CN107783532A - A kind of magnetic navigation AGV control systems - Google Patents
A kind of magnetic navigation AGV control systems Download PDFInfo
- Publication number
- CN107783532A CN107783532A CN201610714211.0A CN201610714211A CN107783532A CN 107783532 A CN107783532 A CN 107783532A CN 201610714211 A CN201610714211 A CN 201610714211A CN 107783532 A CN107783532 A CN 107783532A
- Authority
- CN
- China
- Prior art keywords
- control
- agv
- control systems
- magnetic navigation
- monitoring management
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
- G05D1/0263—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means using magnetic strips
Abstract
To ensure the scalability and stability of magnetic navigation AGV control systems, a kind of magnetic navigation AGV control systems are invented, its hardware structure mounts the arm processor of multiple control ancillary equipment by CAN using built-in industrial control machine as core.Emphasis gives the implementation of system motion controller and monitoring management system.Motion controller is realized based on interrupt task scheduling method, the tracking behavior of AGV dynamic is improved by Fuzzy self- turning PD adjusters；Monitoring management system includes six kinds of interactive modules.It sends is completed by good time thread suspension with receiving communication process with progressively receiving matching operation to cooperate.Through field measurement, AGv is stable and reliable in work, and tracking effect is good.
Description
Art
The present invention relates to a kind of control system, more particularly to a kind of magnetic navigation AGV control systems.
Background technology
Automatic guided vehicle AGV is modern logistics systems automation, flexibility and intelligentized key equipment.Study AGV's
Correlation technique is significant.Navigation system is AGV core components, and AGV common at present navigation mode mainly has vision to lead
Boat, laser navigation and magnetic navigation, vision guided navigation due to easy its bad adaptability affected by environment, the hardware cost of laser navigation compared with
It is high.Then not only control is simple for magnetic navigation, cost is low and strong antijamming capability, can work under circumstances, application is the widest
It is general.
AGV navigation control system according to its control core difference mainly have using single-chip microcomputer, programmable controller PLC with
The schemes such as built-in industrial control machine.Single-chip microcomputer and PLC control system have the advantages that low-power consumption and control is simple, but scalability compared with
Difference.By contrast, embedding people's formula industrial computer carries multiple hardwares interface.Be advantageous to expanding of system function, facilitate the upgrading of product to change
Generation.
The content of the invention
The purpose of the present invention is to ensure the scalability and stability of magnetic navigation AGV control systems, devising a kind of magnetic conductance
Boat AGV control systems.
The technical solution adopted for the present invention to solve the technical problems is.
Magnetic navigation AGV control systems are divided into monitoring management layer, communication layers, key-course, functional layer and sensor from top to bottom
Five big layer of layer, monitoring management layer, its hardware structure are mounted outside multiple controls using built-in industrial control machine as core by CAN
The arm processor of peripheral equipment.Motion controller realized based on interrupt task scheduling method, is assisted with interrupt task scheduling method
Each TU task unit of adjusting system motion controller, prison is completed with progressively matching message mode to cooperate by hanging up thread in good time
The communication process of management system is controlled, the real-time control of system is realized, in addition, ensureing magnetic conductance using Fuzzy self- turning PD adjusters
The control accuracy and adaptability of boat.The tracking behavior of AGV dynamic is improved by Fuzzy self- turning PD adjusters；Monitoring management system
Including six kinds of interactive modules.It sends is cooperated with receiving communication process by good time thread suspension with progressively reception matching operation
Complete.
Described system loads on AGV grinds magnificent industrial computer POD-6552, for realizing the monitoring management to control system
Deng.
For described system by establishing WLAN, achievable user terminal PC is shared with monitoring management terminal data,
Contribute to the debugging, exploitation and management of control system.
Described system completes the order control between monitoring management layer and key-course in communication layers using CAN fieldbus
System is sent to be fed back with report.
Described key-course coordinates to complete various control functions using STM32F103RBT6 ARM7 processors.
The microminiature distributing that described system is made up of motion controller and the node of pilot controller two controls
System.
Described fieldbus is suitable to the extension of later stage control node, is the guarantor that system moves towards complication and intellectuality etc.
Card.
Described functional layer includes navigation, special command, motor driving, avoidance, display interaction, gesture feedback and control manually
Make seven big functional units.
Described sensor layer is by navigation sensor, command sensor, controlled motor and driver, infrared sensor, liquid
Crystalline substance screen, encoder and button keys composition.
Fuzzy control is combined by described system with PID control, using PD control device as core, is moved using fuzzy control
The coefficient of state amendment PD control device, improve AGV dynamic tracking behavior.
