CN102063822B - Automatic guided vehicle transit system realia - Google Patents
Automatic guided vehicle transit system realia Download PDFInfo
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- CN102063822B CN102063822B CN2011100042369A CN201110004236A CN102063822B CN 102063822 B CN102063822 B CN 102063822B CN 2011100042369 A CN2011100042369 A CN 2011100042369A CN 201110004236 A CN201110004236 A CN 201110004236A CN 102063822 B CN102063822 B CN 102063822B
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Abstract
The invention discloses an automatic guided vehicle transit system realia comprising M automatic guided vehicles, a scheduling center and a road network, wherein each automatic guided vehicle comprises a travelling system, a travelling distance measuring system, a vehicle distance monitoring system and a wireless communication system, the travelling system comprises a control circuit board and a chassis, the control circuit board comprises a single chip of which the model is MC9S12DP512, the travelling distance measuring system comprises a Hall switch of which the model is F8-D10NK, the vehicle distance monitoring system comprises a photoelectric transceiving device, the wireless communication system comprises a wireless module 1, the scheduling center comprises a computer provided with scheduling software and a wireless module 2, and the road network consists of an KT (Karat) board road surface, a lane center line and positioning magnetic steels. The M automatic guided vehicles automatically run along the line in the road network, and half-duplex wireless communication is carried out between the scheduling center and the automatic guided vehicles to guide and coordinate the automatic guided vehicles to sequentially run in the road network.
Description
Technical field
The present invention relates to a kind ofly can simulate a plurality of leading automatically and sail efficient under the specified link environment, the autonomous and model system of completion transport task mutually of vehicle (AGV) with colliding, more particularly, the present invention relates to a kind of leading automatically and sail the vehicle conveyance system teaching aid.
Background technology
At present, leading the research of sailing the vehicle conveyance system field automatically mainly concentrates on the Optimization Dispatching algorithm and leads identification and two aspects of control accuracy of sailing vehicle itself automatically with improving.The former carries out reasonable modeling to scheduling process, design better scheduling system on theoretical aspect, or on existing dispatching system basis the Optimization Dispatching algorithm, thereby under the prerequisite that prevents to collide, improve dispatching efficiency as far as possible; The latter leads the hardware designs of sailing vehicle automatically through improving, improve lead automatically sail vehicle to the identification capability of road environment with lead the control accuracy of sailing vehicle automatically, sail the adaptive faculty of vehicle thereby strengthen to lead automatically to actual working environment.
Automatically lead and sail subject matter that vehicle conveyance system will solve and comprise leading automatically and sail vehicle and lead automatically and sail design for scheme, lead and sail vehicle location, shortest path planning and four aspects of crash protection automatically.At present this area research concentrates on theoretical research and practical application aspect, a little less than being applicable to aspect the demonstration teaching aid of teaching then relative thin.This gives such as improving the student and makes troubles for leading the degree of awareness of sailing vehicle conveyance system, the intuitive that strengthens classroom instruction and the multiple work such as cognitive enthusiasm of mobilizing students automatically.
Summary of the invention
Technical matters to be solved by this invention is to overcome the problem that prior art exists, and provides a kind of leading automatically to sail the vehicle conveyance system teaching aid.
For solving the problems of the technologies described above, the present invention adopts following technical scheme to realize: described leading automatically sailed the vehicle conveyance system teaching aid and sailed vehicle, dispatching center and road net by M identical the leading automatically of structure and form, wherein: 3≤M≤10.Described leading automatically sailed vehicle and comprised driving system, operating range calculating system, spacing monitoring system and wireless telecommunication system.
Described driving system comprises control circuit board and chassis, and control circuit board comprises that model is the single-chip microcomputer of MC9S12DP512, and control circuit board is fixed on the top on chassis.
Described operating range calculating system comprises that model is the Hall switch of F8-D10NK, and Hall switch is installed in the chassis foremost vertically downward, and its bottom is 5mm far from the road surface, and model is that the Hall switch of F8-D10NK is electrically connected with control circuit board.
Described spacing monitoring system comprises the optoelectronic transceiver device; The optoelectronic transceiver device comprises that model is that infrared receiving tube and the model of PT334-6B is the infrared transmitting tube of IR333-HO; Infrared receiving tube sensitization part forward; Be fixed on the steering wheel fixed mount in the driving system, the infrared transmitting tube luminous component backward, model is that infrared transmitting tube and the model of IR333-HO is that the infrared receiving tube of PT334-6B is electrically connected with control circuit board respectively.
Described wireless telecommunication system comprises that model is No. 1 wireless module of APC220, and it is that the single-chip microcomputer of MC9S12DP512 is electrically connected that No. 1 wireless module is inserted on the socket of control circuit board with model.
