CN106950951A - A kind of AGV control systems and method - Google Patents
A kind of AGV control systems and method Download PDFInfo
- Publication number
- CN106950951A CN106950951A CN201710138491.XA CN201710138491A CN106950951A CN 106950951 A CN106950951 A CN 106950951A CN 201710138491 A CN201710138491 A CN 201710138491A CN 106950951 A CN106950951 A CN 106950951A
- Authority
- CN
- China
- Prior art keywords
- module
- parameter
- agv
- main control
- submodule
- 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.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 23
- 238000004891 communication Methods 0.000 claims abstract description 77
- 230000003993 interaction Effects 0.000 claims abstract description 5
- 230000006870 function Effects 0.000 claims description 11
- 238000001514 detection method Methods 0.000 claims description 10
- 230000008859 change Effects 0.000 claims description 6
- 238000012545 processing Methods 0.000 claims description 6
- 230000008569 process Effects 0.000 claims description 5
- 238000004458 analytical method Methods 0.000 claims description 4
- 230000008439 repair process Effects 0.000 claims description 3
- 238000009472 formulation Methods 0.000 abstract 1
- 239000000203 mixture Substances 0.000 abstract 1
- 230000005540 biological transmission Effects 0.000 description 3
- 238000012360 testing method Methods 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 238000005520 cutting process Methods 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 241000208340 Araliaceae Species 0.000 description 1
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 1
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 1
- 235000003140 Panax quinquefolius Nutrition 0.000 description 1
- 239000002253 acid Substances 0.000 description 1
- OJIJEKBXJYRIBZ-UHFFFAOYSA-N cadmium nickel Chemical compound [Ni].[Cd] OJIJEKBXJYRIBZ-UHFFFAOYSA-N 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 235000008434 ginseng Nutrition 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 229910052744 lithium Inorganic materials 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 238000007711 solidification Methods 0.000 description 1
- 230000008023 solidification Effects 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- 238000012795 verification 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, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/028—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using a RF signal
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Electromagnetism (AREA)
- Small-Scale Networks (AREA)
- Optics & Photonics (AREA)
- Acoustics & Sound (AREA)
- Debugging And Monitoring (AREA)
Abstract
The invention discloses a kind of AGV control systems and method, the AGV control systems include main control module, communication bus and functional module, wherein, functional module is connected by communication bus with main control module, main control module and functional module are transmitted and interaction by communications protocol in the enterprising row information of communication bus, main control module is configured to functional module, and the state of communication bus is monitored.The present invention connects all functional modules by communication bus, and the information exchange of each module is ensured by the communications protocol of formulation, and with parameter setting function, meet a variety of use requirements, the stability of control system is improved, cost is reduced, with good compatibility, autgmentability and stability.
Description
Technical field
The invention belongs to Intelligent logistics AGV fields, in particular it relates to a kind of AGV control systems and method.
Background technology
AGV (Automated Guided Vehicle) is a kind of automatical pilot transportation vehicle, refers to be equipped with electricity magnetically or optically
Etc. homing guidance device, can be travelled, the transport with safeguard protection and various transfer functions along defined guide path
Car.
With rising steadily for cost of labor in recent years, machine substitute human labor has become inexorable trend, many enterprises and colleges and universities pair
AGV control systems are researched and developed.At present, AGV control systems are broadly divided into two major classes, and one is PLC controls, and advantage is module
Change design, autgmentability is strong, has the disadvantage high cost, needs to write program and debugging again during changes in demand, and the PLC controls of each producer
Processing procedure sequence is unable to directly transplanting, with limitation；Two be that by the way of ARM or DSP, advantage is low cost, has the disadvantage function
Solidification, autgmentability is poor, it is impossible to adapt to complex environment requirement and use requirement.Current AGV control systems do not form unification
Standards and norms, and the electric component interface and use environment in AGV control systems are various, cause system to vary, production
Quality is uneven, is not suitable for producing in enormous quantities.
Chinese disclosed patent application " the AGV control systems based on bus mastering mode " (Patent publication No CN
102722174 A), though the AGV control systems based on bus mastering mode, simply the interface of driver connect using bus
Mouthful, belong to local bus mastering mode, with significant limitation.And AGV control systems include multiple interfaces form, make
Products configuration is ever-changing, it is necessary to according to different user's requests and external accessory interface, change source code program, cause production
Quality is difficult to ensure that and is not suitable for producing in enormous quantities.
The content of the invention
In view of the foregoing, it is an object to provide a kind of AGV control systems and method, controlled with solving existing AGV
The problem of the standardizing of system processed, compatibility, autgmentability and stability, realize the modularization of control system, standardization and it is low into
This.
