as motor drive module and hand-held programmable device.The first slave node comprises first and keeps away barrier module and temperature detecting module from control panel, ultrasound wave; The described second slave node comprises second and surveys incline module and the infrared revolver speed measuring module of dolly from control panel, dolly acceleration; Described the 3rd slave node comprises the 3rd from the infrared right wheel speed measuring module of control panel, electric weight detection module and dolly.Three slave nodes all have the LIN interface module that is complementary with host node.
Further refinement also as shown in Figure 4, the system program structured flowchart of this AGV control platform mainly is divided into three parts, be respectively LIN master-slave communication interface routine, mainframe program and slave program, the three connects each other, and mainframe program and slave program communicate by LIN master-slave communication interface routine.The LIN communication interface routine is mainly finished the transmission of data, according to the LIN agreement data on the bus is delivered to destination node.
Mainframe program is mainly finished following function:
(1) communicates by letter with the hand-held programmable device: receive the hand-hold programmer order, revise corresponding operational factor or response data after the analyzing and processing and show, analyze during for debugging and use to hand-held programmable device;
(2) keyboard commands receive: determine current system running state according to user key-press;
(3) task scheduling: the wheel by four duty cycles in the timer interrupt control mainframe program changes execution;
(4) the automatic tracking task is handled: according to the trace information of gathering, follow the track walking automatically, and can realize environment self-adaption;
(5) three LIN node tasks are handled: by the LIN bus to three from node request msg and analyzing and processing, realize keeping away barrier thus, test the speed, detect electric weight, function such as body sway warning;
(6) other: by the PWM drive motor, receive serial data realization system and test oneself etc.
The slave program is divided into three modules, and each module is finished data acquisition function separately, when mainframe program needs data, sends the current data that collect to host node.
And LIN master-slave communication Interface design:
AGV system based on the LIN bus is made of a main frame and three slave nodes, by all slave nodes of host computer control, each slave node receives and sends two message identifiers to having, main frame by bus when slave sends frame head, all slaves all will be received frame head, ask the slave of local identifier just can give a response but only confirm as.
The AGV system comprises three slave nodes.Each slave node has reception (Receive) and sends the message identifier of (Send) two types, can discern 3 kinds of message from the LIN bus, be respectively that node is write NodeX_Write, node is read NodeX_Read and broadcasting Broadcast message, the node number that X refers to.For the ease of these several message that identification is sent from bus network, we carry out the ID distribution to message, and the message identifier assignment information of three nodes is shown in table 3-1.Main frame just can send order and data respectively to each node like this, and each node also can send to main frame to the state of self.The identifier of broadcast is the same for each slave node.Main frame just can send data to all line nodes simultaneously like this.Detailed LIN message table shown in table 4-1 (the corresponding host node of main frame, the slave one corresponding first slave node in the table, by that analogy):
Table 4-1
Node is write NodeX_Write message and is sent to slave by main frame, with the order data of two byte lengths, the type of identifier that comprises in the message is to receive (Receive) type in the message, and corresponding slave is after receiving message, reading of data is also handled, and does not do any response to main frame.
It is to send under the prerequisite of frame head to slave earlier at main frame that node is read NodeX_Read message, is responded by slave and issues main frame, and its type of identifier that comprises is for sending (Send) type, and the data that have in the message are nybble length.Main frame is receiving these nybble data of this message aftertreatment, and its data layout is shown in table 4-2.
| Byte 1 | |
|
Byte 4 |
| Block code 1 | Data value 1 | |
|
Table 4-2
Wherein, pairing block code of each slave node and data content are shown in table 4-3 (wherein be the first slave node from node one LIN01, below analogize):
Table 4-3
Three, the software control method of AGV control platform:
1. master routine designs and task scheduling:
The realization flow of system's master routine as shown in Figure 5.Enter master routine, at first each module is carried out initialization, wait for that then 5 second time was used to receive hand-hold programmer instruction,, then enter debugging mode, communicate with programmable device if receive instruction.If do not receive instruction then enter major cycle, AGV begins to wait for keyboard instruction.After receiving keyboard instruction, system changes the keyboard interrupt handling procedure over to and carries out, and can determine the value of corresponding system running mark position Startmode in this program according to the instruction that receives, and is as shown in table 5.System determines current running status after judging the running mark position.If current running status is an automatic mode, then starts dolly and begin the tracking walking.
Because under automatic mode, system has adopted the executive mode of multitask.Master routine need be finished the scheduling to four tasks, and by LIN bus and task from node communication, the function of the pairing zone bit Taskflag of each task is also as shown in table 5 comprising a tracking task and three.
