CN113721616A - Handheld AGV tracking PID parameter debugging system and using method thereof - Google Patents
Handheld AGV tracking PID parameter debugging system and using method thereof Download PDFInfo
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Abstract
The utility model provides a hand-held type AGV tracking PID parameter debugging system, including wireless control module and wireless communication module, wireless communication module and AGV dolly wireless connection, wireless control module includes the regulator, the input drive, the MCU treater, the liquid crystal drive, LCD, the quantity of regulator is three, this three regulator pass through the input drive respectively with the three input one-to-one of MCU treater, three regulator is arranged in adjusting the P, I, D value of inputing in the MCU treater respectively, LCD is connected with the MCU treater through the liquid crystal drive. The design not only simplifies the debugging process, but also improves the convenience degree.
Description
Technical Field
The invention relates to the technical field of intelligent logistics, in particular to a handheld AGV tracking PID parameter debugging system and a using method thereof, which are mainly suitable for simplifying the debugging process and improving the convenience degree.
Background
An Automated Guided Vehicle, abbreviated as AGV, and generally referred to as an AGV cart, is a transport Vehicle equipped with an electromagnetic or optical automatic navigation device, capable of autonomous traveling along a predetermined navigation path without a driver, having safety protection and various transfer functions, and using a rechargeable battery as a power source.
Because the AGV needs to reliably and stably walk on a magnetic stripe path which is planned and laid in advance strictly when transporting or carrying materials, the AGV has the advantages of stable automatic tracking action, smooth running track, no left-right back-and-forth head swinging, no derailment, strong anti-interference capability and the like.
The current AGV tracking PID parameter debugging system still has the following problems:
firstly, the debugging process is complicated, the whole debugging operation is inconvenient and simple, and three parameter values of PID (proportion integration differentiation) setting cannot be used as they are and cannot take effect in real time;
secondly, the portable test device is inconvenient to carry, needs a desktop computer or a notebook computer as a debugging tool and is not suitable for long-time mobile test; the debugging personnel are loaded with heavy load, and the long-time debugging leads people to be tired and easy to be tired.
Disclosure of Invention
The invention aims to overcome the defects and problems of complicated debugging process and inconvenient carrying in the prior art, and provides a handheld AGV tracking PID parameter debugging system which is simple in debugging process and convenient to carry and a using method thereof.
In order to achieve the above purpose, the technical solution of the invention is as follows: a handheld AGV tracking PID parameter debugging system comprises a wireless control module and a wireless communication module, wherein the wireless communication module is wirelessly connected with an AGV trolley, the wireless control module comprises regulators, input drives, an MCU processor, liquid crystal drives and liquid crystal displays, the three regulators are respectively connected with three input ends of the MCU processor one by one through the input drives, the three regulators are respectively used for regulating P, I, D values input into the MCU processor, and the liquid crystal displays are connected with the MCU processor through the liquid crystal drives;
the wireless communication module is connected with the MCU through the serial port drive, and the wireless communication module is used for receiving data of the AGV in real time and transmitting the data to the AGV.
The wireless control module further comprises a lithium battery pack, a lithium battery management module and a power switch, the input end of the lithium battery management module is connected with the lithium battery pack and the power switch, the output end of the lithium battery management module is connected with the MCU processor, the lithium battery pack supplies power for the MCU processor, and the power switch is used for controlling the lithium battery management module.
The wireless control module further comprises a multi-screen switching module, and the multi-screen switching module is connected with the MCU processor.
The regulator is an analog quantity potentiometer or a digital pulse encoder, and the regulator adopts a control mode of knob regulation.
And the wireless communication module and the AGV adopt a Bluetooth wireless communication technology for data exchange.
The liquid crystal display is an OLED liquid crystal screen.