To achieve these goals, one aspect of the present invention provides a kind of AGV control systems, including：
Main control module, communication bus and functional module, wherein, functional module is connected by communication bus and main control module
Connect, main control module and functional module are transmitted and interaction by communications protocol in the enterprising row information of communication bus, and main control module is to work(
Energy module is configured, and the state of communication bus is monitored.
It is preferred that, the AGV control systems also include：
Human-machine interface module, is connected by communication bus with main control module, and main control module is by human-machine interface module to institute
Functional module is stated to be configured and be monitored the state of communication bus, also, human-machine interface module is also to main control module
Configured.
It is preferred that, functional module includes manual module, RFID read-write module, electric energy detection module, avoidance module, IO moulds
One or more of block, voice module, drive module and magnetic navigation module.
It is preferred that, the main control module includes：
Parameter initialization submodule, initialization process is carried out for the parameter to functional module；
Bus communication submodule, is connected with parameter initialization submodule, the shape for checking functional module on communication bus
State, refreshing input and control output, information exchange, and the ginseng of configuration feature module are carried out with functional module by communication bus
Number；And
Timer submodule, is connected with parameter initialization submodule, for setting based on configuration parameter information and newest
Input state, carries out logic analysis and processing, and update the time interval of output.
Further, it is preferable to, the main control module also includes：
Navigation system interface, is connected with parameter initialization submodule and navigation system, under non-magnetic navigation pattern with
The information exchange of navigation mode, when selecting different navigation patterns, calls different software protocols and configuration file, according to soft
Part agreement carries out data parsing, and refresh data is simultaneously handled, as needed the relevant information of feedback AGV car bodies；And
Dispatch system interface, with parameter initialization submodule and dispatch system be connected, in the AGV system in line traffic control
Information exchange is carried out under molding formula with scheduling system, including receives instruction and the information of scheduling system, refresh data is simultaneously handled, root
According to need feed back AGV car bodies real-time status and warning message.
It is preferred that, the main control module also includes indicating alarm submodule, and the instruction alarm submodule is used in communication
Bus breaks down and alarmed when can not repair, and bus communication submodule include CAN communication submodule with
RS232 bus communication submodules.
It is preferred that, the parameter includes one kind or many of car body parameter, controller parameter, navigation pattern and avoidance mode
Kind.
Another aspect of the present invention provides a kind of control method based on above-mentioned AGV control systems, wherein, the master control mould
The control method of block comprises the following steps：
First, the parameter of parameter initialization submodule function of initializing module is passed through；
Then, the state of functional module on communication bus is checked by bus communication submodule, is refreshed and is inputted and control defeated
Go out；
Concurrently, refreshed by timer submodule at interval of setting time according to parameter information change and setup parameter
Output.
It is preferred that, the control method also includes：
Under non-magnetic navigation pattern, information exchange is carried out by navigation system interface and navigation mode, it is different when selecting
During navigation pattern, different software protocols and configuration file are called, data parsing is carried out according to software protocol, refresh data is simultaneously located
The relevant information of reason, as needed feedback AGV car bodies；
Concurrently, under the AGV control systems On-line Control pattern, carried out by dispatching system interface with scheduling system
Information exchange, including instruction and the information of scheduling system are received, refresh data is simultaneously handled, as needed the reality of feedback AGV car bodies
When state and warning message.
It is preferred that, by including described in parameter initialization submodule initialization block the step of the parameter of functional module：
First, confirm whether parameter has configured completion, if configuration is not completed, main control module enters debugging mode, etc.
Parameter configuration is treated, if configuration is completed, parameter information is read, checks that whether rationally configuration, if unreasonable allocation, shows failure
Code, if configuration is reasonable, completes parameter initialization.
The technique effect of the present invention：
All functional modules of AGV control systems are connected by communication bus, with parameter setting function, according to not
With system requirements be adjusted configuration, according to system requirements swap modules, free cutting system, meet a variety of navigation modes,
Various, a variety of avoidance patterns, the use requirement of a variety of type of drivers and various control pattern, reduce designer's
Workload and delivery cycle, improve the stability of control system, reduce cost, and are adapted to produce in enormous quantities.
The characteristics of AGV control systems of the present invention have modularization, standardization and low cost, with good compatibility
Property, autgmentability and stability.
Brief description of the drawings
Fig. 1 is AGV Control system architectures block diagram of the present invention；
Fig. 2 is the structured flowchart of main control module preferred embodiment of the present invention；
Fig. 3 is the schematic flow sheet of main control module preferred embodiment of the present invention；
Fig. 4 is the schematic flow sheet of parameter initialization submodule of the present invention；
Fig. 5 is the data structure of communication bus in the present invention.
