CN110955247A - Control system and control method of intelligent carrying trolley - Google Patents
Control system and control method of intelligent carrying trolley Download PDFInfo
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
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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
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Abstract
The invention discloses a control system and a control method of an intelligent carrying trolley, and belongs to the technical field of industrial robots. The invention realizes more intellectualization and reduces the production cost on the basis of comprehensive functions, so that small enterprises can use the intelligent control system in bearing capacity.
Description
Technical Field
The invention relates to a control system, in particular to a control system of an intelligent carrying trolley, and also relates to a control method, in particular to a control method of the intelligent carrying trolley, and belongs to the technical field of industrial robots.
Background
In the present, a french researcher is developing a new generation of AGV system, the running speed of which under theoretical conditions can be over 350km \ h, which can be a great challenge in the world, in addition, other foreign countries are approaching the AGV cart to the visual aspect, and the visual effect is added on the traditional basis, so that the adaptability and safety coefficient of the cart are greatly improved, and in response to the arrival of the artificial intelligence era, the AGV transport system is gradually changed from the conventional common transport cart to an intelligent robot, so that the AGV transport system is more and more intelligent, the labor cost is gradually reduced, and the production efficiency is also steadily increased.
At present, the application in the aspect of AGV technology in China can be mainly divided into two categories, the first category of application belongs to the whole-process automation realization tending to the whole working process, the manual work is not required to participate in the working process by one side completely, the carrying trolley can adapt to the planning of various paths and the variability of the production flow, the carrying trolley can be effectively applied to various factory carrying occasions, the carrying trolley also has diversity in the guiding mode, the guiding mode is convenient and fast to replace, the adaptability effect is considerable, however, the device is expensive, and the device is suitable for large and medium enterprises.
The second category is more likely to be hardware simple and practical, mainly has relatively low cost, and can allow users to recover the cost of the device in a very short time, which is the biggest difference from the first category, the type of device mainly works according to a single path and a relatively set workflow, the adaptability is relatively poor, the working requirement is relatively simple, the requirement on the accuracy is not too great, the route needs to be edited and the planning needs to be carried out on the device facing different working occasions, and because the investment in cost is relatively little, many small enterprises can preferentially select the device, so that the working appearances of the small and medium enterprises can be clearly seen.
Therefore, it can be seen that in the prior art, there is no trolley with lower cost and more comprehensive functions, which can perform accurate positioning and realize optimal combination between an industrial robot and an intelligent carrying trolley through organic combination of a mechanical arm and the trolley in the aspect of vision, and therefore, a control system and a control method of the intelligent carrying trolley need to be designed to solve the problems.
Disclosure of Invention
The invention mainly aims to provide a control system and a control method of an intelligent carrying trolley, which can realize the purpose of successfully placing an object at a specified position automatically and have low generation cost. The purpose of the invention can be achieved by adopting the following technical scheme:
a control system of an intelligent carrying trolley comprises a single chip microcomputer, a position judging and obstacle avoiding module, a motor driving module, a vision module and an object clamping module, wherein the position judging and obstacle avoiding module is used for detecting whether obstacles exist in the surrounding environment in real time and sending detection information to the single chip microcomputer; the single chip microcomputer is used for acquiring control information and position judging obstacle avoidance module information, executing a built-in corresponding algorithm and then sending out a corresponding control instruction; the motor driving module is used for driving the carrying trolley to run and driving the object clamping module to clamp the object; the vision module is used for acquiring the ambient environment condition and sending information to the single chip microcomputer; the object clamping module is used for receiving the driving energy output by the motor driving module and executing corresponding operation to clamp the object; the position distinguishing and obstacle avoiding module detects the surrounding environment in real time and sends information to the single chip microcomputer, corresponding commands are output after corresponding algorithms in the single chip microcomputer are passed, corresponding commands are obtained through the motor driving module and corresponding operations are executed, a self-contained control program in the single chip microcomputer passes through the position distinguishing and obstacle avoiding module to operate a cruising function, the information sent by the visual module obtained by the single chip microcomputer controls the motor driving module to operate, and the motor driving module drives the object clamping module to clamp the object.
