CN102830704A - Single drive manual loading and unloading automatic guided vehicle (AGV) control system - Google Patents
Single drive manual loading and unloading automatic guided vehicle (AGV) control system Download PDFInfo
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Abstract
The invention discloses a single drive manual loading and unloading automatic guided vehicle (AGV) control system which comprises a processor unit, a controller, a first motor, a second motor and an AGV trolley, wherein the processor unit transmits a control signal to the controller; the control signal is divided into a first driving signal and a second driving signal through the controller; the first driving signal and the second driving signal respectively control the second motor and the first motor; the speed of the AGV trolley is controlled by the first motor; and the direction of the AGV trolley is controlled by the second motor. In order to improve the calculation speed, the stability and reliability of the AGV system are guaranteed, a field programmable gate array (FPGA) processor is introduced into a digital signal processor (DSP) of the processor unit, a DSP+FPGA dual-core processor is formed, the speed and direction of the AGV trolley are independently controlled, the flywheel phenomenon is effectively avoided, and the interference resistance is greatly improved.
Description
Technical field
The invention relates to automatic guided vehicle (AGV, Automated Guided Vehicle) technical field, and particularly unload the AGV control system relevant for unit driving person frock.
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 for it power resources are provided with chargeable storage.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.
The AGV dolly 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 dolly need not to lay stationary installations such as track, a mounting, does not receive the restriction in place, road and space.
General common AGV dolly all has its motion of two motor-driven, by its X coordinate and Y coordinate in the plane of two Electric Machine Control, and has two universal wheels one of them or two to regulate its stability, behind the arrival website by artificial handling goods.
Existing AGV control system all is that (digital signal processor, DSP) control form four-wheel differentia and turns to and go, and 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, general A GV control system comprises battery, dsp processor, first controller, second controller, first motor, second motor, signal processor and AGV dolly.Battery is an electric supply installation, for whole system operation provides WV.The built-in control system of dsp processor; And send and control signal to first controller and second controller; First controller and second controller are controlled the work of second motor and first motor respectively, and first motor and second motor are respectively applied for driving AGV dolly again and move.Wherein, after the drive signal of first motor and second motor is synthesized through signal processor, the motion of control AGV dolly.
For a long time, find that traditional AGV control system exists a lot of potential safety hazards, comprising:
(1) owing to frequent brake and the startup of AGV dolly, increased the weight of the workload of dsp processor, the dsp processor of monolithic can't be considered the state of battery, makes the AGV control system energy can not get optimal utilization;
(2) owing to disturbed by the surrounding environment labile factor, the dsp processor of monolithic occurs unusual through regular meeting, causes out of controlly, and antijamming capability is relatively poor;
(3) for the four-wheel structure of AGV dolly; Perfect condition generally is that two drive motor cooperate an engaged wheel to form a plane of movement; But when running into the motion path out-of-flatness, often run into two engaged wheels and cooperate a driving wheel running; The phenomenon that at this moment will cause dolly " flywheel " to occur takes place, this instrument or the product on every side that generally can break out of control;
(4) because will handling the differential of two motors of speed control signal formation of two motors simultaneously, dsp processor adjusts AGV dolly speed and direction in the plane; Speed and direction are the amounts of two couplings like this; All difficult for the accurate control that realizes final speed and direction, need adjustment for a long time sometimes;
(5) the AGV dolly of controlling for differential; Generally require the control signal of its two motors to want synchronously; But for the dsp processor of monolithic, be difficult to again accomplish, compensation that will be back and forth when making the AGV dolly on straight way, go, and also rocking tendency is bigger sometimes;
(6) dsp processor of monolithic is difficult to the requirement of competent many signal processing systems; In order to satisfy the requirement of two motors; The AGV dolly of the dsp processor control of monolithic is normally realized the high-speed a/d sampling to solve on the different integrated circuit board of polylith with signal processing function, and this brings a lot of inconvenience to practical application;
(7) because the AGV control system does not possess the independent control of speed and direction,, can not satisfy the path that some have the turning so the AGV dolly is not provided with website generally speaking on bend;
(8), cause when " flywheel " occurring, can't accomplishing the various compensation of AGV control system because two optical code disks that test the speed are to be contained on the driving wheel.
