CN107728624A - A kind of control device for ground handling trolley - Google Patents
A kind of control device for ground handling trolley Download PDFInfo
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- CN107728624A CN107728624A CN201711085608.9A CN201711085608A CN107728624A CN 107728624 A CN107728624 A CN 107728624A CN 201711085608 A CN201711085608 A CN 201711085608A CN 107728624 A CN107728624 A CN 107728624A
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- 230000005540 biological transmission Effects 0.000 claims abstract description 11
- 239000000523 sample Substances 0.000 claims description 57
- 230000033001 locomotion Effects 0.000 claims description 39
- 238000004891 communication Methods 0.000 claims description 31
- 238000009413 insulation Methods 0.000 claims description 29
- 238000001514 detection method Methods 0.000 claims description 18
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 12
- 229910052744 lithium Inorganic materials 0.000 claims description 12
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 claims description 6
- 229910052802 copper Inorganic materials 0.000 claims description 6
- 239000010949 copper Substances 0.000 claims description 6
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- 238000009434 installation Methods 0.000 claims description 4
- 230000033228 biological regulation Effects 0.000 claims description 3
- 238000012546 transfer Methods 0.000 claims description 3
- 238000007689 inspection Methods 0.000 claims 1
- 230000004888 barrier function Effects 0.000 abstract description 6
- 238000012423 maintenance Methods 0.000 abstract description 2
- 238000002604 ultrasonography Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 6
- 238000000034 method Methods 0.000 description 5
- 230000004927 fusion Effects 0.000 description 4
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- 238000005516 engineering process Methods 0.000 description 3
- 238000006243 chemical reaction Methods 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 230000006698 induction Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 241001269238 Data Species 0.000 description 1
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- 238000003032 molecular docking Methods 0.000 description 1
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Classifications
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- 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
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- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a kind of control device for ground handling trolley, including ultrasonic wave to follow reception system, AGV system automatically；The ultrasonic wave, which is connected to move, follows receipts system to be fixed on the ceiling in required indoor place, AGV system may move on the ground in warehouse, ultrasonic wave follows reception system and AGV system to include several monomer ultrasonic wave reception systems and monomer AGV system respectively automatically, ultrasonic wave follows reception system to receive the signal of ultrasonic transmission system ultrasonic wave transmitting element in AGV system automatically, the present invention can avoid the limitation of error and blind area caused by losing ripple, make the orientation range of each ultrasonic wave reception system bigger, location data is more accurate, and reliability is high；Vehicle-carrying display screen can be with real-time display present position, speed and partial barriers information；Obstacle avoidance system is used simultaneously, improves serious forgiveness；Overall system performance is stable, and stable performance, its operating cost and maintenance cost are cheap.
Description
Technical field
The invention belongs to control technology field, and in particular to a kind of control device for ground handling trolley.
Background technology
Existing indoor plane trolley control system is more using the magnetic induction bar by being attached on AGV operating paths
To realize positioning and motion by magnetic strength induction signal, or painted on AGV driving path or paste colour band, by shooting
Machine adopt into colour band picture intelligence carry out simple process and realize positioning and motion, and installed around AGV driving paths
The accurate laser reflection plate in position, AGV launches laser beam by laser scanner, while gathers the laser by baffle reflection
Beam, to determine its current position and course, and AGV positioning and motion are realized by continuous triangle geometric operation.And
The problem of it is dumb route to be all present in these, can not adjust route immediately, and route fixation can not change task at any time.Originally set
What meter was taken is ultrasonic positioning system, and what existing ultrasonic positioning system used receives dress to be fixed on the ultrasonic wave of ceiling
Put, from Ultrasonic characteristics, for ultrasonic wave transmitting/receiving transducer when 0 angle, transmitting/reception is best, also,
With the increase of angle, signal intensity reduces rapidly.Therefore, because ultrasonic probe, ultrasonic receiver works as ultrasound to be fixed on ceiling
Ripple sends system and the angle of ultrasonic probe, ultrasonic receiver exceedes certain limit, and ultrasonic signal strength reduces rapidly, can cause to lose
Ripple, when in sensor detection zone and in certain angular range, can just be responded by ultrasonic probe, ultrasonic receiver, when in reception model
Outside enclosing, ultrasonic wave sends the ultrasonic wave that system is sent and can not be received, and causes ultrasonic wave to receive blind area.
The content of the invention
The present invention is to solve the problems, such as now in the art, there is provided a kind of control device for ground handling trolley, by upper
Machine and AGV system form upper the next overall system control.The multiple of composition AGV system can be drawn by host computer operation program
The AGV distribution of optimal task and cooperation distribution, followed automatically by ultrasonic wave and receive multiple ultrasonic waves reception systems in alignment system
System can complete docking and be completely covered whole control area, and due to ultrasonic wave reception system can all-directional rotation follow ultrasound
Ripple transmitting probe, the limitation of error and blind area caused by losing ripple can be avoided, the positioning of each ultrasonic wave reception system can be made
Scope is bigger, and reducing ultrasonic wave reception system number reduces cost, and obtained location data is more accurate, and task completeness is more
It is good, can real time calibration itself posture avoid offseting running route, reliability is high；Vehicle-carrying display screen can be with position residing for real-time display
Put, speed and partial barriers information；Simultaneously using information fusion obstacle avoidance system is based on, can be swift in response and apart from standard
The true static dynamic barrier hidden in different range, and improve serious forgiveness；Overall system performance is stable, and performance is steady
Fixed, its operating cost and maintenance cost are cheap.
The present invention is achieved using following technical scheme：
A kind of control device for ground handling trolley, it is characterized in that, including ultrasonic wave follows reception system, AGV automatically
System；The ultrasonic wave, which is connected to move, follows receipts system to be fixed on the ceiling in required indoor place, and AGV system is on the ground in warehouse
May move on face, ultrasonic wave follow automatically reception system and AGV system respectively comprising several monomer ultrasonic wave reception systems and
Monomer AGV system, ultrasonic wave follow reception system to receive ultrasonic transmission system ultrasonic wave transmitting element in AGV system automatically
Signal；
The AGV system includes several monomer AGV systems, wherein each monomer AGV system, which includes ultrasonic wave, sends list
Member, avoidance detection unit, drive control unit, AGV car bodies, omni-directional wheel；The ultrasonic wave transmitting element, avoidance detection unit,
Drive control unit is sequentially located at front portion, middle part, rear portion on AGV car bodies, and omni-directional wheel is located under four angles of AGV car bodies
Side, and support all directions movement in the plane of AGV car bodies；
The ultrasonic transmission system ultrasonic wave transmitting element includes ultrasonic wave transmitting probe, No.1 steering wheel group, No.1 steering wheel
Group is fixed on AGV car bodies with copper post is fixed away from forward edge 6cm, ultrasonic wave transmitting probe by the fixed bottom plate of insulation and copper post
In the top of No.1 steering wheel group, the No.1 steering wheel group is built and formed up and down by two small size steering wheels, and the No.1 steering wheel group can
Complete flexible movement reach all-direction rotation, can make ultrasonic wave transmitting probe complete in orientation range with ultrasonic wave automatically with
With the alignment of reception system；Ultrasonic wave transmitting probe is connected by wire with main control singlechip respectively with No.1 steering wheel group；
The avoidance detection unit includes pose collector, wireless communication module, scanner, the fixed bottom plate of small insulation, institute
Rheme appearance collector, wireless communication module, scanner are fixed on the fixed bottom plate of small insulation, and the small fixed bottom plate of insulation is fixed on
Middle part on AGV car bodies is away from forward edge 13cm；
The drive control unit includes serial ports-Ethernet modular converter, main control singlechip, display screen, and display screen is by propping up
Frame is fixed on AGV car bodies at away from rear part edge 4cm, and main control singlechip is located at the following side of display screen, serial ports-Ethernet conversion
Module is located at the lower section of display screen, above AGV car bodies；
Surrounding on the AGV car bodies fixes 4 ultrasonic sensors and 6 infrared sensors, in AGV car body upper foreparts
2 ultrasonic sensors and 3 infrared sensors are fixed respectively with afterbody, away from forward edge away from left side edge on AGV car bodies
Be that front left direction sets an infrared sensor to diagonally forward, on AGV car bodies away from forward edge away from left side to front
One ultrasonic sensor is set, one infrared sensor is set to front away from left side away from forward edge on AGV car bodies, in AGV
On car body away from forward edge away from right side edge to front set a ultrasonic sensor, on AGV car bodies away from forward edge away from
Right side edge is that front right direction sets an infrared sensor to diagonally forward；Away from tail edge away from left side on AGV car bodies
Peripheral sink rear is that angular direction sets an infrared sensor to the left in dead astern, away from tail edge away from left side on AGV car bodies
Edge sets a ultrasonic sensor to dead astern, red to dead astern setting one away from left side edge away from tail edge on AGV car bodies
Outer sensor, one ultrasonic sensor is set to dead astern away from right side edge away from tail edge on AGV car bodies, in AGV car bodies
On away from tail edge away from right side edge to rear ramp be dead astern to the right yawing moment set an infrared sensor；
The ultrasonic wave follows direction where the ultrasonic probe, ultrasonic receiver face ultrasonic wave launch point of reception system automatically, i.e.,
Ultrasonic wave transmitting probe is made to be directed at the geometric center that four ultrasonic wave receiving transducers form planar graph so that ultrasonic wave transmitting is visited
The air line distance of head to each ultrasonic wave receiving transducer is equal；
Motor selects DC speed-reducing in the AGV kinematic systems, and driver is four axle drivers, and wheel is selected
QMA10 omni-directional wheels.