Preferably, the position distinguishing and obstacle avoiding module comprises a PSD position sensor, an ultrasonic sensor and five infrared detection and tracking photoelectric sensors; the PSD position sensor is used for acquiring and providing each direction information of continuous position data to the single chip microcomputer; the ultrasonic sensor is used for acquiring surrounding obstacle information and sending the surrounding obstacle information to the single chip microcomputer; the infrared detection tracing photoelectric sensor is used for assisting the PSD position sensor to carry out the tracing operation of the intelligent carrying trolley.
Preferably, the PSD position sensors comprise a lateral effect position sensor, a quadrant position sensor and a cube position sensor; the lateral effect position sensor is of the type PDP90A and the quadrant position sensor is of the type PDQ80A and PDQ 30C.
Preferably, the object clamping module adopts a two-degree-of-freedom mechanical claw, and the single chip microcomputer adopts a model STM 32.
Preferably, the motor driving module comprises a steering engine and a stepping motor driver, and the steering engine is used for driving the two-degree-of-freedom mechanical claw to operate; the stepping motor driver is used for driving the intelligent carrying trolley to run.
Preferably, the steering engine is of the type MG995, and the stepper motor driver is of the type TB 6560.
Preferably, the single chip microcomputer is further connected with a Bluetooth module, and the Bluetooth module is used for carrying out wireless communication when the intelligent carrying trolley runs off line.
A control method of an intelligent carrying trolley is characterized by comprising the following steps:
step 1: starting the initialization of a single chip microcomputer and the initialization of a Bluetooth module of the intelligent carrying trolley;
step 2: the single chip microcomputer acquires information collected by the PSD position sensor, the ultrasonic sensor and the infrared detection tracing photoelectric sensor;
and step 3: the singlechip analyzes the control program and outputs a control instruction to the motor driving module;
and 4, step 4: the stepping motor driver operates and drives the intelligent carrying trolley to circularly operate according to a specified track through the stepping motor;
and 5: the steering engine drives the two-degree-of-freedom mechanical claw to move up and down and clamp an object;
step 6: the two-degree-of-freedom mechanical claw clamps an object and then moves to a position needing to be placed according to a specified track under the control of a single chip microcomputer;
and 7: and the above operations are circulated again.
Preferably, the analyzing the control program by the single chip in the step 3 includes the following steps:
step 11: initializing a system clock and initializing each function;
step 12: performing Bluetooth module initialization;
step 13: waiting for a user to input an instruction;
step 14: judging whether the input instruction correctly executes station variable assignment;
step 15: judging the station variable to a designated target station value;
step 16: and after the work is finished, resetting to an initial station value.
Preferably, the program waiting for the user to input the instruction is executed again when the input instruction is judged to be incorrect in step 14 until the input instruction is judged to be correct.
The invention has the beneficial technical effects that:
the invention provides a control system and a control method of an intelligent carrying trolley, which adds a mechanical arm on the basis of the prior AGV technology, then combines the aspects of accurate positioning, vision and mechanical arm of the trolley, leads the AGV trolley to expand more functions on the basis of the prior art, leads the trolley to be more intelligent, is mainly based on a sensor and a singlechip control technology, integrally controls peripheral hardware by a singlechip to realize the whole functional flow, selects a PSD position sensor, an ultrasonic sensing module, a singlechip module and a motor driving module on the aspect of the sensor, is matched with an industrial vision camera, and leads the industrial mechanical arm to simulate human eyes and arms to realize the successful placement of an object at a designated position, can successfully avoid obstacles in the process, realizes more intellectualization in the whole process and reduces the production cost on the basis of comprehensive functions, so that small enterprises can use the device within bearing capacity.
Drawings
FIG. 1 is a system diagram of the general control modules of a preferred embodiment of a control system for an intelligent tote cart, in accordance with the present invention;
fig. 2 is a diagram of a position determination and obstacle avoidance system according to a preferred embodiment of the control system of an intelligent carrier according to the present invention;
fig. 3 is a flowchart illustrating a control program analysis performed by a single chip microcomputer according to a preferred embodiment of the method for controlling an intelligent carrier according to the present invention.
Detailed Description
In order to make the technical solutions of the present invention more clear and definite for those skilled in the art, the present invention is further described in detail below with reference to the examples and the accompanying drawings, but the embodiments of the present invention are not limited thereto.