Embodiment
Embodiment of the present invention described below with reference to the accompanying drawings.One of ordinary skill in the art may recognize that
Arrive, without departing from the spirit and scope of the present invention, can be with a variety of modes or its combination to described
Embodiment is modified.Therefore, accompanying drawing and description are inherently illustrative, rather than for limiting the protection of claim
Scope.
The present embodiment is described in detail below in conjunction with the accompanying drawings, in order to which the present invention is more clear and should be readily appreciated that.
As shown in figure 1, AGV control systems of the present invention, including：Main control module, communication bus and functional module, its
In, functional module is connected by communication bus with main control module, and main control module and functional module are being led to by communications protocol
The enterprising row information transmission of bus and interaction are interrogated, main control module is configured to the relevant parameter of functional module, and to communication bus
State be monitored.
Preferably, functional module may include：Manual module, RFID read-write module, electric energy detection module, avoidance module, IO
Module, voice module, drive module and magnetic navigation module it is one or more.Each functional module uses unified standard interface
Design, the quantity of each functional module increases and decreases according to the actual demand of user, and the quantity of same functional module is no more than 4,
Meet the maximum use requirement of AGV control systems.
For effective transmission of information between each module of guarantee, the communications protocol of a set of AGV control systems is formulated, makes each function
Module can be transmitted and interaction by communications protocol in the enterprising row information of communication bus.
The equipment for being possible to use according to priority is distributed fixed address section and set by communications protocol with usage frequency
Standby attribute.By working out the agreement of application layer, pre-assignment of addresses, the priority to every class packet is designed and sorted, and protects
The high priority data transmission preferences response of high priority is demonstrate,proved, the data of low priority are effectively transmitted, responded within a certain period of time.Each
Packet can include the data message for sending device address, receiving device address, the attribute of receiving device and correlation；Make
With personnel by way of configuration software (or man-machine interface) is configured to control module parameter and can just carry out many navigation, many cars
Body form, many avoidance modes, multiple driver type, the car body of multi-control modes are controlled, and wanting according to control function
Ask and variable amount of configuration is carried out to each functional module, carry out the complete compatible control freely cut of system.
Wherein it is preferred to, the data structure of communication bus uses normal data frame, as shown in figure 5, data frame includes hair
Go out the contents such as device address, receiving device address, receiving device attribute, order, data byte and verification.Data byte has 8
It is individual, wherein, the address of the 1st byte representation target device, the 2nd byte representation target device attribute, the 3rd byte representation refers to
Make type, the 4th~7 byte representation data content, the 8th byte representation check results.
Under normal circumstances, modules can be configured as needed to main hair or interrogation mode, and main hair pattern need not be detected
Data in bus, timing is sent.The modules of interrogation mode check the packet in bus, if target device and
Target device attribute can be upper with correspondence itself and verify correct, that is, shows that data are destined to this module, then according to
The address and instruction for sending equipment are parsed, feedback information, otherwise without any processing.
There is default address configuration in each functional module, the function of each address has basic definition so that AGV control systems
It can be adjusted and configured according to project demands, cutting system.
Main control module is the core of whole system, and control chip is 32 ARM, as shown in Fig. 2 main control module includes：
Parameter initialization submodule, initialization process is carried out for the parameter to setting；
Bus communication submodule (such as CAN (controller local area network) bus communication submodule), with parameter initialization
Module is connected, logical with each functional module for checking the state of each functional module on communication bus, refreshing input and control output
Cross communication bus and carry out information exchange, and configure the parameter of each module；And
Timer submodule (such as house dog submodule), is connected with parameter initialization submodule, and AGV is based on for setting
The configuration parameter information and newest input state of control system, are carried out between logic analysis and processing, and the time for updating output
Every.
Preferably, main control module can also further comprise navigation system interface and scheduling system interface.
Wherein, navigation system interface is preferably the RS232 interfaces of standard, connects with parameter initialization submodule and navigation system
Connect, for the information exchange under non-magnetic navigation pattern with the navigation mode such as laser navigation, inertial navigation and vision guided navigation, be elected to
When selecting different navigation patterns, different software protocols and configuration file are called, data parsing is carried out according to software protocol, are refreshed
Data are simultaneously handled, as needed the relevant information of feedback AGV car bodies；
Scheduling system interface is preferably the wifi interfaces of standard, is connected, uses with parameter initialization submodule and scheduling system
In carrying out information exchange with scheduling system under AGV system On-line Control pattern, include instruction and the information of reception scheduling system,
Refresh data is simultaneously handled, as needed the real-time status and warning message of feedback AGV car bodies.
