CN102968117A

CN102968117A - Automatic guided vehicle (AGV) interface plate based on field programmable gate array (FPGA)

Info

Publication number: CN102968117A
Application number: CN201210231537XA
Authority: CN
Inventors: 赵哲
Original assignee: WUXI PUZHILIANKE HIGH-TECH Co Ltd
Current assignee: SHENZHEN PUZHI LIANKE ROBOT TECHNOLOGY CO., LTD.
Priority date: 2012-07-05
Filing date: 2012-07-05
Publication date: 2013-03-13
Anticipated expiration: 2032-07-05
Also published as: CN102968117B

Abstract

The invention relates to an automatic guided vehicle (AGV) interface plate based on a field programmable gate array (FPGA). The AGV interface plate is characterized by comprising a FPGA control module, a gyroscope, an accelerometer and a MECHATROLINK2 bus control module, wherein the FPGA control module is connected with the gyroscope and the accelerometer, is connected with a group of absolute value encoders arranged on an axle and is connected with the MECHATROLINK2 bus control module, and the MECHATROLINK2 bus control module is connected with a group of servo motors used for driving an AGV to move through a MECHATROLINK2 bus. The AGB interface plate is reasonable in design, external disturbance is effectively avoided and working states of the servo motors can be controlled and obtained timely, fast and accurately due to the fact that the MECHATROLINK2 bus control module is connected with the group of servo motors used for driving the AGV to move through the MECHATROLINK2 bus, automatic AGV movement control is achieved, control timeliness and stability are ensured, and therefore the AGV interface plate can be widely used in the AGV field.

Description

AGV interface board based on FPGA

Technical field

The invention belongs to the AGV technical field, especially a kind of AGV interface board based on FPGA.

Background technology

AGV be a kind of take battery as power, the unmanned automated handling vehicle of non-contact guiding device and independent addressing system is housed, it by the instruction autonomous driving, is exercised along the guide path of regulation under the monitoring of computing machine automatically, arrive the appointed place, finish a series of job tasks.

AGV body control system generally comprises peripheral hardware, interface board, three parts in PC control unit.PC control unit (such as the PC104 master control borad) is used for behavior and the action of control dolly; Peripheral hardware refers to motor and sensor, such as scrambler, gyroscope, accelerometer etc.; Interface board is the bridge in the middle of AGV peripheral hardware and the PC control unit.

The AGV interface board is realized two main tasks, the one, guarantee in real time, sending and receiving motor data correctly: finish flexibly high-precision motion control; The one, guarantee fast, intactly gather and the conversion sensor data, such as scrambler, gyroscope, accelerometer etc., and the data after will changing send to the PC control unit and calculate, controlled accordingly according to result of calculation by the PC control unit again: return steering order to motor, thereby reach the purpose of control dolly behavior and action by the control to motor.

Speed and the accuracy requirement of AGV control system docking oralia are very high: be the requirement to motor interface on the one hand, require interface board can in real time, correctly accept and send for the position data of controlling motor, speed data, be input into the information such as output state, finish flexibly high-precision motion control; Be the requirement to sensor interface on the other hand, require the data acquisition module can be efficiently and rapidly image data, translation data, computational data, feedback result.

In view of present domestic AGV exploitation still is in the junior stage, to all failing to reach the requirement of practical application aspect the Application and Development of the Application and Development of high-precision motor, high performance bus far away, the present invention just is being based on and is filling up under domestic this blank technical background and research and development at the AGV interface board in relevant producer.

Summary of the invention

The object of the invention is to overcome the deficiencies in the prior art, the AGV interface board based on FPGA that a kind of real-time is high, stability is strong is provided.

The present invention solves its technical matters and takes following technical scheme to realize:

A kind of AGV interface board based on FPGA, comprise FPGA control module, gyroscope, accelerometer and MECHATROLINK2 bus control module, the FPGA control module is connected with gyroscope, accelerometer, the FPGA control module is connected with one group of absolute value encoder on being installed in axletree, the FPGA control module is connected with the MECHATROLINK2 bus control module, and this bus control module is connected with the one group of servomotor that drives the AGV motion by the MECHATROLINK2 bus.

And, described FPGA control module comprises MicroBlaze CPU, SPI unit, SSI unit, ISA unit, EPC unit, GPIO unit, CPU is connected by the PLB bus with SPI unit, SSI unit, ISA unit, EPC unit and GPIO unit, the SPI unit is connected with gyroscope, accelerometer, the SSI unit is connected with scrambler, EPC unit and GPIO unit are connected with the MECHATROLINK2 bus control module, and described ISA unit is connected with the PC control unit.