The software of described motion controller function is realized, main to include navigation tracing task, speed governing task, special command
Task, safe avoidance task and communication task.
The beneficial effects of the invention are as follows.
Magnetic navigation AGV control systems design motion controller based on interrupt mode, enhance the execution efficiency of system
With response speed；Realize the vehicle-mounted monitoring management systems of AGV, can monitor in real time vehicle-mounted running status, tracing control information,
Avoidance state and vehicle-mounted position and posture etc..It is easy to interactive maintenance.In addition, good navigation essence is ensure that using the fuzzy PD adjuster
Degree.Field measurement is carried out to the system, system communication is reliable and stable, and tracking is effective.
Brief description of the drawings
The present invention is further described with reference to the accompanying drawings and examples.
Fig. 1 is system general frame.
Fig. 2 is AGV body construction sketches.
Fig. 3 is Fuzzy self- turning PD adjusters.
Fig. 4 is that the software of motion controller is realized.
Wherein, 1- navigation tape track, 2- navigation sensors, 3-AGV is vehicle-mounted, 4- order tape sections, 5- command sensors.
Embodiment
As shown in figure 1, system architecture is the key of AGV control systems.The control program of system is divided into monitoring from top to bottom
Management level, communication layers, five big layer of key-course, functional layer and sensor layer, monitoring management layer.Loaded on AGV and grind magnificent industrial computer
POD-6552, for realizing monitoring management to control system etc..By establishing WLAN, user terminal PC and prison can be achieved
Sharing for control management terminal data, contributes to the debugging, exploitation and management of control system；CAN fieldbus is used in communication layers
Sent and report feedback to complete the control of the order between monitoring management layer and key-course.Fieldbus is suitable to later stage control node
Extension, be that system is moved towards to complicate and the guarantee of intellectuality etc.：Key-course is come using STM32F103RBT6 ARM7 processors
Coordinate to complete various control functions, the microminiature that system is made up of motion controller with the node of pilot controller two is disperseed
Formula control system.
It is big that functional layer includes navigation, special command, motor driving, avoidance, display interaction, gesture feedback and control seven manually
Functional unit.The function of navigation elements is to ensure that AGV, along predetermined track operation, flies to make a reservation for certain precision when AGV is run
During track, it is automatically stopped；Special command unit is acted on when vehicle-mounted certain precalculated position of arrival, and order AGV, which is performed, to rest, loads
Or unloading special action：Electric-motor drive unit is the execution end of system, and system is reached by the adjustment control of motor speed
Into navigating, rest and the various basic exercise control functions such as acceleration and deceleration；Avoidance unit is the security module of AGV onboard systems, AGV
It should stop immediately when running into barrier, obstacle is restarted automatically after disappearing, and continues operation.In addition, if AGV is in forward travel state,
But the barrier detected is located at vehicle-mounted rear end, then AGV answers maintenance forward travel state.Before AGV in fallback state
Occur doing similar process during barrier：Show that interactive unit is used for the display of the states such as the current speeds of service of AGV, position；Manually
Control unit is used for jerk control AGV etc..
Sensor layer is by navigation sensor, command sensor, controlled motor and driver, infrared sensor, liquid crystal display, volume
Code device and button keys composition.Movement processor reads the state value of digital navigation sensor by real time scan, with common IO
Connect navigation sensor；Command sensor reacts on some discrete special marking points.Interrupted using IO external triggers to hunt
Take command information；The speed regulation of motor is completed using frequency conversion PWM outputs：The triggering information of infrared sensor is also using outside IO
Triggering is interrupted to monitor acquisition in real time：The incremental encoder interface capturing and coding device signal integrated using STM32 timers, meter
Calculation obtains current vehicle-mounted speed and pose.
As shown in Fig. 2 AGV bodies are made up of front left and right differential driving wheel and rear universal wheel, navigation sensor is arranged on car
Carry front bottom end.For detecting the offset distance at AGV centers and tape track：Command sensor is then fixed on vehicle-mounted right lateral side, is used for
Detect special command trigger signal.Navigation track is made up of continuous tape, and three discrete tape sections are combined into a special command and touched
Bill member.
