CN102749923A - Automatic loading and unloading and automatic guidance vehicle control system - Google Patents
Automatic loading and unloading and automatic guidance vehicle control system Download PDFInfo
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- CN102749923A CN102749923A CN201210262762XA CN201210262762A CN102749923A CN 102749923 A CN102749923 A CN 102749923A CN 201210262762X A CN201210262762X A CN 201210262762XA CN 201210262762 A CN201210262762 A CN 201210262762A CN 102749923 A CN102749923 A CN 102749923A
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Abstract
The invention provides an automatic loading and unloading and automatic guidance vehicle control system, which comprises a cell, a control module, a motor controller, a first motor, a second motor, a third motor, a signal processor and a mechanical device, wherein the control module sends a control signal to the motor controller; the motor controller respectively controls the first motor, the second motor and the third motor to work; the first motor and the second motor drive the mechanical device to move; the third motor is an automatic-loading motor; after the driving signals of the first motor, the second motor and the third motor are synthetized by the signal processor, the motion of the mechanical device is controlled; during the waiting time, the cell is automatically charged; the control module adopts two cores and comprises an upper computer system and a motion control system, wherein the upper computer system and the motion control system are arranged on an ADSP (advanced signal processing) circuit and an FPGA (field programmable gate array) circuit; the upper computer system comprises a human-computer interface, a route planning module and an on-line output module; and the motion control system comprises a programmer module, an input-output control module, a data storage module and a servo control module.
Description
Technical field
The invention relates to automatic guided vehicle (AGV, Automated Guided Vehicle) technical field, and particularly relevant for a kind of automatic loading and unloading automatic guided vehicle control system.
Background technology
Automatic guided vehicle (Automated Guided Vehicle; Be called for short AGV); Refer to be equipped with homing guidance devices such as electromagnetism or optics; Can go along the guide path of regulation, have the transport vehicle of safeguard protection and various transfer functions, do not need the driver in the commercial Application and be its power resources with chargeable accumulator.Generally can see through computer and control its course and behavior, or utilize electromagnetic path to set up its course, electromagnetic path sticks on the floor, and the information that automatic guided vehicle is then followed electromagnetic path and brought moves and action.
AGV with respect to walking, creep or other non-wheeled mobile robot has that action is quick, high efficiency, simple in structure, advantage such as controllability is strong, security is good.With other apparatus in comparison commonly used in the mass transport, the zone of action of AGV need not to lay stationary installations such as track, a mounting, does not receive the restriction in place, road and space.
General common AGV has its motion of two motor-driven, controls its X coordinate and Y coordinate in the plane respectively by these two motors, and has a universal wheel to regulate its stability, arrives website descendant frock and unloads goods.Existing AGV is that (digital signal processor, DSP) control is as shown in Figure 1, is the block scheme of the AGV control system of prior art by the individual digit signal processor basically.
In the prior art, the control system of general A GV comprises battery 11, DSP 12, first controller 13, second controller 14, first motor 15, second motor 16, signal processor 17 and mechanical hook-up 18.Battery 11 is an electric supply installation, for whole system operation provides WV.The built-in control program of DSP12; And send and control signal to first controller 13 and second controller 14; First controller 13 and second controller 14 are controlled the work of first motor 15, second motor 16 respectively, and first motor 15, second motor 16 are respectively applied for again and drive the mechanical hook-up 18 of being located at AGV and move.Wherein, after the drive signal of first motor 15 and second motor 16 is synthesized through signal processor 17, the motion of control mechanical hook-up 18.
For a long time, find that traditional AGV exists a lot of potential safety hazards, comprising:
(1) owing to artificial adding, and the real robotization of being unrealized, and human factor has also increased the weight of AGV carriage fault rate.
(2) because multi-shaft interlocked workload is very big, and monolithic DSP can give up the state of considering battery generally speaking, the system energy of making can not get optimal utilization.
(3) monolithic DSP is difficult to the requirement of competent many signal processing systems, if increase the requirement that new processor satisfies AGV rapidity and stability, handles the problems such as synchronous and communication between two processors again, has prolonged the system development time.
(4) owing to disturbed by the surrounding environment labile factor, single dsp controller occurs unusual through regular meeting, causes out of controlly, and antijamming capability is relatively poor.
Therefore, need design again existing AGV controller based on monolithic DSP control.