Model described in the technical scheme is that the Hall switch of F8-D10NK is electrically connected with control circuit board and is meant: model is that No. 3 pin of signal wire through HALL interface on the control circuit board and the model of the Hall switch of F8-D10NK is that the PAD01 pin of the single-chip microcomputer of MC9S12DP512 is electrically connected.Model is that the power lead of the Hall switch of F8-D10NK is held with VCC2 through No. 2 pins of HALL interface on the control circuit board and is electrically connected.Model is No. 1 pin ground connection that the ground wire of the Hall switch of F8-D10NK passes through HALL interface on the control circuit board; Described model is that infrared transmitting tube and the control circuit board of IR333-HO is electrically connected and is meant: model is that the anode of the infrared transmitting tube of IR333-HO is held with VCC2 via adjustable resistance R6 that connects and resistance R 4 through No. 1 pin of IR interface on the control circuit board and is electrically connected.Model is No. 2 pin ground connection that the negative electrode of the infrared transmitting tube of I R333-HO passes through IR interface on the control circuit board; Described model is that infrared receiving tube and the control circuit board of PT334-6B is electrically connected and is meant: model is that No. 1 pin of collector through PT interface on the control circuit board and the model of the infrared receiving tube of PT334-6B is that the PAD02 pin of the single-chip microcomputer of MC9S12DP512 is electrically connected; Described No. 1 wireless module is inserted on the socket of control circuit board to be electrically connected with control circuit board and is meant: model is that No. 4 pin of RXD pin through WIRELESS interface on the control circuit board and the model of No. 1 wireless module of APC220 is that the PH1 pin of the single-chip microcomputer of MC9S12DP512 is electrically connected.Model is that No. 5 pin of TXD pin through WIRELESS interface on the control circuit board and the model of No. 1 wireless module of APC220 is that the PH0 pin of the single-chip microcomputer of MC9S12DP512 is electrically connected.Model is that No. 6 pin of AUX pin through WIRELESS interface on the control circuit board and the model of No. 1 wireless module of APC220 is that the PB1 pin of the single-chip microcomputer of MC9S12DP512 is electrically connected.Model is that No. 7 pin of SET pin through WIRELESS interface on the control circuit board and the model of No. 1 wireless module of APC220 is that the PB0 pin of the single-chip microcomputer of MC9S12DP512 is electrically connected; Described dispatching center is that No. 2 wireless modules of APC220 are formed by computing machine that dispatcher software is housed and model.Model is that No. 2 wireless modules of APC220 are connected on the USB mouth of the computing machine that dispatcher software is housed through the USB-TTL level switch module, and the computing machine that dispatcher software is housed is through the USB-TTL level switch module and lead automatically that to sail between the vehicle be that the half-duplex wireless telecommunications connect; Described road net is made up of KT plate circuit face, track center line and positioning magnetic steel.The KT plate circuit face of white is provided with two-way two-way traffic; The black belt as the track center line of wide 25mm is bonded at each track central authorities, and the adjacent lane centreline spacing is 250mm, and the road beam overall is 520mm; Sailing out of the right-hand lane initiating terminal at crossing; The black belt of the exit marking that constitutes road of long 100mm vertically sticks on the center line of track, and positioning magnetic steel is positioned under the center line of track, and the spacing of adjacent two positioning magnetic steel is 100mm.
Compared with prior art the invention has the beneficial effects as follows:
1. of the present invention leading automatically sailed the vehicle conveyance system teaching aid and utilized scaled model, and it is little to take up room; Scheme is simple, and cost of manufacture is low.
2. of the present invention leading automatically sailed the vehicle conveyance system teaching aid and can be kept its key feature in simulation when leading the situation of sailing the Vehicular system actual motion automatically, thereby can accurately embody to lead automatically and sail four subject matters that run in the background technology in the Vehicular system actual moving process to be mentioned; Used scheme can effectively address the above problem, thereby can complete simulation lead the operational process of sailing vehicle conveyance system automatically, plays the effect of the relevant teaching in subsidiary book field.
3. of the present invention leading automatically sailed the vehicle conveyance system teaching aid because of the dirigibility in its design, except that being applied to teaching, also can be applicable to the research work of this area, like the validity of checking dispatching algorithm etc.
Description of drawings
Below in conjunction with accompanying drawing the present invention is further described:
Fig. 1-a is the axonometric projection graph of sailing vehicle of leading automatically of the present invention;
Fig. 1-b is the rear view of sailing vehicle of leading automatically of the present invention;
Fig. 1-c is the vertical view of sailing vehicle of leading automatically of the present invention;
Fig. 2 is that the ccd image sensor of sailing vehicle of leading automatically of the present invention is connected synoptic diagram with the pin of associated video synchronizing signal separating chips, single-chip microcomputer;
Fig. 3 is the electrical schematic diagram that the booster circuit of 12V voltage is provided on the control circuit board of sailing vehicle of leading automatically of the present invention;
Fig. 4-a is the electrical schematic diagram that falls mu balanced circuit that the output terminal that 5V voltage is provided on the control circuit board of sailing vehicle is the VCC1 end of leading automatically of the present invention;
Fig. 4-b is the electrical schematic diagram that falls mu balanced circuit that the output terminal that 5V voltage is provided on the control circuit board of sailing vehicle is the VCC2 end of leading automatically of the present invention;
Fig. 5 is that pin of leading steering engine interface on the control circuit board of sailing vehicle automatically of the present invention connects synoptic diagram;
Fig. 6-a is that the pin through ESC interface on the control circuit board of electron speed regulator on the control circuit board of sailing vehicle of leading automatically of the present invention connects synoptic diagram;
Fig. 6-b is that the pin through MOTOR_POWER interface on the control circuit board of electron speed regulator on the control circuit board of sailing vehicle of leading automatically of the present invention connects synoptic diagram;
Fig. 7 is that of the present invention leading automatically sailed the structural principle synoptic diagram that turns to mechanism in the vehicle ' system;
Fig. 8 is the structural principle synoptic diagram of sailing driving mechanism in the vehicle ' system of leading automatically of the present invention;
Fig. 9-a is that pin of leading POWER_I N interface on the control circuit board of sailing vehicle automatically of the present invention connects synoptic diagram;
Fig. 9-b is that pin of leading SWITCH interface on the control circuit board of sailing vehicle automatically of the present invention connects synoptic diagram;
Figure 10 is that pin of leading Hall switch interface on the control circuit board of sailing vehicle automatically of the present invention connects synoptic diagram;
Figure 11-a is that pin of leading infrared emission interface tube on the control circuit board of sailing vehicle automatically of the present invention connects synoptic diagram;
Figure 11-b is that pin of leading infrared receiving tube interface on the control circuit board of sailing vehicle automatically of the present invention connects synoptic diagram;
Figure 12 is that pin of leading wireless module interface on the control circuit board of sailing vehicle automatically of the present invention connects synoptic diagram;
Figure 13 of the present inventionly leads automatically that to sail the model that vehicle adopts be each pin configuration synoptic diagram of single-chip microcomputer of MC9S12DP512;
Figure 14 is a process flow diagram of leading the master routine of sailing vehicle conveyance system teaching aid dispatcher software automatically of the present invention;
Figure 15 is the process flow diagram of sailing the path planning thread in the vehicle conveyance system teaching aid dispatcher software of leading automatically of the present invention;
Figure 16 is the process flow diagram of sailing the AGV mapping function in the vehicle conveyance system teaching aid dispatcher software of leading automatically of the present invention;
Figure 17 is a process flow diagram of leading the lateral impact prevention thread of sailing in the vehicle conveyance system teaching aid dispatcher software automatically of the present invention;
Figure 18 is a synoptic diagram of leading the road net layout of sailing the operation of vehicle conveyance system teaching aid automatically of the present invention.