Table 5
System has adopted the round-robin mode to carry out the task switching, and this is a kind of algorithms most in use that realizes multi-task scheduling.Each task is assigned with a time period, is called its timeslice.Overflow interrupt routine by clock and check whether the timeslice of current task uses up, and adjust according to scheduling strategy.If task also in operation, is then carried out authority and will be deprived and distribute to another task when timeslice finishes.The scheduling relation of four tasks as shown in Figure 6.At first obtain timeslice and begin to carry out, after timeslice uses up, change a LIN task over to and begin to carry out, in a total dispatching cycle, will carry out three times the tracking task, and each LIN task is only carried out once separately by the tracking task.
In order to improve system effectiveness, be selected suitable timeslice length and the performance period of each task, long meeting prolongation system's performance period that timeslice is established, reduce response speed; Timeslice is established to such an extent that too shortly can cause too much task to be switched again, and the reduction system carries out efficient.When distributing timeslice, guarantee that each task can finish in its time period.The selection of performance period then will require according to the real-time of this task to determine.The time period of each task and the selection of execution cycle time are described as follows.
(1) timeslice of tracking task and performance period are selected
The tracking task is the major part of system software.The time period length of distributing to the tracking task is 2ms.Because main frame adopts the bus frequency of 40Mhz, each CPU performance period is 0.025 μ s, so can carry out 8,000 instructions (on average taking 10 performance periods calculating with every instruction) approximately in the time of 2ms.The programmed instruction of statistics tracking part is much smaller than this number, so can guarantee to finish the tracking program in the time period of 2ms.In addition, because the tracking task is wanted continuous acquisition trajectories information, dynamically update data, so will satisfy certain real-time.Because track width is 5cm, under the speed of travel of 1m/s, can keep the 50ms time at least to running out of track from the sensor to the track.In this time the tracking task executions cycle short more, the sensitivity of AGV tracking is just high more.So the selected performance period is 12ms, can requirement of real time.
(2) timeslice of LIN task and performance period are selected
System LIN task has three, is communicated the data that received by host process again after each communication respectively by the corresponding and different slave of main frame.Period distribution principle according to message frame.Can calculate thus, system is under 19200 baud rate, the maximum time TFrame_Maximum that the message frame that to send a data length be 4 bytes needs is 6.1ms, finish in a period of time in order to guarantee master-slave communication, it is 10ms that system assignment is given each LIN segment length task time, can meet the demands.In addition, the performance period of selected 36ms, under the max speed of 1m/s, the detected distance of ultrasonic sensor only changes 3.6cm, does not influence and keeps away barrier.In addition other processing real-time as data such as temperature, electric weight is less demanding, so can satisfy system requirements.
2. interrupt service routine design:
(1) overflow interrupt handling routine:
Overflow the pith of interrupt routine as interrupt service routine, it mainly realizes the setting to the scheduling of system task and PWM dutycycle.The every 1ms of system produces and once overflows interruption, and the process flow diagram of its program as shown in Figure 7.
The PWM value that motor is set is very important.When PWM need change, can not indirect assignment change rotating speed of motor, the unexpected variation of this motor speed that is caused by the sudden change of PWM output waveform can produce very big electric current, is easy to puncture the holding circuit of motor drive module.In order to prevent the generation of this big electric current, can when composing the PWM value, do certain buffered.Here when needs change PWM value, overflow at timer and to have done corresponding buffered in the interruption, as shown in Figure 7, with two variable step-by-step processing, parameter PWM_X is current PWM value with the PWM dutycycle in system, DPWM_X then is the target P WM value of needs variation.Current PWM value is done increasing or decreasing handle progressively and adjust by overflowing interrupt interval ground, up to changing to desired value.Correction in this way can be eliminated the situation that output waveform is suddenlyd change, and the adjustment of waveform is a process stably.
After the PWM dutyfactor value is set, come four tasks are dispatched by counter.The corresponding counter of each task, they begin operation with different initial values, and every interruption start-stop counter subtracts 1, and one of them counter is reduced to and is promptly determined current need carrying out of task after zero.
(2) keyboard interrupt is handled subroutine:
System handles external command by keyboard interrupt, determines current trolley travelling pattern according to different button and the key combination of identification, simultaneously also can be at manual mode lower-pilot carriage walking.