Summary of the invention
To the problems referred to above, the purpose of this invention is to provide a kind of automatic loading and unloading automatic guided vehicle control system, it has ADSP and the control of FPGA double-core, and comprises automatic loading motor, realizes the full-automatic loading and unloading goods of automatic guided vehicle.
The present invention proposes a kind of automatic loading and unloading automatic guided vehicle control system; It comprises battery, control module, electric machine controller, first motor, second motor, signal processor and mechanical hook-up; It is characterized in that: this system further comprises the 3rd motor; Control module is sent and is controlled signal to electric machine controller, and electric machine controller is controlled the work of first motor, second motor and the 3rd motor respectively, first motor and the motion of the second motor-driven mechanical hook-up; The 3rd motor is automatic loading motor; After the drive signal of first motor, second motor and the 3rd motor is synthesized through signal processor, the motion of control mechanical hook-up; In the stand-by period, battery charges automatically.Control module is an a pair of nuclear control device, and it comprises master system and the kinetic control system of being located at ADSP circuit and FPGA circuit, and wherein, master system comprises man-machine interface, path planning module and online output module; Kinetic control system comprises coder module, input/output control module, data memory module and servocontrol module; Wherein, The ADSP circuit is realized man-machine interface, path planning module, data memory module, input/output control module, online output module, and the FPGA circuit is realized the servocontrol module.
In one embodiment of the invention; Said battery further is connected with first motor, second motor and the output terminal of the 3rd motor; And control module further is connected to the tie point between first motor output end and the battery respectively; Tie point between second motor output end and the battery, and the tie point between the 3rd motor output end and the battery.
In one embodiment of the invention, said man-machine interface comprises and begins/restart button and function selecting key.
In one embodiment of the invention, whether said coder module detects the automatic guided vehicle actual speed, judges whether to meet rate request, too fast or slow excessively, and sends control signal.
In one embodiment of the invention, said servocontrol module comprises digital simulation module, sensor assembly, current module, speed module and displacement module.
In one embodiment of the invention, said digital simulation module comprises analog-digital converter and digital analog converter.
In one embodiment of the invention, said sensor assembly comprises one or more sensors.
In one embodiment of the invention; Said sensor assembly comprises navigation sensor, upfront sensor, side sensor, speed pickup and website sensor; Whether navigation sensor judges automatic guided vehicle in the center line operation, and the adjustment dolly is at suitable run location; The website sensor can read ground website bar code, and adds up automatically, the New count of can automatic clear when reaching maximum website laying equal stress on.
In one embodiment of the invention, said online output module is used to point out the duty of automatic guided vehicle; The output power that current module is used to adjust battery reaches the scope of automatic guided vehicle needs.
In one embodiment of the invention, said speed module is connected with the coder module communication, and too fast or slow excessively when coder module detection automatic guided vehicle actual speed, the speed module is regulated the dolly actual speed according to the result that coder module detects; Whether displacement module detects automatic guided vehicle and arrives at a station, and whether arrives set displacement, if slow excessively, sends assisted instruction to electric machine controller; If near excessively from set displacement, need to slow down, then send deceleration instruction to electric machine controller.
Automatic loading and unloading automatic guided vehicle control system of the present invention is waited for the zone at dolly, has taken into full account the problem of the energy content of battery, if when cell voltage is low, charging has automatically increased the energy of dolly effectively, helps the raising of dolly operating distance.In motion process; Taken into full account the effect of battery in this system; Constantly all the running status of dolly is being monitored and computing based on the DSP+FPGA controller, avoiding the generation of big electric current, so fundamentally solved of the impact of big electric current to battery.Full Digitized Servo Control by FPGA processing line navigation motor and automatic loading motor has improved arithmetic speed greatly, has solved the slower bottleneck of single dsp software operation, and it is short to have shortened the construction cycle, and the program transportability ability is strong.Moreover the present invention has realized veneer control fully, has not only saved control panel and has taken up room, but also realized the synchro control of multi-way control signals, helps improving the stability and the dynamic property of AGV dolly.Because this controller adopts FPGA lots of data and algorithm, and taken into full account interference source on every side, and from the hard work amount, freed DSP, prevented " race flies " of program effectively, antijamming capability strengthens greatly.Owing to added automatic loading motor, realized robotization fully, got rid of of the influence of factors such as artificial interference to the AGV trolley travelling.
Above-mentioned explanation only is the general introduction of technical scheme of the present invention; Understand technological means of the present invention in order can more to know; And can implement according to the content of instructions, and for let above and other objects of the present invention, feature and advantage can be more obviously understandable, below special act embodiment; And conjunction with figs., specify as follows.