Among the figure: 1. driving mechanism fixed mount, 2. motor, 3. infrared transmitting tube, No. 4.1 wireless modules, 5. control circuit board, 6. height adjusting slider, 7. pitch regulation frame; 8.CCD imageing sensor, 9. steering wheel fixed mount, 10. infrared receiving tube, 11. steering engines, 12. Hall switch, 13. chassis; 14. support, 15. battery supports, 16.Ni-Cd battery, 17. friction-type differential mechanisms, 18. deflecting rollers, 19. steering arms; 20. turn to drive link, 21. bearing pins, 22. driving wheels, 23. semiaxis, 24.KT plate circuit face, 25. lead automatically and sail vehicle (AGV); 26. exit marking, 27. track center lines, L1. inductance, FR1. commutation diode, C2 to C13. electric capacity, R1 to R8. resistance.
Embodiment
Below in conjunction with accompanying drawing the present invention is explained in detail:
To be that exploitation is a kind of can complete embodiment reality lead the leading automatically of completion transport task process of sailing in vehicle 25 transportation systems and sail vehicle 25 teaching aids the technical matters that the present invention will solve automatically.This teaching aid utilizes scaled auto model, thereby it is little to take up room; This teaching aid can keep its key feature when the situation of sailing vehicle 25 system's actual motions is led in simulation automatically, thereby can accurately embody and lead the problem that runs in vehicle 25 system's actual moving process of sailing automatically; The scheme of the enough simple possible of this teaching aid ability effectively solves the problem that runs in the above-mentioned actual moving process; Thereby can when controlling cost, complete simulation lead the operational process of sailing vehicle 25 transportation systems automatically, in teaching, play the effect of the relevant teaching in subsidiary book field.
Of the present invention leading automatically sailed the vehicle conveyance system teaching aid and sailed vehicle 25, dispatching center and road net by M identical the leading automatically of structure and form, wherein, and 3≤M≤10.M identical leading automatically of structure sailed vehicle 25 and in road net, followed the line operation automatically, and sail vehicle 25 and carries out the half-duplex wireless telecommunications with leading automatically the dispatching center, guiding and coordinate to lead automatically and sail vehicle 25 normal orderly function in road net.Therefore, three parts have been realized the teaching simulation function of sailing vehicle 25 transportation systems to leading automatically in the actual factory floor jointly.
One. lead automatically and sail vehicle (AGV)
Consult Fig. 1, leading automatically and sailing vehicle 25 is main bodys of carrying out transport task.Each is led automatically and sails vehicle 25 and be made up of road Identification system, driving system, operating range calculating system, spacing monitoring system, wireless telecommunication system.Road Identification system, operating range calculating system, spacing monitoring system and wireless telecommunication system respectively with driving system in control circuit board 5 and/or the model single-chip microcomputer that is MC9S12DP512 be electrically connected.
1. road Identification system
Consult Fig. 1, the road Identification system is responsible for identification and the planning to the path, is that the model on the control circuit board 5 is that the relative program section of storing in the single-chip microcomputer of MC9S12DP512 is formed in the described driving system by CCD sighting device and graphics processing unit.
The CCD sighting device comprises that model is the ccd image sensor 8 and support 14 of HQ6600.Ccd image sensor 8 is bolted on the angle of depression adjusting bracket 7 through what be uniformly distributed with around four; Angle of depression adjusting bracket 7 passes through two screw retention on height adjusting slider 6; And being fixed in support 14 tops by height adjusting slider 6, its setting height(from bottom) and depression angle are adjustable; Support 14 bottoms are bonded on the chassis 13, and vertical with chassis 13.
Model is for being electrically connected between ccd image sensor 8 and the control circuit board 5 of HQ6600.Model is the PAL-system image information that the ccd image sensor 8 of HQ6600 is passed back; Through model is the video synchronization signal separating chips of LM1881N; After from picture signal, isolating field sync signal, composite synchronizing signal, deliver to the single-chip microcomputer that model is MC9S12DP512.KT plate circuit face 24 is a white in the described road net, and the track center line is a black.Graphics processing unit is the image information that PAD00 pin, PE2 pin and the IRQ pin of the single-chip microcomputer of MC9S12DP512 obtained according to model; The image that ccd image sensor 8 is passed back carries out binary conversion treatment and image denoising; Obtain correct track position of center line, accomplish road Identification.
Consult Fig. 2, described model is that being electrically connected between ccd image sensor 8 and the control circuit board 5 of HQ6600 is meant:
Model is that No. 3 pin of signal wire through CCD interface on the control circuit board 5 and the model of the ccd image sensor 8 of HQ6600 is that the PAD00 pin of the single-chip microcomputer of MC9S12DP512 is electrically connected; No. 3 pins of while CCD interface are that the COMP VIDIN pin of the video synchronization signal separating chips of LM1881 is electrically connected through capacitor C 3 and model, through resistance R 1 ground connection;
Model is No. 2 pins of power lead through CCD interface on the control circuit board 5 of the ccd image sensor 8 of HQ6600, is electrically connected with+12V end;
Model is No. 1 pin ground connection that the ground wire of the ccd image sensor 8 of HQ6600 passes through CCD interface on the control circuit board 5.