The keyboard interrupt program flow diagram as shown in Figure 8, system running pattern has five kinds: the normal tracking of dolly walking under the automatic mode; Manual mode is used for manual control carriage walking in particular cases; System's pattern of testing oneself is used for dolly and receives PC order carrying out motor and LIN bus test; The brake hard pattern then is used for hand brake in emergency circumstances; The AD detection of environment before the advanced trade of dolly is determined to enter normal tracking behind the threshold values under the environment self-adaption pattern.
3. the design of illumination self-adapting program:
Because under different illumination condition environment, there is certain difference in the AD value of infrared sensor sampling, and the illumination condition of running environment may change in actual applications, in order to make sensor sample can adapt to different illumination conditions, can be under the prerequisite that does not change hardware configuration, realize from the software programming technique angle, thus the stability of assurance input.
(1) sensor sample result's binary conversion treatment
Before introducing self-adapting program, at first need the understanding system how to differentiate and handle white and black trace information.When sensor arrives different trace informations, can export different magnitudes of voltage, after the A/D conversion, at first conversion value is saved in the one-dimension array, need then data are carried out binary conversion treatment.Concrete operations are such: at first will determine a threshold values (counting CriticalAD), this value is to test a fiducial value that obtains at the scene, then AD value and this threshold values with the current sensor that records compares, if less than threshold values, then think respective sensor detected be black line, count 1, otherwise detected be exactly white line, count 0.So just can obtain an element and be 1 and 0 one-dimension array IS_AD[8], have 8 elements, the information of corresponding 8 pairs of sensors.Carrying out binary conversion treatment is the basis that track is judged, is convenient to the back data are analyzed.
(2) dynamically adjust threshold values
Because sampled result is subjected to the influence of illumination condition, is insecure so fixing threshold values simply is set.Here adopted the method for dynamic setting threshold values to realize.
System compares according to the threshold values of acquiescence under original state, differentiates track.When bigger variations takes place in the illumination condition of system running environment, need reset threshold values, can before tracking, carry out the adaptive sub program at this moment and redefine AD threshold values under the current environment.As shown in Figure 9, after determining running status, keyboard commands begin to carry out self-adaptation operation receiving, system is with three promptings of buzzing during beginning, need move past the black track successively from eight sensors by from left to right order this moment, for each road AD sampling, two values of black line and white line of at every turn sampling, system's buzzing was once pointed out after once sampling was finished, then the black track is moved to next sensor for detecting, all gather until eight sensors and finish.Deposit the black line that collects in corresponding array BlackAD[with the AD value of white line at every turn] and WhiteAD[] in.Calculate AD threshold values CriticalAD=[Max under the current environment (BlackAD[])+Min (WhiteAD[]) according to this]/2.Buzzing prompting once more after operation is finished, the threshold values under the current environment has been set and has been finished at this moment, and putting the running status zone bit is general mode, the beginning automatic tracking.
In sum, the structure of AGV control platform of the present invention forms and implementation method has been able to detailed introduction, as shown in figure 10, a kind of rig-site utilization example of AGV control platform of the present invention is provided, as seen by track difference loading and unloading point is coupled together under the environment at the scene, AGV can travel through each loading and unloading point along track automatically according to default track and control program.Especially, feed back the situation of the dolly electric weight deficiency that obtains according to the electric weight detection module, program-controlled tracking set rapid charge point in the figure carries out the energy and replenishes.By introducing the LIN bussing technique, can realize functions such as keeping away barrier, test the speed, detect electric weight in the AGV operation, body sway warning well, be applied to all kinds of industrial and mining enterprises and working environment better.
Those of ordinary skill in the art will be appreciated that, above embodiment only is used for illustrating this present invention essential characteristics, but not as limitation of the invention, as long as in connotation scope of the present invention, all will drop in claims scope of the present invention variation, the distortion of the above embodiment.
Claims (7)
1. an AGV controls platform, it is characterized in that described AGV control platform is a distributed frame, comprise a host node and three slave nodes of linking to each other by LIN bus bidirectional data communication, and the first slave node, the second slave node and the 3rd slave node are separate, all have be used for host node based on the LIN interface module of LIN bus communication and specific local identifier; Wherein said host node comprises master control board, LIN interface module, infrared tracking module, motor drive module and energy supply module; The described first slave node comprises first and keeps away barrier module and temperature detecting module from control panel, ultrasound wave; The described second slave node comprises second and surveys incline module and the infrared revolver speed measuring module of dolly from control panel, dolly acceleration; Described the 3rd slave node comprises the 3rd from the infrared right wheel speed measuring module of control panel, electric weight detection module and dolly.