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 unit driving person frock and unload the AGV control system, solved in the prior art phenomenon of " flywheel " and the problem of poor anti jamming capability.
For solving the problems of the technologies described above; The technical scheme that the present invention adopts is: provide a kind of unit driving person frock to unload the AGV control system; Comprise processor unit, controller, first motor, second motor and AGV dolly; Described processor unit sends and controls signal to described controller, is divided into first drive signal and second drive signal to control signal through described controller, and described first drive signal and second drive signal are controlled described second motor and first motor respectively; By the speed of the first described Electric Machine Control AGV dolly, the direction of the second described Electric Machine Control AGV dolly.
In preferred embodiment of the present invention; Described processor unit is a dual core processor; Comprise dsp processor, FPGA processor and be located at dsp processor and the master system of FPGA processor and kinetic control system; Described master system comprises human-computer interface module, path planning module and online output module; Described kinetic control system comprises servocontrol module, data memory module and I/O control module, and wherein, dsp processor is used to control human-computer interface module, path planning module, online output module, data memory module and I/O control module; The FPGA processor is used to control the servocontrol module, and carries out exchanges data between dsp processor and the FPGA processor in real time and call.
In preferred embodiment of the present invention; Described AGV control system also comprises battery; Described battery further is connected with the output terminal of first motor with second motor, and processor unit further is connected to tie point and the tie point between second motor output end and the battery between first motor output end and the battery respectively.
In preferred embodiment of the present invention, described servocontrol module also comprises modular converter, and described modular converter comprises analog-digital converter and digital analog converter.
Whether in preferred embodiment of the present invention, described servocontrol module also comprises coder module, and described coder module is used to detect AGV dolly actual speed, judges whether to meet rate request, too fast or slow excessively, and sends control signal.
In preferred embodiment of the present invention, described servocontrol module also comprises current module, and the output power that described current module is used to adjust battery reaches the scope of AGV dolly needs.
In preferred embodiment of the present invention; Described servocontrol module also comprises the speed module; Described speed module is connected with the coder module communication; Too fast or slow excessively when coder module detection AGV dolly actual speed, the speed module is regulated AGV dolly actual speed according to the result that coder module detects.
In preferred embodiment of the present invention, described servocontrol module also comprises displacement module, and whether described displacement module is used to detect the AGV dolly and arrives at a station, and whether arrives set displacement, if slow excessively, sends assisted instruction to controller; If near excessively from set displacement, need to slow down, then send deceleration instruction to controller.
In preferred embodiment of the present invention; Described AGV dolly comprises navigation sensor, the place ahead obstacle sensor, left and right side obstacle sensor, speed pickup, website sensor and reverse sensor; Whether described navigation sensor judges the AGV dolly in the center line operation, and adjustment AGV dolly is at suitable run location.
Unit driving person frock of the present invention is unloaded the AGV control system; In order to improve arithmetic speed, guarantee the stability and the reliability of AGV system, the present invention introduces the FPGA processor in the dsp processor of processor unit; Formation is based on the dual core processor of DSP+FPGA; The multi controller systems that this processor unit is realized the dsp processor of original monolithic is concentrated design, and takes into full account the effect of battery in this system, has realized the independent control of little vehicle speed of AGV and direction; And there are two different motor to control its speed and direction; Give FPGA processor processes the servocontrol module that workload in the AGV control system is maximum, give full play to FPGA processor data processing speed characteristics faster, and human-computer interface module, path planning module, online output module, data memory module and I/O control module are given dsp processor control; So just realized the division of labor of dsp processor and FPGA processor; From the hard work amount, free dsp processor, prevent the generation of " flywheel " phenomenon effectively, antijamming capability strengthens greatly.