Description of drawings
Fig. 1 is the block scheme of the AGV control system of prior art.
Fig. 2 is the block scheme of the AGV control system of preferred embodiment of the present invention.
Fig. 3 for preferred embodiment of the present invention the block scheme of control module.
Fig. 4 uses synoptic diagram for the AGV control system of preferred embodiment of the present invention.
Embodiment
Along with the continuous development and the maturation of microelectric technique and computing machine integrated chip manufacturing technology, number DSP also is applied in the various senior control system because its computing power fast not only is widely used in communication and handles with vision signal gradually.The ADSP-21xx series of AD company provides low cost, low-power consumption, high performance processing power and solution.ADSP-2188 instruction execution speed wherein adds independently ALU up to 75MIPS, has powerful digital signal processing capability.In addition, jumbo RAS (RAM, random access memory) is integrated in this chip, can greatly simplify periphery circuit design, reduces system cost and system complexity, has also improved the stores processor ability of data greatly.
Hardware implementation method based on field programmable gate array (FPGA, Field Programmable Gata Array) and hyundai electronics design automation (EDA) technology is recent years to have occurred a kind of brand-new design philosophy.Though FPGA itself is the cell array of standard just; There is not the general function that integrated circuit had; But the user can be according to the design demand of oneself; Placement-and-routing's instrument through specific reconfigures connection to its inside, in the shortest time, designs the special IC of oneself, so just reduces cost, shortens the construction cycle.Because the design philosophy of software implementation that adopts FPGA realizes the design of hardware circuit, so just make to have good reusable and the property revised based on the FPGA designed system.This brand-new design philosophy has been applied in the high performance AC driving control gradually, and fast-developing.
The present invention overcomes single DSP can not satisfy the stability and the requirement of rapidity, has given up single DSP mode of operation that homemade AGV dolly is adopted, absorbing under the external advanced prerequisite of controlling thought, independent research based on the brand-new control model of DSP+FPGA.Control panel is its processing core with FPGA, realizes the real-time processing of digital signal, in the middle of the work of complicacy, free DSP, and the signal processing algorithm of implementation part and the steering logic of FPGA, and realization data communication and storage of real time signal are interrupted in response.
Introduce technical scheme of the present invention as follows in detail.Fig. 2 is the block scheme of the AGV control system of preferred embodiment of the present invention.In the present embodiment, the control system of AGV comprises battery 21, control module 22, electric machine controller 23, first motor 24, second motor 25, the 3rd motor 26, signal processor 27 and mechanical hook-up 28.Battery 21 is an electric supply installation, for whole system operation provides WV.Control module 22 built-in control program and control circuits; Send and control signal to electric machine controller 23; Electric machine controller 23 is controlled the work of first motor 24, second motor 25 and the 3rd motor 26 respectively, and first motor 24, second motor 25 are respectively applied for again and drive the mechanical hook-up 27 of being located at the AGV car body and carry out the motion of directions X (level) and Y direction (vertical).The 3rd motor 26 is automatic loading motor, is used for automatic lade and automatic unloaded of cargo.Wherein, the drive signal of first motor 24, second motor 25 and the 3rd motor 26 through signal processor 27 synthetic after, the motion of control mechanical hook-up 27.Battery 21 further is connected with the output terminal of first motor 24, second motor 25 and the 3rd motor 26; And control module 22 further is connected to the tie point between first motor, 24 output terminals and the battery 21 respectively; Tie point between second motor, 25 output terminals and the battery 21, and the tie point between the 3rd motor 26 output terminals and the battery 21.
Please further consult Fig. 3, be the block scheme of the control module 22 of preferred embodiment of the present invention.With reference to Fig. 4, its AGV control system for preferred embodiment of the present invention is used synoptic diagram in the lump.In the present embodiment, control module 22 is an a pair of nuclear control device, and it comprises ADSP circuit (figure is mark not) and FPGA circuit (figure is mark not), the two communication each other.Control module 22 comprises the master system 221 and kinetic control system 222 of being located at ADSP circuit and FPGA circuit.Wherein, master system comprises man-machine interface 2221, path planning module 2212, online output module 2213.Man-machine interface 2221 comprises and begins/restart button and function selecting key.Path planning module 2212 comprises the speed that has preset, acceleration, parameter settings such as position.Online output module 2213 is used to point out the duty of AGV dolly, such as being in the dolly course of work or the condition prompting that arrives at a station.