Advantage of the present invention and good effect are:

1, message transmission rate is high.MECHATROLINK2 bus transfer rate (10Mbps) is compared CAN bus transfer rate (most significant digit 1Mbps) and is exceeded 10 times.

2, the MECHATROLINK2 bus has realized in real time, correctly accepting and has sent for the position data of controlling, speed data is input into the information such as output state, finishes flexibly, high-precision motion control need to be specially adapted to the application of coordinate synchronization and the INTERPOLATION CONTROL OF PULSE of each between centers.

3, the MECHATROLINK2 bus also can connect abundant assembly, comprising servomotor.Servomotor can make control rate, and positional precision is very accurate, and the servo motor rotor rotating speed is controlled by input signal, and energy rapid reaction, in automatic control system, as executive component, and have the characteristics such as electromechanical time constant is little, the linearity is high, pickup voltage.

4, FPGA is able to programme, and soft and hardware can be revised (passing through hardware description language) to a certain extent.Characteristics with Soc SOC (system on a chip): can carry out tailor-made product according to user's request; FPGA also has the many characteristics of IO pin, can be easy to articulate the different I/O peripheral hardware.

Description of drawings

Fig. 1 is circuit block diagram of the present invention;

Fig. 2 is the structural representation of FPGA control module;

Fig. 3 is application system connection diagram of the present invention.

Embodiment

Below in conjunction with accompanying drawing the embodiment of the invention is further described:

A kind of AGV interface board based on FPGA as shown in Figures 1 and 2, comprises FPGA control module, gyroscope, accelerometer and MECHATROLINK2 bus control module.Described FPGA control module comprises CPU, SPI unit, SSI unit, ISA unit, EPC unit, GPIO unit, above-mentioned SPI unit, SSI unit, ISA unit, EPC unit and GPIO unit are the IP kernel of FPGA inside, and above-mentioned IP kernel is connected with CPU by the PLB bus.Wherein the SPI unit is the serial communication interface IP kernel, and it is connected for the acceleration signal that gathers gyroscope deviation signal (angular speed) and accelerometer and passes to CPU with gyroscope, accelerometer.The SSI unit is the IP kernel of synchronous serial interface, and it is connected with the one group of absolute value encoder that is installed in axletree for gathering the specific coding value and sending this specific coding value to CPU.EPC unit and GPIO unit are connected with the MECHATROLINK2 bus control module, this bus control module is connected with the one group of servomotor that drives the AGV motion by the MECHATROLINK2 bus, and CPU gathers the state of each servomotor by the MECHATROLINK2 bus control module.The ISA unit is the industrial standard architecture bus Interface IP Core, it is mutual that itself and PC control unit carry out real time data, in 1 millisecond of control cycle, carry out issuing of servomotor order and uploading of servomotor state and sensor states according to the PC control order, thereby realize the automatic control function to AGV.

The application example of this AGV interface board as shown in Figure 3, this AGV interface board gathers the duty of various servomotors by the MECHATROLINK2 bus, be installed in the encoded radio of the absolute value encoder on the axletree by the collection of SSI unit, gather the acceleration signal of gyroscope deviation signal (angular speed) and accelerometer by the SPI unit, after being uploaded to the PC control unit and carrying out analyzing and processing by the FPGA control module, obtain next cycle command, then by the work of the total line traffic control servomotor of MECHATROLINK2, realize the automatic control function to AGV.

It is emphasized that; embodiment of the present invention is illustrative; rather than determinate; therefore the present invention is not limited to the embodiment described in the embodiment; every other embodiments that drawn by those skilled in the art's technical scheme according to the present invention belong to the scope of protection of the invention equally.

Claims

1. AGV interface board based on FPGA, it is characterized in that: comprise FPGA control module, gyroscope, accelerometer and MECHATROLINK2 bus control module, the FPGA control module is connected with gyroscope, accelerometer, the FPGA control module is connected with one group of absolute value encoder on being installed in axletree, the FPGA control module is connected with the MECHATROLINK2 bus control module, and this bus control module is connected with the one group of servomotor that drives the AGV motion by the MECHATROLINK2 bus.

2. the AGV interface board based on FPGA according to claim 1, it is characterized in that: described FPGA control module comprises MicroBlaze CPU, the SPI unit, the SSI unit, the ISA unit, the EPC unit, the GPIO unit, CPU and SPI unit, the SSI unit, the ISA unit, EPC unit and GPIO unit are connected by the PLB bus, SPI unit and gyroscope, accelerometer is connected, the SSI unit is connected with scrambler, EPC unit and GPIO unit are connected with the MECHATROLINK2 bus control module, and described ISA unit is connected with the PC control unit.