Description of drawings
Fig. 1 is the block scheme of the AGV control system of prior art;
Fig. 2 unloads the block scheme of AGV control system for the unit driving person frock of preferred embodiment of the present invention;
Fig. 3 is the block scheme of processor unit among Fig. 2;
Fig. 4 unloads the AGV control system for the unit driving person frock of preferred embodiment of the present invention and uses synoptic diagram.
Embodiment
Below in conjunction with accompanying drawing preferred embodiment of the present invention is set forth in detail, thereby protection scope of the present invention is made more explicit defining so that advantage of the present invention and characteristic can be easier to it will be appreciated by those skilled in the art that.
As shown in Figure 2, for the unit driving person frock of preferred embodiment of the present invention is unloaded the block scheme of AGV control system.In the present embodiment, unit driving person frock is unloaded the AGV control system and is comprised battery, processor unit, controller, first motor, second motor and AGV dolly.Wherein, described battery is a lead-acid battery, is a kind of electric supply installation, for whole system operation provides WV.Battery further is connected with the output terminal of first motor with second motor, and processor unit further is connected to tie point and the tie point between second motor output end and the battery between first motor output end and the battery respectively.
Built-in control system of processor unit described in the present invention and control circuit; Described processor unit sends and controls signal to described controller; Be divided into first drive signal and second drive signal to control signal through described controller; Described first drive signal and second drive signal are controlled the work of described second motor and first motor respectively, and first motor and second motor are respectively applied for again and drive the AGV dolly of being located at the AGV car body and carry out the motion of directions X (level) and Y direction (vertical).By the speed of the first described Electric Machine Control AGV dolly, the direction of the second described Electric Machine Control AGV dolly has realized the independent control of little vehicle speed of AGV and direction among the present invention.
The present invention overcomes the requirement that the dsp processor of monolithic can not satisfy the stability and the rapidity of AGV control system, has given up the mode of operation of the dsp processor of AGV monolithic that control system adopts, and the brand-new control model based on the DSP+FPGA processor is provided.Processor unit is an its processing core with the FPGA processor; Realize the real-time processing of digital signal, in the middle of the work of complicacy, free dsp processor the steering logic of the signal processing algorithm of implementation part and FPGA processor; And realization data communication and storage of real time signal are interrupted in response.
See also Fig. 3, described processor unit is a dual core processor, and it comprises dsp processor and FPGA processor, and the two communication is each other carried out exchanges data in real time and called.Described processor unit also comprises master system and the kinetic control system of being located at dsp processor and FPGA processor; Described master system comprises human-computer interface module, path planning module and online output module; Described kinetic control system comprises servocontrol module, data memory module and I/O control module; Wherein, Dsp processor is used to control human-computer interface module, path planning module, online output module, data memory module and I/O control module, and the FPGA processor is used to control the servocontrol module.
Master system comprises human-computer interface module, path planning module and online output module.Human-computer interface module comprises and begins/restart button and function selecting key; Path planning module comprises the speed that has preset, acceleration, parameter settings such as position; Online output module is used to point out the duty of AGV dolly, such as being in the AGV dolly course of work or the condition prompting that arrives at a station.
Kinetic control system comprises servocontrol module, data memory module and I/O control module.Wherein, data memory module is a storer; The I/O control module comprises RS-232 serial line interface, ICE port etc.The servocontrol module further comprises modular converter, coder module, current module, speed module and displacement module.
Wherein, described modular converter comprises analog-digital converter (ADC, Analog to Digital Converter) and digital analog converter (DAC, Digital to Analog Converter); Whether described coder module is used to detect AGV dolly actual speed, judges whether to meet rate request, too fast or slow excessively, and sends control signal.
Described current module is connected with controller, modular converter with battery.Modular converter is according to the electric current of battery and controller, and the output power that judgment task power, and feed back to battery to power condition, current module are used to adjust battery reaches the scope of AGV dolly needs.