Surrounding on the AGV car bodies fixes 4 ultrasonic sensors and 6 infrared sensors, in AGV car body upper foreparts
2 ultrasonic sensors and 3 infrared sensors are fixed respectively with afterbody, away from forward edge 1cm away from left side on AGV car bodies
Edge 1cm is that front deflects one infrared sensor of 45° angle direction setting to the left to diagonally forward, away from forward edge on AGV car bodies
1cm sets a ultrasonic sensor away from left side edge 8cm to front, away from forward edge 1cm away from left side edge on AGV car bodies
16cm sets an infrared sensor to front, is set on AGV car bodies away from forward edge 1cm away from right side edge 8cm to front
Put a ultrasonic sensor, on AGV car bodies away from forward edge 1cm away from right side edge 1cm to diagonally forward be front to right avertence
Turn 45° angle direction and one infrared sensor is set；On AGV car bodies away from tail edge 1cm away from left side edge 1cm to rear ramp i.e. just
Rear deflect to the left 45° angle direction set an infrared sensor, on AGV car bodies away from tail edge 1cm away from left side edge 8cm to
Dead astern sets a ultrasonic sensor, and one is set to dead astern away from left side edge 16cm away from tail edge 1cm on AGV car bodies
Infrared sensor, one ultrasonic sensor is set to dead astern away from right side edge 8cm away from tail edge 1cm on AGV car bodies,
On AGV car bodies away from tail edge 1cm away from right side edge 1cm to rear ramp be dead astern deflect to the right 45° angle direction set it is one red
Outer sensor；
Charging inlet and AGV switches are additionally provided with the rear end face of the AGV car bodies；Charging inlet is located at a left side for AGV switches
Side, charging inlet are connected with the power control in AGV car bodies, are the lithium cell charging being provided with power control；
The pose collector is connected with wireless communication module by wire with main control singlechip, and scanner passes through signal
Line is connected with wireless communication module, and wireless communication module is connected with main control singlechip again, display screen directly with main control singlechip phase
Even.
The ultrasonic wave follows reception system to include several monomer ultrasonic wave reception systems automatically, is surpassed according to each monomer
The range of receiving of acoustic receiver system is arranged in whole control area, and monomer ultrasonic wave reception system includes from the top down phase successively
Bottom plate two, No. two steering wheel groups, ultrasonic probe, ultrasonic receivers are fixed in insulation even, and the fixed bottom plate two of insulation is fixed on warehouse/room
On interior ceiling, No. two steering wheel groups are fixed on the fixed bottom plate two of insulation by corresponding support, and ultrasonic probe, ultrasonic receiver leads to
The lower section that the fixed bottom plate one of insulation is fixed on No. two steering wheel groups is crossed, No. two steering wheel groups can complete flexible movement, i.e., with perpendicular to the ground
Z-axis is established downwards, it is that 45 ° of following angular ranges of composition curved surface rotate ultrasonic wave reception system is completed with z-axis angle；Described two
Number steering wheel group is built by two medium size steering wheel direction sequences to be formed；The ultrasonic probe, ultrasonic receiver includes ultrasonic wave and receives spy
Head, wave filter, counter, digital comparator, ultrasonic wave receiving transducer, wave filter, counter, digital comparator are both secured to absolutely
Edge fix bottom plate earthward while；The ultrasonic wave receiving transducer is four, and square profile is in the fixed bottom plate of insulation
Below one or four corners, each ultrasonic wave receiving transducer is contacted with wave filter respectively by welding, and wave filter passes through welding
Contacted with counter, wave filter, whole counters are all connected to digital comparator with wire, and it is solid that the single-chip microcomputer is fixed on insulation
Determine the one side towards ground of bottom plate one, wireless module is fixed between single-chip microcomputer and ultrasonic wave receiving transducer, and single-chip microcomputer passes through
Wire is connected with wireless module, and single-chip microcomputer control wireless module sends the signal to be communicated with wireless communication module, and single-chip microcomputer is also logical
Cross wire with No. two steering wheel groups to be connected and control No. two steering wheel group institute gyrations, obtain current ultrasonic and follow reception system automatically
Place angle simultaneously positions to it；Single-chip microcomputer is connected by wire with ultrasonic wave receiving transducer, obtains ultrasonic wave receiving transducer
The ultrasonic signal received.
Receiving transducer in the ultrasonic probe, ultrasonic receiver selects the ultrasonic wave receiving module based on CX20106a, wireless mould
Block selects NRF24L01 radio-frequency modules, the active bandpass filiter that the wave filter is made up of low pass RC links and high pass RC links
Device, wherein resistance R1, resistance R2, resistance R3, resistance R4 are that 1.2k Ω, electric capacity C1 and electric capacity C2 are 3300pF, the meter
Number device is the double BCD up counters of CD4518, and the digital comparator is 74LS85BCD digital comparators, and each ultrasonic wave connects
Probe one active filter of series connection respectively is received, the INT ports that each ultrasonic wave receives head are filtered with corresponding active band logical respectively
The Ui ports connection of ripple device；Each active filter is connected a counter respectively, the Uo ports of each active band-pass filter
Connected with the CP1 ports of corresponding counter.The EN1 ports of each counter are connected with external 5V dc sources.All count
In device, and 1A, 1B, 1C port A3, A2, A1 end with digital comparator respectively of the counter of first ultrasonic probe connection
Mouthful it is connected, the counter being connected with other 3 ultrasonic probes 1A, 1B, 1C port by three counters and numeric ratio respectively
B3, B2, B1 port compared with device connects, and follows the single-chip microcomputer in ultrasonic wave reception system to use STM32F407VET6 monolithics automatically
Machine, follow automatically pin P1B2~4 of single-chip microcomputer in ultrasonic wave reception system respectively with numerical value in ultrasonic wave receiving transducer group
Three OAGTB pins of comparator are connected；The signal wire of PW1, PW2 respectively with No. 1 steering wheel group, No. 2 steering wheel groups is connected.Single-chip microcomputer
PG6~7 and the pin of PB3~5 successively the NRF CE with radio-frequency module, NRF CS, NRF IRQ, NRF SCK, NRF MOSI,
NRF SCK pins are connected.