Example one
As shown in fig. 1 and fig. 2, the control system of an intelligent carrying trolley provided in this embodiment includes a single chip microcomputer, a position determination obstacle avoidance module, a motor driving module, a vision module, and an object clamping module, where the position determination obstacle avoidance module is configured to detect whether an obstacle exists in a surrounding environment in real time, and send detection information to the single chip microcomputer; the single chip microcomputer is used for acquiring control information and position judging obstacle avoidance module information, executing a built-in corresponding algorithm and then sending out a corresponding control instruction; the motor driving module is used for driving the carrying trolley to run and driving the object clamping module to clamp the object; the vision module is used for acquiring the ambient environment condition and sending information to the single chip microcomputer; the object clamping module is used for receiving the driving energy output by the motor driving module and executing corresponding operation to clamp the object; the position distinguishing and obstacle avoiding module detects the surrounding environment in real time and sends information to the single chip microcomputer, corresponding commands are output after corresponding algorithms in the single chip microcomputer are passed, corresponding commands are obtained through the motor driving module and corresponding operations are executed, a self-contained control program in the single chip microcomputer passes through the position distinguishing and obstacle avoiding module to operate a cruising function, the information sent by the visual module obtained by the single chip microcomputer controls the motor driving module to operate, and the motor driving module drives the object clamping module to clamp the object.
Preferably, the position distinguishing and obstacle avoiding module comprises a PSD position sensor, an ultrasonic sensor and five infrared detection and tracking photoelectric sensors; the PSD position sensor is used for acquiring and providing each direction information of continuous position data to the single chip microcomputer; the ultrasonic sensor is used for acquiring surrounding obstacle information and sending the surrounding obstacle information to the single chip microcomputer; the infrared detection tracing photoelectric sensor is used for assisting the PSD position sensor to carry out the tracing operation of the intelligent carrying trolley.
Preferably, the PSD position sensors comprise a lateral effect position sensor, a quadrant position sensor and a cube position sensor; the lateral effect position sensor is of the type PDP90A and the quadrant position sensor is of the type PDQ80A and PDQ 30C.
The position sensor PDP90A uses a silicon photodiode based pincushion type four lateral sensor to accurately measure the displacement of an incident beam with respect to a calibration center, these devices are adapted to measure beam movement and travel distance and feed back to the alignment system, this sensor is primarily characterized as a side effect position detection detector, independent of beam shape and power density, a SM05 lens tube can be used, which has a large detection area, can accommodate a maximum 9 mm beam diameter PDP90A using a silicon photodiode based pincushion type four lateral sensor to accurately measure the displacement of an incident beam with respect to a calibration center, these devices are adapted to measure beam movement and travel distance and feed back to the alignment system. The main feature of this sensor is a side effect position detection detector, independent of beam shape and power density, and the SM05 lens tube can be used, which has a large detection area, and can accommodate a maximum beam diameter of 9 mm.
Quadrant position sensor detectors for precise optical alignment in the range 400 to 1050nm or 1000 to 1700nm, respectively, the 6 pin Hirose connectors on each detector output a signal proportional to the power distribution (or position) of the incident beam, quadrant detectors with power in the range of 1mW (linear region of the sensor) are used for correct results, and the beam diameter is detected in the specified range. The sensor is mainly characterized by being used in a visible light region or a near infrared region, the product is suitable for automatic alignment, and a 4-channel position sensor system or a 1-channel K or T-shaped cube is compatible.
The cube position sensor adopts a KPA101 model, is mainly characterized in that the compact floor area is only 60.0mm multiplied by 49.2mm, light beams are automatically aligned to the center of the sensor in a closed loop mode, the positions of the light beams are measured in an open loop mode, an organic EL (OLED) display screen, a menu and positions are displayed, the equipment can be comprehensively controlled, and the voltage output of sum signals, difference signals and feedback signals is realized.
Preferably, the object clamping module adopts a two-degree-of-freedom mechanical gripper, the single chip microcomputer adopts an STM32 model, and is a Cortex-M3CPU based on an ARM 32-bit architecture, a Flash memory of 32-512KB integrated on a chip, an SRAM memory of 6-64KB, a 12-channel DMA controller, a supporting peripheral, a timer, an ADC, a DAC, an SPI, an IIC and a UART, 112 fast I/O ports, 11 timers, 4 16-bit timers and two 6-channel advanced control timers of 16 bits.
Preferably, the motor driving module comprises a steering engine and a stepping motor driver, and the steering engine is used for driving the two-degree-of-freedom mechanical claw to operate; the stepping motor driver is used for driving the intelligent carrying trolley to run.