Wherein, DA module 2225 comprises analog-digital converter (ADC, Analog to Digital Converter) and digital analog converter (DAC, Digital to Analog Converter).Sensor assembly 2226 comprises one or more sensors; As shown in Figure 4, in the present embodiment, sensor assembly 2226 comprises the sensor of label S1, S2, S3, S4, S5, S8, S9, S10 representative; It is higher than the different parts of AGV dolly; Wherein sensor S1, S2, S3, S4, S5 are navigation sensor, whether judge the AGV dolly in the center line operation, and the adjustment dolly is at suitable run location.Sensor S9, S10 are that the upfront sensor and the sensor S8 that are located at dolly the place ahead are the side sensor of being located at the dolly side.Deceleration among the figure, website 1 ~ n, acceleration, wait zone are the reflection units of being located at ground, and the sensor can cooperate reflection unit to assist the motion of AGV dolly.
Speed module 2228 is connected with coder module 2221 communications, and too fast or slow excessively when coder module 2221 detection AGV dolly actual speed, speed module 2228 is regulated the dolly actual speed according to the result that coder module 2221 detects.In the present embodiment, the sensor S7 that is located at the AGV dolly is a speed pickup, and speed module 2228 includes but not limited to speed pickup.
Whether displacement module 2229 detects the AGV dolly and arrives at a station, and whether arrives set displacement, if slow excessively, sends assisted instruction to electric machine controller 23; If near excessively from set displacement, need to slow down, then send deceleration instruction to electric machine controller 23.In the present embodiment, the sensor S6 that is located at the AGV dolly is the website sensor, and it is used to realize the function of displacement module 2229.
Describe in conjunction with above, master system is accomplished functions such as man-machine interface, path planning, online output; Functions such as the servocontrol of kinetic control system completion AGV system, data storage, I/O control; Wherein processing of circuit is given FPGA by the maximum multiple-axis servo system of workload; Remaining comprises that the completion of master system gives the ADSP circuit and accomplish; So just realized the division of labor of ADSP and FPGA, also can carry out communication between the two simultaneously, carried out exchanges data in real time and call.
Further with reference to Fig. 4, the concrete principle of work of preferred embodiment of the present invention is described below.Before the AGV dolly is not received order; It generally can wait for zone wait master controller; It is the order that control module 22 is sent; Check all parameters of battery 21 voluntarily and repair the battery cell of some poor-performings as far as possible, as break down sending alerting signal, if cell voltage is crossed and lowly can be opened charging plug automatically and charge in automatic charge device 42 in the stand-by period.The AGV dolly is after waiting for that task is received in the zone, and meeting automatic cutout charge switch is along waiting for that the track 41 entering goods on the regional edge transport track.The mode that control module 22 is given an order includes but not limited to give an order through the button of operation man-machine interface 2221.After the injection of AGV dolly; The sensor S9 in its place ahead, S10 and side sensor S8 can judge that defining does not have barrier to get into range of operation, as exists barrier to send interrupt request to ADSP circuit (for example the I/O control module 2222) to surrounding environment; The ADSP circuit can be to interrupting doing very first time response; If the interrupt response of ADSP does not have enough time to handle, the collision avoidance system on the car body will be triggered, and then reach the function that keeps in obscurity; If there is not barrier to get into range of operation, the AGV dolly will carry out normal state operation.
When the AGV injection normally moves; Its navigation sensor S1, S2, S3, S4, S5 will work; And a photosignal that reflects is given ADSP; After ADSP judges, give FPGA,, transmit control signal by electric machine controller 23 then and carry out servocontrol for first motor 24 and second motor 25 of line navigation by carrying out communication with ADSP after the FPGA computing.
In order to realize the steady running of AGV dolly; Reduce the labile factor of dolly running, system has added speed pickup S7, and this sensor can read ground acceleration or deceleration bar code; Give electric machine controller 23 then; After electric machine controller 23 carries out computing according to this signal, control the travelling speed of first motor 24 and second motor 25, make the AGV dolly with different speed through short distance straight way, long apart from straight way and bend.
In order to realize the website function of AGV dolly, the present invention has added website sensor S6, and this website sensor S6 can read ground website bar code, and adds up automatically, can automatic clear when reaching maximum website and again slave station point 1 count.
