CN112346466A - Multi-sensor fusion AGV redundancy control system and method based on 5G - Google Patents
Multi-sensor fusion AGV redundancy control system and method based on 5G Download PDFInfo
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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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
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- G—PHYSICS
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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
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- G—PHYSICS
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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
- G05D1/0259—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
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- 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
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/027—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising intertial navigation means, e.g. azimuth detector
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Abstract
The invention relates to a multi-sensor fusion AGV redundancy control system and method based on 5 G.A AGV controller is adopted for realizing data identification and analysis of a vehicle-mounted navigation sensor assembly and a control logic algorithm; a central server is adopted, a virtual AGV controller is operated, control logic operation is carried out based on original data obtained by a navigation sensor assembly, and the result is synchronized into the AGV controller in real time; finally, a 5G communication network is adopted to establish high-speed 5G communication between the AGV controller and the central server, so that the real-time synchronization of the data of the navigation sensor assembly and the control operation result is realized; according to the invention, by combining the 5G technology with the AGV control system, the problems of composite navigation and AGV control reliability are solved by utilizing the advantages of 5G communication, and the advantages of abundant functions, small volume, light weight, abundant interfaces and the like of the AGV controller are realized.
Description
Technical Field
The invention relates to the technical field of Automatic Guided Vehicles (AGV) based on 5G communication, in particular to a multi-sensor fusion AGV redundancy control system and method based on 5G.
Background
An automatic Guided vehicle (agv) is an important component of an automated logistics system of a workshop, is one of core mobile carrying units for realizing automation, intellectualization and flexibility of the logistics system, can run along a specified guide path, and has safety protection and various transfer functions; in industrial application, a carrier without a driver is controlled by a computer by using a rechargeable storage battery as a power source, or a traveling route is established by using an electromagnetic rail, an unmanned carrier moves and acts according to information brought by the electromagnetic rail, and a controller is a main device for controlling the whole AGV.
The existing AGV system depends on a controller of a single vehicle, each vehicle needs to be provided with a set of complex navigation and motion control system to take charge of the control function of the whole vehicle, and in order to improve the precision and the reliability of guidance control, various navigation sensors of different types are often adopted to realize composite navigation, so that the requirement of a specific scene is met, and the navigation precision is improved; the composite navigation has higher requirements on the calculation speed and the control capability of a vehicle-mounted control system, and generally adopts a universal controller in the industrial control field such as PLC and the like; such controllers have not been able to meet the above requirements, and have affected the development of AGVs to some extent.
Therefore, the invention develops a 5G-based multi-sensor fusion AGV redundancy control system and a method thereof to solve the problems in the prior art, and a technical scheme which is the same as or similar to that of the invention is not found after retrieval.
Disclosure of Invention
The invention aims to: the provided multi-sensor fusion AGV redundancy control system and method based on 5G aims to solve the problem that AGV guidance in the prior art is poor in control accuracy and reliability.
The technical scheme of the invention is as follows: a multi-sensor fusion AGV redundancy control system based on 5G comprises an AGV controller, a 5G communication network and a central server, wherein the AGV controller is further connected with a sensor signal input module and a driving control signal output module; wherein the AGV controller includes:
the preprocessing module is used for preprocessing the input signal of the sensor signal input module;
the vehicle-mounted control logic and algorithm module is used for calculating an actual control result of the AGV;
the server control logic and algorithm module is used for calculating a virtual control result of the AGV;
the decision module is used for comparing the actual control calculation result of the vehicle-mounted control logic and algorithm module with the virtual control calculation result of the server control logic and algorithm module, selecting a correct control result and transmitting the correct control result to the drive control signal output module to realize redundancy control;
the central server is internally provided with a virtual AGV controller, and the virtual AGV controller, the server control logic and the algorithm module form high-speed mapping based on a 5G communication network.
Preferably, the sensor signal input module is provided with an RS485 interface, a CAN bus interface, an analog voltage signal interface and an RS232 interface, and is used for being connected with various navigation sensor assemblies applied to the AGV, realizing multi-sensor fusion, and mapping real-time data of the navigation sensor assemblies to the central server through data communication.