As shown in figure 3, navigation tracking is one of core technology of motion controller.Conventional PID controllers technology into
It is ripe, it is widely used, but conventional PID controller poor robustness, for nonlinear time-varying or the system of sluggishness, control effect is not
It is good.And pure fuzzy control can overcome the disadvantages that the shortcomings that conventional PID controllers just.It is of the invention by fuzzy control and PID control phase for this
With reference to using PD control device as core, using fuzzy control come the coefficient of dynamic corrections PD control device, the dynamic for improveing AGV tracks
Behavior.The tracing deviation and change of error detected using navigation sensor from tape as controller input, through Fuzzy Processing
The parameter correction values of PD control device are obtained afterwards.After correcting PD control device, the control speed difference of the output vehicle-mounted left and right wheels of AGV goes to adjust
AGV current pose.In order to reduce on-line calculation, efficiency is improved, Fuzzy Controller with two-dimentional offline search table in program
Form is embedded on STM32 motion controllers.
As shown in figure 4, the software for providing motion controller function is realized, it is main include navigation tracing task, speed governing task,
Special command task, safe avoidance task and communication task.The present invention coordinates to realize each TU task unit using interrupt mode,
Wherein special command task, safe avoidance task and communication task are triggered by external event and driven.Once event is arrived, motion control
Device processed makes an immediate response, and ensures that AGV can meet barrier and stop, no vertical row of barrier etc.；Motion controller reads once navigation with every five seconds for example scanning and passed
Sensor state value, current offset distance is determined with this, then controller calculates the control speed of AGV driving wheels using this offset distance gauge
Degree；Motion controller is judged once when whether front driving wheel speed has reached control speed with every 1ms.Motor is entered in real time
The trapezoidal speed governing of row, it is ensured that AGV can quick smoothly acceleration and deceleration to controlling speed.Held between TU task unit with becoming isochronous surface rotation
OK, the task such as safe avoidance is not triggered down in monitoring suspended state.Without consuming MCU resources.In system control process,
Motion controller resource is distributed according to need, and while improving system operation efficiency, also ensure that the real-time of controller response.
For the ease of the work on the spot control to AGV automatic guided vehicles and condition monitoring, the exploitation of tension management system is
Extremely it is necessary.From the field operation of AGV onboard systems, monitoring management is realized on vehicle-mounted industrial computer using MFC
System, it is largely divided into working terminal management, steer mode, running status, tracing control information, avoidance state and vehicle-mounted pose shape
State six functionses module.Overlayer monitors management system is that control system has with real-time with the accuracy to be communicated between bottom controller
The Reliable guarantee of effect property.Message is divided into header, message function code, message length, message control data, message checking code and report
Tail, message are sequentially sent in transmission according to its component, and recipient reads progressively matching check and correction again after message, response execution.
The transmission and reception of message are all completed in thread, wherein Status Flag amount is changed to avoid reentrying " message transmission " function,
Thread synchronization is realized using mutex.After completing a message report request, send thread and hang up immediately, so that CPU can be discharged
Resource gives message receiving thread.Reading, report message is wrong or before running through report message, sends thread and hangs up always, so as to
Guarantee does not waste cpu resource.If report message reception is wrong, immediately re-request：Still asked when in 100ms suspension times
Ask unsuccessful, this request will be terminated because of request timed out；Once receiving successfully, ask successfully to finish.In receiving thread, such as
There is matching error in fruit, and program restarts to receive matching message.Send thread and resource is discharged to connecing by good time pending operation
Other threads such as take-up journey, receiving thread examine message by progressively receiving matching way, improve the real-time of communication process
Property and accuracy.
Claims (10)
1. a kind of magnetic navigation AGV control systems, are divided into monitoring management layer, communication layers, key-course, functional layer and sensing from top to bottom
Five big layer of device layer, monitoring management layer, its hardware structure mount multiple controls using built-in industrial control machine as core, by CAN
The arm processor of ancillary equipment；Motion controller is realized based on interrupt task scheduling method, come with interrupt task scheduling method
Coordinate each TU task unit of system motion controller, completed by hanging up thread in good time with progressively matching message mode to cooperate
The communication process of monitoring management system, realizes the real-time control of system, in addition, ensureing magnetic using Fuzzy self- turning PD adjusters
The control accuracy and adaptability of navigation；The tracking behavior of AGV dynamic is improved by Fuzzy self- turning PD adjusters；Monitoring management system
System includes six kinds of interactive modules；It sends is assisted with reception communication process by good time thread suspension with progressively receiving matching operation
Complete.
A kind of 2. magnetic navigation AGV control systems according to claim 1, it is characterized in that described system loads on AGV
Magnificent industrial computer POD-6552 is ground, for realizing monitoring management to control system etc..
A kind of 3. magnetic navigation AGV control systems according to claim 1, it is characterized in that described system is wireless by establishing
LAN, achievable user terminal PC is shared with monitoring management terminal data, contributes to the debugging, exploitation and pipe of control system
Reason.