Consult Fig. 2, described model is that being electrically connected between video synchronization signal separating chips and the control circuit board 5 of LM1881 is meant:
Model is that
O pin and the model of the video synchronization signal separating chips of LM1881 is that the PE2 pin of the single-chip microcomputer of MC9S12DP512 is electrically connected, and transmits field sync signal;
Model is that COMP SYNC O pin and the model of the video synchronization signal separating chips of LM1881 is that the IRQ pin of the single-chip microcomputer of MC9S12DP512 is electrically connected, and transmits composite synchronizing signal;
Model is that the VCC pin of the video synchronization signal separating chips of LM1881 is electrically connected with the VCC2 end, simultaneously through capacitor C 4 ground connection;
Model is the GND pin ground connection of the video synchronization signal separating chips of LM1881;
Model is that the RST pin of the video synchronization signal separating chips of LM1881 passes through parallel resistor R2 and capacitor C 2 ground connection.
2. driving system
Driving system realize leading automatically sail vehicle 25 go and for native system and electron device that other systems comprised provide interface, the electron device that each system comprised obtains WV through interface and is that the single-chip microcomputer of MC9S 12DP512 is electrically connected with model in the control circuit board 5.Driving system is that model on the control circuit board 5 is that the relative program section of storing in the single-chip microcomputer of MC9S12DP512 is formed by control circuit board 5, steering mechanism, driving mechanism, Ni-Cd battery 16, chassis 13 and the control module that goes.
Consult Fig. 1, chassis 13 is installation matrixes of every other ingredient.The front portion on chassis 13 is fixed in steering mechanism.Driving mechanism is fixed on the rear end on chassis 13.Specification is the Ni-Cd battery 16 of 7.2V 2000mAh is fixed in chassis 13 through two identical battery supports 15 of structure middle rear.Control circuit board 5 usefulness screws are fixed on the top of Ni-Cd battery 16 vacantly.
Model in the control circuit board 5 is that single-chip microcomputer and the steering engine 11 of MC9S12DP512 is electrically connected with motor 2, and model is the single-chip microcomputer output pwm signal of MC9S12DP512, and steering engine 11 and motor 2 are controlled.
Consult Fig. 7, described steering mechanism comprises that model is steering engine 11, the steering arm 19 of Futaba S3010 and turns to drive link 20.Steering engine 11 is fixed in 13 front portions, chassis through steering wheel fixed mount 9, and the corner of steering engine 11 output turns to drive link 20 through the swing pulling of steering arm 19, turns to drive link 20 pulling deflecting rollers 18 to rotate around bearing pin 21, realizes leading automatically sailing vehicle 25 and turning to.
Consult Fig. 8, described driving mechanism comprises 2 identical semiaxis 23, motor 2 and friction-type differential mechanisms 17 of driving wheel 22,2 root architectures that structure is identical.Driving mechanism fixed mount 1 is fixed on motor 2 rear end on chassis 13; It is the motor of RS-380SH that motor 2 adopts model; And be that the electron speed regulator of Eagle-30A is electrically connected with motor 2 it is implemented control through model; Motor 2 is meshed with friction-type differential mechanism 17 through the gear on the output shaft, and the identical identical semiaxis 23 of 23,2 structures of semiaxis of structure that power is passed to left and right sides thus respectively is connected with driving wheel 22 through terminal ring flange; Make power reach driving wheel 22, drive to lead automatically and sail vehicle 25 and advance.
1) power management module, comprise be used to single-chip microcomputer that model is MC9S12DP512, video synchronization signal separating chips that model is LM1881N, electron speed regulator, Hall switch 12, infrared transmitting tube 3, infrared receiving tube 10 and No. 1 wireless module 4 provide the model of stablizing the 5V working power be LM2940 the voltage stabilizing chip falls and is used to ccd image sensor 8 model of stablizing the 12V working power is provided is the switching regulator of the LM2577T-12 chip that boosts;
2) model is single-chip microcomputer and the peripheral circuit thereof of MC9S12DP512, and peripheral circuit is used to keep the operate as normal that model is the single-chip microcomputer of MC9S12DP512;
The interface of the electron device that 3) each system comprised comprises CCD interface, SERVO interface, ESC interface, MOTOR_POWER interface, HALL interface, IR interface, PT interface, WIRELESS interface.
Consult Fig. 2,3,4,6,10,12 and Figure 11; By model is that the voltage stabilizing chip that falls of LM2940 stabilizes to cell voltage+7.2V+5V; The IN pin that falls the voltage stabilizing chip that falls model in the mu balanced circuit and be LM2940 is electrically connected with the BAT end, and+5V output terminal comprises that VCC1 end and VCC2 hold.VCC1 end and model are that the VDD pin of the single-chip microcomputer of MC9S12DP512 is electrically connected; VCC2 end and model are that the VCC pin of the video synchronization signal separating chips of LM1881 is electrically connected, is that the boost IN pin of chip of the switching regulator of LM2577T-12 is electrically connected, is electrically connected with No. 2 pins of ESC interface, is electrically connected with No. 2 pins of HALL interface, is electrically connected with No. 2 pins of WIRELESS interface with model, are that IR interface and PT interface are supplied power simultaneously.
Consult Fig. 3; By model is that the switching regulator of the LM2577T-12 booster circuit general+5V voltage that chip forms that boosts is upgraded to+12V; Model is that boost IN pin and the model of chip of the switching regulator of LM2577T-12 is that the VCC2 output terminal that falls the voltage stabilizing chip of LM2940 is electrically connected in the booster circuit, and+12V output terminal is electrically connected with No. 2 pins of CCD interface.
Consult Fig. 5, the model in the described driving system is that the steering engine of Futaba S3010 is meant with being electrically connected of control circuit board 5:
Model is No. 3 pins of signal wire through SERVO interface on the control circuit board 5 of the steering engine of Futaba S3010, is that the PP1 pin of the single-chip microcomputer of MC9S 12DP512 is electrically connected with model;
Model is that the power lead of the steering engine of Futaba S3010 is held with BAT through No. 2 pins of SERVO interface on the control circuit board 5 and is electrically connected;
Model is No. 1 pin ground connection that the ground wire of the steering engine of Futaba S 3010 passes through SERVO interface on the control circuit board 5.