2. a kind of AGV control platform according to claim 1 is characterized in that: comprise the hand-held programmable device in the composition structure of described host node.
3. a kind of AGV control platform according to claim 1 is characterized in that: comprise the phonic warning module in the composition structure of described host node.
4. the described a kind of AGV of claim 1 controls the implementation method of platform, it is characterized in that: be mounted with mainframe program in the master control board of host node in the described AGV control platform, and each of three slave nodes is mounted with the slave program respectively from control panel, host node links to each other by the LIN communication interface routine with program in each slave node, and wherein the module of the corresponding control of the slave program of each slave intranodal itself operates and state own is sent to host node; And described mainframe program has the subroutine that is positioned at different Physical layers, comprise that timer overflows the terminal system task dispatch, motor-driven program and serial ports interrupt system self-test procedure, wherein said timer overflows the terminal system task dispatch and is used to switch LIN communication and infrared tracking, under infrared tracking task, host node is carried out serial ports interrupt system self-test procedure and motor-driven program in turn, under the LIN communication task, host node is according to specific local identifier and each slave node interactive information, acquisition trajectories information and each slave node state, described infrared tracking refers to host node and carries out environment self-adaption according to collecting trace information, control three slave nodes, realize that AGV keeps away barrier, test the speed, detect the function that electric weight and body sway are reported to the police.
5. the implementation method of a kind of AGV control platform according to claim 4, it is characterized in that: each described slave node has the message identifier that receives and send two types, and acceptance comprises that from the information of LIN bus node writes NodeX_White, node is read NodeX_Read and is broadcasted three kinds of Broadcast, distribute by information being carried out ID, each slave node is the identification message kind automatically.
6. the implementation method of a kind of AGV control platform according to claim 4, it is characterized in that: also comprise hand-held programmable device interface routine in the described mainframe program, host node receives the order of hand-held programmable device, revise corresponding operational factor or response data after the analyzing and processing and show, analyze during for debugging and use to hand-held programmable device.
7. the implementation method of a kind of AGV control platform according to claim 4, it is characterized in that: also comprise the keyboard interrupt program in the described mainframe program, host node is handled external command by keyboard interrupt, determine current AGV operational mode according to different button and the key combination of identification, or direct manipulation AGV walking under manual mode.
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Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102929282A (en) * | 2012-11-30 | 2013-02-13 | 天津市中环电子计算机有限公司 | Intelligent logistics car based on motion control card |
| CN103713638A (en) * | 2013-12-20 | 2014-04-09 | 江苏清弘物联网股份有限公司 | Miniature car model navigation system |
| CN103744425A (en) * | 2012-08-23 | 2014-04-23 | 苏州宝时得电动工具有限公司 | Automatic working equipment and its control method |
| CN103809552A (en) * | 2012-11-13 | 2014-05-21 | 现代摩比斯株式会社 | LIN communication system for vehicle and method for driving slave module |
| CN104228498A (en) * | 2013-06-20 | 2014-12-24 | 广州市远能物流自动化设备科技有限公司 | Automatic unhooking system of AGV (automatic guided vehicle) |
| CN104950886A (en) * | 2015-06-15 | 2015-09-30 | 合肥工业大学 | Working platform for intelligently maintaining AGV (Automatic Guided Vehicle) |
| CN105373120A (en) * | 2014-08-12 | 2016-03-02 | 通用汽车环球科技运作有限责任公司 | Automated guided cart system control |
| CN103676946B (en) * | 2012-08-31 | 2016-05-18 | 苏州宝时得电动工具有限公司 | Automatic running device and state information management method thereof |
