CN105892466A - AGV control system based on uCOS - Google Patents
AGV control system based on uCOS Download PDFInfo
- Publication number
- CN105892466A CN105892466A CN201610292827.3A CN201610292827A CN105892466A CN 105892466 A CN105892466 A CN 105892466A CN 201610292827 A CN201610292827 A CN 201610292827A CN 105892466 A CN105892466 A CN 105892466A
- Authority
- CN
- China
- Prior art keywords
- task
- module
- ucos
- message
- avoidance
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000004891 communication Methods 0.000 claims abstract description 19
- 238000001514 detection method Methods 0.000 claims abstract description 15
- 230000004888 barrier function Effects 0.000 claims description 6
- 238000007689 inspection Methods 0.000 claims description 4
- 238000000034 method Methods 0.000 claims description 4
- 230000033228 biological regulation Effects 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 claims description 3
- 230000008569 process Effects 0.000 claims description 3
- 238000012545 processing Methods 0.000 abstract description 5
- 230000001360 synchronised effect Effects 0.000 abstract 2
- 238000011161 development Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 238000012356 Product development Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
Abstract
The invention discloses an AGV control system based on an uCOS. The system comprises a central processing unit, a communication module, a display panel module, a motor control module, a track detection module, an RFID landmark recognition module, a self-checking alarm module, a barrier-avoiding module and an electric quantity detection module. Tasks which are used by the central processing unit in operation of the uCOS and harmonized and synchronized by message queues and signal quantities include a message sending task, a message receiving task, a navigation walking task, an RFID receiving task, a buzzer task, a barrier-avoiding task and a power source management task, wherein the navigation walking task is used to control the motor control module according to information provided by the received message receiving task, the barrier-avoiding task and the RFID receiving task. According to the invention, the harmonized and synchronized tasks are fewer; harmonization and synchronization relations among the tasks are rational and clear; and subsequent functional extension can be facilitated.
Description
Technical field
The present invention relates to a kind of AGV control system based on uCOS.
Background technology
At present, AGV control system (Automated Guided Vehicle, automatical pilot transportation vehicle) all uses operation
The bare machine program of a mastery routine, it is complicated that the AGV of this kind of framework controls program structure, and real-time is not strong, stability
Difference, the function that later development is new is the most relatively difficult, the most important again develops, and this results in overlapping development, reduces out
Send out efficiency, not only extend product development cycle but also add development cost.
UCOS operating system (Micro Control Operation System) is to may be used for boat through strictly test
The real time operating system of it device, has the spy that stability is strong, security performance is high, real-time is good, be prone to later stage Function Extension
Point, for later stage functions expanding, is only to increase the task of corresponding function, and such construction cycle is short, software system reusability
Height, shortens the cycle of launch simultaneously, R&D costs is greatly reduced.
During implementing AGV control system based on uCOS, present inventor have discovered that existing AGV controls
System task is too much, causes task execution time drift occur, and task nexus is mixed and disorderly, is unfavorable for later stage functions expanding.
Summary of the invention
It is an object of the invention to provide a kind of AGV control system based on uCOS, to solve at existing AGV
The problem applying uCOS operating system on the basis of control system.
To this end, the invention provides a kind of AGV control system based on uCOS, including CPU, with central authorities
The communication module of processing unit electrical connection, display module, motor control module, track detecting module, RFID ground
Mark identification module, self-inspection alarm module, avoidance module and electric power detection module, CPU is used for running uCOS
Operating system, coordinate to include with Tong Bu task by Message Queuing and semaphore: corresponding to communication module and display surface
The transmission message task of plate module and receive message task, corresponding to motor control module and guide detection module navigation row
Walk task, the RFID reception task corresponding to RFID terrestrial reference identification module, the buzzer corresponding to self-inspection alarm module
Task, the avoidance task corresponding to avoidance module and the power management task corresponding to electric power detection module, wherein,
Navigation walking task is for the message provided according to the reception message task received, avoidance task and RFID reception task
Control motor control module, send message task for by avoidance task, RFID reception task and power management task
The message outgoing provided, buzzer task is for providing message to report to the police according to avoidance task.