Preferably, the car body, which is controlled via motor control assembly and powered by power control, completes motion；It is described
Car body includes vehicle frame and the omni-directional wheel below vehicle frame；The motor control assembly includes driving corresponding with omni-directional wheel number
Device, motor, encoder, the driver are placed in vehicle body center, and power control is fixed on the rear end of vehicle body, often
Individual wheel is connected with a motor, motor other end installation encoder by power transmission shaft respectively, and driver fills with power supply respectively
Put, motor, encoder are connected.The motion command that main control singlechip transmits is decoded into the rotating speed of each omni-directional wheel by the driver,
Rotating speed is transmitted to the motor of each omni-directional wheel, motor driven omni-directional wheel motion control AGV movement velocitys and direction by CAN；
The driving voltage of motor driver, the rotating speed of motor, encoder survey rotating speed and constitute a closed loop, if the encoder measures
To the rotating speed of each omni-directional wheel that is decoded into motion command of each omni-directional wheel actual speed be deviated, then velocity information is fed back
Compared with being ordered to driver with original, driver is made adjustment according to speed difference, again transmits correct velocity amplitude to motor.Institute
Stating power control includes lithium battery and power bus interface circuit, and lithium battery is connected with power bus interface circuit, power supply
Bus interface circuit sends system, obstacle avoidance system, AGV kinematic systems with charging inlet, main control singlechip and ultrasonic wave and is connected；
After lithium battery is via pressure value needed for power bus interface circuit voltage regulation to main control singlechip, main control singlechip and ultrasonic wave are sent out
System, obstacle avoidance system, AGV kinematic systems is sent to be powered.
Preferably, motor selects DC speed-reducing in the AGV kinematic systems, and driver is four axle drivers.
Preferably, the wheel is matched somebody with somebody from the QMA10 omni-directional wheels that the constant movement of pose can be achieved by four wheels speed
Any angle turns in the case of conjunction completion AGV poses are constant.
Preferably, the ultrasonic wave follows the number of monomer ultrasonic wave reception system in reception system can be according to storehouse automatically
The size in storehouse/indoor place is calculated, if chamber height is h, the signal detection of selected ultrasonic wave transmitting/receiving transducer away from
From for s, then the maximum range of each monomer ultrasonic wave reception system is with a monomer ultrasonic wave reception system in theory
For summit, bottom surface radius isTaper in scope；The number of monomer ultrasonic wave reception system is covered according to task
Lid scope and control range size are divided in units of monomer ultrasonic wave reception system investigative range obtains number, with perpendicular to the ground
Z-axis is established downwards, and the monomer ultrasonic wave reception system anglec of rotation is set to be that θ=45 ° form curved surface with inferior horn with z-axis angle
Degree, then according to the maximum range for calculating actual monomer ultrasonic wave reception system be using a monomer ultrasonic wave reception system as
Summit, bottom surface radius are the scope in l=htan θ=htan45 °=h taper.
Preferably, the main control singlechip, which uses, supports multi-functional STM32F407VET6 single-chip microcomputers, the PA2 of single-chip microcomputer,
PA3 pins are connected with serial ports-WIFI module, complete the communication of main control singlechip and host computer, PC10, PC11 pin of single-chip microcomputer
It is connected with serial ports-WIFI module, the data transfer of completion main control singlechip and SICK_TIM_351 scanners, the PA0 of single-chip microcomputer,
PA1 pins are connected with the axle modules of M6050 six, main control singlechip is received AGV pose data, PB10, PB11 of single-chip microcomputer draw
Pin is connected with two steering wheels in No.1 steering wheel group, makes the direction of main control singlechip control excusing from death ripple transmitting, PC6, PC7 of single-chip microcomputer
Pin is connected with ultrasonic wave transmitting probe, makes main control singlechip control transmitting ultrasonic signal, and PB8, PB9 pin of single-chip microcomputer lead to
Cross CAN and send order, PA5~7, PA12 pins and the wireless communication module of single-chip microcomputer to the driver of AGV kinematic systems
It is connected, receives ultrasonic wave location data to main control singlechip.
The present invention has the advantages of following notable compared with prior art：
1. in existing ground installation control system, fixing and running using route more, it is dumb that this causes task to set,
The inflexible problem of the more AGV cooperations of multitask, the design uses forms upper the next overall control system by host computer and AGV system
System.The distribution of optimal task and cooperation point of multiple AGV in AGV system in same region can be drawn by host computer operation program
Match somebody with somebody, task and control object number can be set in real time.
2. this ultrasonic wave follows reception system system to be made up of several ultrasonic wave reception systems automatically, whole can be completely covered
Control range, and because ultrasonic wave reception system canAll-directional rotationFollow ultrasonic wave to launch receiving transducer, can avoid
The limitation of error and blind area caused by losing ripple, real time calibration itself posture avoid offseting running route, and location data is more accurate,
Whole ultrasonic wave reception systems in system can be completed mutually accurately to dock in orientation range, all-directional rotation used in design with
With ultrasonic wave transmitting receiving transducer the orientation range of each ultrasonic wave reception system can be made bigger, ultrasonic wave receives in reduction system
System number reduces cost, and task completeness is more preferable, and reliability is high.
3. avoidance takes multi-sensor information fusion barrier-avoiding method in system, the sensor increase on diverse location can be passed through
The scope of AGV aware spaces, one or more sensors are simultaneously or repeated detection can increase confidence level to barrier, and can be more
In time, reaction reduces environment and a certain obstacle avoidance system is interfered with accurately realizing the avoidance to dynamic barrier
The error brought, the complementary short slab of different obstacle avoidance systems, meanwhile, avoid shadow of a certain sensor fault to system operation
Ring, improve fault-tolerant ability and reliability.
4. wave filter and waveform count device, wave filter are added in ultrasonic probe, ultrasonic receiver can avoid noise jamming, waveform meter
Number device can detect each ultrasonic wave and receive head with the presence or absence of ripple is lost, and improves the reliability of the ultrasonic signal received, reduces
Error, improve the efficiency of ultrasonic positioning system.
5. the ultrasonic wave register control and its control method invented, the transport available for warehoused cargo positions, it is also possible to
In the place of other plane dollies transport, such as frock in indoor workshop, the transport of Workshop Production original paper, Hospital medical nurse, family
The similar site such as front yard Medical nursing.
The application of the present invention, can use manpower and material resources sparingly cost of investment, and market yet there are no technology identical equipment at home
Using having wide market prospects.
Brief description of the drawings
Fig. 1 is apparatus of the present invention schematic diagram；
Fig. 2 is AGV system structural representation；
Fig. 3 is the ultrasonic transmission system partial schematic diagram of AGV system；
Fig. 4 is that ultrasonic wave follows reception system structural representation automatically；
Fig. 5 is the active filter circuit in apparatus of the present invention；
Fig. 6 is ultrasonic wave waveform count device circuit diagram；
Fig. 7 is ultrasonic wave receiving module circuit diagram (the ultrasonic wave receiving module based on CX20106 that apparatus of the present invention are selected
Circuit diagram)；
Fig. 8 is the radio frequency module circuit figure (NRF24L01 radio frequency module circuits figure) that apparatus of the present invention are selected；
Fig. 9 is the principle schematic for following ultrasonic wave reception system automatically.
Embodiment
The embodiment of the present invention is described in detail below in conjunction with the accompanying drawings.
Referring to Fig. 1~Fig. 9.
Each part numbers are in figure：
1st, ultrasonic wave transmitting probe；2nd, No.1 steering wheel group；3rd, pose collector；4th, wireless communication module；5th, scanner；6、
The small fixed bottom plate of insulation；7th, serial ports-Ethernet modular converter；8th, main control singlechip；9th, display screen；10th, charging inlet；11、AGV
Switch；12nd, AGV car bodies；13rd, omni-directional wheel；14th, small size steering wheel；15th, No. two steering wheel groups；16th, ultrasonic wave receiving transducer, 17, monolithic
Machine；18th, wireless module；19th, wave filter；20th, counter；21st, digital comparator；22nd, insulate fixed bottom plate one；23rd, insulation is solid
Determine bottom plate two；24th, medium size steering wheel；25th, ultrasonic probe, ultrasonic receiver；26th, ultrasonic wave follows automatically receives system system；27th, AGV systems
System；28th, ultrasonic wave receives probe group；29th, infrared sensor；30th, ultrasonic sensor.