A method for using a handheld AGV tracking PID parameter debugging system, the method comprising the steps of:
and (3) adjusting: firstly, the three regulators are manually regulated respectively, the regulated regulator pulse signals are changed, P, I, D values corresponding to the three regulators one by one are correspondingly changed, and the changed P, I, D values are input into the MCU processor through input drive;
and (3) data processing: the MCU processor receives input signals of the three regulators in real time, identifies the input signals, respectively calculates respective pulse numbers according to the input signals, converts the pulse numbers into corresponding P, I, D values, and then packs the P, I, D values into communication data frames;
a data communication step: sending the packed communication data frame to an AGV through a wireless communication module, receiving P, I, D values fed back by the AGV in real time, displaying the values through a liquid crystal display, and producing a fitting PID waveform curve in real time;
finishing the value taking step: and repeating the adjusting step, the data processing step and the data communication step, controlling the adjustor to adjust the P, I, D value by observing the trend of the real-time PID waveform curve and the target curve according to the fitted PID waveform curve displayed by the liquid crystal display, adjusting the automatic tracing algorithm PID parameter of the AGV in real time, and synchronously transmitting the adjusted parameter to the AGV in real time until the adjustment of the automatic tracing algorithm PID parameter of the AGV is completed.
In the adjusting step, manually adjusting the adjustor means changing a pulse signal generated by the adjustor by rotating a knob.
In the data processing step, the real-time receiving means that the MCU processor acquires the pulse signal of the regulator in a hardware interrupt mode.
In the data communication step, the real-time feedback means that the AGV trolley acquires AGV trolley data through the magnetic navigation sensor of the trolley head, and then transmits the data to the MCU processor in real time.
Compared with the prior art, the invention has the beneficial effects that:
1. the invention relates to a hand-held AGV tracking PID parameter debugging system and a using method thereof, wherein a wireless control module and a wireless communication module are arranged, during debugging, manual regulation is respectively carried out on three regulators, pulse signals of the regulated regulators are changed, P, I, D values corresponding to the three regulators in a one-to-one correspondence mode are correspondingly changed, P, I, D values after the change are input into an MCU processor through input driving, according to a fitted PID waveform curve displayed by a liquid crystal display, the regulator is controlled to regulate P, I, D values by observing trends of a real-time PID waveform curve and a target curve, automatic tracking algorithm PID parameters of the AGV are regulated in real time, the regulated parameters are synchronously transmitted to the AGV in real time until the regulation of the automatic tracking algorithm PID parameters of the AGV is completed, and through the real-time regulation of the P, I, D values, the wireless debugging device has the advantages that the whole debugging step is simplified, the time required by debugging is greatly reduced, the debugging efficiency is improved, wireless real-time adjustment can be realized through the wireless control module and the wireless communication module, the carrying is convenient, the debugging personnel operation is convenient, the load of the debugging personnel is reduced, the debugging difficulty of the debugging personnel is reduced, and the wireless debugging device is not easy to fatigue. Therefore, the invention simplifies the debugging process and is convenient to carry.
2. In the handheld AGV tracking PID parameter debugging system and the using method thereof, the regulator is an analog quantity potentiometer or a digital pulse encoder, and the regulator adopts a control mode of knob regulation, and only the knob needs to be rotated during debugging, so that the operation of debugging personnel is facilitated, the regulation precision is improved, the whole debugging process is shortened, and the whole debugging is easier to complete; the multi-screen switching module in the wireless control module can realize multi-screen switching, reduce the area of the liquid crystal display, facilitate the query of numerical information fed back by the AGV trolley, reduce the production cost and facilitate the production and the manufacture; through wireless control module and wireless communication module, need not cable junction: the cable is not bound and pulled, free operation debugging can be realized, debugging equipment cannot be damaged, and the cable is safer and more reliable. Therefore, the invention improves the adjusting precision and has low production cost.
Drawings
Fig. 1 is an overall block diagram of the present invention.
Fig. 2 is a schematic structural diagram of a wireless control module of the present invention.
In the figure: the system comprises a wireless control module 1, a regulator 2, an input driver 3, an MCU (microprogrammed control unit) processor 4, a liquid crystal driver 5, a liquid crystal display 6, a wireless communication module 7, a serial port driver 8, a lithium battery pack 9, a lithium battery management module 10, a power switch 11, a multi-screen switching module 12 and an SD (secure digital) memory card 13.
Detailed Description
The present invention will be described in further detail with reference to the following description and embodiments in conjunction with the accompanying drawings.