Main control module may also include CPU module, data memory module, RS232 bus communications submodule and indicate alarm
Module.Wherein, main control module is monitored to the state of communication bus, and when communication bus failure, main control module resets in time
Communication bus is repaired, resets and repairs when can not still release failure three times, report communication bus failure, stop AGV control systems, and
By indicating that alarm submodule is alarmed by modes such as sound, light, voices, it can also be alarmed by human-machine interface module.
Main control module EBI is dual bus interface, the using and the reserved.
Human-machine interface module, is connected by communication bus with main control module, and main control module can be supervised by human-machine interface module
All data messages of communication bus are controlled, and configure the parameter of each functional module.The kernel control chip of human-machine interface module
It is 32 ARM, using touch-screen pattern, supports RS232 and CAN interface, all data on communication bus can be monitored
Information, the relevant parameter information to each module is configured and inquired about.Wherein, relevant parameter information includes AGV control systems
Configuration parameter, i.e. car body type parameter, controller parameter, the setting of navigation pattern and avoidance mode, and control model, path
The contents such as parameter, site parameter, schedule information, navigation information, the operation of upper dress.Wherein, control model include test pattern, manually
Pattern, off-line mode and line model.Human-machine interface module carries out non-quantitative to functional module according to the requirement of control function and matched somebody with somebody
Put, realize the complete compatible control freely cut of AGV control systems.In addition, human-machine interface module can point out AGV control systems
Correlation behavior and warning message.
Main control module can be by the way that human-machine interface module is come active inquiry and intercepts the functional mould of institute being connected with communication bus
The information of block, and functional module can be configured.In addition, human-machine interface module can also be configured to main control module, and
Human-machine interface module parameter need not be configured.
Manual module, is connected by communication bus with main control module, and car body is directly controlled for operating personnel, there is button
With two kinds of manual control box of rocking bar, kernel control chip supports RS232 and CAN interface, by communications protocol using 32 ARM
Manual control box data message is passed, while there is the state instruction of correlation.
RFID read-write module, for searching for RFID websites and AGV site addresses being read and write, kernel control chip is 32
ARM, supports RS232 and CAN interface.RFID read-write module is connected by communication bus with main control module, at interval of advance
The time of setting, the site information of reading is reported to main control module by communication bus.
Electric energy detection module, is connected by communication bus with main control module, for monitoring the surplus of battery in AGV control systems
Remaining electricity and state, kernel control chip are 32 ARM, support RS232 and CAN interface.Wherein, in AGV control systems
Battery can be plumbic acid, lithium, nickel-cadmium cell, the battery status and dump energy of the detection of electric energy detection module, including single battery
Overvoltage, undervoltage warning, and estimate AGV run time, and relevant information is reported by communication bus feed back to master control
Module.
Avoidance module, for performing avoidance detection, kernel control chip is 32 ARM, supports that RS232 and CAN connect
Mouthful.Avoidance module is connected by communication bus with main control module, can configure the avoidance forms such as ultrasonic wave, laser, safe touch side, is adjusted
With different processing routines, it is ensured that its maximum compatibility, while the quantity of sensor and the distance of alarm distance can be set.
I/O module, for extending input/output interface, kernel control chip is 32 ARM, supports RS232 and CAN
Interface.I/O module is connected by communication bus with main control module, with 16 input contacts, 16 output contacts, is pre-defined
The definition (configuration can be also changed in main control module) of each port, mainly for detection of position switch, magnetic landmark sensor, relay
Device, contactor state, output control indicator lamp, buzzer, relay, contactor, the lifting of external device (ED) and start stop signal etc..
Voice module, is connected by communication bus with main control module, and kernel control chip is 32 ARM, support RS232 and
CAN interface, can carry out personalized report according to setting or the voice recorded or music.
Drive module, for driving, controlled motor, kernel control chip is 32 ARM, supports that RS232 and CAN connect
Mouthful.Drive module is connected by communication bus with main control module, and two motors can be controlled simultaneously, and the type of driver of configuration is
One kind in PWM controls, FREQUENCY CONTROL and Analog control.Meanwhile, drive module detects the numerical value of motor encoder, for closing
Ring controls and feeds back to main control module for position calculating.
Magnetic navigation module, is connected by communication bus with main control module, and kernel control chip is 32 ARM, supports RS232
And CAN interface.The sensor of 16 detection magnetic field intensities is set in magnetic navigation inside modules, to exclude the shadow in earth's magnetic field
Ring.When magnetic field intensity is more than predetermined value, then it is assumed that there is magnetisable material below the point, detected by 16 sensors
The numerical value of magnetic field intensity, draws the Distribution of Magnetic Field situation of detection zone, and then draws the position of magnetisable material, passes through communication bus
Testing result is fed back to main control module by interface, and main control module controls wheel movement, to reach the mesh of correction according to offset
's.