A kind of control device for ground handling trolley of the invention, including ultrasonic wave follow reception system 26, AGV systems automatically
System 27；The ultrasonic wave, which is connected to move, follows receipts system 26 to be fixed on the ceiling in required indoor place, and AGV system 27 is in warehouse
Ground on may move, ultrasonic wave follows reception system 26 and AGV system 27 to be connect respectively comprising several monomer ultrasonic waves automatically
Receipts system and monomer AGV system, ultrasonic wave follow reception system 26 to receive ultrasonic transmission system ultrasound in AGV system 27 automatically
The signal of ripple transmitting element, whole system can follow reception system automatically according to control range and control content adjustment ultrasonic wave
26th, monomer ultrasonic wave reception system and the quantity of monomer AGV system in AGV system 27.
The AGV system 27 includes several monomer AGV systems, and (number of monomer AGV system is according to actual task number
Amount, time requirement, place size and job specification determine；) wherein each monomer AGV system include ultrasonic wave transmitting element,
Avoidance detection unit, drive control unit, AGV car bodies 12, omni-directional wheel 13；(G is represented in front of AGV dollies in Fig. 2) described ultrasound
Ripple transmitting element, avoidance detection unit, drive control unit are sequentially located at front portion, middle part, rear portion on AGV car bodies 12, omnidirectional
Wheel 13 supports all directions movement in the plane of AGV car bodies 12 positioned at the lower section at four angles of AGV car bodies 12；
The ultrasonic transmission system ultrasonic wave transmitting element includes ultrasonic wave transmitting probe 1, No.1 steering wheel group 2, No.1 rudder
Unit 2 is fixed on AGV car bodies 12 with copper post passes through the fixed bottom plate and copper of insulating away from forward edge 6cm, ultrasonic wave transmitting probe 1
Post is fixed on the top of No.1 steering wheel group 2, and the No.1 steering wheel group 2 is built about 14 by two small size steering wheels and formed, and described one
Number steering wheel group 2 can complete flexible movement and reach all-direction rotation, can make ultrasonic wave transmitting probe 1 complete in orientation range with
Ultrasonic wave follows the alignment of reception system 26 automatically；Ultrasonic wave transmitting probe 1 and No.1 steering wheel group 2 pass through wire and master control respectively
Single-chip microcomputer 8 is connected；
The avoidance detection unit includes pose collector 3, wireless communication module 4, scanner 5, the fixed bottom plate of small insulation
6, the pose collector 3, wireless communication module 4, scanner 5 are fixed on the fixed bottom plate 6 of small insulation, the small fixed bottom plate of insulation
6 middle parts being fixed on AGV car bodies 12 are away from forward edge 13cm；
The drive control unit includes serial ports-Ethernet modular converter 7, main control singlechip 8, display screen 9, display screen 9
It is fixed on by support on AGV car bodies 12 away from rear part edge 4cm, main control singlechip 8 is located at the following side of display screen 9, serial ports-with
Too net modular converter 7 is located at the lower section of display screen 9, above AGV car bodies 12；
Surrounding on the AGV car bodies 12 fixes 4 ultrasonic sensors and 6 infrared sensors, on AGV car bodies 12
Anterior and afterbody fixes 2 ultrasonic sensors and 3 infrared sensors respectively, away from forward edge away from a left side on AGV car bodies 12
Lateral edges are that front left direction sets an infrared sensor to diagonally forward, away from forward edge away from left side on AGV car bodies 12
One ultrasonic sensor is set to front, one infrared biography is set to front away from left side away from forward edge on AGV car bodies 12
Sensor, one ultrasonic sensor is set to front away from right side edge away from forward edge on AGV car bodies 12, in AGV car bodies 12
On away from forward edge away from right side edge to diagonally forward be front right direction set an infrared sensor；On AGV car bodies 12
Away from tail edge away from left side edge to rear ramp be dead astern to the left angular direction set an infrared sensor, on AGV car bodies 12
One ultrasonic sensor is set to dead astern away from left side edge away from tail edge, away from tail edge away from left side on AGV car bodies 12
Edge sets an infrared sensor to dead astern, and one is set to dead astern away from right side edge away from tail edge on AGV car bodies 12
Ultrasonic sensor, away from tail edge away from right side edge it is that yawing moment is set to the right in dead astern to rear ramp on AGV car bodies 12
Put an infrared sensor；
Surrounding on the AGV car bodies 12 fixes 4 ultrasonic sensors and 6 infrared sensors, on AGV car bodies 12
Anterior and afterbody fixes 2 ultrasonic sensors and 3 infrared sensors respectively, on AGV car bodies 12 away from forward edge 1cm away from
Left side edge 1cm is that front deflects 45° angle direction and sets an infrared sensor to the left to diagonally forward, on AGV car bodies 12 away from
Forward edge 1cm sets a ultrasonic sensor away from left side edge 8cm to front, away from forward edge 1cm on AGV car bodies 12
One infrared sensor is set to front away from left side edge 16cm, away from forward edge 1cm away from right side edge on AGV car bodies 12
8cm sets a ultrasonic sensor to front, on AGV car bodies 12 away from forward edge 1cm away from right side edge 1cm to diagonally forward
I.e. front deflects to the right 45° angle direction and sets an infrared sensor；Away from tail edge 1cm away from left side on AGV car bodies 12
Edge 1cm is that dead astern deflects one infrared sensor of 45° angle direction setting to the left to rear ramp, away from afterbody side on AGV car bodies 12
Edge 1cm sets a ultrasonic sensor away from left side edge 8cm to dead astern, away from tail edge 1cm away from left side on AGV car bodies 12
Edge 16cm to dead astern set an infrared sensor, on AGV car bodies 12 away from tail edge 1cm away from right side edge 8cm to just
Rear set a ultrasonic sensor, on AGV car bodies 12 away from tail edge 1cm away from right side edge 1cm to rear ramp i.e. just after
Direction right avertence turns 45° angle direction and sets an infrared sensor.
Charging inlet 10 and AGV switches 11 are additionally provided with the rear end face of the AGV car bodies 12；Charging inlet 10 is located at AGV
The left side of switch 11, charging inlet (10) are connected with the power control in AGV car bodies 12, are to be provided with power control
Lithium cell charging；
The pose collector 3 is connected with wireless communication module 4 by wire with main control singlechip 8, and scanner 5 passes through
Signal wire is connected with wireless communication module 4, and wireless communication module 4 is connected with main control singlechip 8 again, and display screen 9 is directly and master control
Single-chip microcomputer 8 is connected.
The ultrasonic wave follows reception system 26 to include several monomer ultrasonic wave reception systems automatically, according to each monomer
The range of receiving of ultrasonic wave reception system is arranged in whole control area, and monomer ultrasonic wave reception system is included from the top down successively
Bottom plate 2 23, No. two steering wheel groups 15, ultrasonic probe, ultrasonic receivers 25 are fixed in connected insulation, and the fixed bottom plate 2 23 of insulation is fixed
On the ceiling of warehouse/interior, No. two steering wheel groups 15 are fixed on the fixed bottom plate 2 23 of insulation by corresponding support, ultrasound
Wave receiving device 25 is fixed on the lower section of No. two steering wheel groups 15 by the fixed bottom plate 1 that insulate, and No. two steering wheel groups (15) can complete
Flexible movement, i.e., to establish z-axis downwards perpendicular to the ground, make ultrasonic wave reception system complete with z-axis angle be 45 ° form curved surfaces with
Lower angle scope rotates；No. two steering wheel groups 15 are built by two direction sequences of medium size steering wheel 24 and formed；The ultrasonic wave
Reception device 25 includes ultrasonic wave receiving transducer 16, wave filter 19, counter 20, digital comparator 21, ultrasonic wave receiving transducer
16th, wave filter 19, counter 20, digital comparator 21 are both secured to insulate fixed bottom plate 1 towards the one side on ground；It is described
Ultrasonic wave receiving transducer 16 is four, and square profile is below fixed one 22 four corners of bottom plate of insulation, each ultrasonic wave
Receiving transducer 16 is all contacted with wave filter 19 respectively by welding, and wave filter 19 is contacted by welding with counter 20, wave filter
19 as shown in figure 5, whole counters 20 are all connected to digital comparator 21, counter 20 and the circuit of digital comparator 21 with wire
Figure is as shown in Figure 6.The single-chip microcomputer 17 is fixed on the one side towards ground of the fixed bottom plate 1 of insulation, and wireless module 18 is fixed
Between single-chip microcomputer 17 and ultrasonic wave receiving transducer 16, single-chip microcomputer 17 is connected by wire with wireless module 18, and single-chip microcomputer 17 is controlled
Wireless module 18 processed sends the signal to be communicated with wireless communication module 4, and single-chip microcomputer 17 also passes through wire and No. two phases of steering wheel group 15
Connect and control 15 gyrations of No. two steering wheel groups, obtain current ultrasonic and follow the place angle of reception system 26 automatically and it is entered
Row positioning；Single-chip microcomputer 17 is connected by wire with ultrasonic wave receiving transducer 16, and obtain that ultrasonic wave receiving transducer 16 receives is super
Acoustic signals.