Preferably, the navigation sensor subassembly includes magnetic navigation sensor, inertial navigation sensor, laser rangefinder sensor and laser Slam sensor, magnetic navigation sensor and RS485 interface connection, inertial navigation sensor and CAN bus interface connection, laser rangefinder sensor and analog voltage signal interface connection, laser Slam sensor and RS232 interface connection.
Preferably, the actual control result of the AGV and the virtual control result of the AGV relate to the following parameters and are used for identification analysis and control logic algorithm:
the magnetic navigation sensor acquires a preset magnetic field signal of the guiding magnetic strip according to the magnetic field signal received by the AGV;
the method comprises the steps that the attitude information of the AGV is detected by an inertial navigation sensor in real time, and the relative change angle of the AGV body is detected;
the position and the moving direction of the AGV are obtained by a laser ranging sensor receiving a reflected laser beam according to a preset laser positioning signal;
and (3) positioning and map construction of the AGV, wherein a laser Slam sensor calculates the position of the AGV and constructs an environment map at the same time so as to acquire current environment information.
Based on the system and the method for controlling the redundancy of the AGV based on the 5G multi-sensor fusion, the invention also develops a method for controlling the redundancy of the AGV based on the 5G multi-sensor fusion, and the control method comprises the following specific steps:
(1) the AGV comprises an AGV controller, a navigation sensor assembly, a data processing module and a control logic module, wherein the AGV controller receives AGV data parameters acquired by the navigation sensor assembly through the preprocessing module, the AGV data parameters comprise magnetic field signals received by the AGV, attitude information of the AGV, the position and the moving direction of the AGV and positioning and map construction of the AGV, and the AGV controller is used for realizing identification and analysis of the data parameters and control logic algorithm through the vehicle-mounted control logic and algorithm module so as to acquire an actual control result of the AGV;
(2) the virtual AGV controller is used for realizing the identification and analysis of data parameters through a server control logic and algorithm module and controlling a logic algorithm based on the original data parameters acquired by the AGV controller, so that a virtual control result of the AGV is obtained and is directly mapped into the AGV controller through a 5G communication network;
(3) and the decision module compares different control calculation results of the vehicle-mounted control logic and algorithm module and the server control logic and algorithm module, selects a correct control result and transmits the correct control result to the drive control signal output module, so that redundant control is realized.
Compared with the prior art, the invention has the advantages that:
(1) according to the invention, by combining the 5G technology with the AGV control system, the problems of composite navigation and AGV control reliability are solved by utilizing the advantages of 5G communication, and the advantages of abundant functions, small volume, light weight, abundant interfaces and the like of the AGV controller are realized.
(2) The invention is mainly based on the development of the 5G technology, the 5G technology is taken as a new generation mobile communication technology, can meet the scenes of high reliability, low time delay, interference resistance and safety, realizes cost reduction and efficiency improvement through networking and intellectualization, promotes the upgrading of the economic industry structure, enhances the competitiveness in the industrial manufacturing field, and has the following four most typical characteristics: high speed, low time delay, large capacity and mobility; after the 5G technology is adopted, the control system software algorithm of each AGV can be transferred to a fixed computer server platform, and one server is used for providing navigation and control for a plurality of mobile AGVs, so that the capacity of the system and the control real-time performance of the system can be greatly improved, and the scheduling and algorithm of the system are further optimized.
Drawings
The invention is further described with reference to the following figures and examples:
FIG. 1 is a control schematic diagram of a 5G-based multi-sensor fusion AGV redundancy control system according to the present invention;
FIG. 2 is a diagram of the connection between the sensor signal input module and the preprocessing module according to the present invention;
FIG. 3 is a flow chart of the decision module of the present invention for comparison.
Detailed Description
The present invention will be further described in detail with reference to the following specific examples:
as shown in fig. 1, the AGV redundant control system based on 5G and multi-sensor fusion includes an AGV controller, a 5G communication network and a central server, wherein the AGV controller is further connected with a sensor signal input module and a driving control signal output module.