Referring to fig. 1 to 2, a handheld AGV tracking PID parameter debugging system comprises a wireless control module 1 and a wireless communication module 7, wherein the wireless communication module 7 is wirelessly connected with an AGV trolley, the wireless control module 1 comprises three regulators 2, an input driver 3, an MCU processor 4, a liquid crystal driver 5 and a liquid crystal display 6, the three regulators 2 are respectively connected with three input ends of the MCU processor 4 through the input driver 3, the three regulators 2 are respectively used for regulating P, I, D values input into the MCU processor 4, and the liquid crystal display 6 is connected with the MCU processor 4 through the liquid crystal driver 5;
the wireless communication module 7 is connected with the MCU processor 4 through the serial port driver 8, and the wireless communication module 7 is used for receiving the data of the AGV in real time and transmitting the data to the AGV.
The wireless control module 1 is provided with an SD memory card 13, and the SD memory card 13 is used for storing data.
Wireless control module 1 still includes lithium cell group 9, lithium electricity management module 10 and switch 11, the input of lithium electricity management module 10 is connected with lithium cell group 9, switch 11, and the output of lithium electricity management module 10 is connected with MCU treater 4, lithium cell group 9 is the power supply of MCU treater 4, switch 11 is used for controlling lithium electricity management module 10.
The wireless control module 1 further includes a multi-screen switching module 12, and the multi-screen switching module 12 is connected to the MCU processor 4.
The regulator 2 is an analog quantity potentiometer or a digital pulse encoder, and the regulator 2 adopts a control mode of knob regulation.
And the wireless communication module 7 and the AGV adopt a Bluetooth wireless communication technology for data exchange.
The liquid crystal display 6 is an OLED liquid crystal screen.
A method for using a handheld AGV tracking PID parameter debugging system, the method comprising the steps of:
and (3) adjusting: firstly, the three regulators 2 are respectively and manually regulated, pulse signals of the regulated regulators 2 are changed, P, I, D values corresponding to the three regulators 2 one to one are correspondingly changed, and the changed P, I, D values are input into the MCU processor 4 through the input drive 3;
and (3) data processing: the MCU processor 4 receives input signals of the three regulators 2 in real time, identifies the input signals, respectively calculates respective pulse numbers according to the input signals, converts the pulse numbers into corresponding P, I, D values, and then packs the P, I, D values into communication data frames;
a data communication step: sending the packed communication data frame to an AGV through a wireless communication module 7, receiving P, I, D values fed back by the AGV in real time, displaying the values through a liquid crystal display 6, and producing a fitting PID waveform curve in real time;
finishing the value taking step: and repeating the adjusting step, the data processing step and the data communication step, controlling the regulator 2 to adjust the P, I, D value by observing the trend of the real-time PID waveform curve and the target curve according to the fitted PID waveform curve displayed by the liquid crystal display 6, setting the automatic tracing algorithm PID parameter of the AGV in real time, and synchronously transmitting the set parameter to the AGV in real time until the setting of the automatic tracing algorithm PID parameter of the AGV is completed.
In the adjusting step, manually adjusting the adjuster 2 means changing a pulse signal generated by the adjuster 2 by turning a knob.
In the data processing step, the real-time reception means that the MCU processor 4 acquires the pulse signal of the regulator 2 in a hardware interrupt manner.
In the data communication step, the real-time feedback means that the AGV trolley acquires AGV trolley data through the magnetic navigation sensor of the trolley head, and then transmits the data to the MCU processor 4 in real time.
The principle of the invention is illustrated as follows:
this design is mainly through wireless control module 1 and wireless communication module 7, realizes the real-time debugging to the PID parameter, can accomplish the debugging according to the real-time feedback that the AGV got off, not only simplifies holistic debugging process, adopts wireless connection's mode to improve convenient degree moreover, has hand-held type, mobility, portability.