The ultrasonic wave follows the face ultrasonic wave launch point place side of ultrasonic probe, ultrasonic receiver 25 of reception system 26 automatically
To even ultrasonic wave transmitting probe 1 is directed at the geometric center that four ultrasonic wave receiving transducers 16 form planar graph so that ultrasound
The air line distance of ripple transmitting probe 1 to each ultrasonic wave receiving transducer 16 is equal.
The wireless communication module is simple in construction, stable single-chip type radio frequency transceiver NRF24L01 to realize
The communication of main control singlechip and host computer；
The pose collector selects the axle modules of three axle MPU6050 of three axis accelerometer six, by its gyroscope function Lai really
Determine AGV posture.
The ultrasonic wave transmitting probe is TCT40-16T/R ultrasonic probes, and the No.1 steering wheel group is by two M90 steering wheels
A two-dimensional pan-tilt is formed, ultrasonic wave transmitting probe can be made to point to aerial unspecified angle, realize the signal on recipient direction
Maximum intensity propagate
Receiving transducer in the ultrasonic probe, ultrasonic receiver selects the ultrasonic wave receiving module based on CX20106a, wireless mould
Block selects NRF24L01 radio-frequency modules, and Fig. 7 is the ultrasonic wave receiving module circuit diagram that the present apparatus is selected, and Fig. 8 selects for the present apparatus
Radio frequency module circuit figure, the active band-pass filter that the wave filter is made up of low pass RC links and high pass RC links, wherein
Resistance R1, resistance R2, resistance R3, resistance R4 are that 1.2k Ω, electric capacity C1 and electric capacity C2 are 3300pF, as shown in Figure 5.It is described
Counter is the double BCD up counters of CD4518, and the digital comparator is 74LS85BCD digital comparators, each ultrasonic wave
Receiving transducer is connected an active filter respectively, each ultrasonic wave receive the INT ports of head respectively with corresponding active band logical
The Ui ports connection of wave filter；Each active filter is connected a counter respectively, the Uo ends of each active band-pass filter
Mouth connects with the CP1 ports of corresponding counter.The EN1 ports of each counter are connected with external 5V dc sources.All meters
In number devices, and 1A, 1B, 1C port A3, A2, A1 with digital comparator respectively of the counter of first ultrasonic probe connection
Port is connected, the counter being connected with other 3 ultrasonic probes 1A, 1B, 1C port by three counters and numerical value respectively
B3, B2, B1 port connection of comparator, as shown in Figure 6.Automatically the single-chip microcomputer in ultrasonic wave reception system is followed to use
STM32F407VET6 single-chip microcomputers, such as Fig. 9, A are single-chip microcomputer, and B is No. 2 steering wheel groups, and C is radio-frequency module, and D is that ultrasonic wave receives dress
Put, E is ultrasonic wave receiving transducer group, and F is digital comparator, follows the pin of the single-chip microcomputer in ultrasonic wave reception system automatically
Three OAGTB pins of P1B2~4 respectively with digital comparator in ultrasonic wave receiving transducer group are connected；PW1, PW2 respectively with No. 1
Steering wheel group, the signal wire of No. 2 steering wheel groups are connected.The pin of PG6~7 of single-chip microcomputer and PB3~5 NRF with radio-frequency module successively
CE, NRF CS, NRF IRQ, NRF SCK, NRF MOSI, NRF SCK pins are connected.
The car body, which is controlled via motor control assembly and powered by power control, completes motion；The car body includes
Vehicle frame and the omni-directional wheel below vehicle frame；The motor control assembly include driver corresponding with omni-directional wheel number, motor,
Encoder, the driver are placed in vehicle body center, and power control is fixed on the rear end of vehicle body, and each wheel leads to
Cross power transmission shaft and be connected with a motor respectively, motor other end installation encoder, driver respectively with power control, motor,
Encoder is connected.The motion command that main control singlechip transmits is decoded into the rotating speed of each omni-directional wheel by the driver, and rotating speed passes through
CAN is transmitted to the motor of each omni-directional wheel, motor driven omni-directional wheel motion control AGV movement velocitys and direction；Motor drives
The driving voltage of device, the rotating speed of motor, encoder survey rotating speed and constitute a closed loop, if the encoder measure it is each complete
The rotating speed for each omni-directional wheel being decoded into wheel actual speed with motion command is deviated, then velocity information is fed back into driver
Compared with being ordered with original, driver is made adjustment according to speed difference, again transmits correct velocity amplitude to motor.The power supply control
Device processed includes lithium battery and power bus interface circuit, and lithium battery is connected with power bus interface circuit, power bus interface
Circuit sends system, obstacle avoidance system, AGV kinematic systems with charging inlet, main control singlechip and ultrasonic wave and is connected；Lithium battery passes through
After the pressure value as needed for power bus interface circuit voltage regulation to main control singlechip, main control singlechip and ultrasonic wave are sent system,
Obstacle avoidance system, AGV kinematic systems are powered.
Motor is driven from fast, the import DC speed-reducing that power is big, moment of torsion is strong is responded in the AGV kinematic systems
Device is four axle drivers, and wheel passes through four wheels from the QMA10 omni-directional wheels that the guarantee constant movement of pose more flexibly can be achieved
Any angle turns in the case of sub- speed coordinates completion AGV poses constant.The AGV movement velocitys set is 0.1 (ms- 1), bear
Loading capability is 20kg, and car body size is 370 × 320 × 114mm, and a diameter of 101.6mm of QMA-10 omni-directional wheels, vehicle body minimum is liftoff
Gap is 23mm.
The ultrasonic wave follows the number of monomer ultrasonic wave reception system in reception system 26 can be according to warehouse/interior automatically
The size in place is calculated, if chamber height is h, the signal detection distance of selected ultrasonic wave transmitting/receiving transducer is s,
Then in theory the maximum range of each monomer ultrasonic wave reception system be using a monomer ultrasonic wave reception system as summit,
Bottom surface radius isTaper in scope；The number of monomer ultrasonic wave reception system according to task coverage and
Control range size is divided in units of monomer ultrasonic wave reception system investigative range and obtains number, to establish downwards perpendicular to the ground
Z-axis, set the monomer ultrasonic wave reception system anglec of rotation be with z-axis angle be that θ=45 ° form curved surface with lower angle, then basis
The maximum range for calculating actual monomer ultrasonic wave reception system is the bottom surface using a monomer ultrasonic wave reception system as summit
Radius is the scope in l=htan θ=htan45 °=h taper.