Consult Fig. 6, the model in the described driving system is that the electron speed regulator of Eagle-30A is meant with being electrically connected of control circuit board 5:
Model is that No. 3 pin of signal wire through ESC interface on the control circuit board 5 and the model of the electron speed regulator of Eagle-30A is that the PP7 pin of the single-chip microcomputer of MC9S 12DP512 is electrically connected;
Model is that the power lead of the electron speed regulator of Eagle-30A is held with VCC2 through No. 2 pins of ESC interface on the control circuit board 5 and is electrically connected;
Model is No. 1 pin ground connection that the ground wire of the electron speed regulator of Eagle-30A passes through ESC interface on the control circuit board 5;
Model be Eagle-30A electron speed regulator the motor feeder ear respectively No. 1 through MOTOR_POWER interface on the control circuit board 5 hold with No. 2 pin ground connection with BAT and be electrically connected.
Model in the described driving system is that motor 2 and the model of RS-380SH is that being electrically connected of electron speed regulator of Eagle-30A is meant:
Model is that two input ends of the motor 2 of RS-380SH are that two output terminals of the electron speed regulator of Eagle-30A are electrically connected with model respectively.
Consult Fig. 9, the specification in the described driving system is that the power supply connected mode of 7.2V 2000mAh Ni-Cd battery 16 is:
No. 2 pins of POWER_IN interface are electrically connected on the positive pole of Ni-Cd battery 16 and the control circuit board 5, and negative pole is through No. 1 pin ground connection of POWER_IN interface on the control circuit board 5;
Switch is connected on the control circuit board 5 on the SWITCH interface, during switch opens with conducting between BAT end and the BAT1 end.
3. operating range calculating system
The operating range calculating system is responsible for the detection and location magnet steel and is calculated and to lead the operating range of sailing vehicle 25 automatically, and the operating range calculating system is that the Hall switch 12 of F8-D10NK is that model is that the relative program section of storing in the single-chip microcomputer of MC9S12DP512 is formed with the operating range computing unit by model.Hall switch 12 is installed in chassis 13 foremost vertically downward, and its bottom is 5mm far from the road surface.Model is that the Hall switch 12 of F8-D10NK is electrically connected with control circuit board 5.
When there is magnet steel Hall switch 12 belows, its signal wire output low level; When Hall switch 12 belows do not have magnet steel, its signal wire output high level.Model be the single-chip microcomputer of MC9S12DP512 through A/D conversion with this voltage signal digitizing, detect the level conversion number of times and, multiply by the magnet steel spacing again its accumulation, led automatically and sailed the go distance of process of vehicle 25.
Consult Figure 10, the model in the described operating range calculating system is that the Hall switch 12 of F8-D10NK is meant with being electrically connected of control circuit board 5:
Model is that No. 3 pin of signal wire through HALL interface on the control circuit board 5 and the model of the Hall switch 12 of F8-D10NK is that the PAD01 pin of the single-chip microcomputer of MC9S12DP512 is electrically connected;
Model is that the power lead of the Hall switch 12 of F8-D10NK is held with VCC2 through No. 2 pins of HALL interface on the control circuit board 5 and is electrically connected;
Model is No. 1 pin ground connection that the ground wire of the Hall switch 12 of F8-D10NK passes through HALL interface on the control circuit board 5.
4. spacing monitoring system
The spacing monitoring system is responsible for real-time monitoring and is led another that sail that vehicle 25 and the place ahead go with the track in the same way automatically and lead the spacing of sailing vehicle 25 automatically; Automatically lead another that sail that vehicle 25 and the place ahead go with the track in the same way and lead automatically when sailing vehicle 25 spacings when the spacing monitoring system detects less than (setting in advance) minimum spacing; Just send reduce-speed sign to driving system; Driving system is that the electron speed regulator control motor 2 of Eagle-30A slows down through model, and it is normal and till the cancellation reduce-speed sign to detect spacing until the spacing monitoring system.
The spacing monitoring system is that model is that the relative program section of storing in the single-chip microcomputer of MC9S12DP512 is formed by optoelectronic transceiver device and spacing monitoring means.The optoelectronic transceiver device comprises that model is that the infrared receiving tube 10 of PT 334-6B is the infrared transmitting tube 3 of IR333-HO with model; Infrared receiving tube 10 sensitization part forward; Be fixed on the steering wheel fixed mount 9, infrared transmitting tube 3 luminous components are fixed on the control circuit board 5 backward.Model is that infrared transmitting tube 3 and the model of IR333-HO is that the infrared receiving tube 10 of PT334-6B is electrically connected with control circuit board 5 respectively.
Consult Figure 11-a, the model in the described spacing monitoring system is that the infrared transmitting tube 3 of IR333-HO is meant with being electrically connected of control circuit board 5:
Model is No. 1 pin that the anode of the infrared transmitting tube 3 of IR333-HO passes through IR interface on the control circuit board 5, is electrically connected with the VCC2 end via adjustable resistance R6 that connects and resistance R 4;
Model is No. 2 pin ground connection that the negative electrode of the infrared transmitting tube 3 of IR333-HO passes through IR interface on the control circuit board 5.
Consult Figure 11-b, the model in the described spacing monitoring system is that infrared receiving tube 10 and the model of PT334-6B is that being electrically connected of single-chip microcomputer of MC9S12DP512 is meant:
Model is that No. 1 pin of collector through PT interface on the control circuit board 5 and the model of the infrared receiving tube 10 of PT334-6B is that the PAD02 pin of the single-chip microcomputer of MC9S12DP512 is electrically connected, and the adjustable resistance R7 of No. 1 pin of PT interface through series connection holds with VCC2 with resistance R 5 and be electrically connected simultaneously;
Model is No. 2 pin ground connection that the emitter of the infrared receiving tube 10 of PT334-6B passes through PT interface on the control circuit board.