Firstly, a knob of an adjuster 2 is manually rotated to respectively adjust a digital pulse encoder or an analog quantity potentiometer, namely a P digital pulse encoder, an I digital pulse encoder and a D digital pulse encoder, wherein pulse signals generated by the three encoders 2 are input to an input end of an MCU processor 4;
the MCU processor 4 rapidly acquires P, I, D pulse input signals of the encoder in real time in a hardware interrupt mode and identifies the signals;
the MCU processor 4 respectively calculates the corresponding pulse numbers of the three encoders 2 according to the signals input by the three encoders 2, then converts the pulse numbers into corresponding P, I, D values, and simultaneously carries out limit constraint on the converted P, I, D values according to preset upper and lower limit values, so that the transfinite is not avoided;
data exchange is carried out between the handheld AGV tracking PID parameter debugging system and the AGV through a Bluetooth wireless communication technology, the MCU processor 4 uses a self-defined special protocol to pack P, I, D three control parameters into a communication data frame, and then the communication data frame is sent to the AGV through the wireless communication module 7;
the MCU processor 4 can display P, I, D parameter values given by the adjusting knobs of the three adjusters 2, real-time PID values fed back by the AGV trolley, real-time position information acquired by the magnetic navigation sensor at the head of the vehicle, real-time speed of wheels and the like through the liquid crystal display 6, generate a fitting PID waveform curve in real time according to the position information and the like, and the SD memory card 13 can store the information of the produced fitting PID waveform curve;
at the moment, the PID parameters of the AGV are adjusted in real time by observing the trend of the actual curve and the target curve in the curve and adjusting a knob of a PID digital pulse encoder according to the fitted waveform curve displayed by the liquid crystal display 6, and the adjusted parameters are transmitted to the AGV on line, in real time and synchronously, and the steps are repeated until the adjustment of the PID parameters of the AGV automatic tracing algorithm is completed.
Three physical digital pulse encoders are designed to directly correspond to three important parameters of a P value, an I value and a D value in a PID algorithm respectively; three digital pulse type encoders are used as physical quantity inputs of three parameters of the PID, and direct adjustment and setting of the three parameters of the PID algorithm are realized.
Meanwhile, in the debugging process, technicians can directly adjust the values of three parameters of the PID by adjusting the three physical digital pulse type encoders at any time, operations such as program downloading, parameter digital input, confirmation or sending and the like are not needed, the PID magnetic-seeking device can be used as it is without changing the parameters, the parameters take effect in real time, the actual magnetic-seeking effect of the PID algorithm can be observed immediately, and the debugging efficiency is improved.
The design adopts an embedded MCU structure, has the advantages of simplicity, reliable work, safety, long service life and no need of maintenance, and has compact structure, small size, light weight, convenient carrying, handheld use, no need of a heavy notebook computer and low cost; the labor load is reduced, a heavy notebook computer is not needed, the device is light and handy (within 180 g), the device is portable by hand, the carrying is convenient, the load of personnel is effectively reduced, the device can easily follow the AGV to walk, and the adjustment while walking is realized; the wireless mode is free to debug, has no trip and pull of cables, and can freely debug in operation within an infinite distance (within 10 meters).
Example 1:
referring to fig. 1 to 2, a handheld AGV tracking PID parameter debugging system comprises a wireless control module 1 and a wireless communication module 7, wherein the wireless communication module 7 is wirelessly connected with an AGV trolley, the wireless control module 1 comprises three regulators 2, an input driver 3, an MCU processor 4, a liquid crystal driver 5 and a liquid crystal display 6, the three regulators 2 are respectively connected with three input ends of the MCU processor 4 through the input driver 3, the three regulators 2 are respectively used for regulating P, I, D values input into the MCU processor 4, and the liquid crystal display 6 is connected with the MCU processor 4 through the liquid crystal driver 5;
the wireless communication module 7 is connected with the MCU processor 4 through the serial port driver 8, and the wireless communication module 7 is used for receiving the data of the AGV in real time and transmitting the data to the AGV.