In the control method for being preferably based on above-mentioned AGV control systems, the control method of main control module includes following step
Suddenly：
First, the parameter of parameter initialization submodule function of initializing module is passed through；
Then, the state of functional module on communication bus is checked by bus communication submodule, is refreshed and is inputted and control defeated
Go out；
Concurrently, refreshed by timer submodule at interval of setting time according to parameter information change and setup parameter
Output.
Specifically, the workflow of main control module is as follows：
First, initialization process is carried out to relevant parameter by parameter initialization submodule, as shown in figure 4, reading E2PROM
Data, confirm whether parameter has configured completion, if configuration is not completed, main control module is in debugging mode, waits parameter
Configuration, if detecting parameter configuration completion, the initialization process of configuration parameter is carried out by parameter initialization submodule.Read
Relevant parameter information, reads car body type parameter information, according to the parameter information of car body type, differential, rudder is called respectively first
The mathematical control model and relative program file of dynamic and Mecanum, initialize associated control parameters, whether check relevant configuration
Rationally, if configuration rationally enters next step, unreasonable allocation then shows failure code by human-machine interface module；Read avoidance
Type parameter information, according to the parameter information of avoidance type, calls the relevant control journey of infrared, ultrasonic wave and safe touch side respectively
Sequence, initializes relevant configured parameter, and whether rationally to check relevant configured parameter and state, if configuration rationally enters next
Step, unreasonable allocation then shows failure code by human-machine interface module；Navigation type relevant parameter information is read, according to navigation
Type parameter information, determines whether navigation and navigation mode, decides whether to call and call, which kind of navigation mode initialized
Agreement, carries out an interface testing after the completion of calling, whether rationally relevant configured parameter and state are checked, if being successfully tested
It is unsuccessful into major cycle, failure code is shown by human-machine interface module；After the parameter initialization of main control module is completed,
AGV control systems start normal operation.
As shown in figure 3, main control module completes parameter initialization, and associated profile is called, timer submodule is every
50MS performs once timing configuration processor, reaches after timing, configuration of the timer submodule based on AGV control systems is simultaneously
According to newest input state, carry out logic analysis and handle, refreshed according to information change and setup parameter and exported；Led to by bus
The state for all devices that news submodule inspection is connected with communication bus, refreshes input, is handled according to input information attribute, and root
Exported according to situation feedback data and refreshing；In the control method for being preferably based on AGV control systems, the controlling party of main control module
Method can also further comprise：Under non-magnetic navigation pattern, main control module passes through navigation system interface and " laser navigation ", " inertia
The navigation mode such as navigation " and " vision guided navigation " carries out information exchange, receives new data, and refresh data is simultaneously handled, feedback AGV controls
System related information is to main control module；Under " On-line Control " pattern, main control module is by dispatching system interface and scheduling system
Information exchange is carried out, new data is received, refresh data is simultaneously handled, AGV control systems relevant information is fed back as needed to master control
Module.
The preferred embodiments of the present invention are the foregoing is only, are not intended to limit the invention, for those skilled in the art
For member, the present invention can have various modifications and variations.Any modification within the spirit and principles of the invention, being made,
Equivalent, improvement etc., should be included within the scope of the present invention.
Claims (10)
1. a kind of AGV control systems, it is characterised in that including main control module, communication bus and functional module, the function mould
Block is connected by the communication bus with the main control module,
The main control module and the functional module are transmitted and interaction by communications protocol in the enterprising row information of the communication bus,
The main control module is configured to the functional module, and the state of the communication bus is monitored.
2. AGV control systems according to claim 1, it is characterised in that the AGV control systems also include：
Human-machine interface module, the human-machine interface module is connected by the communication bus with the main control module,
The main control module is configured by the human-machine interface module to the functional module and to the communication bus
State be monitored, and the human-machine interface module is also configured to the main control module.
3. AGV control systems according to claim 1, it is characterised in that the functional module includes manual module, RFID
One in module for reading and writing, electric energy detection module, avoidance module, I/O module, voice module, drive module and magnetic navigation module or
It is multiple.
4. AGV control systems according to claim 1, it is characterised in that the main control module includes：
Parameter initialization submodule, initialization process is carried out for the parameter to the functional module；
Bus communication submodule, is connected with the parameter initialization submodule, for checking the function on the communication bus
State, refreshing input and the control output of module, carry out information exchange, and match somebody with somebody with the functional module by the communication bus
Put the parameter of the functional module；And
Timer submodule, is connected with the parameter initialization submodule, for setting based on configuration parameter information and newest
Input state, carries out logic analysis and processing, and update the time interval of output.
