CN113219963A - Double-steering-wheel motion control system of AGV (automatic guided vehicle) - Google Patents
Double-steering-wheel motion control system of AGV (automatic guided vehicle) Download PDFInfo
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- CN113219963A CN113219963A CN202110321232.7A CN202110321232A CN113219963A CN 113219963 A CN113219963 A CN 113219963A CN 202110321232 A CN202110321232 A CN 202110321232A CN 113219963 A CN113219963 A CN 113219963A
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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
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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- Automation & Control Theory (AREA)
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- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The invention relates to a double-steering-wheel motion control system, in particular to a double-steering-wheel motion control system of an AGV (automatic guided vehicle), which comprises an AGV body and an AGV vehicle-mounted controller, wherein an AGV navigation system is installed on the AGV body, an AGV driving system and an AGV balancing system are arranged on the AGV body, the AGV vehicle-mounted controller receives an action instruction of an AGV dispatching system through a wireless communication module and outputs a position instruction or a speed instruction according to positioning information of the AGV navigation system, the AGV vehicle-mounted controller sends the position instruction or the speed instruction to the AGV driving system, the AGV driving system feeds back a running state to the AGV vehicle-mounted controller through a servo motor encoder, and the AGV vehicle-mounted controller outputs the position instruction or the speed instruction according to a feedback result and selects to execute a corresponding instruction; the technical scheme provided by the invention can effectively overcome the defects of complex wiring, low control precision and low response speed.
Description
Technical Field
The invention relates to a double-rudder-wheel motion control system, in particular to a double-rudder-wheel motion control system of an AGV platform truck.
Background
AGVs, known as Automated Guided vehicles, refer to vehicles equipped with Automated guidance devices that are capable of traveling along a prescribed, Guided path. At present, an unmanned carrier has several classic forms such as differential wheels, single steering wheels, double steering wheels and four steering wheels, the single steering wheels generally carry loads below 1.5T, and the single steering wheels and the differential wheels can only go forward and turn, and cannot meet the translation requirement, so that the double steering wheels are formed.
For an unmanned transport vehicle with double steering wheels, a brushless direct current motor is adopted for driving at present, but the brushless direct current motor only receives analog quantity signals, and the signals are transmitted through signal lines, so that the problems of complex wiring, low control precision and the like of the whole driving system are caused. In addition, the brushless dc motor has a control cycle of 30ms, and has a disadvantage of slow response, and the cost is high because the carbon brush needs to be replaced periodically.
Disclosure of Invention
Technical problem to be solved
Aiming at the defects in the prior art, the invention provides the double-rudder wheel motion control system of the AGV platform car, which can effectively overcome the defects of complex wiring, low control precision and low response speed in the prior art.
(II) technical scheme
In order to achieve the purpose, the invention is realized by the following technical scheme:
a double-steering-wheel motion control system of an AGV (automatic guided vehicle) comprises an AGV body and an AGV vehicle-mounted controller, wherein an AGV navigation system is installed on the AGV body, an AGV driving system and an AGV balance system are arranged on the AGV body, the AGV driving system comprises a front steering wheel assembly and a rear steering wheel assembly, the front steering wheel assembly comprises a front steering wheel servo driving motor and a front steering wheel servo steering motor, and the rear steering wheel assembly comprises a rear steering wheel servo driving motor and a rear steering wheel servo steering motor;
the AGV vehicle-mounted controller receives an action instruction of the AGV dispatching system through the wireless communication module, outputs a position instruction or a speed instruction according to positioning information receiving an AGV navigation system, sends the position instruction or the speed instruction to the AGV driving system, the AGV driving system feeds back an operation state to the AGV vehicle-mounted controller through the servo motor encoder, and the AGV vehicle-mounted controller outputs the position instruction or the speed instruction according to a feedback result and selects to execute a corresponding instruction.
Preferably, the AGV onboard controller receives an action instruction of the AGV dispatching system and positioning information of the AGV navigation system, and the AGV onboard controller gives a position instruction or a speed instruction through a set closed-loop motion control algorithm.
Preferably, the AGV onboard controller receives positioning information of the AGV navigation system including position coordinates and a deviation angle with respect to a reference direction.
Preferably, the AGV vehicle-mounted controller receives an action instruction of the AGV dispatching system through a wifi module.
Preferably, the AGV onboard controller sends the position instruction or the speed instruction to an AGV driving system through a CanOpen communication module, and controls the running speed and the steering angle of the front steering wheel assembly and the rear steering wheel assembly.
Preferably, when the feedback value of the servo motor encoder is controlled by a position instruction set by a closed-loop motion control algorithm, the AGV vehicle-mounted controller executes the position instruction; and when the feedback value of the servo motor encoder is controlled by the speed instruction set by the closed-loop motion control algorithm, the AGV vehicle-mounted controller executes the speed instruction.