Described speed module is connected with the coder module communication, and too fast or slow excessively when coder module detection AGV dolly actual speed, the speed module is regulated AGV dolly actual speed according to the result that coder module detects.
Whether described displacement module detects the AGV dolly and arrives at a station, and whether arrives set displacement, if slow excessively, sends assisted instruction to controller; If near excessively from set displacement, need to slow down, then send deceleration instruction to controller.
For processor unit is a dual core processor; Under the power supply opening state; By human-computer interface module work, confirm the path planning of AGV dolly again according to the function selecting of human-computer interface module earlier, the navigation sensor of AGV dolly, the place ahead obstacle sensor, left and right side obstacle sensor are given the dsp processor in the processor unit according to actual navigational environment transmission parameter; Dsp processor is handled back and the communication of FPGA processor; Give dsp processor then by the servocontrol module of FPGA processor processes first motor and second motor, and the deal with data communication, continue to handle follow-up running status by dsp processor.
Describe in conjunction with above, master system comprises human-computer interface module, path planning module, online output module; Kinetic control system comprises servocontrol module, data memory module, I/O control module.Wherein, The maximum servocontrol module of workload is given the control of FPGA processor; Remaining comprises that whole modules of master system give dsp processor control; So just realized the division of labor of dsp processor and FPGA processor, also can carry out communication between the two simultaneously, carried out exchanges data in real time and call.
AGV dolly among the present invention comprises a driving wheel, two engaged wheels, a plurality of sensor and collision avoidance systems, and optical code disk all is installed on the described engaged wheel.Wherein, Described sensor comprises navigation sensor, the place ahead obstacle sensor, left and right side obstacle sensor, speed pickup, website sensor and reverse sensor; Whether described navigation sensor judges the AGV dolly in the center line operation, and adjustment AGV dolly is at suitable run location.
As shown in Figure 4, in the present embodiment, comprise the sensor of label S1, S2, S3, S4, S6, S7, S8, S9, S10, S11, S12, S13, S14, S18, S19, S20 representative, it is located at the different parts of AGV dolly.Wherein, sensor S1, S2, S3, S4 are navigation sensor, whether judge the AGV dolly in the center line operation, and adjustment AGV dolly is at suitable run location; Sensor S9, S10 are that the place ahead obstacle sensor and the sensor S8 that are located at AGV dolly the place ahead are the side obstacle sensor of being located at AGV dolly side; The sensor S7 that is located at the AGV dolly is a speed pickup; 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; Sensor S11, S12, S13, S14, S18, S19, S20 are reverse sensor, are used to change the direction of motion of first motor and second motor.Website 1 ~ n among the figure and charging zone are the reflection units of being located at ground, and the sensor can cooperate reflection unit to assist the motion of AGV dolly.
Its concrete function realizes as follows:
1) before the AGV dolly is not received order, it generally can wait for the order that controller sends in the charging zone, in case after receiving task, can get into goods along the track on the charging regional edge and transport track;
3) 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 dsp processor to surrounding environment; Dsp processor can be to interrupting doing very first time response; If the interrupt response of dsp processor does not have enough time to handle, the collision avoidance system on the AGV dolly 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;
4) when the injection of AGV dolly normally moves; Dsp processor can be seen the travel speed size of AGV dolly according to the actual motion environment off; And the velocity magnitude of two engaged wheels of coming according to collection; After dsp processor and the communication of FPGA processor, generate concrete PWM ripple by the FPGA processor and control first motor, thereby regulate the speed of AGV trolley travelling;
5) meet the requirements of under the condition in AGV dolly injection normal running speed; Its navigation sensor S1, S2, S3 and S4 carry out work; And a photosignal that reflects is given dsp processor; After dsp processor is judged, give FPGA processor,, send first drive signal by controller then and control second motor by carrying out communication with dsp processor after the FPGA processor calculating; Carry out the direction that servocontrol is regulated the AGV trolley travelling by second motor then, make navigation sensor accompany movement track easily;
6) in order to realize the steady running of AGV dolly; Reduce the labile factor of AGV dolly running, system has added speed pickup S7, and this sensor can read ground acceleration or deceleration bar code; Give controller then; Controller can carry out computing according to this signal and actual surrounding environment, sees the travelling speed that second drive signal is controlled first motor then off, make the AGV dolly with different speed through short distance straight way, long apart from straight way and bend;
7) in order to realize the website function of AGV dolly; The present invention has added website sensor S6, and this sensor can read ground website bar code, and adds up automatically; AGV dolly meeting automatic stopping behind the arrival website is by workman's automatic loading and unloading goods of current stop;
8) in order to realize circulatory function, can automatic clear when the AGV dolly reaches maximum website and again slave station point 1 count;
9) if the AGV dolly is received the reversing request; The AGV dolly can be in the original place the automatic stop motion and the current state of abridging; Open its reverse sensor S11, S12, S13, S14, S18, S19 and S20 and change first motor and the direction of motion of second motor; Take the principle of work the same, control its counter motion with forward.