Infrared transmitting tube 3 continues to launch backward infrared signal, and 10 of infrared receiving tubes receive the infrared signal that front truck sends forward.Under a certain emissive power of infrared transmitting tube 3, the signal intensity that infrared receiving tube 10 receives is its single-valued function apart from the distance of infrared transmitting tube 3.Through the adjustment emissive power, make when the signal intensity that receives when infrared receiving tube 10 is certain value that it is to want the minimum spacing that keeps that two of front and back are led the spacing of sailing vehicle 25 automatically.When two of front and back are led the spacing during less than minimum spacing of sailing vehicle 25 automatically; The rear lead automatically signal intensity that the infrared receiving tube 10 of sailing vehicle 25 receives will above before the definite value set; Make the circuit turn-on at its place, its collector place current potential will be lower than normal value this moment.Collector place electric potential signal is passed through the A/D converting digitalization.When detecting infrared receiving tube 10 collector place hypopotenias, can judge to lead automatically and sail vehicle 25 hypotelorisms apart from the place ahead.
5. wireless telecommunication system
Wireless telecommunication system realizes leading automatically the half-duplex wireless telecommunications of sailing between vehicle 25 and the dispatching center, is that No. 1 wireless module 4 of APC220 is that model is that the relative program section of storing in the single-chip microcomputer of MC9S12DP512 is formed with communication control unit by model.Model is that No. 1 wireless module 4 of APC220 is electrically connected with control circuit board 5 on the single needle socket at control circuit board 5 through single cushion.
Each is led automatically and sails vehicle 25 and carry out wireless telecommunications and swap data with the dispatching center respectively, and each is led automatically to sail and does not carry out communication between the vehicle 25.Dispatcher software in the dispatching center is regularly led and is sailed vehicle 25 and send data to each one by one automatically, comprises the locating query signal, and routing information that sends in case of necessity and permission/no thoroughfare crossing signal.To a certain lead automatically sail vehicle 25 and send data after, this is led automatically and sails vehicle 25 and respond immediately, after data are received in the dispatching center, leads automatically to next and to sail vehicle 25 and send data and wait for that next is led automatically and sail vehicle 25 and respond, so reciprocation cycle.
Consult Figure 12, the model in the described wireless telecommunication system is that No. 1 wireless module 4 and the model of APC220 is that being electrically connected of single-chip microcomputer of MC9S12DP512 is meant:
Model is that No. 4 pin of RXD pin through WIRELESS interface on the control circuit board 5 and the model of No. 1 wireless module 4 of APC220 is that the PH1 pin of the single-chip microcomputer of MC9S12DP512 is electrically connected;
Model is that No. 5 pin of TXD pin through WIRELESS interface on the control circuit board 5 and the model of No. 1 wireless module 4 of APC220 is that the PH0 pin of the single-chip microcomputer of MC9S12DP512 is electrically connected;
Model is that No. 6 pin of AUX pin through WIRELESS interface on the control circuit board 5 and the model of No. 1 wireless module 4 of APC220 is that the PB1 pin of the single-chip microcomputer of MC9S12DP512 is electrically connected;
Model is that No. 7 pin of SET pin through WIRELESS interface on the control circuit board 5 and the model of No. 1 wireless module 4 of APC220 is that the PB0 pin of the single-chip microcomputer of MC9S12DP512 is electrically connected;
Model is No. 1 pin ground connection that the GND pin of No. 1 wireless module 4 of APC220 passes through WIRELESS interface on the control circuit board 5;
Model is that the VCC pin of No. 1 wireless module 4 of APC220 is held with VCC2 through No. 2 pins of WIRELESS interface on the control circuit board 5 and is electrically connected;
Model is that the EN pin of No. 1 wireless module 4 of APC220 is unsettled through No. 3 pins of WIRELESS interface on the control circuit board 5.
Two. the dispatching center
Dispatching center of the present invention is responsible for locating each and leads automatically and sail vehicle 25 and sail vehicle 25 and dispatch leading automatically.This dispatching center is that No. 2 wireless modules of APC220 are formed by computing machine that dispatcher software is housed and model.
Consult Figure 14, model is that No. 2 wireless modules of APC220 are connected on the USB mouth of computing machine through the USB-TTL level switch module, and the computing machine that dispatcher software is housed is sailed vehicle 25 and carried out the half-duplex wireless telecommunications with leading automatically through the USB-TTL level switch module.Dispatcher software takes related algorithm to accomplish following task: sail that vehicle 25 positions, accepts the transport request of user input and make rational planning for according to it that each is led automatically and sails vehicle 25 driving paths, the lateral impact of sailing between the vehicle 25 of taking measures to prevent to lead automatically in case of necessity leading automatically.Dispatcher software is write with Visual C++, has user interface, makes the user be able to monitor and intervenes and lead the running of sailing vehicle 25 transportation systems automatically.The flow process of the master routine of dispatcher software is shown in figure.
1. path planning
Each lead automatically sail vehicle 25 driving path by dispatching center's unified planning.Described each lead the driving path of sailing vehicle 25 automatically and can sail vehicle 25 title at each crossing of process in order in the process of moving by leading automatically, or lead automatically sail vehicle 25 in the process of moving in order the turn direction at each place, crossing of process explain.
Consult Figure 15; Dispatcher software has defined highway section class and node class; Set up highway section object (being that part of road between the corresponding crossing) and node object (being corresponding crossing) and explain the topological structure of road net; Utilization Dijkstra path planning algorithm calculates shortest path and this path of a ground to another ground.When somewhere (being labeled as A); In the time of need article being sent to another ground (being labeled as B); Dispatcher software is led vehicle 25 current locations and the state (promptly whether carrying out other transport tasks) sailed according to each automatically; Calculate leading automatically that all can supply to call respectively and sail vehicle 25 drives to A ground from current location separately shortest path separately and length thereof; Choose the shortest path of length wherein and sail vehicle 25 with corresponding leading automatically, the driving path that planning is drawn is used by way of the turn direction at each crossing and is represented, sends to this through wireless module and leads automatically and sail vehicle 25; Simultaneously, dispatcher software is used this path by way of the title at each crossing and is represented, is presented on the user interface, inform the user this time transport task lead automatically by which and sail vehicle 25 and carry out and driving paths.When leading automatically when sailing vehicle 25 and arriving A ground, use again the Dijkstra path planning algorithm plan from A drive to the shortest path on B ground.The flow process of the path planning thread of dispatcher software is shown in figure.