5. AGV control systems according to claim 4, it is characterised in that
The main control module also includes：
Navigation system interface, is connected with the parameter initialization submodule and navigation system, under non-magnetic navigation pattern with
The information exchange of navigation mode, when selecting different navigation patterns, calls different software protocols and configuration file, according to soft
Part agreement carries out data parsing, and refresh data is simultaneously handled, as needed the relevant information of feedback AGV car bodies；And
System interface is dispatched, is connected with the parameter initialization submodule and scheduling system, for existing in the AGV control systems
Information exchange is carried out under line traffic control pattern with the scheduling system, including receives instruction and the information of the scheduling system, is refreshed
Data are simultaneously handled, as needed the real-time status and warning message of feedback AGV car bodies.
6. AGV control systems according to claim 4, it is characterised in that the main control module also includes indicating alarm
Module, the instruction alarm submodule is used to be alarmed when the communication bus breaks down and can not repair, and institute
State bus communication submodule and communicate submodule and RS232 bus communication submodules including CAN.
7. AGV control systems according to claim 4, it is characterised in that the parameter includes car body parameter, controller and joined
The one or more of number, navigation pattern and avoidance mode.
8. a kind of control method of the AGV control systems based on described in claim 1, it is characterised in that the main control module
Control method comprises the following steps：
First, the parameter of functional module described in parameter initialization submodule initialization block is passed through；
Then, the state of the functional module on the communication bus is checked by bus communication submodule, is refreshed and is inputted and control
System output；
Concurrently, refreshed according to parameter information change and setup parameter and exported at interval of setting time by timer submodule.
9. the control method of AGV control systems according to claim 8, it is characterised in that also include：
Under non-magnetic navigation pattern, information exchange is carried out by navigation system interface and navigation mode, when the different navigation of selection
During pattern, different software protocols and configuration file are called, data parsing is carried out according to software protocol, refresh data is simultaneously handled,
The relevant information of AGV car bodies is fed back as needed；
Under On-line Control pattern, information exchange is carried out by dispatching system interface and scheduling system, including receive the scheduling
The instruction of system and information, refresh data are simultaneously handled, as needed the real-time status and warning message of feedback AGV car bodies.
10. the control method of AGV control systems according to claim 8, it is characterised in that pass through parameter initialization submodule
The step of parameter of functional module described in initialization block, includes：
First, confirm whether parameter has configured completion, if configuration is not completed, the main control module enters debugging mode, etc.
Treat parameter configuration,
If configuration is completed, parameter information is read, checks that whether rationally configuration, if unreasonable allocation, shows failure code, if
Configuration is reasonable, then completes parameter initialization.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710138491.XA CN106950951B (en) | 2017-03-09 | 2017-03-09 | AGV control system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710138491.XA CN106950951B (en) | 2017-03-09 | 2017-03-09 | AGV control system and method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106950951A true CN106950951A (en) | 2017-07-14 |
| CN106950951B CN106950951B (en) | 2020-01-17 |
Family
ID=59467488
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710138491.XA Active CN106950951B (en) | 2017-03-09 | 2017-03-09 | AGV control system and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106950951B (en) |
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107450570A (en) * | 2017-09-28 | 2017-12-08 | 电子科技大学 | Industrial AGV laser scannings obstacle avoidance system |
| CN107977002A (en) * | 2017-11-24 | 2018-05-01 | 北京益康生活智能科技有限公司 | The mobile platform control system and method for a kind of auto-manual |
| CN108173855A (en) * | 2017-12-28 | 2018-06-15 | 山东比特智能科技股份有限公司 | The control system and telephone set of a kind of telephone set |