Preferably, the steering engine is in a MG995 model, the stepper motor driver is in a TB6560 model, the TB6560 stepper motor driver has a working voltage of direct current 10V-35V, a switching power supply DC24V is used for supplying power, a 6N137 high-speed optical coupler is used, so that the steering engine does not step out at a high speed, and the rated max output is: ± 3A, peak 3.5A, automatic semi-streaming function, subdivision: whole step, half step, step 1/8, step 1/16, maximum 16 subdivision, volume: width 50 x length 75 x height 35 (MM), it is also fairly convenient in the aspect of the use, signal input end and signal output end are located the both ends of driver respectively, and the middle has the opto-coupler to act as the isolation effect, and interference immunity is very strong.
Preferably, the single chip microcomputer is further connected with a Bluetooth module, and the Bluetooth module is used for carrying out wireless communication when the intelligent carrying trolley runs off line.
Example two
A control method of an intelligent carrying trolley is characterized by comprising the following steps:
s1: starting the initialization of a single chip microcomputer and the initialization of a Bluetooth module of the intelligent carrying trolley;
s2: the single chip microcomputer acquires information collected by the PSD position sensor, the ultrasonic sensor and the infrared detection tracing photoelectric sensor;
s3: the singlechip analyzes the control program and outputs a control instruction to the motor driving module;
s4: the stepping motor driver operates and drives the intelligent carrying trolley to circularly operate according to a specified track through the stepping motor;
s5: the steering engine drives the two-degree-of-freedom mechanical claw to move up and down and clamp an object;
s6: the two-degree-of-freedom mechanical claw clamps an object and then moves to a position needing to be placed according to a specified track under the control of a single chip microcomputer;
s7: and the above operations are circulated again.
As shown in fig. 3, the analysis of the control program by the single chip microcomputer includes the following steps:
s11: initializing a system clock and initializing each function;
s12: performing Bluetooth module initialization;
s13: waiting for a user to input an instruction;
s14: judging whether the input instruction correctly executes station variable assignment;
s15: judging the station variable to a designated target station value;
s16: and after the work is finished, resetting to an initial station value.
In this embodiment, the program waiting for the user to input the instruction is executed again after the input instruction is judged to be incorrect in step 14 until the input instruction is judged to be correct.
In conclusion, on the basis of the existing AGV technology, the precise positioning aspect, the visual aspect and the mechanical arm aspect of the AGV trolley are combined, so that more functions of the AGV trolley are expanded on the original basis, the trolley is more intelligent, the peripheral hardware is integrally controlled through a single chip microcomputer to achieve the whole function process mainly based on a sensor and a single chip microcomputer control technology, a PSD position sensor, an ultrasonic sensing module, a single chip microcomputer module and a motor driving module are selected and used in the aspect of the sensor, an industrial vision camera is matched, the industrial mechanical arm simulates eyes and arms of human beings to achieve the purpose of successfully placing an object at a specified position, the whole process achieves more intelligence, the production cost is reduced on the basis of comprehensive functions, and small enterprises can also use the AGV technology in bearing capacity.
The above description is only for the purpose of illustrating the present invention and is not intended to limit the scope of the present invention, and any person skilled in the art can substitute or change the technical solution of the present invention and its conception within the scope of the present invention.
Claims (10)
1. The utility model provides an intelligence floor truck's control system which characterized in that: the system comprises a single chip microcomputer, a position judging and obstacle avoiding module, a motor driving module, a vision module and an object clamping module, wherein the position judging and obstacle avoiding module is used for detecting whether obstacles exist in the surrounding environment in real time and sending detection information to the single chip microcomputer;
the single chip microcomputer is used for acquiring control information and position judging obstacle avoidance module information, executing a built-in corresponding algorithm and then sending out a corresponding control instruction;
the motor driving module is used for driving the carrying trolley to run and driving the object clamping module to clamp the object;
the vision module is used for acquiring the ambient environment condition and sending information to the single chip microcomputer;
the object clamping module is used for receiving the driving energy output by the motor driving module and executing corresponding operation to clamp the object;
the position distinguishing and obstacle avoiding module detects the surrounding environment in real time and sends information to the single chip microcomputer, corresponding commands are output after an obstacle avoiding algorithm in the single chip microcomputer is carried out, corresponding commands are obtained through the motor driving module and corresponding operation is carried out, a self-contained control program in the single chip microcomputer controls the motor driving module to run through the position distinguishing and obstacle avoiding module, information sent by the vision module obtained by the single chip microcomputer controls the motor driving module to run, and the motor driving module drives the object clamping module to clamp the object.