2. lead the location of sailing vehicle automatically
Automatically leading the location of sailing vehicle 25 sails vehicle 25 and itself cooperates completion with the dispatching center through wireless telecommunications by leading automatically.
Consult Figure 16; In dispatcher software, lead the position of sailing vehicle 25 automatically and explain by three variablees: this lead automatically the highway section of sailing vehicle 25 place title, this leads the title of sailing the node of facing in vehicle 25 the place aheads automatically, this leads the distance of sailing the node that vehicle 25 faces apart from the place ahead automatically.In original state, each is led the position of sailing vehicle 25 automatically and inputs to dispatcher software by the user.When certain is led when sailing vehicle 25 and beginning to carry out transport task automatically, this is led automatically and sails vehicle 25 center line goes along the track, obtains the current distance that crosses through the operating range calculating system.The dispatching center just leads and sails vehicle 25 transmission locating query signals to each at set intervals in order automatically.After receiving this request signal, lead automatically sail vehicle 25 will before the last operating range that calculates send to the dispatching center, and with the zero clearing of operating range variable.The dispatching center combines to lead automatically to lead automatically when the highway section of sailing vehicle 25 current places is inquired about with previous position and sails vehicle 25 residing positions according to the operating range value received, calculates and leads the position that belongs to when sailing vehicle 25 these position enquirings automatically.When leading automatically when sailing vehicle 25 and passing the crossing, record passes the crossing This move, and with the zero clearing of operating range variable, begins to recomputate the distance that crosses from the crossing; Automatically lead when sailing vehicle 25 and receiving the request signal of dispatching center next time when this, just inform the dispatching center through the crossing This move, and the operating range that will begin from this crossing sends to the dispatching center.This of planning before of dispatching center's basis and storage led the path of sailing vehicle 25 automatically; Find this to lead automatically and sail vehicle 25 crossing of process just; With next highway section on its position renewal to its path, also will obtain simultaneously this and lead automatically and sail the particular location of vehicle 25 on this highway section.Leading automatically in the dispatcher software sailed the flow process of vehicle 25 mapping functions shown in figure.
3. lateral impact prevention
Lateral impact prevention is sailed vehicle 25 and itself is cooperated completion with the dispatching center through wireless telecommunications by leading automatically.
Consult Figure 17, the dispatching center monitors each in real time and leads the position of sailing vehicle 25 automatically.Automatically lead when sailing vehicle 25 and passing arbitrary crossing as arbitrary; Dispatcher software gets into lateral impact prevention thread; Inquire about each and lead the position of sailing vehicle 25 automatically, judge whether that leading automatically more than two or two sail vehicle and be about to through same crossing in the place ahead of going.If the result is for denying; The state of then searching is sailed vehicle 25 for leading automatically of " not allowing to pass through junction ahead ", sails vehicle 25 if existence is in leading automatically of this state, then recovers its preset transport condition; If do not exist, then do not carry out any intervention and get into this thread until next time; If the result is for being; And these are led automatically and sail vehicle not entirely on same highway section; Then dispatcher software is sailed vehicle 25 separately apart from the distance of this node according to being about to lead automatically through these of same crossing; With current each lead the travel speed of sailing vehicle 25 automatically, estimate that these are led automatically to sail vehicle 25 and arrive the required separately times of this crossing.Allow one to lead automatically and sail the principle that vehicle 25 takies a certain crossing according to arbitrary instantaneous; Dispatcher software will lead for the shortest that of Estimated Time of Arrival to sail vehicle 25 and send signals through wireless telecommunications automatically; Instruct it to pass through junction ahead earlier; Promptly lead the vehicle 25 current driving states of sailing automatically regardless of this, it all will return to preset transport condition and go and normally pass the crossing; Meanwhile; Dispatcher software is about to lead automatically through this crossing to other through wireless telecommunications and sails vehicle 25 and send signals, instructs it no thoroughfare junction ahead, and these are led automatically and sail vehicle 25 and will slow down; Before the crossing, stop in case of necessity, wait for that foregoing leading automatically sail vehicle 25 and pass the crossing.After being allowed to sail vehicle 25 through leading automatically of crossing and passing the crossing, dispatcher software will get into lateral impact prevention thread once more, repeat said process.The flow process of the lateral impact prevention thread of dispatcher software is shown in figure.
Three. road net
Consult Figure 18, described road net constitutes leads the running environment of sailing vehicle 25 automatically and assists completion to lead the location of sailing vehicle 25 automatically.This road net is made up of KT plate circuit face 24, track center line 27, positioning magnetic steel.
The KT plate circuit face 24 of white is provided with two-way two-way traffic, leads automatically and sails vehicle 25 and go on the right side.The black belt of wide 25mm is bonded at the center line 27 of each track central authorities as the track, and the spacing of adjacent lane center line is 250mm, and the road beam overall is 520mm.Sailing out of the right-hand lane initiating terminal at crossing; With the above-mentioned black belt vertical symmetry of long 100mm stick on the track center line 27; Constitute the exit marking 26 of road; Be convenient to lead automatically and sail vehicle 25 and when sailing out of the crossing, recognize correct track, avoid getting into and the parallel adjacent lane reverse driving in correct track.Positioning magnetic steel is positioned under the center line of track, and the spacing of adjacent two magnet steel is 100mm.