Preferably, the front steering wheel servo drive motor and the rear steering wheel servo drive motor feed back the running speed to the AGV vehicle-mounted controller through the servo motor encoder, the front steering wheel servo steering motor and the rear steering wheel servo steering motor feed back the steering angle to the AGV vehicle-mounted controller through the servo motor encoder, and the AGV vehicle-mounted controller gives a position instruction or a speed instruction through a set closed-loop motion control algorithm.
Preferably, the system further comprises an AGV human-computer interface system connected with the AGV vehicle-mounted controller, and the AGV human-computer interface system and the AGV vehicle-mounted controller are communicated through an RS485 communication module.
(III) advantageous effects
Compared with the prior art, the double-rudder-wheel motion control system of the AGV platform car provided by the invention has the advantages that the double-rudder-wheel unmanned carrying vehicle is effectively controlled through closed-loop motion control, the AGV response speed can be effectively increased, meanwhile, the control precision of the AGV can be improved, the industrial requirements are met, the structure is simpler, and the cost is lower.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It is obvious that the drawings in the following description are only some embodiments of the invention, and that for a person skilled in the art, other drawings can be derived from them without inventive effort.
FIG. 1 is a schematic diagram of the system of the present invention;
FIG. 2 is a schematic diagram of closed loop motion control according to the present invention;
FIG. 3 is a schematic structural view of the present invention;
FIG. 4 is a bottom view of FIG. 3 according to the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
A double-steering-wheel motion control system of an AGV (automatic guided vehicle) platform comprises an AGV platform body 1 and an AGV vehicle-mounted controller, wherein an AGV navigation system 102 is installed on the AGV platform body 1, an AGV driving system 2 and an AGV balancing system 3 are arranged on the AGV platform body 1, the AGV driving system 2 comprises a front steering wheel assembly 201 and a rear steering wheel assembly 202, the front steering wheel assembly 201 comprises a front steering wheel servo driving motor 203 and a front steering wheel servo steering motor 204, and the rear steering wheel assembly 202 comprises a rear steering wheel servo driving motor 205 and a rear steering wheel servo steering motor 206;
the AGV vehicle-mounted controller receives an action instruction of the AGV dispatching system through the wireless communication module, outputs a position instruction or a speed instruction according to positioning information received from the AGV navigation system 102, sends the position instruction or the speed instruction to the AGV driving system 2, the AGV driving system 2 feeds back an operation state to the AGV vehicle-mounted controller through the servo motor encoder, and the AGV vehicle-mounted controller outputs the position instruction or the speed instruction according to a feedback result and selects to execute a corresponding instruction.
The AGV vehicle-mounted controller receives an action instruction of the AGV dispatching system through the wifi module and receives positioning information (including position coordinates and deviation angles related to a reference direction) of the AGV navigation system 102, and the AGV vehicle-mounted controller gives a position instruction or a speed instruction through a set closed-loop motion control algorithm.
The AGV onboard controller sends a position instruction or a speed instruction to the AGV driving system 2 through the CanOpen communication module, and controls the running speed and the steering angle of the front steering wheel assembly 201 and the rear steering wheel assembly 202.
The front steering wheel servo driving motor 203 and the rear steering wheel servo driving motor 205 feed back the running speed to the AGV vehicle-mounted controller through servo motor encoders, the front steering wheel servo steering motor 204 and the rear steering wheel servo steering motor 206 feed back the steering angle to the AGV vehicle-mounted controller through the servo motor encoders, and the AGV vehicle-mounted controller gives a position instruction or a speed instruction through a set closed-loop motion control algorithm.
When the feedback value of the servo motor encoder is controlled by the position instruction set by the closed-loop motion control algorithm, the AGV vehicle-mounted controller executes the position instruction; and when the feedback value of the servo motor encoder is controlled by the speed instruction set by the closed-loop motion control algorithm, the AGV vehicle-mounted controller executes the speed instruction.
In the technical scheme, the AGV communication system further comprises an AGV human-computer interface system 101 connected with the AGV vehicle-mounted controller, and the AGV human-computer interface system 101 and the AGV vehicle-mounted controller are communicated through an RS485 communication module. The AGV human-computer interface system 101 can display the working state and faults of the AGV platform body 1 in real time, and is convenient for field personnel to operate and solve problems.
The AGV vehicle-mounted controller can also communicate with other equipment with can communication or motor controllers through the Canopen communication module, so that the expandability of the AGV vehicle-mounted controller can be improved, and the application range requirements of the AGV platform vehicle in different working conditions are met.