The main control singlechip is using the multi-functional STM32F407VET6 single-chip microcomputers of support, PA2, PA3 pin of single-chip microcomputer
It is connected with serial ports-WIFI module, completes the communication of main control singlechip and host computer, PC10, PC11 pin and serial ports of single-chip microcomputer-
WIFI module is connected, and completes the data transfer of main control singlechip and SICK_TIM_351 scanners, PA0, PA1 pin of single-chip microcomputer
It is connected with the axle modules of M6050 six, main control singlechip is received AGV pose data, PB10, PB11 pin and No.1 of single-chip microcomputer
Two steering wheels are connected in steering wheel group, make the direction of main control singlechip control excusing from death ripple transmitting, PC6, PC7 pin of single-chip microcomputer are with surpassing
Acoustic emission probe is connected, and main control singlechip control is launched ultrasonic signal, PB8, PB9 pin of single-chip microcomputer are total by CAN
Line sends order to the driver of AGV kinematic systems, and PA5~7 of single-chip microcomputer, PA12 pins are connected with wireless communication module, connect
Ultrasonic wave location data is received to main control singlechip；
Method using the control device for ground handling trolley is as follows：
A. in size, the arrangement of barrier and the numerical value of start-stop position of host computer setting electronic map, mesh is set
Mark task number and AGV number, host computer draw global grid electron map according to data and completed
Improve particle cluster algorithm and optimal task assignment is calculated and by improving calculating for ant group algorithm
Go out global optimum's route, global optimum's route corresponding to task allocation result and each AGV is shown in
Host computer interface；AGV movement velocitys are set as 0.1 (ms- 1)；
B. interface parameters is configured in host computer, the serial ports that data are received corresponding on AGV is set, by task and routing information
Sent by wireless communication module 4 to serial ports corresponding to AGV, the data received are transferred into main control singlechip 8, and each AGV connects
Receive global optimum's route；
Whether c.AGV systems first confirm each monomer AGV in set start position, ultrasonic wave follows the reception to be automatically
Wireless module 18 in system 26 sends a column data signal to the wireless communication module 4 on AGV；
D. main control singlechip 8 opens ultrasonic wave transmitting timer after wireless communication module 4 receives signal, and makes ultrasonic wave
Transmitting probe 1 launches ultrasonic signal with the frequency of 10 times per second.Ultrasonic wave follows wireless in reception system 26 automatically simultaneously
The automatic-answering back device of module 18, ultrasonic wave follow the single-chip microcomputer 17 in reception system 26 to open the clocking capability of wherein timer to enter automatically
Row ultrasonic wave receives timing；
E. ultrasonic probe, ultrasonic receiver 25 receives the ultrasonic signal of the transmitting of ultrasonic wave transmitting probe 1, ultrasound signal transmission
To single-chip microcomputer 17, the timer in single-chip microcomputer 17 completes timing, and the ultrasonic signal that ultrasonic wave receiving transducer 16 receives is through super
Active band-pass filter 19 in acoustic receiver device 25 is filtered, and in ultrasonic wave positioning, ultrasonic wave transmitting probe 1 is sent super
The frequency of sound wave is about 38kHz~40kHz, is removed by active band-pass filter 19 and does not send what system was launched in ultrasonic wave
Clutter in 40kHz ultrasonic wave threshold values, and connect by the counter 20 in each ultrasonic wave receiving transducer group 28 to per second
The ultrasonic wave number received is counted, and the ultrasonic wave number that each ultrasonic wave receiving transducer 16 receives is sent to numeric ratio
Compared with being compared in device 21, in whole counters 20, and the counter 20 that first ultrasonic wave receiving transducer 16 connects has three tunnels
Output signal A3, A2, A1, this three-way output signal is identical, the counter being connected in addition with other 3 ultrasonic wave receiving transducers 16
20 export 1 road signal respectively, are exported respectively by B3, B2, B1 port of three counters 20, signal output to digital comparator
21.3 tunnel output signals of the counter 20 to be connected with first ultrasonic wave receiving transducer 16 are defined, respectively with its excess-three
The signal that the connected counter 20 of ultrasonic wave receiving transducer 16 exports is contrasted, if comparing result and the truth table shown in table 1
Last column is consistent, then proves that the waveform number that 4 ultrasonic wave receiving transducers 16 receive is identical, does not exist and loses ripple, then this group
Signal determining is reliable signal, if being consistent with remaining row, represents waveform number that 4 ultrasonic wave receiving transducers 16 receive not phase
Together, that is, exist and lose ripple, then signal is given up without operation；
F. reliable signal is transferred to single-chip microcomputer 17, and single-chip microcomputer 17 is counted between the timer institute timing according to corresponding to reliable signal
Calculate the distance that each ultrasonic wave receiving transducer 16 is surveyed；The distance that single-chip microcomputer 17 is surveyed according to each ultrasonic wave receiving transducer 16 is sentenced
The reliability of disconnected current ultrasonic signal, i.e., according to each 16 rangings of ultrasonic wave receiving transducer from whether differing no more than set
Threshold value judges received by each ultrasonic wave receiving transducer 16 whether be same row ultrasonic signal, if be no more than institute
It is reliable if threshold value；
G. ultrasonic wave follow automatically single-chip microcomputer in reception system 26 according to each ultrasonic wave receiving transducer 16 receive can
The residing height of reception system 26 is followed automatically with reference to when the first two number angle of steering wheel group 15 and ultrasonic wave by range data, passes through three
AGV ultrasonic wave location datas are calculated in angle geometry, and ultrasonic probe, ultrasonic receiver 25 passes through pulse width according to current position determination data
Modulation control ultrasonic wave follows the steering alignment AGV of No. two steering wheel groups 15 in reception system 26 automatically；
H. ultrasonic wave follows reception system 26 to send ultrasonic wave location data, wireless communication module by wireless module automatically
4 receive the main control singlechip 8 that ultrasonic wave location data is sent to AGV, and main control singlechip 8 judges reliability, if 0, then loses
Abandon, and continuous 10 storages ultrasonic wave location data, it is averaged after removing wherein maximum, minimum value, draws final ultrasonic wave
Location data；
I. main control singlechip 8 confirms whether AGV is in set start position after obtaining location data, if so, then root
According to global optimum's route transmitted by host computer movement is proceeded by from current point；If it is not, the current institute then drawn with positioning
Local starting point is set in place carries out local paths planning, main control singlechip 8 by localized target point of set start position
Motion command is transmitted to motor control assembly according to the data obtained, driver transmits main control singlechip 8 in motor control assembly
Motion command the rotating speed of each omni-directional wheel is decoded into by driver, rotating speed transmits complete to the motor of each omni-directional wheel 13, motor driven
Moved to wheel and determine AGV movement velocitys and direction.Encoder tests the speed each omni-directional wheel actual speed in motor control assembly, if with life
Order is deviated, then compared with feedback of the information to driver is ordered with original, and exports order again by driver and make adjustment, complete
Into local motion, reach starting point and proceed by movement from current point further according to global optimum's route transmitted by host computer.
J. simultaneously, main control singlechip 8 combines final ultrasonic wave location data and pose collector 3 transmits current AGV
Attitude data handles to obtain the alignment angle that No.1 steering wheel group 2 in ultrasonic wave transmission system needs to rotate；Ultrasonic wave sends system
Middle No.1 steering wheel group 2 is completed to rotate, and follows reception system 26 to complete to be aligned automatically with ultrasonic wave.
K. in AGV moving process, main control singlechip 8 sets the local avoidance scope of obstacle avoidance system as 4m, master control monolithic
Machine 8 carries out local avoidance using A* algorithms, and A* algorithms use grid electron map, and the scale division value of local grid electron map is
0.05m, total grid number of local grid electron map is 25600, and main control singlechip 8 is by local environment sense command through string
Mouth-Ethernet modular converter 7 changes into ethernet format and exported to scanner 5, and scanner 5 is by local environment result of detection through string
Mouth-Ethernet modular converter 7 changes into serial ports form and exported to main control singlechip 8, and the detection range of infrared sensor 29 is 3-
80cm, the detection range of ultrasonic sensor 30 are 2cm-400cm, infrared sensor 29 and the detecting obstacles thing of ultrasonic sensor 30
Information transmits local environment result of detection to main control singlechip 8, and the Bayesian Estimation algorithm of the running optimizatin of main control singlechip 8 will
Local environment result of detection carries out information fusion, and fusion results are generated local grid electron map by main control singlechip 8.
L. on the basis of local grid electron map is constructed, operation A* algorithms carry out quick local paths planning.Root
According to path planning, the AGV direction of motion is determined, by controlling motor control assembly in step (h), completes locally to hinder in environment
Hinder hiding for thing.
Being currently located for AGV arrival is a little regarded into starting point, repeat step c to m, until the point that AGV is reached is set
The terminating point put.