Claims (3)
1. lead automatically and sail the vehicle conveyance system teaching aid for one kind; Sailing vehicle (25), dispatching center and road net by M identical the leading automatically of structure forms; 3≤M≤10; It is characterized in that described leading automatically sailed vehicle (25) and comprised driving system, operating range calculating system, spacing monitoring system and wireless telecommunication system;
Described driving system comprises control circuit board (5) and chassis (13), and control circuit board (5) comprises that model is the single-chip microcomputer of MC9S12DP512, and control circuit board (5) is fixed on the top of chassis (13);
Described operating range calculating system comprises that model is the Hall switch (12) of F8-D10NK; Hall switch (12) is installed in chassis (13) foremost vertically downward; Its bottom is 5mm far from the road surface, and model is that the Hall switch (12) of F8-D10NK is electrically connected with control circuit board (5);
Described spacing monitoring system comprises the optoelectronic transceiver device; The optoelectronic transceiver device comprises that model is the infrared receiving tube (10) of PT334-6B and the infrared transmitting tube (3) that model is IR333-HO; Infrared receiving tube (10) sensitization part forward; Be fixed on the steering wheel fixed mount (9) in the driving system, infrared transmitting tube (3) luminous component backward, model be infrared transmitting tube (3) and the model of IR333-HO be PT334-6B infrared receiving tube (10) respectively and control circuit board (5) be electrically connected;
Described wireless telecommunication system comprises that model is No. 1 wireless module (4) of APC220, and it is that the single-chip microcomputer of MC9S12DP512 is electrically connected that No. 1 wireless module (4) is inserted on the socket of control circuit board (5) with model;
Described model is that the Hall switch (12) of F8-D10NK is electrically connected with control circuit board (5) and is meant:
Model is the signal wire of the Hall switch (12) of F8-D10NK No. 3 pins going up the HALL interface through control circuit board (5) with model is that the PAD01 pin of the single-chip microcomputer of MC9S12DP512 is electrically connected; Model is that No. 2 pins that the power lead of the Hall switch (12) of F8-D10NK is gone up the HALL interface through control circuit board (5) are electrically connected with the VCC2 end; Model is the ground wire of the Hall switch (12) of F8-D10NK is gone up the HALL interface through control circuit board (5) No. 1 a pin ground connection;
Described model is that the infrared transmitting tube (3) of IR333-HO is electrically connected with control circuit board (5) and is meant:
To be the anode of the infrared transmitting tube (3) of IR333-HO No. 1 pin going up the IR interface through control circuit board (5) via the adjustable resistance R6 of series connection hold with VCC2 with resistance R 4 model is electrically connected; Model is the negative electrode of the infrared transmitting tube (3) of IR333-HO is gone up the IR interface through control circuit board (5) No. 2 pin ground connection;
Described model is that infrared receiving tube (10) and control circuit board (5) electrical connection of PT334-6B is meant:
Model is the collector of the infrared receiving tube (10) of PT334-6B No. 1 pin going up the PT interface through control circuit board (5) with model is that the PAD02 pin of the single-chip microcomputer of MC9S12DP512 is electrically connected;
Described No. 1 wireless module (4) is inserted on the socket of control circuit board (5) to be electrically connected with control circuit board (5) and is meant:
Model is the RXD pin of No. 1 wireless module (4) of APC220 No. 4 pins going up the WIRELESS interface through control circuit board (5) with model is that the PH1 pin of the single-chip microcomputer of MC9S12DP512 is electrically connected;
Model is the TXD pin of No. 1 wireless module (4) of APC220 No. 5 pins going up the WIRELESS interface through control circuit board (5) with model is that the PH0 pin of the single-chip microcomputer of MC9S12DP512 is electrically connected;
Model is the AUX pin of No. 1 wireless module (4) of APC220 No. 6 pins going up the WIRELESS interface through control circuit board (5) with model is that the PB1 pin of the single-chip microcomputer of MC9S12DP512 is electrically connected;
Model is the SET pin of No. 1 wireless module (4) of APC220 No. 7 pins going up the WIRELESS interface through control circuit board (5) with model is that the PB0 pin of the single-chip microcomputer of MC9S12DP512 is electrically connected.
2. sail the vehicle conveyance system teaching aid according to described the leading automatically of claim 1, it is characterized in that, described dispatching center is that No. 2 wireless modules of APC220 are formed by computing machine that dispatcher software is housed and model;
Model is that No. 2 wireless modules of APC220 are connected on the USB mouth of the computing machine that dispatcher software is housed through the USB-TTL level switch module, and the computing machine that dispatcher software is housed is through the USB-TTL level switch module and lead automatically that to sail between the vehicle (25) be that the half-duplex wireless telecommunications connect.
3. sail the vehicle conveyance system teaching aid according to claim 1 or 2 described leading automatically, it is characterized in that, described road net is made up of with positioning magnetic steel KT plate circuit face (24), track center line (27);
The KT plate circuit face (24) of white is provided with two-way two-way traffic; The black belt as track center line (27) of wide 25mm is bonded at each track central authorities, and the adjacent lane centreline spacing is 250mm, and the road beam overall is 520mm; Sailing out of the right-hand lane initiating terminal at crossing; The black belt of the exit marking that constitutes road (26) of long 100mm vertically sticks on the track center line (27), and positioning magnetic steel is positioned under the track center line (27), and the spacing of adjacent two positioning magnetic steel is 100mm.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011100042369A CN102063822B (en) | 2011-01-11 | 2011-01-11 | Automatic guided vehicle transit system realia |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011100042369A CN102063822B (en) | 2011-01-11 | 2011-01-11 | Automatic guided vehicle transit system realia |
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| CN102063822A CN102063822A (en) | 2011-05-18 |
| CN102063822B true CN102063822B (en) | 2012-06-27 |
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| CN104765361A (en) * | 2014-01-04 | 2015-07-08 | 江门市鸿强自动化设备有限公司 | Single-drive reciprocating turning-type AGV (Automated Guided Vehicle) |
| CN105894832B (en) * | 2016-03-28 | 2018-06-08 | 广州飞锐机器人科技有限公司 | A kind of traffic control method and device of self-service navigator fix AGV |
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| US6690134B1 (en) * | 2001-01-24 | 2004-02-10 | Irobot Corporation | Method and system for robot localization and confinement |
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| US6711501B2 (en) * | 2000-12-08 | 2004-03-23 | Satloc, Llc | Vehicle navigation system and method for swathing applications |
| US6690134B1 (en) * | 2001-01-24 | 2004-02-10 | Irobot Corporation | Method and system for robot localization and confinement |
| US6721638B2 (en) * | 2001-05-07 | 2004-04-13 | Rapistan Systems Advertising Corp. | AGV position and heading controller |
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