In sum, the unit driving person frock that the present invention discloses is unloaded the AGV control system, in order to improve arithmetic speed; Guarantee the stability and the reliability of AGV system; The present invention introduces the FPGA processor in the dsp processor of processor unit, form the dual core processor based on DSP+FPGA, and the multi controller systems that this processor unit is realized the dsp processor of original monolithic is concentrated design; And take into full account the effect of battery in this system; Realize the independent control of little vehicle speed of AGV and direction, and two different motor its speed of control and direction have been arranged, given FPGA processor processes the servocontrol module that workload in the AGV control system is maximum; Give full play to FPGA processor data processing speed characteristics faster; And human-computer interface module, path planning module, online output module, data memory module and I/O control module are given dsp processor control, have so just realized the division of labor of dsp processor and FPGA processor, from the hard work amount, free dsp processor; Prevent the generation of " flywheel " phenomenon effectively, antijamming capability strengthens greatly.
Unit driving person frock of the present invention is unloaded the beneficial effect that the AGV control system has:
1, in motion process; Taken into full account the effect of battery in this system; Constantly all the running status of AGV dolly is being monitored and computing based on the DSP+FPGA processor; 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;
2, in the rapid discharge process, in the voltage detecting process of opposite end, introduced the parameter such as internal resistance, temperature of lead-acid battery, make terminal voltage more approach actual parameter, the protection that utilizes the energy is arranged;
3, control by the velocity magnitude and the independent of direction of FPGA processor processes AGV dolly; Make that control is fairly simple, improved arithmetic speed greatly, solved the slower bottleneck of dsp processor operation of monolithic; It is short to have shortened the construction cycle, and system's portable ability is strong;
4, realize veneer control fully, not only saved control panel and taken up room, but also realized the velocity magnitude of AGV dolly and independently controlling of direction, helped improving the stability and the dynamic property of AGV dolly;
5, owing to adopt FPGA processor processes lot of data and algorithm; And the interference source around having taken into full account; And from the hard work amount, free dsp processor of the prior art, preventing the generation of " flywheel " phenomenon effectively, antijamming capability strengthens greatly;
6, because the AGV dolly has only a driving wheel, make two motors and two engaged wheels in one plane forever, make the AGV dolly out of control because of the flywheel problem never;
7, owing to the independent control of adopting velocity magnitude and direction, and second power of motor of control AGV trolley travelling direction is less, helps reducing the consumption of energy like this;
8, owing to the speed and the direction of AGV dolly are independently controlled, and have memory function, this makes the AGV dolly can arbitrarily be parked in any locational website;
9, be the independent control of velocity magnitude and direction owing to what adopt, make the AGV dolly realize reverse the reversing more easily,, just can realize the car-backing function of AGV dolly, and not need the Rotate 180 degree as long as in practical structures, add a cover discriminating direction sensor;
10, on two of AGV dolly back engaged wheels optical code disk is housed all, can exports the compensation correction of speed, direction and the displacement of AGV dolly of carrying out driving wheels according to two optical code disks of trailing wheel like this, this position that makes AGV pull in for a short time is more accurate;
11, the sensor of its direction navigation of AGV dolly is mounted on the engaged wheel, and this makes its control more accurately with simple, generally has four sensors just can accurately control its direction.