Further, above-mentioned navigation walking task is for carrying out AGV dolly according to the message receiving message task offer
Start and/or speed regulation, and the information provided according to avoidance task and RFID reception task makes AGV dolly stop
Walking.
Further, above-mentioned message outgoing task barrier event, RFID reception task avoidance task provided carries
The information about power outgoing that the terrestrial reference numbering of confession and power management task provide.
Further, above-mentioned guiding detection module is track detection module.
Further, above-mentioned avoidance module is infrared obstacle avoidance module.
Further, above-mentioned CPU be model be STM32 microprocessor.
Further, above-mentioned uCOS operating system is uCOS--II or uCOS--III operating system.
Further, above-mentioned communication module is 5G communication module.
According to the AGV control system based on uCOS of the present invention, the AGV control system of prior art is carried out task
Merge, only have seven tasks after merging, reduce the timeslice shared by each task, and coordinate between task and synchronize
Relation is reasonable, distinct, beneficially the expansion of later stage function.
Accompanying drawing explanation
Fig. 1 is the hardware structure figure of the AGV control system based on uCOS according to the present invention；
Fig. 2 is the task division figure based on uCOS AGV control system according to the present invention；And
Fig. 3 is that the task based on uCOS AGV control system according to the present invention is dealt with relationship schematic diagram.
Detailed description of the invention
UCOS operating system is applied to AGV control system by the present invention so that AGV control system also has uCOS behaviour
The advantage that the stability making system is strong, safety is high, real-time good, be easy to later stage functions expanding.
In implementation process, present inventor have discovered that the task of existing AGV control system is too much, when causing tasks carrying
Between occur drift, for solving this problem, task merged, reduce the timeslice shared by each task.
According to a preferred embodiment of the invention, existing AGV control system is divided, including central processing module,
Also include the following hardware module being electrically connected: communication module, display module, motor control module, track are examined
Survey module, RFID identification module, alarm module, infrared obstacle avoidance module and electrical measurement module.
CPU is used for running uCOS operating system, the task of working in coordination with according to message column and semaphore and synchronizing
Including: send message task, receive message task, navigation walking task, RFID reception task, buzzer task,
Avoidance task, power management task.
Wherein, send message task associate with communication module and display module, reception information task also with communication module
Associate with display module, send message task and on the one hand the message sent is shown on display module, another
Aspect passes through communication module outgoing.Receive information task on the one hand the message of reception to be shown on a display panel, the opposing party
Face provides communication module outgoing.
Navigation walking task is used for managing motor control module and track detection module, RFID reception task for managing
RFID identification module, buzzer task is used for managing alarm module, and avoidance task is used for managing infrared obstacle avoidance module, with
And power management task is used for managing electric power detection module.
The present invention is as follows with semaphore coordination and synchronize various task by message queue: navigation walking task receives simultaneously to be kept away
The information stopping walking that barrier task provides, receive message task provide no startup/speed regulation information and
The information stopping walking that RFID reception task provides；Avoidance task respectively to buzzer task provide warning message, to
Navigation walking task provides and stops walking information and provide barrier event information to sending message task；Send message
Task receive simultaneously avoidance task provide barrier event information, RFID reception task provide terrestrial reference number information,
And the information about power that power management task provides.
AVG control system according to the present invention, a typical task coordinate and synchronizing process are as follows:
Receiving message task after the message receiving outside offer, it is provided that give navigation walking task, AGV performs navigation row
Walking task, during navigation walking task performs, avoidance task and RFID reception tasks synchronization perform, and keep away if receiving
The stopping walking information that barrier task or RFID reception task provide, AGV performs to stop navigation walking task；Send message
It is sent to AGV during any one in the information receiving avoidance task, RFID reception task, power management task of task
Peripheral control unit.
The preferred embodiments of the present invention use the mode of magnetic guidance, and correspondingly, above-mentioned guiding detection module is that track detects mould
Block.The mode of inertial guide or las er-guidance can be used in other embodiments.
Preferably, above-mentioned avoidance module is infrared obstacle avoidance module.Also can use other routines dodges mode.
Preferably, above-mentioned CPU be model be STM32 microprocessor, this processor is partly led by the method for anticipating
Body (STMicroelectronics) company provide, can by city available from.