| CN108762276A (en) * | 2018-06-07 | 2018-11-06 | 安徽理工大学 | A kind of automatic inclined rail means for correcting of AGV trolleies and automatic rail bearing calibration partially |
| CN109100965A (en) * | 2018-07-10 | 2018-12-28 | 山东师范大学 | A kind of AGV vehicle control syetem that supporting various communications protocols and control network |
| CN109507976A (en) * | 2018-12-28 | 2019-03-22 | 芜湖哈特机器人产业技术研究院有限公司 | A kind of AGV vehicle control syetem |
| CN109799812A (en) * | 2018-12-24 | 2019-05-24 | 芜湖智久机器人有限公司 | AGV onboard system and control method, more vehicles scheduling system and control method |
| CN110531758A (en) * | 2019-07-31 | 2019-12-03 | 珠海达明科技有限公司 | A kind of AGV control system and method |
| CN110723149A (en) * | 2018-07-16 | 2020-01-24 | Lg电子株式会社 | Vehicle control device and vehicle including the same |
| CN112114868A (en) * | 2020-09-18 | 2020-12-22 | 中国人民解放军32180部队 | Task real-time control device of working vehicle and protocol adaptation method thereof |
| CN112394727A (en) * | 2020-10-20 | 2021-02-23 | 广东嘉腾机器人自动化有限公司 | AGV (automatic guided vehicle) cooperative transportation control method, storage medium and control system |
| CN114115037A (en) * | 2021-11-25 | 2022-03-01 | 珠海格力智能装备有限公司 | AGV equipment and AGV system |
| CN114679951A (en) * | 2020-12-30 | 2022-07-01 | 南京泉峰科技有限公司 | Self-propelled device system |
| CN114679950A (en) * | 2020-12-30 | 2022-07-01 | 南京泉峰科技有限公司 | Data interaction system and data interaction method for self-driven equipment |
| US11537119B2 (en) | 2019-04-11 | 2022-12-27 | Bastian Solutions, Llc | Voice controlled material handling mobile robotic system |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH06222833A (en) * | 1993-01-25 | 1994-08-12 | Hirata Kiko Kk | Unmanned vehicle control system |
| JP2001202130A (en) * | 2000-01-24 | 2001-07-27 | Shinko Electric Co Ltd | Automatically guided vehicle control device |
| CN101533263A (en) * | 2009-02-17 | 2009-09-16 | 固高科技(深圳)有限公司 | Computer programmable autocontrol system and control method thereof |
| CN102156477A (en) * | 2011-05-19 | 2011-08-17 | 苏州市职业大学 | AGV (automatic guided vehicle) control platform and realizing method of AGV control platform |
| CN102722174A (en) * | 2012-07-05 | 2012-10-10 | 无锡普智联科高新技术有限公司 | AGV (Automatic Guided Vehicle) control system based on bus control mode |
| CN105045268A (en) * | 2015-08-25 | 2015-11-11 | 深圳力子机器人有限公司 | AGV laser tape hybrid navigation system |
| CN105137949A (en) * | 2015-09-23 | 2015-12-09 | 珠海创智科技有限公司 | AGV control system |
| CN205121333U (en) * | 2014-12-03 | 2016-03-30 | 广州市井源机电设备有限公司 | AGV on -board control system |
-
2017
- 2017-03-09 CN CN201710138491.XA patent/CN106950951B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH06222833A (en) * | 1993-01-25 | 1994-08-12 | Hirata Kiko Kk | Unmanned vehicle control system |
| JP2001202130A (en) * | 2000-01-24 | 2001-07-27 | Shinko Electric Co Ltd | Automatically guided vehicle control device |
| CN101533263A (en) * | 2009-02-17 | 2009-09-16 | 固高科技(深圳)有限公司 | Computer programmable autocontrol system and control method thereof |
| CN102156477A (en) * | 2011-05-19 | 2011-08-17 | 苏州市职业大学 | AGV (automatic guided vehicle) control platform and realizing method of AGV control platform |
| CN102722174A (en) * | 2012-07-05 | 2012-10-10 | 无锡普智联科高新技术有限公司 | AGV (Automatic Guided Vehicle) control system based on bus control mode |
| CN205121333U (en) * | 2014-12-03 | 2016-03-30 | 广州市井源机电设备有限公司 | AGV on -board control system |
| CN105045268A (en) * | 2015-08-25 | 2015-11-11 | 深圳力子机器人有限公司 | AGV laser tape hybrid navigation system |
| CN105137949A (en) * | 2015-09-23 | 2015-12-09 | 珠海创智科技有限公司 | AGV control system |
Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107450570A (en) * | 2017-09-28 | 2017-12-08 | 电子科技大学 | Industrial AGV laser scannings obstacle avoidance system |
| CN107977002A (en) * | 2017-11-24 | 2018-05-01 | 北京益康生活智能科技有限公司 | The mobile platform control system and method for a kind of auto-manual |
| CN108173855A (en) * | 2017-12-28 | 2018-06-15 | 山东比特智能科技股份有限公司 | The control system and telephone set of a kind of telephone set |
| CN108762276A (en) * | 2018-06-07 | 2018-11-06 | 安徽理工大学 | A kind of automatic inclined rail means for correcting of AGV trolleies and automatic rail bearing calibration partially |
| CN108762276B (en) * | 2018-06-07 | 2021-07-23 | 安徽理工大学 | Automatic deviation rail correction device and automatic deviation rail correction method for AGV trolley |
| CN109100965A (en) * | 2018-07-10 | 2018-12-28 | 山东师范大学 | A kind of AGV vehicle control syetem that supporting various communications protocols and control network |
| CN110723149A (en) * | 2018-07-16 | 2020-01-24 | Lg电子株式会社 | Vehicle control device and vehicle including the same |