| CN106950951A (en) * | 2017-03-09 | 2017-07-14 | 沈阳远大科技园有限公司 | A kind of AGV control systems and method |
| CN108363389A (en) * | 2017-01-16 | 2018-08-03 | 浙江国自机器人技术有限公司 | A kind of ultrasonic evadible system applied to mobile robot |
| CN108447256A (en) * | 2018-03-22 | 2018-08-24 | 连云港杰瑞电子有限公司 | Trunk road vehicle trajectory reconstruction method based on electric police and fixed point detector data fusion |
| CN109960225A (en) * | 2017-12-14 | 2019-07-02 | 北京迪文科技有限公司 | A kind of combined dcs and implementation method |
| CN110531758A (en) * | 2019-07-31 | 2019-12-03 | 珠海达明科技有限公司 | A kind of AGV control system and method |
| CN111061271A (en) * | 2019-12-23 | 2020-04-24 | 天行智控(成都)科技有限公司 | Side-hanging type rail transportation control system |
| CN111123929A (en) * | 2019-12-23 | 2020-05-08 | 天行智控(成都)科技有限公司 | Rail transport partition scheduling system |
| CN112512012A (en) * | 2020-11-25 | 2021-03-16 | 科大智能电气技术有限公司 | Multi-vehicle linkage system and method based on 5G virtual private communication |
| CN113568408A (en) * | 2021-07-28 | 2021-10-29 | 福勤智能科技（昆山）有限公司 | Distributed AGV system |
| CN113721616A (en) * | 2021-08-27 | 2021-11-30 | 东风汽车股份有限公司 | Handheld AGV tracking PID parameter debugging system and using method thereof |
| CN113870602A (en) * | 2021-09-28 | 2021-12-31 | 湖南大学 | Method and system for dispatching multiple AGV parking |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103744425A (en) * | 2012-08-23 | 2014-04-23 | 苏州宝时得电动工具有限公司 | Automatic working equipment and its control method |
| CN103676946B (en) * | 2012-08-31 | 2016-05-18 | 苏州宝时得电动工具有限公司 | Automatic running device and state information management method thereof |
| CN103809552A (en) * | 2012-11-13 | 2014-05-21 | 现代摩比斯株式会社 | LIN communication system for vehicle and method for driving slave module |
| CN102929282A (en) * | 2012-11-30 | 2013-02-13 | 天津市中环电子计算机有限公司 | Intelligent logistics car based on motion control card |
| CN104228498A (en) * | 2013-06-20 | 2014-12-24 | 广州市远能物流自动化设备科技有限公司 | Automatic unhooking system of AGV (automatic guided vehicle) |
| CN104228498B (en) * | 2013-06-20 | 2016-09-07 | 广州市远能物流自动化设备科技有限公司 | Automatic guided vehicle takes off hook system automatically |
| CN103713638A (en) * | 2013-12-20 | 2014-04-09 | 江苏清弘物联网股份有限公司 | Miniature car model navigation system |
| CN105373120A (en) * | 2014-08-12 | 2016-03-02 | 通用汽车环球科技运作有限责任公司 | Automated guided cart system control |
| CN104950886A (en) * | 2015-06-15 | 2015-09-30 | 合肥工业大学 | Working platform for intelligently maintaining AGV (Automatic Guided Vehicle) |
| CN104950886B (en) * | 2015-06-15 | 2017-07-11 | 合肥工业大学 | A kind of intelligent maintenance AGV dolly workbenches |
| CN108363389A (en) * | 2017-01-16 | 2018-08-03 | 浙江国自机器人技术有限公司 | A kind of ultrasonic evadible system applied to mobile robot |
| CN106950951A (en) * | 2017-03-09 | 2017-07-14 | 沈阳远大科技园有限公司 | A kind of AGV control systems and method |
| CN109960225A (en) * | 2017-12-14 | 2019-07-02 | 北京迪文科技有限公司 | A kind of combined dcs and implementation method |
| CN108447256A (en) * | 2018-03-22 | 2018-08-24 | 连云港杰瑞电子有限公司 | Trunk road vehicle trajectory reconstruction method based on electric police and fixed point detector data fusion |
| CN108447256B (en) * | 2018-03-22 | 2023-09-26 | 连云港杰瑞电子有限公司 | Arterial road vehicle track reconstruction method based on data fusion of electric police and fixed point detector |
| CN110531758A (en) * | 2019-07-31 | 2019-12-03 | 珠海达明科技有限公司 | A kind of AGV control system and method |
| CN111061271A (en) * | 2019-12-23 | 2020-04-24 | 天行智控(成都)科技有限公司 | Side-hanging type rail transportation control system |
| CN111123929A (en) * | 2019-12-23 | 2020-05-08 | 天行智控(成都)科技有限公司 | Rail transport partition scheduling system |
| CN112512012A (en) * | 2020-11-25 | 2021-03-16 | 科大智能电气技术有限公司 | Multi-vehicle linkage system and method based on 5G virtual private communication |
| CN113568408A (en) * | 2021-07-28 | 2021-10-29 | 福勤智能科技（昆山）有限公司 | Distributed AGV system |
| CN113721616A (en) * | 2021-08-27 | 2021-11-30 | 东风汽车股份有限公司 | Handheld AGV tracking PID parameter debugging system and using method thereof |
| CN113870602A (en) * | 2021-09-28 | 2021-12-31 | 湖南大学 | Method and system for dispatching multiple AGV parking |
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