Preferably, above-mentioned uCOS operating system is uCOS--II or uCOS--III operating system.It is appreciated that other
The uCOS operating system of version may be used without in the present invention.
Preferably, above-mentioned communication module is 5G communication module.It is appreciated that other kinds of such as 4G communication module,
3G communication module also apply be applicable to the present invention.
In one embodiment, communication module, display module, motor control module, track detection module, RFID
Identification module, alarm module, infrared obstacle avoidance module and electrical measurement module are made up of processor respectively, real at other
Executing in example, multiple modules can share a processor, and part of module can be realized by central processing unit.
It is pointed out that some devices on AGV dolly, the most manual emergency stop switch is not by uCOS control, such as,
It is appreciated that module controlled in the present invention and task are all select from whole system, the AGV of the present invention
Control system there is also and is not suitable for the device that other modes control by uCOS control, and these devices do not hinder certainly
The control of uCOS operating system.
AGV control system according to the present invention, after using above task merging measure, decreases shared by each task
Timeslice, the task that solves too much causes the problem that drift occurs in task execution time.Coordinate between task simultaneously and synchronize
Relation is reasonable, distinct, beneficially the expansion of later stage function.
The invention has the beneficial effects as follows: stability is strong, security performance is high, real-time is good, system extension is easy, can contract
In the cycle of short sawn timber listing, R&D costs are greatly reduced.
The foregoing is only the preferred embodiments of the present invention, be not limited to the present invention, for the technology of this area
For personnel, the present invention can have various modifications and variations.All within the spirit and principles in the present invention, that is made is any
Amendment, equivalent, improvement etc., should be included within the scope of the present invention.
Claims (8)
1. an AGV control system based on uCOS, including CPU, it is characterised in that also include and institute
State CPU electrical connection communication module, display module, motor control module, guiding detection module,
RFID terrestrial reference identification module, self-inspection alarm module, avoidance module and electric power detection module,
Described CPU is used for running uCOS operating system, being coordinated with synchronize by Message Queuing and semaphore
Task include: corresponding to the transmission message task of described communication module and display module with receive message task, right
Motor control module described in Ying Yu and the navigation walking task of described track detecting module, identify corresponding to described RFID
The RFID reception task of other module, corresponding to the buzzer task of described self-inspection alarm module, corresponding to described avoidance mould
The avoidance task of block and the power management task corresponding to electric power detection module,
Wherein, described navigation walking task is for according to described reception message task, avoidance task and the RFID received
The message that reception task provides controls described motor control module, and described transmission message task is for appointing described avoidance
The message outgoing that business, RFID reception task and power management task provide, described buzzer task is for appointing according to avoidance
Business provides message to report to the police.
AGV control system based on uCOS the most according to claim 1, it is characterised in that described navigation is walked
AGV dolly is started and/or speed regulation by task for the message provided according to described reception message task, and
The information provided according to described avoidance task and described RFID reception task makes AGV dolly stop walking.
AGV control system based on uCOS the most according to claim 2, it is characterised in that described message outgoing
The task barrier event that described avoidance task is provided, described RFID reception task provide terrestrial reference numbering and
The information about power outgoing that power management task provides.
AGV control system based on uCOS the most according to claim 1, it is characterised in that described guiding detects
Module is track detection module.
AGV control system based on uCOS the most according to claim 1, it is characterised in that described avoidance module
For infrared obstacle avoidance module.
AGV control system based on uCOS the most according to claim 1, it is characterised in that described central authorities process
Unit be model be STM32 microprocessor.
AGV control system based on uCOS the most according to claim 1, it is characterised in that described uCOS
Operating system is uCOS--II operating system.