A kind of 4. magnetic navigation AGV control systems according to claim 1, it is characterized in that described system uses in communication layers
CAN fieldbus is sent and report feedback to complete the control of the order between monitoring management layer and key-course.
A kind of 5. magnetic navigation AGV control systems according to claim 1, it is characterized in that described key-course uses
STM32F103RBT6 ARM7 processors coordinate to complete various control functions.
A kind of 6. magnetic navigation AGV control systems according to claim 1, it is characterized in that described system is by motion control
One microminiature distribution type control system of device and the node of pilot controller two composition.
A kind of 7. magnetic navigation AGV control systems according to claim 1, it is characterized in that described fieldbus is suitable to the later stage
The extension of control node, it is the guarantee that system moves towards complication and intellectuality etc..
8. a kind of magnetic navigation AGV control systems according to claim 1, it is characterized in that described functional layer include navigation,
Special command, motor driving, avoidance, display interaction, gesture feedback and seven big functional units of control manually.
A kind of 9. magnetic navigation AGV control systems according to claim 1, it is characterized in that described sensor layer is passed by navigation
Sensor, command sensor, controlled motor and driver, infrared sensor, liquid crystal display, encoder and button keys composition.
10. magnetic navigation AGV control systems according to claim 1, it is characterized in that described system is by fuzzy control and PID
Control is combined, and using PD control device as core, using fuzzy control come the coefficient of dynamic corrections PD control device, improves the dynamic of AGV
State tracks behavior.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610714211.0A CN107783532A (en) | 2016-08-24 | 2016-08-24 | A kind of magnetic navigation AGV control systems |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610714211.0A CN107783532A (en) | 2016-08-24 | 2016-08-24 | A kind of magnetic navigation AGV control systems |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107783532A true CN107783532A (en) | 2018-03-09 |
Family
ID=61388179
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610714211.0A Pending CN107783532A (en) | 2016-08-24 | 2016-08-24 | A kind of magnetic navigation AGV control systems |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107783532A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109765905A (en) * | 2019-03-01 | 2019-05-17 | 航天通用技术(北京)有限公司 | A kind of omnidirectional's intelligent three-dimensional carrying control system |
-
2016
- 2016-08-24 CN CN201610714211.0A patent/CN107783532A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109765905A (en) * | 2019-03-01 | 2019-05-17 | 航天通用技术(北京)有限公司 | A kind of omnidirectional's intelligent three-dimensional carrying control system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110244772B (en) | Navigation following system and navigation following control method of mobile robot | |
| CN108058706B (en) | Lane keeping system and method | |
| CN109358340B (en) | AGV indoor map construction method and system based on laser radar | |
| Amidi et al. | Integrated mobile robot control | |
| JP2020520008A (en) | System and method for robot motion control | |
| CN111830984B (en) | Multi-machine cooperative car washing system and method based on unmanned car washing equipment | |
| CN107962569B (en) | Robot collision detection method and device and intelligent robot | |
| CN109491390B (en) | Trackless omnidirectional mobile robot system based on multiple sensors and control method thereof | |
| CN113696970B (en) | Semi-trailer train, backing control method, device, equipment and medium | |
| JPWO2020110247A1 (en) | Control system, control device, autonomous work machine, operation method of control device, control method and program of autonomous work machine | |
| CN109238743A (en) | A kind of wheel steering following control system | |
| CN109765908A (en) | A kind of six wheel drives quickly unmanned cruiser system and working method | |
| CN109976326B (en) | Wheeled robot control method and device, terminal device and medium | |
| CN115431980A (en) | Automatic vehicle driving method, device, equipment and medium | |
| CN107783532A (en) | A kind of magnetic navigation AGV control systems | |
| CN112550443B (en) | Steering control method, device, equipment and storage medium | |
| CN106909160B (en) | SD-type AGV reversing attitude angle control device based on double-closed-loop PID control | |
| CN113844460B (en) | Vehicle control method and device and vehicle | |
| Armesto et al. | Automation of industrial vehicles: A vision-based line tracking application | |
| CN112318507A (en) | Robot intelligent control system based on SLAM technology | |
| CN116382275A (en) | Status recognition method of self-mobile device, self-mobile device and storage medium | |
| JP2021047724A (en) | Work system, autonomous work machine, and control method and program of autonomous work machine | |
| CN110837257A (en) | AGV composite positioning navigation system based on iGPS and vision | |
| CN110297489A (en) | The control method and control system of automatic driving vehicle | |
| CN108469818A (en) | A kind of four-wheel drive quickly unmanned cruiser system and working method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20180309 |
|
| WD01 | Invention patent application deemed withdrawn after publication |