CN102968117B - Based on the AGV interface board of FPGA - Google Patents
Based on the AGV interface board of FPGA Download PDFInfo
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- CN102968117B CN102968117B CN201210231537.XA CN201210231537A CN102968117B CN 102968117 B CN102968117 B CN 102968117B CN 201210231537 A CN201210231537 A CN 201210231537A CN 102968117 B CN102968117 B CN 102968117B
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Abstract
The present invention relates to a kind of AGV interface board based on FPGA, its technical characteristics is: comprise FPGA control module, gyroscope, accelerometer and MECHATROLINK2 bus control module, FPGA control module is connected with gyroscope, accelerometer, FPGA control module is connected with the one group of absolute value encoder be arranged on axletree, FPGA control module is connected with MECHATROLINK2 bus control module, and this bus control module is connected with the one group of servomotor driving AGV to move by MECHATROLINK2 bus.The present invention is reasonable in design, FPGA control module is connected with one group of servomotor driving AGV to move by MECHATROLINK2 bus, effectively prevent external interference, can control and obtain the duty of servomotor real-time, quickly and accurately, realize the automatic control function to AGV motion, ensure that real-time and the stability of control, AGV field can be widely used in.
Description
Technical field
The invention belongs to AGV technical field, especially a kind of AGV interface board based on FPGA.
Background technology
AGV is a kind of is power with battery, the unmanned automated handling vehicle of non-contact guiding device and independent addressing system is housed, it is under the monitoring of computing machine, and by instruction autonomous driving, the guide path automatically along regulation is exercised, arrive appointed place, complete a series of job task.
AGV body control system generally comprises peripheral hardware, interface board, PC control unit three parts.PC control unit (as PC104 master control borad) is for controlling behavior and the action of dolly; Peripheral hardware refers to motor and sensor, as scrambler, gyroscope, accelerometer etc.; Interface board is the bridge of AGV peripheral hardware and PC control unit centre.
AGV interface board realizes two main tasks, and one is ensure in real time, correctly send and receive motor data: complete high-precision motion control flexibly; One be ensure fast, intactly gather and conversion sensor data, as scrambler, gyroscope, accelerometer etc., and the data after conversion are sent to PC control unit and calculate, controlled accordingly according to result of calculation by PC control unit again: return steering order to motor, thus by reaching the object controlling dolly behavior and action to the control of 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 that interface board in real time, correctly can accept and send the position data for controlling motor, speed data, be input into the information such as output state, complete flexibly, high-precision motion control; On the other hand the requirement to sensor interface, require data acquisition module can efficiently with image data, translation data, calculating data, feedback result rapidly.
In view of current domestic AGV exploitation is still in the junior stage, relevant manufacturers is at AGV interface board to the requirement of failing to reach practical application in the Application and Development of the Application and Development of high-precision motor, high performance bus all far away, and the present invention is just based on research and development under the technical background filling up this blank domestic.
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, FPGA control module is connected with gyroscope, accelerometer, FPGA control module is connected with the one group of absolute value encoder be arranged on axletree, FPGA control module is connected with MECHATROLINK2 bus control module, and this bus control module is connected with the one group of servomotor driving AGV to move by MECHATROLINK2 bus.
And, described FPGA control module comprises MicroBlaze CPU, SPI unit, SSI unit, ISA unit, EPC unit, GPIO unit, CPU and SPI unit, SSI unit, ISA unit, EPC unit and GPIO unit are connected by PLB bus, SPI unit is connected with gyroscope, accelerometer, SSI unit is connected with scrambler, EPC unit and GPIO unit are connected with MECHATROLINK2 bus control module, and described ISA unit is connected with 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 transfer rate (most significant digit 1Mbps) and is exceeded 10 times.
2, MECHATROLINK2 bus achieves in real time, correctly accepts and send the position data for controlling, speed data, is input into the information such as output state, completes flexibly, high-precision motion control, is specially adapted to need the coordinate synchronization of each between centers and the application of INTERPOLATION CONTROL OF PULSE.
3, MECHATROLINK2 bus also can connect abundant assembly, comprising servomotor.Servomotor can make control rate, and positional precision is very accurate, and servo motor rotor rotating speed controls by input signal, and energy rapid reaction, in automatic control system, as executive component, and there is 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 to a certain extent (passing through hardware description language).There is the feature of Soc SOC (system on a chip): tailor-made product can be carried out according to user's request; FPGA also has the many features of I/O pin, can be easy to mounting different I/O peripheral hardware.
Accompanying drawing explanation
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 present invention is further described:
Based on an AGV interface board of FPGA, as shown in Figures 1 and 2, FPGA control module, gyroscope, accelerometer and MECHATROLINK2 bus control module is comprised.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 PLB bus.Wherein SPI unit is serial communication interface IP kernel, and it is connected with gyroscope, accelerometer for gathering the acceleration signal of gyroscope deviation signal (angular speed) and accelerometer and passing to CPU.SSI unit is the IP kernel of synchronous serial interface, and it is connected for gathering specific coding value and sending this specific coding value to CPU with the one group of absolute value encoder being arranged on axletree.EPC unit and GPIO unit are connected with MECHATROLINK2 bus control module, this bus control module is connected with the one group of servomotor driving AGV to move by MECHATROLINK2 bus, and CPU gathers the state of each servomotor by MECHATROLINK2 bus control module.ISA unit is 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 PC control order, thus 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 servomotor by MECHATROLINK2 bus, the encoded radio of the absolute value encoder on axletree is arranged on by the collection of SSI unit, the acceleration signal of gyroscope deviation signal (angular speed) and accelerometer is gathered by SPI unit, be uploaded to after PC control unit carries out analyzing and processing by FPGA control module, obtain next cycle command, then by the work of MECHATROLINK2 bus marco servomotor, the automatic control function to AGV is realized.