Table 1 (74LS85 truth tables)
The separate embodiment of the embodiment described above only present invention, the protection domain being not intended to limit the invention,
All technical schemes formed using equivalent substitution or equivalent transformation, and meet the technical scheme of subject matter thinking of the present invention,
In the protection domain of application claims.
Claims (10)
1. a kind of control device for ground handling trolley, it is characterized in that, including ultrasonic wave follow automatically reception system (26),
AGV system (27)；The ultrasonic wave, which is connected to move, follows receipts system (26) to be fixed on the ceiling in required indoor place, AGV systems
Uniting, (27) are removable on the ground in warehouse, and ultrasonic wave follows reception system (26) and AGV system (27) if including respectively automatically
Dry monomer ultrasonic wave reception system and monomer AGV system, ultrasonic wave follow reception system (26) to receive AGV system automatically
(27) signal of ultrasonic transmission system ultrasonic wave transmitting element in；
The AGV system (27) includes several monomer AGV systems, wherein each monomer AGV system, which includes ultrasonic wave, sends list
Member, avoidance detection unit, drive control unit, AGV car bodies (12), omni-directional wheel (13)；The ultrasonic wave transmitting element, avoidance inspection
Survey unit, drive control unit are sequentially located at front portion, middle part, rear portion on AGV car bodies (12), and omni-directional wheel (13) is located at AGV cars
The lower section at four angles of body (12), and support AGV car bodies (12) all directions movement in the plane；
The ultrasonic transmission system ultrasonic wave transmitting element includes ultrasonic wave transmitting probe (1), No.1 steering wheel group (2), No.1 rudder
Unit (2) is fixed on AGV car bodies (12) with copper post passes through fixed bottom of insulating away from forward edge 6cm, ultrasonic wave transmitting probe (1)
Plate and copper post are fixed on the top of No.1 steering wheel group (2), and the No.1 steering wheel group (2) is built up and down by two small size steering wheels (14)
Form, the No.1 steering wheel group (2) can complete flexible movement and reach all-direction rotation, and ultrasonic wave transmitting probe (1) can be made to complete
The alignment for following reception system (26) automatically with ultrasonic wave in orientation range；Ultrasonic wave transmitting probe (1) and No.1 steering wheel
Group (2) is connected by wire with main control singlechip (8) respectively；
The avoidance detection unit includes pose collector (3), wireless communication module (4), scanner (5), the fixed bottom of small insulation
Plate (6), the pose collector (3), wireless communication module (4), scanner (5) are fixed on the fixed bottom plate (6) of small insulation, small
The middle part that the fixed bottom plate (6) of insulation is fixed on AGV car bodies (12) is away from forward edge 13cm；
The drive control unit includes serial ports-Ethernet modular converter (7), main control singlechip (8), display screen (9), display screen
(9) it is fixed on by support on AGV car bodies (12) and is located at the downside of display screen (9) away from rear part edge 4cm, main control singlechip (8)
Portion, (12) serial ports-Ethernet modular converter (7) are located at the lower section of display screen (9), AGV car bodies (12) above；
Surrounding on the AGV car bodies (12) fixes 4 ultrasonic sensors and 6 infrared sensors, on AGV car bodies (12)
Anterior and afterbody fixes 2 ultrasonic sensors and 3 infrared sensors respectively, on AGV car bodies (12) away from forward edge away from
Left side edge to diagonally forward be front left direction set an infrared sensor, on AGV car bodies (12) away from forward edge away from
Left side sets a ultrasonic sensor to front, and one is set to front away from left side away from forward edge on AGV car bodies (12)
Infrared sensor, one ultrasonic sensor is set to front away from right side edge away from forward edge on AGV car bodies (12),
One infrared sensor is set to the i.e. front right direction of diagonally forward away from right side edge away from forward edge on AGV car bodies (12)；
On AGV car bodies (12) away from tail edge away from left side edge to rear ramp be dead astern to the left angular direction set an infrared sensor,
One ultrasonic sensor is set to dead astern away from left side edge away from tail edge on AGV car bodies (12), on AGV car bodies (12)
One infrared sensor is set to dead astern away from left side edge away from tail edge, away from tail edge away from right side on AGV car bodies (12)
Edge sets a ultrasonic sensor to dead astern, is to rear ramp away from right side edge away from tail edge on AGV car bodies (12)
Yawing moment sets an infrared sensor to the right in dead astern；
The ultrasonic wave follows ultrasonic probe, ultrasonic receiver (25) face ultrasonic wave launch point place side of reception system (26) automatically
To even ultrasonic wave transmitting probe (1) is directed at the geometric center that four ultrasonic wave receiving transducers (16) form planar graph so that
The air line distance of ultrasonic wave transmitting probe (1) to each ultrasonic wave receiving transducer (16) is equal；
Motor selects DC speed-reducing in the AGV kinematic systems, and driver is four axle drivers, and wheel is complete from QMA10
To wheel.
2. it is used for the control device of ground handling trolley as claimed in claim 1, it is characterized in that,
Surrounding on the AGV car bodies (12) fixes 4 ultrasonic sensors and 6 infrared sensors, on AGV car bodies (12)
Anterior and afterbody fixes 2 ultrasonic sensors and 3 infrared sensors respectively, away from forward edge 1cm on AGV car bodies (12)
45° angle direction is deflected to the left to diagonally forward i.e. front away from left side edge 1cm one infrared sensor is set, in AGV car bodies (12)
On away from forward edge 1cm away from left side edge 8cm to front set a ultrasonic sensor, away from front portion on AGV car bodies (12)
Edge 1cm away from left side edge 16cm to front set an infrared sensor, on AGV car bodies (12) away from forward edge 1cm away from
Right side edge 8cm sets a ultrasonic sensor to front, away from forward edge 1cm away from right side edge on AGV car bodies (12)
1cm is that front deflects to the right one infrared sensor of 45° angle direction setting to diagonally forward；Away from afterbody side on AGV car bodies (12)
Edge 1cm is that dead astern deflects one infrared sensor of 45° angle direction setting to the left to rear ramp away from left side edge 1cm, in AGV car bodies
(12) on away from tail edge 1cm away from left side edge 8cm to dead astern set a ultrasonic sensor, on AGV car bodies (12) away from
Tail edge 1cm sets an infrared sensor away from left side edge 16cm to dead astern, away from tail edge on AGV car bodies (12)
1cm sets a ultrasonic sensor away from right side edge 8cm to dead astern, away from tail edge 1cm away from right side on AGV car bodies (12)
Edge 1cm is that dead astern deflects to the right one infrared sensor of 45° angle direction setting to rear ramp.
3. it is used for the control device of ground handling trolley as claimed in claim 2, it is characterized in that,
Charging inlet 10 and AGV switches (11) are additionally provided with the rear end face of the AGV car bodies (12)；Charging inlet 10 is located at AGV
The left side of (11) is switched, charging inlet (10) is connected with the power control in AGV car bodies (12), is in power control
The lithium cell charging being provided with；
The pose collector (3) is connected with wireless communication module (4) by wire with main control singlechip (8), scanner (5)
It is connected by signal wire with wireless communication module (4), wireless communication module (4) is connected with main control singlechip (8) again, display screen
(9) directly it is connected with main control singlechip (8).