As shown in fig. 2, the sensor signal input module has an RS485 interface, a CAN bus interface, an analog voltage signal interface, and an RS232 interface, and is used to connect with various navigation sensor assemblies applied to an AGV, to implement multi-sensor fusion, and to map real-time data of the navigation sensor assemblies to the central server through data communication; the navigation sensor assembly comprises a magnetic navigation sensor, an inertial navigation sensor, a laser ranging sensor and a laser Slam sensor, the magnetic navigation sensor is connected with an RS485 interface, the inertial navigation sensor is connected with a CAN bus interface, the laser ranging sensor is connected with an analog voltage signal interface, and the laser Slam sensor is connected with an RS232 interface.
Wherein, AGV controller includes:
the preprocessing module is used for preprocessing the input signal of the sensor signal input module;
the vehicle-mounted control logic and algorithm module is used for identifying and analyzing according to the data obtained by the preprocessing module, and a control logic algorithm is used for calculating the actual control result of the AGV;
the server control logic and algorithm module is used for calculating a virtual control result of the AGV based on the original data of the navigation sensor assembly;
the decision module is used for comparing the actual control calculation result of the vehicle-mounted control logic and algorithm module with the virtual control calculation result of the server control logic and algorithm module, selecting a correct control result and transmitting the correct control result to the drive control signal output module to realize redundancy control;
and a virtual AGV controller is arranged in the central server, and the virtual AGV controller, the server control logic and the algorithm module form high-speed mapping based on a 5G communication network.
More specifically, the actual control results of the AGVs and the virtual control results of the AGVs relate to the following parameters and are used to identify, analyze, and control the logic algorithms:
the magnetic navigation sensor acquires a preset magnetic field signal of the guiding magnetic strip according to the magnetic field signal received by the AGV;
the method comprises the steps that the attitude information of the AGV is detected by an inertial navigation sensor in real time, and the relative change angle of the AGV body is detected;
the position and the moving direction of the AGV are obtained by a laser ranging sensor receiving a reflected laser beam according to a preset laser positioning signal;
and (3) positioning and map construction of the AGV, wherein a laser Slam sensor calculates the position of the AGV and constructs an environment map at the same time so as to acquire current environment information.
A multi-sensor fusion AGV redundancy control method based on 5G comprises the following specific steps:
(1) the AGV comprises an AGV controller, a navigation sensor assembly, a data processing module and a control logic module, wherein the AGV controller receives AGV data parameters acquired by the navigation sensor assembly through the preprocessing module, the AGV data parameters comprise magnetic field signals received by the AGV, attitude information of the AGV, the position and the moving direction of the AGV and positioning and map construction of the AGV, and the AGV controller is used for realizing identification and analysis of the data parameters and control logic algorithm through the vehicle-mounted control logic and algorithm module so as to acquire an actual control result of the AGV;
(2) the virtual AGV controller is used for realizing the identification and analysis of data parameters through a server control logic and algorithm module and controlling a logic algorithm based on the original data parameters acquired by the AGV controller, so that a virtual control result of the AGV is obtained and is directly mapped into the AGV controller through a 5G communication network;
(3) as shown in fig. 3, the decision module compares different control calculation results of the vehicle-mounted control logic and algorithm module and the server control logic and algorithm module, and selects a correct control result to transmit to the driving control signal output module, so as to implement redundancy control; in the comparison process, if the control result obtained by the former is normal, the result of the vehicle-mounted control logic and algorithm module is selected and output to the drive control signal output module, so that the AGV is controlled; if the control result obtained by the latter is normal, the result of the server control logic and algorithm module is selected and output to the drive control signal output module to realize the control of the AGV; otherwise, the driving control signal output module is closed.
In the invention, the system can be further simplified, the vehicle-mounted control logic and algorithm module are removed, the original data of the navigation sensor assembly is completely mapped to the central server, and then the central server is used for realizing the navigation and control of the AGV.
The above embodiments are merely illustrative of the technical ideas and features of the present invention, and the purpose of the embodiments is to enable those skilled in the art to understand the contents of the present invention and implement the present invention, and not to limit the protection scope of the present invention. It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof, and it is therefore intended that the present embodiments be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.