| CN109799812A (en) * | 2018-12-24 | 2019-05-24 | 芜湖智久机器人有限公司 | AGV onboard system and control method, more vehicles scheduling system and control method |
| CN109507976A (en) * | 2018-12-28 | 2019-03-22 | 芜湖哈特机器人产业技术研究院有限公司 | A kind of AGV vehicle control syetem |
| US11537119B2 (en) | 2019-04-11 | 2022-12-27 | Bastian Solutions, Llc | Voice controlled material handling mobile robotic system |
| CN110531758A (en) * | 2019-07-31 | 2019-12-03 | 珠海达明科技有限公司 | A kind of AGV control system and method |
| CN112114868A (en) * | 2020-09-18 | 2020-12-22 | 中国人民解放军32180部队 | Task real-time control device of working vehicle and protocol adaptation method thereof |
| CN112114868B (en) * | 2020-09-18 | 2023-10-27 | 中国人民解放军32180部队 | Real-time control device for task of working vehicle and protocol adaptation method thereof |
| CN112394727A (en) * | 2020-10-20 | 2021-02-23 | 广东嘉腾机器人自动化有限公司 | AGV (automatic guided vehicle) cooperative transportation control method, storage medium and control system |
| CN114679951A (en) * | 2020-12-30 | 2022-07-01 | 南京泉峰科技有限公司 | Self-propelled device system |
| CN114679950A (en) * | 2020-12-30 | 2022-07-01 | 南京泉峰科技有限公司 | Data interaction system and data interaction method for self-driven equipment |
| CN114679950B (en) * | 2020-12-30 | 2024-03-15 | 南京泉峰科技有限公司 | Data interaction system and data interaction method for self-driven equipment |
| CN114679951B (en) * | 2020-12-30 | 2024-03-19 | 南京泉峰科技有限公司 | Self-driven equipment system |
| CN114115037A (en) * | 2021-11-25 | 2022-03-01 | 珠海格力智能装备有限公司 | AGV equipment and AGV system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106950951B (en) | 2020-01-17 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106950951A (en) | A kind of AGV control systems and method | |
| CN108427390B (en) | Digital twin-based inter-vehicle-level intelligent manufacturing system and configuration method thereof | |
| CN109884996B (en) | Production control system, method and production management system | |
| Liu et al. | A method of NC machine tools intelligent monitoring system in smart factories | |
| CN103064393B (en) | Robot carrying control system based on wireless network | |
| CN100480934C (en) | Track type conveyor control device | |
| CN105956739A (en) | Three-dimensional simulating system for scheduling demonstration and algorithm verification of automated guided vehicle | |
| CN109933010A (en) | A kind of industrial CPS system and implementation method towards personalized customization | |
| CN201163361Y (en) | Control system used for industry assembly line | |
| US11086603B2 (en) | Machine system, machine control computer, base software application, computer-readable recording medium, and machine control method for intercommunication with machines | |
| CN106371416B (en) | Assembly control method on assembly line and system | |
| US11300932B2 (en) | Machine control computer intercommunicatively connected to machine, machine system, base software application, computer-readable recording medium, data structure, and machine control method | |
| CN102156477A (en) | AGV (automatic guided vehicle) control platform and realizing method of AGV control platform | |
| CN105023409A (en) | Data transmission system for automated material handling system | |
| CN108490895A (en) | A kind of production line control method and system, storage medium and Industrial PC | |
| CN110516939A (en) | Warehouse homework dispatches system | |
| CN112441482A (en) | Control method, system and device for automatically guiding transport vehicle to use elevator | |
| CN113885466A (en) | AGV scheduling algorithm simulation system | |
| KR102339938B1 (en) | System for active monitoring of smart factory and method thereof | |
| CN105629943B (en) | A kind of operation method of the manufacture system based on wearable device | |
| US20210026335A1 (en) | Multi-function integrated work table and production system using the same | |
| CN108067770A (en) | One kind is towards automobile head cover welding and assembling production lines multitask robot coordinated scheduling method | |
| Bonci et al. | An OSGi-based production process monitoring system for SMEs | |
| CN110614639A (en) | ROS-based transformer substation inspection robot system and method thereof | |
| CN206397235U (en) | A kind of lift-sliding multi-storied garage intelligent control system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20210609 Address after: 110027 No.27, Kaifa Road, Shenyang Economic and Technological Development Zone, Liaoning Province Patentee after: SHENYANG YUANDA INTELLECTUAL INDUSTRY GROUP Co.,Ltd. Address before: 110027 No.27, Kaifa Road, Shenyang Economic and Technological Development Zone, Liaoning Province Patentee before: SHENYANG YUANDA TECHNOLOGY PARK Co.,Ltd. |
|
| TR01 | Transfer of patent right |