4. it is used for the control device of ground handling trolley as claimed in claim 1, it is characterized in that,
The ultrasonic wave follows reception system (26) to include several monomer ultrasonic wave reception systems automatically, is surpassed according to each monomer
The range of receiving of acoustic receiver system is arranged in whole control area, and monomer ultrasonic wave reception system includes from the top down phase successively
Bottom plate two (23), No. two steering wheel groups (15), ultrasonic probe, ultrasonic receiver (25), the fixed bottom plate two of insulation are fixed in insulation even
(23) it is fixed on the ceiling of warehouse/interior, No. two steering wheel groups (15) are fixed on the fixed bottom plate of insulation by corresponding support
On two (23), ultrasonic probe, ultrasonic receiver (25) is fixed on the lower section of No. two steering wheel groups (15) by fixed bottom plate one (22) of insulating,
No. two steering wheel groups (15) can complete flexible movement, i.e., to establish z-axis downwards perpendicular to the ground, make the completion of ultrasonic wave reception system and z
Shaft angle degree is 45 ° and forms the following angular range rotation of curved surface；No. two steering wheel groups (15) are by two medium size steering wheel (24) directions
Sequence builds composition；The ultrasonic probe, ultrasonic receiver (25) includes ultrasonic wave receiving transducer (16), wave filter (19), counter
(20), digital comparator (21), ultrasonic wave receiving transducer (16), wave filter (19), counter (20), digital comparator (21) are equal
The fixed bottom plate one (22) of insulation is fixed on towards the one side on ground；The ultrasonic wave receiving transducer (16) is four, square point
Be distributed in below fixed bottom plate one (22) four corners of insulation, each ultrasonic wave receiving transducer (16) by weld respectively with filter
Ripple device (19) contact, wave filter (19) by welding with counter (20) contact, wave filter (19), whole counters (20) all with
Wire is connected to digital comparator (21), the single-chip microcomputer (17) be fixed on the fixed bottom plate one (22) of insulation towards the one of ground
Face, wireless module (18) are fixed between single-chip microcomputer (17) and ultrasonic wave receiving transducer (16), single-chip microcomputer (17) by wire with
Wireless module (18) is connected, and single-chip microcomputer (17) control wireless module (18) sends the signal to be communicated with wireless communication module (4), single
Piece machine (17) is also connected with No. two steering wheel groups (15) by wire and controls No. two steering wheel group (15) institute gyrations, is currently surpassed
Angle where sound wave follows reception system (26) automatically simultaneously positions to it；Single-chip microcomputer (17) is received by wire and ultrasonic wave
Probe (16) is connected, and obtains the ultrasonic signal that ultrasonic wave receiving transducer (16) receives.
5. it is used for the control device of ground handling trolley as claimed in claim 1, it is characterized in that,
Receiving transducer in the ultrasonic probe, ultrasonic receiver selects the ultrasonic wave receiving module based on CX20106a, wireless module choosing
The active band-pass filter being made up of with NRF24L01 radio-frequency modules, the wave filter low pass RC links and high pass RC links, its
Middle resistance R1, resistance R2, resistance R3, resistance R4 are that 1.2k Ω, electric capacity C1 and electric capacity C2 are 3300pF, and the counter is
The double BCD up counters of CD4518, the digital comparator are 74LS85BCD digital comparators, each ultrasonic wave receiving transducer
Connect respectively an active filter, each ultrasonic wave receive the INT ports of head respectively with corresponding active band-pass filter
Ui ports connect；Each active filter is connected a counter respectively, the Uo ports of each active band-pass filter with it is corresponding
Counter CP1 ports connection, the EN1 ports of each counter are connected with external 5V dc sources, in whole counters, and
1A, 1B, 1C port of the counter of first ultrasonic probe connection are connected with A3, A2, A1 port of digital comparator respectively,
The counter being connected with other 3 ultrasonic probes 1A, 1B, 1C port by three counters and digital comparator respectively
B3, B2, B1 port connect, and follow the single-chip microcomputer in ultrasonic wave reception system to use STM32F407VET6 single-chip microcomputers automatically, automatically
Follow pin P1B2~4 of the single-chip microcomputer in ultrasonic wave reception system respectively with digital comparator in ultrasonic wave receiving transducer group
Three OAGTB pins are connected；The signal wire of PW1, PW2 respectively with No. 1 steering wheel group, No. 2 steering wheel groups is connected, PG6~7 of single-chip microcomputer
The NRF CE with radio-frequency module, NRF CS, NRF IRQ, NRF SCK, NRF MOSI, NRF SCK draw successively with the pin of PB3~5
Pin is connected.
6. it is used for the control device of ground handling trolley as claimed in claim 1, it is characterized in that,
The car body, which is controlled via motor control assembly and powered by power control, completes motion；The car body includes vehicle frame
With the omni-directional wheel below vehicle frame；The motor control assembly includes driver corresponding with omni-directional wheel number, motor, coding
Device, the driver are placed in vehicle body center, and power control is fixed on the rear end of vehicle body, and each wheel passes through biography
Moving axis is connected with a motor respectively, motor other end installation encoder, driver respectively with power control, motor, coding
Device is connected；The motion command that main control singlechip transmits is decoded into the rotating speed of each omni-directional wheel by the driver, and rotating speed is total by CAN
Line is transmitted to the motor of each omni-directional wheel, motor driven omni-directional wheel motion control AGV movement velocitys and direction；The drive of motor driver
Dynamic voltage, the rotating speed of motor, encoder survey rotating speed and constitute a closed loop, if each omni-directional wheel that the encoder measures is real
The rotating speed for each omni-directional wheel that border speed is decoded into motion command is deviated, then velocity information is fed back into driver orders with former
Order is compared, and driver is made adjustment according to speed difference, again transmits correct velocity amplitude to motor；The power control
Including lithium battery and power bus interface circuit, lithium battery is connected with power bus interface circuit, power bus interface circuit with
Charging inlet, main control singlechip and ultrasonic wave send system, obstacle avoidance system, AGV kinematic systems and are connected；Lithium battery is via power supply
After pressure value needed for bus interface circuit pressure regulation to main control singlechip, system, avoidance system are sent to main control singlechip and ultrasonic wave
System, AGV kinematic systems are powered.
7. it is used for the control device of ground handling trolley as claimed in claim 1, it is characterized in that,
Motor selects DC speed-reducing in the AGV kinematic systems, and driver is four axle drivers.
8. it is used for the control device of ground handling trolley as claimed in claim 1, it is characterized in that,
The wheel is coordinated by four wheels speed from the QMA10 omni-directional wheels that the constant movement of pose can be achieved and is completed AGV positions
Any angle turns in the case of appearance is constant.
9. it is used for the control device of ground handling trolley as claimed in claim 1, it is characterized in that,
The ultrasonic wave follows the number of monomer ultrasonic wave reception system in reception system (26) can be according to warehouse/indoor field automatically
Size be calculated, if chamber height is h, the signal detection of selected ultrasonic wave transmitting/receiving transducer distance is s, then
The maximum range of each monomer ultrasonic wave reception system is the bottom using a monomer ultrasonic wave reception system as summit in theory
Radius surface isTaper in scope；The number of monomer ultrasonic wave reception system is according to task coverage and control
Range size processed is divided in units of monomer ultrasonic wave reception system investigative range and obtains number, to establish z downwards perpendicular to the ground
Axle, the monomer ultrasonic wave reception system anglec of rotation is set to be that θ=45 ° form curved surface with lower angle with z-axis angle, then according to meter
The maximum range for calculating actual monomer ultrasonic wave reception system is the bottom surface half using a monomer ultrasonic wave reception system as summit
Footpath is the scope in l=htan θ=htan45 °=h taper.
10. it is used for the control device of ground handling trolley as claimed in claim 1, it is characterized in that, the main control singlechip uses
Multi-functional STM32F407VET6 single-chip microcomputers are supported, PA2, PA3 pin of single-chip microcomputer are connected with serial ports-WIFI module, complete master
The communication of single-chip microcomputer and host computer is controlled, PC10, PC11 pin of single-chip microcomputer are connected with serial ports-WIFI module, complete master control monolithic
The data transfer of machine and SICK_TIM_351 scanners, PA0, PA1 pin of single-chip microcomputer are connected with the axle modules of M6050 six, make master
The pose data that single-chip microcomputer receives AGV are controlled, PB10, PB11 pin of single-chip microcomputer are connected with two steering wheels in No.1 steering wheel group, made
The direction of main control singlechip control excusing from death ripple transmitting, PC6, PC7 pin of single-chip microcomputer are connected with ultrasonic wave transmitting probe, make master control
Single-chip microcomputer control transmitting ultrasonic signal, the driver of PB8, PB9 pin of single-chip microcomputer by CAN to AGV kinematic systems
Order is sent, PA5~7 of single-chip microcomputer, PA12 pins are connected with wireless communication module, receive ultrasonic wave location data to master control list
Piece machine.
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