2. The control system for an intelligent carrier cart as recited in claim 1, wherein: the position distinguishing and obstacle avoiding module comprises a PSD position sensor, an ultrasonic sensor and five infrared detection and tracking photoelectric sensors;
the PSD position sensor is used for acquiring and providing each direction information of continuous position data to the single chip microcomputer;
the ultrasonic sensor is used for acquiring surrounding obstacle information and sending the surrounding obstacle information to the single chip microcomputer;
the infrared detection tracing photoelectric sensor is used for assisting the PSD position sensor to carry out the tracing operation of the intelligent carrying trolley.
3. The control system for an intelligent carrier cart as recited in claim 2, wherein: the PSD position sensor comprises a transverse effect position sensor, a quadrant position sensor and a cube position sensor;
the lateral effect position sensor is of the type PDP90A and the quadrant position sensor is of the type PDQ80A and PDQ 30C.
4. The control system for an intelligent carrier cart as recited in claim 1, wherein: the object clamping module adopts a two-degree-of-freedom mechanical claw, and the single chip microcomputer adopts a model STM 32.
5. The control system for an intelligent carrier cart as recited in claim 4, wherein: the motor driving module comprises a steering engine and a stepping motor driver, and the steering engine is used for driving the two-degree-of-freedom mechanical claw to operate;
the stepping motor driver is used for driving the intelligent carrying trolley to run.
6. The control system for an intelligent carrier cart as recited in claim 5, wherein: the steering engine is MG995 in model number, and the stepping motor driver is TB6560 in model number.
7. The control system for an intelligent carrier cart as recited in claim 5, wherein: the single chip microcomputer is further connected with a Bluetooth module, and the Bluetooth module is used for carrying out wireless communication when the intelligent carrying trolley runs off line.
8. The method for controlling an intelligent carrier according to any one of claims 1 to 7, comprising the steps of:
step 1: starting the initialization of a single chip microcomputer and the initialization of a Bluetooth module of the intelligent carrying trolley;
step 2: the single chip microcomputer acquires information collected by the PSD position sensor, the ultrasonic sensor and the infrared detection tracing photoelectric sensor;
and step 3: the singlechip analyzes the control program and outputs a control instruction to the motor driving module;
and 4, step 4: the stepping motor driver operates and drives the intelligent carrying trolley to circularly operate according to a specified track through the stepping motor;
and 5: the steering engine drives the two-degree-of-freedom mechanical claw to move up and down and clamp an object;
step 6: the two-degree-of-freedom mechanical claw clamps an object and then moves to a position needing to be placed according to a specified track under the control of a single chip microcomputer;
and 7: and the above operations are circulated again.
9. The control method of an intelligent carrier as recited in claim 8, wherein: the single chip microcomputer in the step 3 for analyzing the control program comprises the following steps:
step 11: initializing a system clock and initializing each function;
step 12: performing Bluetooth module initialization;
step 13: waiting for a user to input an instruction;
step 14: judging whether the input instruction correctly executes station variable assignment;
step 15: judging the station variable to a designated target station value;
step 16: and after the work is finished, resetting to an initial station value.
10. The method as claimed in claim 9, wherein the step 14 of determining that the input command is incorrect executes the program of waiting for the user to input the command again until the input command is determined to be correct.
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| CN106940183A (en) * | 2016-12-13 | 2017-07-11 | 北京卫星制造厂 | A kind of AGV accurate positioning methods based on PSD rangings |
| CN110045739A (en) * | 2019-05-10 | 2019-07-23 | 湖北汽车工业学院 | A kind of intelligent storage material robot, control system and control method |
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- 2019-12-16 CN CN201911292894.5A patent/CN110955247A/en active Pending
Patent Citations (4)
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| US20130326839A1 (en) * | 2012-06-08 | 2013-12-12 | Lg Electronics Inc. | Robot cleaner, controlling method of the same, and robot cleaning system |
| CN106940183A (en) * | 2016-12-13 | 2017-07-11 | 北京卫星制造厂 | A kind of AGV accurate positioning methods based on PSD rangings |
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