AGV control system based on uCOS the most according to claim 1, it is characterised in that described communication module
For 5G communication module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610292827.3A CN105892466A (en) | 2016-05-02 | 2016-05-02 | AGV control system based on uCOS |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610292827.3A CN105892466A (en) | 2016-05-02 | 2016-05-02 | AGV control system based on uCOS |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105892466A true CN105892466A (en) | 2016-08-24 |
Family
ID=56703302
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610292827.3A Pending CN105892466A (en) | 2016-05-02 | 2016-05-02 | AGV control system based on uCOS |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105892466A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107045353A (en) * | 2017-06-06 | 2017-08-15 | 江苏力德尔电子信息技术有限公司 | All-around mobile AGV master control systems and its control method |
| CN109378961A (en) * | 2018-09-16 | 2019-02-22 | 湖南沃森电气科技有限公司 | The frequency converter with management is controlled based on UCOS |
| CN110694916A (en) * | 2019-09-02 | 2020-01-17 | 安徽融易供应链管理有限公司 | Logistics sorting system based on AGV |
| CN110852660A (en) * | 2018-08-20 | 2020-02-28 | 富晋精密工业（晋城）有限公司 | Logistics scheduling device, logistics scheduling method and storage equipment |
| CN111474942A (en) * | 2020-05-09 | 2020-07-31 | 烟台市地摩动力科技有限公司 | Fault self-checking method and system of intelligent transportation device |
| CN111861313A (en) * | 2020-07-02 | 2020-10-30 | 昆山同日工业自动化有限公司 | Intelligent logistics distribution method based on 5G network |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4950118A (en) * | 1989-03-22 | 1990-08-21 | Caterpillar Industrial Inc. | System for loading and unloading trailers using automatic guided vehicles |
| CN1467591A (en) * | 2002-07-05 | 2004-01-14 | ���ǵ�����ʽ���� | Method of controlling automatic guided vehicle system |
| JP2007188158A (en) * | 2006-01-11 | 2007-07-26 | Mitsui Eng & Shipbuild Co Ltd | Component supply system |
| CN102346483A (en) * | 2011-06-07 | 2012-02-08 | 南京航空航天大学 | AGV (Automatic Guided Vehicle) operation control method based on passive RFID (radio frequency identification) and aided visual |
| CN202600484U (en) * | 2012-05-02 | 2012-12-12 | 天津天瑞达自动化设备有限公司 | AGV (automated guided vehicle) controller based on DSP (digital signal processor) and double magnetic navigation sensors |
| US20120316722A1 (en) * | 2010-12-10 | 2012-12-13 | Zeitler David W | Advanced navigation and guidance system and method for an automatic guided vehicle (agv) |
| US20120330491A1 (en) * | 2010-10-05 | 2012-12-27 | Olinger Michael D | Automatic guided vehicle sensor system and method of using same |
| CN103135548A (en) * | 2012-05-02 | 2013-06-05 | 广州市远能物流自动化设备科技有限公司 | Unmanned carrying trolley and drive control system thereof |
| CN203444333U (en) * | 2013-08-13 | 2014-02-19 | 武汉理工大学 | Magnetic tape guidance AGV (Automatic Guided Vehicle) central control system |
| CN205003547U (en) * | 2015-09-23 | 2016-01-27 | 珠海创智科技有限公司 | AGV control system |
-
2016
- 2016-05-02 CN CN201610292827.3A patent/CN105892466A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4950118A (en) * | 1989-03-22 | 1990-08-21 | Caterpillar Industrial Inc. | System for loading and unloading trailers using automatic guided vehicles |
| CN1467591A (en) * | 2002-07-05 | 2004-01-14 | ���ǵ�����ʽ���� | Method of controlling automatic guided vehicle system |
| JP2007188158A (en) * | 2006-01-11 | 2007-07-26 | Mitsui Eng & Shipbuild Co Ltd | Component supply system |
| US20120330491A1 (en) * | 2010-10-05 | 2012-12-27 | Olinger Michael D | Automatic guided vehicle sensor system and method of using same |
| US20120316722A1 (en) * | 2010-12-10 | 2012-12-13 | Zeitler David W | Advanced navigation and guidance system and method for an automatic guided vehicle (agv) |
| CN102346483A (en) * | 2011-06-07 | 2012-02-08 | 南京航空航天大学 | AGV (Automatic Guided Vehicle) operation control method based on passive RFID (radio frequency identification) and aided visual |