The AGV vehicle-mounted controller and the AGV dispatching system are communicated by an AGVNetwifi wireless network, so that the fault rate is low, and the alternating current servo motor is high in precision and low in price. The control cycle of the alternating current servo motor is 2ms, closed-loop motion control of the multi-axis AGV can be achieved, and control response is fast.
The above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the corresponding technical solutions.
Claims (8)
1. The utility model provides a two steering wheel motion control system of AGV platform truck which characterized in that: the AGV steering system comprises an AGV platform vehicle body (1) and an AGV vehicle-mounted controller, wherein an AGV navigation system (102) is installed on the AGV platform vehicle body (1), an AGV driving system (2) and an AGV balancing system (3) are arranged on the AGV platform vehicle body (1), the AGV driving system (2) comprises a front steering wheel assembly (201) and a rear steering wheel assembly (202), the front steering wheel assembly (201) comprises a front steering wheel servo driving motor (203) and a front steering wheel servo steering motor (204), and the rear steering wheel assembly (202) comprises a rear steering wheel servo driving motor (205) and a rear steering wheel servo steering motor (206);
the AGV vehicle-mounted controller receives an action instruction of an AGV dispatching system through a wireless communication module, and outputs a position instruction or a speed instruction according to positioning information receiving an AGV navigation system (102), the AGV vehicle-mounted controller sends the position instruction or the speed instruction to an AGV driving system (2), the AGV driving system (2) feeds back an operation state to the AGV vehicle-mounted controller through a servo motor encoder, and the AGV vehicle-mounted controller outputs the position instruction or the speed instruction according to a feedback result and selects to execute a corresponding instruction.
2. The AGV platform vehicle dual-rudder wheel motion control system according to claim 1, further comprising: the AGV vehicle-mounted controller receives an action instruction of an AGV dispatching system and positioning information of an AGV navigation system (102), and gives a position instruction or a speed instruction through a set closed-loop motion control algorithm.
3. The AGV platform dual-rudder wheel motion control system according to claim 2 wherein: the AGV on-board controller receives positioning information of an AGV navigation system (102) including position coordinates and a deviation angle with respect to a reference direction.
4. The AGV platform vehicle dual steering wheel motion control system of claim 2 or 3, wherein: the AGV vehicle-mounted controller receives an action instruction of the AGV dispatching system through the wifi module.
5. The AGV platform dual-rudder wheel motion control system according to claim 2 wherein: the AGV vehicle-mounted controller sends a position instruction or a speed instruction to an AGV driving system (2) through a Canopen communication module, and controls the running speed and the steering angle of the front steering wheel assembly (201) and the rear steering wheel assembly (202).
6. The AGV platform dual-rudder wheel motion control system according to claim 5 wherein: when the feedback value of the servo motor encoder is controlled by a position instruction set by a closed-loop motion control algorithm, the AGV vehicle-mounted controller executes the position instruction; and when the feedback value of the servo motor encoder is controlled by the speed instruction set by the closed-loop motion control algorithm, the AGV vehicle-mounted controller executes the speed instruction.
7. The AGV platform vehicle dual-rudder wheel motion control system according to claim 6, further comprising: preceding steering wheel servo drive motor (203), back steering wheel servo drive motor (205) feed back the size of functioning speed to AGV on-vehicle controller through the servo motor encoder, preceding steering wheel servo steering motor (204), back steering wheel servo steering motor (206) feed back the size that turns to the angle to AGV on-vehicle controller through the servo motor encoder, AGV on-vehicle controller gives position instruction or speed instruction through the closed loop motion control algorithm who sets for.
8. The AGV platform vehicle dual steering wheel motion control system of claim 5 or 6, wherein: still include AGV human-computer interface system (101) of being connected with AGV on-vehicle controller, communicate through RS485 communication module between AGV human-computer interface system (101), the AGV on-vehicle controller.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110321232.7A CN113219963A (en) | 2021-03-25 | 2021-03-25 | Double-steering-wheel motion control system of AGV (automatic guided vehicle) |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110321232.7A CN113219963A (en) | 2021-03-25 | 2021-03-25 | Double-steering-wheel motion control system of AGV (automatic guided vehicle) |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113900406A (en) * | 2021-09-15 | 2022-01-07 | 安徽万维克林精密装备有限公司 | Control system for carrying |
| CN114454828A (en) * | 2022-03-15 | 2022-05-10 | 安歌科技(集团)股份有限公司 | Material box carrying type AGV and electrical control system thereof |
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2021
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Patent Citations (5)
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| CN113900406A (en) * | 2021-09-15 | 2022-01-07 | 安徽万维克林精密装备有限公司 | Control system for carrying |
| CN114454828A (en) * | 2022-03-15 | 2022-05-10 | 安歌科技(集团)股份有限公司 | Material box carrying type AGV and electrical control system thereof |
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Application publication date: 20210806 |
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