Claims (5)
1. The utility model provides a multisensor fuses AGV redundant control system based on 5G which characterized in that: the AGV comprises an AGV controller, a 5G communication network and a central server, wherein the AGV controller is also connected with a sensor signal input module and a driving control signal output module; wherein the AGV controller includes:
the preprocessing module is used for preprocessing the input signal of the sensor signal input module;
the vehicle-mounted control logic and algorithm module is used for calculating an actual control result of the AGV;
the server control logic and algorithm module is used for calculating a virtual control result of the AGV;
the decision module is used for comparing the actual control calculation result of the vehicle-mounted control logic and algorithm module with the virtual control calculation result of the server control logic and algorithm module, selecting a correct control result and transmitting the correct control result to the drive control signal output module to realize redundancy control;
the central server is internally provided with a virtual AGV controller, and the virtual AGV controller, the server control logic and the algorithm module form high-speed mapping based on a 5G communication network.
2. The 5G-based multi-sensor fusion AGV redundancy control system according to claim 1, wherein: the sensor signal input module is provided with an RS485 interface, a CAN bus interface, an analog voltage signal interface and an RS232 interface, is used for being connected with various navigation sensor assemblies applied to the AGV, realizes multi-sensor fusion, and maps real-time data of the navigation sensor assemblies to the central server through data communication.
3. The 5G-based multi-sensor fusion AGV redundancy control system according to claim 2, wherein: navigation sensor subassembly includes magnetic navigation sensor, inertial navigation sensor, laser rangefinder sensor and laser Slam sensor, magnetic navigation sensor and RS485 interface connection, inertial navigation sensor and CAN bus interface connection, laser rangefinder sensor and analog voltage signal interface connection, laser Slam sensor and RS232 interface connection.
4. The 5G-based multi-sensor fusion AGV redundancy control system according to claim 3, wherein: the actual control result of the AGV and the virtual control result of the AGV relate to the following parameters and are used for identification analysis and control logic algorithm:
the magnetic navigation sensor acquires a preset magnetic field signal of the guiding magnetic strip according to the magnetic field signal received by the AGV;
the method comprises the steps that the attitude information of the AGV is detected by an inertial navigation sensor in real time, and the relative change angle of the AGV body is detected;
the position and the moving direction of the AGV are obtained by a laser ranging sensor receiving a reflected laser beam according to a preset laser positioning signal;
and (3) positioning and map construction of the AGV, wherein a laser Slam sensor calculates the position of the AGV and constructs an environment map at the same time so as to acquire current environment information.
5. The 5G-based multi-sensor fusion AGV redundancy control method based on the claims 1-4 is characterized in that: the control method specifically comprises the following steps:
(1) the AGV comprises an AGV controller, a navigation sensor assembly, a data processing module and a control logic module, wherein the AGV controller receives AGV data parameters acquired by the navigation sensor assembly through the preprocessing module, the AGV data parameters comprise magnetic field signals received by the AGV, attitude information of the AGV, the position and the moving direction of the AGV and positioning and map construction of the AGV, and the AGV controller is used for realizing identification and analysis of the data parameters and control logic algorithm through the vehicle-mounted control logic and algorithm module so as to acquire an actual control result of the AGV;
(2) the virtual AGV controller is used for realizing the identification and analysis of data parameters through a server control logic and algorithm module and controlling a logic algorithm based on the original data parameters acquired by the AGV controller, so that a virtual control result of the AGV is obtained and is directly mapped into the AGV controller through a 5G communication network;
(3) and the decision module compares different control calculation results of the vehicle-mounted control logic and algorithm module and the server control logic and algorithm module, selects a correct control result and transmits the correct control result to the drive control signal output module, so that redundant control is realized.
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| CN103625863A (en) * | 2013-04-26 | 2014-03-12 | 苏州博实机器人技术有限公司 | AGV logistics carrying robot |
| WO2017097170A1 (en) * | 2015-12-10 | 2017-06-15 | 上海思岚科技有限公司 | Autonomous positioning and navigation device, positioning and navigation method and autonomous positioning and navigation system |
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