| CN202600484U (en) * | 2012-05-02 | 2012-12-12 | 天津天瑞达自动化设备有限公司 | AGV (automated guided vehicle) controller based on DSP (digital signal processor) and double magnetic navigation sensors |
| CN103135548A (en) * | 2012-05-02 | 2013-06-05 | 广州市远能物流自动化设备科技有限公司 | Unmanned carrying trolley and drive control system thereof |
| CN203444333U (en) * | 2013-08-13 | 2014-02-19 | 武汉理工大学 | Magnetic tape guidance AGV (Automatic Guided Vehicle) central control system |
| CN205003547U (en) * | 2015-09-23 | 2016-01-27 | 珠海创智科技有限公司 | AGV control system |
Non-Patent Citations (4)
| Title |
|---|
| 吴金亮: "基于uCOS无人车控制平台的研究与实现", 《万方学位论文》 * |
| 李进等: "自动导引车视觉导航的路径识别和跟踪控制", 《农业机械学报》 * |
| 石陈陈: "自动导引车多摄像机主动导引系统的协同标定*", 《仪器仪表学报》 * |
| 郑炳坤: "磁导航AGV 控制系统的设计与实现", 《自动化与仪表》 * |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107045353A (en) * | 2017-06-06 | 2017-08-15 | 江苏力德尔电子信息技术有限公司 | All-around mobile AGV master control systems and its control method |
| CN110852660A (en) * | 2018-08-20 | 2020-02-28 | 富晋精密工业（晋城）有限公司 | Logistics scheduling device, logistics scheduling method and storage equipment |
| CN109378961A (en) * | 2018-09-16 | 2019-02-22 | 湖南沃森电气科技有限公司 | The frequency converter with management is controlled based on UCOS |
| CN110694916A (en) * | 2019-09-02 | 2020-01-17 | 安徽融易供应链管理有限公司 | Logistics sorting system based on AGV |
| CN111474942A (en) * | 2020-05-09 | 2020-07-31 | 烟台市地摩动力科技有限公司 | Fault self-checking method and system of intelligent transportation device |
| CN111861313A (en) * | 2020-07-02 | 2020-10-30 | 昆山同日工业自动化有限公司 | Intelligent logistics distribution method based on 5G network |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105892466A (en) | AGV control system based on uCOS | |
| CN108428357B (en) | Parallel remote control driving system for intelligent internet vehicle | |
| US20200082304A1 (en) | Method, Apparatus and Device for Scheduling Unmanned Vehicles and Storage Medium | |
| CN101742255A (en) | Automatic video monitoring system of electricity field operation | |
| CN204251103U (en) | A kind of building hoist registration device | |
| WO2019233315A1 (en) | Method and apparatus for controlling automated guided vehicle, and storage medium | |
| CN105929820B (en) | A kind of intelligent robot localization method | |
| CN103593943A (en) | Dangerous area human behavior identification and monitoring system based on position and multidimensional information integration | |
| CN214475124U (en) | Construction operation safety control system | |
| CN108427346B (en) | Assembled structure hoist and mount control management system | |
| CN101667749A (en) | Electric power field work safe and automatic monitoring system | |
| CN113792428B (en) | Method and device for testing vehicle in virtual scene and electronic equipment | |
| US20220335535A1 (en) | Traffic accident processing method and apparatus, device, storage medium and program product | |
| CN110543989A (en) | Power transmission line machine patrol operation safety early warning method and device and computer equipment | |
| CN209787471U (en) | Power plant operating personnel positioning system | |
| CN114973781A (en) | Airport scene unmanned aerial vehicle collision risk detection method and device and computer equipment | |
| CN105824006A (en) | Method for eliminating safety hidden danger of substation personnel | |
| CN107765703A (en) | A kind of Airborne Formation Flying instruction system based on inertia/satellite Relative Navigation | |
| CN106292661A (en) | A kind of homing guidance control system based on wireless terminal and control method | |
| KR101703967B1 (en) | System for bus operation management based on Bluetooth | |
| JP2021051464A (en) | Intrusion detection device and intrusion detection method | |
| CN115246426A (en) | Safety computing platform and method based on train perception sensor driving | |
| CN202632334U (en) | Identification card based on TOA ranging | |
| CN104423333A (en) | Road roller construction monitoring system | |
| CN105182930A (en) | Continuous casting production process automation safety control system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20160824 |
|
| RJ01 | Rejection of invention patent application after publication |