For the automatic lade and the unloaded of cargo function that can realize the AGV dolly, the present invention can start the 3rd motor 26 according to the requirement of current stop after arriving website, and the 3rd motor 26 cooperates gearing (figure does not show) to realize the automatic transmission of goods thus.
In sum; In order to improve arithmetic speed, guarantee the stability and the reliability of AGV system, the present invention introduces FPGA in single dsp controller; Formation is based on the double-core controller of DSP+FPGA; This controller is concentrated design to the multi controller systems that original single DSP realizes, and takes into full account the effect of battery in this system, realizes the function of single controller synchronized transmission multiaxis control signal.Giving FPGA the maximum multiple-axis servo system of workload in the AGV control system handles; Give full play to FPGA data processing speed characteristics faster; And functions such as man-machine interface, path planning, online output, data storage, I/O control are given ADSP completion; So just realized the division of labor of ADSP and FPGA, also can carry out communication between the two simultaneously, carried out exchanges data in real time and call.
The beneficial effect that the present invention has is: wait for the zone at dolly, taken into full account the problem of the energy content of battery, if when cell voltage is low, charging has automatically increased the energy of dolly effectively, helps the raising of dolly operating distance.In motion process; Taken into full account the effect of battery in this system; Constantly all the running status of dolly is being monitored and computing based on the DSP+FPGA controller; Avoided the generation of big electric current, so fundamentally solved of the impact of big electric current, the generation of the lead-acid battery overaging phenomenon of having avoided causing owing to heavy-current discharge to battery.In lead-acid battery rapid discharge process, in the voltage detecting process of opposite end, introduced the parameter such as internal resistance, temperature of plumbic acid, make terminal voltage more approach actual parameter, the protection that utilizes the energy is arranged.Full Digitized Servo Control by FPGA processing line navigation motor and automatic loading motor has improved arithmetic speed greatly, has solved the slower bottleneck of single dsp software operation, and it is short to have shortened the construction cycle, and the program transportability ability is strong.
The present invention has realized veneer control fully, has not only saved control panel and has taken up room, but also realized the synchro control of multi-way control signals, helps improving the stability and the dynamic property of AGV dolly.Because this controller adopts FPGA lots of data and algorithm, and taken into full account interference source on every side, and from the hard work amount, freed DSP, prevented " race flies " of program effectively, antijamming capability strengthens greatly.Owing to added automatic loading motor, realized robotization fully, got rid of of the influence of factors such as artificial interference to the AGV trolley travelling.
The above only is embodiments of the invention, is not the present invention is done any pro forma restriction; Though the present invention discloses as above with embodiment; Yet be not in order to limiting the present invention, anyly be familiar with the professional and technical personnel, in not breaking away from technical scheme scope of the present invention; When the technology contents of above-mentioned announcement capable of using is made a little change or is modified to the equivalent embodiment of equivalent variations; In every case be not break away from technical scheme content of the present invention, to any simple modification, equivalent variations and modification that above embodiment did, all still belong in the scope of technical scheme of the present invention according to technical spirit of the present invention.
Claims (2)
1. the present invention proposes a kind of automatic loading and unloading automatic guided vehicle control system; It comprises battery, control module, electric machine controller, first motor, second motor, the 3rd motor, signal processor and mechanical hook-up; Control module is sent and is controlled signal to electric machine controller; Electric machine controller is controlled the work of first motor, second motor and the 3rd motor respectively, first motor and the motion of the second motor-driven mechanical hook-up; The 3rd motor is automatic loading motor; After the drive signal of first motor, second motor and the 3rd motor is synthesized through signal processor, the motion of control mechanical hook-up; In the stand-by period, battery charges automatically.
2. control module is an a pair of nuclear control device, and it comprises master system and the kinetic control system of being located at ADSP circuit and FPGA circuit, and wherein, master system comprises man-machine interface, path planning module and online output module; Kinetic control system comprises coder module, input/output control module, data memory module and servocontrol module.
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| CN105964550A (en) * | 2016-05-20 | 2016-09-28 | 天津工业大学 | Full-automatic logistics robot |
| CN110209062A (en) * | 2019-06-04 | 2019-09-06 | 三一重机有限公司 | Excavator loads and unloads control method and device |
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| CN105964550A (en) * | 2016-05-20 | 2016-09-28 | 天津工业大学 | Full-automatic logistics robot |
| CN110209062A (en) * | 2019-06-04 | 2019-09-06 | 三一重机有限公司 | Excavator loads and unloads control method and device |
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Application publication date: 20121024 |