It is emphasized that; embodiment of the present invention is illustrative; instead of it is determinate; therefore the present invention is not limited to the embodiment described in embodiment; every other embodiments 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)
1. the AGV interface board based on FPGA, it is characterized in that: comprise FPGA control module, gyroscope, accelerometer and MECHATROLINK2 bus control module, FPGA control module is connected with gyroscope, accelerometer, FPGA control module is connected with the one group of absolute value encoder be arranged on axletree, FPGA control module is connected with MECHATROLINK2 bus control module, and this bus control module is connected with the one group of servomotor driving AGV to move by MECHATROLINK2 bus;
Described FPGA control module comprises CPU, SPI unit, SSI unit, ISA unit, EPC unit and 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 PLB bus;
Described SPI unit is serial communication interface IP kernel, and it is connected for gathering the acceleration signal of gyroscope deviation signal and accelerometer and passing to CPU with gyroscope, accelerometer;
Described SSI unit is the IP kernel of synchronous serial interface, and it is connected with the one group of absolute value encoder being arranged on axletree for gathering specific coding value and sending this specific coding value to CPU;
Described ISA unit is 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 PC control order, thus realize the automatic control function to AGV;
Described CPU gathers the state of each servomotor by MECHATROLINK2 bus control module;
Described EPC unit and GPIO unit are connected with MECHATROLINK2 bus control module.
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| CN201210231537.XA CN102968117B (en) | 2012-07-05 | 2012-07-05 | Based on the AGV interface board of FPGA |
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| CN201210231537.XA CN102968117B (en) | 2012-07-05 | 2012-07-05 | Based on the AGV interface board of FPGA |
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| CN102968117A CN102968117A (en) | 2013-03-13 |
| CN102968117B true CN102968117B (en) | 2015-08-26 |
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| TWI552937B (en) * | 2013-05-24 | 2016-10-11 | 金寶電子工業股份有限公司 | Automatic guiding system, control method and automatic guiding apparatus |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0236614A2 (en) * | 1986-03-10 | 1987-09-16 | Si Handling Systems, Inc. | Automatic guided vehicle systems |
| CN1467591A (en) * | 2002-07-05 | 2004-01-14 | ���ǵ�����ʽ���� | Method of controlling automatic guided vehicle system |
| CN2700183Y (en) * | 2003-12-03 | 2005-05-18 | 云南昆船设计研究院 | Mechanical guiding type automatic guided vehicle guiding device |
| CN201856757U (en) * | 2010-10-18 | 2011-06-08 | 长安大学 | Inertial wheel two-wheeled robot stabilizing device |
| US20110166763A1 (en) * | 2010-01-05 | 2011-07-07 | Samsung Electronics Co., Ltd. | Apparatus and method detecting a robot slip |
| CN102145808A (en) * | 2011-01-27 | 2011-08-10 | 合肥工业大学 | Industrial laser guidance AGV double-closed-loop control system and control method thereof |
| CN102360218A (en) * | 2011-10-14 | 2012-02-22 | 天津大学 | ARM (advanced RISC (reduced instruction set computer) machines) and FPGA (field-programmable gate array) based navigation and flight control system for unmanned helicopter |
| CN202677196U (en) * | 2012-07-05 | 2013-01-16 | 无锡普智联科高新技术有限公司 | AGV interface board based FPGA |
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2012
- 2012-07-05 CN CN201210231537.XA patent/CN102968117B/en not_active Expired - Fee Related
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0236614A2 (en) * | 1986-03-10 | 1987-09-16 | Si Handling Systems, Inc. | Automatic guided vehicle systems |
| CN1467591A (en) * | 2002-07-05 | 2004-01-14 | ���ǵ�����ʽ���� | Method of controlling automatic guided vehicle system |
| CN2700183Y (en) * | 2003-12-03 | 2005-05-18 | 云南昆船设计研究院 | Mechanical guiding type automatic guided vehicle guiding device |
| US20110166763A1 (en) * | 2010-01-05 | 2011-07-07 | Samsung Electronics Co., Ltd. | Apparatus and method detecting a robot slip |
| CN201856757U (en) * | 2010-10-18 | 2011-06-08 | 长安大学 | Inertial wheel two-wheeled robot stabilizing device |
| CN102145808A (en) * | 2011-01-27 | 2011-08-10 | 合肥工业大学 | Industrial laser guidance AGV double-closed-loop control system and control method thereof |
| CN102360218A (en) * | 2011-10-14 | 2012-02-22 | 天津大学 | ARM (advanced RISC (reduced instruction set computer) machines) and FPGA (field-programmable gate array) based navigation and flight control system for unmanned helicopter |
| CN202677196U (en) * | 2012-07-05 | 2013-01-16 | 无锡普智联科高新技术有限公司 | AGV interface board based FPGA |
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Effective date of registration: 20180815 Address after: 518000 room 503, block A, sang Tai Building, Xili University, Xili street, Shenzhen, Guangdong, Nanshan District Patentee after: SHENZHEN PUZHI LIANKE ROBOT TECHNOLOGY Co.,Ltd. Address before: 214135 floor 4, block A, whale block, Wuxi (National) software park, 18, Zhen Ze Road, Wuxi New District, Jiangsu. Patentee before: WUXI PUZHI LIANKE HIGH-TECH Co.,Ltd. |
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