The above-described embodiments of the invention that are merely; Be not so limit claim of the present invention; Every equivalent structure or equivalent flow process conversion that utilizes instructions of the present invention and accompanying drawing content to be done; Or directly or indirectly be used in other relevant technical fields, all in like manner be included in the scope of patent protection of the present invention.
Claims (9)
1. a unit driving person frock is unloaded the AGV control system; It is characterized in that; Comprise processor unit, controller, first motor, second motor and AGV dolly; Described processor unit sends and controls signal to described controller, is divided into first drive signal and second drive signal to control signal through described controller, and described first drive signal and second drive signal are controlled described second motor and first motor respectively; By the speed of the first described Electric Machine Control AGV dolly, the direction of the second described Electric Machine Control AGV dolly.
2. unit driving person frock according to claim 1 is unloaded the AGV control system; It is characterized in that; Described processor unit is a dual core processor; Comprise dsp processor, FPGA processor and be located at dsp processor and the master system of FPGA processor and kinetic control system, described master system comprises human-computer interface module, path planning module and online output module, and described kinetic control system comprises servocontrol module, data memory module and I/O control module; Wherein, Dsp processor is used to control human-computer interface module, path planning module, online output module, data memory module and I/O control module, and the FPGA processor is used to control the servocontrol module, and carries out exchanges data between dsp processor and the FPGA processor in real time and call.
3. unit driving person frock according to claim 1 is unloaded the AGV control system; It is characterized in that; Described AGV control system also comprises battery; Described battery further is connected with the output terminal of first motor with second motor, and processor unit further is connected to tie point and the tie point between second motor output end and the battery between first motor output end and the battery respectively.
4. unit driving person frock according to claim 2 is unloaded the AGV control system, it is characterized in that, described servocontrol module also comprises modular converter, and described modular converter comprises analog-digital converter and digital analog converter.
5. unit driving person frock according to claim 2 is unloaded the AGV control system; It is characterized in that; Described servocontrol module also comprises coder module, and described coder module is used to detect AGV dolly actual speed, judges whether to meet rate request; Whether too fast or slow excessively, and send control signal.
6. unit driving person frock according to claim 3 is unloaded the AGV control system, it is characterized in that, described servocontrol module also comprises current module, and the output power that described current module is used to adjust battery reaches the scope of AGV dolly needs.
7. unit driving person frock according to claim 5 is unloaded the AGV control system; It is characterized in that; Described servocontrol module also comprises the speed module; Described speed module is connected with the coder module communication, and too fast or slow excessively when coder module detection AGV dolly actual speed, the speed module is regulated AGV dolly actual speed according to the result that coder module detects.
8. unit driving person frock according to claim 2 is unloaded the AGV control system, it is characterized in that, described servocontrol module also comprises displacement module; Whether described displacement module is used to detect the AGV dolly and arrives at a station; Whether arrive set displacement,, send assisted instruction to controller if slow excessively; If near excessively from set displacement, need to slow down, then send deceleration instruction to controller.
9. unit driving person frock according to claim 1 is unloaded the AGV control system; It is characterized in that; Described AGV dolly comprises navigation sensor, the place ahead obstacle sensor, left and right side obstacle sensor, speed pickup, website sensor and reverse sensor; Whether described navigation sensor judges the AGV dolly in the center line operation, and adjustment AGV dolly is at suitable run location.
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| CN105774584A (en) * | 2016-03-06 | 2016-07-20 | 张敏 | Use method of automatic charging unmanned electric automobile |
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