A method for using a handheld AGV tracking PID parameter debugging system, the method comprising the steps of:
and (3) adjusting: firstly, the three regulators 2 are respectively and manually regulated, pulse signals of the regulated regulators 2 are changed, P, I, D values corresponding to the three regulators 2 one to one are correspondingly changed, and the changed P, I, D values are input into the MCU processor 4 through the input drive 3;
and (3) data processing: the MCU processor 4 receives input signals of the three regulators 2 in real time, identifies the input signals, respectively calculates respective pulse numbers according to the input signals, converts the pulse numbers into corresponding P, I, D values, and then packs the P, I, D values into communication data frames;
a data communication step: sending the packed communication data frame to an AGV through a wireless communication module 7, receiving P, I, D values fed back by the AGV in real time, displaying the values through a liquid crystal display 6, and producing a fitting PID waveform curve in real time;
finishing the value taking step: and repeating the adjusting step, the data processing step and the data communication step, controlling the regulator 2 to adjust the P, I, D value by observing the trend of the real-time PID waveform curve and the target curve according to the fitted PID waveform curve displayed by the liquid crystal display 6, setting the automatic tracing algorithm PID parameter of the AGV in real time, and synchronously transmitting the set parameter to the AGV in real time until the setting of the automatic tracing algorithm PID parameter of the AGV is completed.
Example 2:
the basic contents are the same as example 1, except that:
referring to fig. 1 to 2, an SD memory card 13 is disposed in the wireless control module 1, and the SD memory card 13 is used for storing data; the wireless control module 1 further comprises a lithium battery pack 9, a lithium battery management module 10 and a power switch 11, wherein the input end of the lithium battery management module 10 is connected with the lithium battery pack 9 and the power switch 11, the output end of the lithium battery management module 10 is connected with the MCU processor 4, the lithium battery pack 9 supplies power to the MCU processor 4, and the power switch 11 is used for controlling the lithium battery management module 10; the wireless control module 1 further comprises a multi-screen switching module 12, and the multi-screen switching module 12 is connected with the MCU processor 4; the regulator 2 is an analog quantity potentiometer or a digital pulse encoder, and the regulator 2 adopts a control mode of knob regulation; the wireless communication module 7 and the AGV adopt a Bluetooth wireless communication technology for data exchange; the liquid crystal display 6 is an OLED liquid crystal screen.
Example 3:
the basic contents are the same as example 1, except that:
referring to fig. 1 to 2, in the adjusting step, manually adjusting the adjuster 2 refers to changing a pulse signal generated by the adjuster 2 by rotating a knob; in the data processing step, the real-time receiving means that the MCU processor 4 acquires the pulse signal of the regulator 2 in a hardware interrupt mode; in the data communication step, the real-time feedback means that the AGV trolley acquires AGV trolley data through the magnetic navigation sensor of the trolley head, and then transmits the data to the MCU processor 4 in real time.
The above description is only a preferred embodiment of the present invention, and the scope of the present invention is not limited to the above embodiment, but equivalent modifications or changes made by those skilled in the art according to the present disclosure should be included in the scope of the present invention as set forth in the appended claims.
Claims (10)
1. The utility model provides a hand-held type AGV tracking PID parameter debugging system, includes wireless control module (1) and wireless communication module (7), wireless communication module (7) and AGV dolly wireless connection, its characterized in that:
the wireless control module (1) comprises three regulators (2), an input driver (3), an MCU (microprogrammed control unit) processor (4), a liquid crystal driver (5) and a liquid crystal display (6), wherein the three regulators (2) are respectively connected with three input ends of the MCU processor (4) one by one through the input driver (3), the three regulators (2) are respectively used for regulating P, I, D values input into the MCU processor (4), and the liquid crystal display (6) is connected with the MCU processor (4) through the liquid crystal driver (5);
the wireless communication module (7) is connected with the MCU processor (4) through a serial port driver (8), and the wireless communication module (7) is used for receiving data of the AGV in real time and transmitting the data to the AGV.
2. The system of claim 1, wherein: the wireless control module (1) further comprises a lithium battery pack (9), a lithium battery management module (10) and a power switch (11), wherein the input end of the lithium battery management module (10) is connected with the lithium battery pack (9) and the power switch (11), the output end of the lithium battery management module (10) is connected with the MCU processor (4), the lithium battery pack (9) supplies power for the MCU processor (4), and the power switch (11) is used for controlling the lithium battery management module (10).
3. The system of claim 2, wherein: the wireless control module (1) further comprises a multi-screen switching module (12), and the multi-screen switching module (12) is connected with the MCU processor (4).
4. A handheld AGV tracking PID parameter debugging system according to any of claims 1-3 characterized in that: the regulator (2) is an analog quantity potentiometer or a digital pulse encoder, and the regulator (2) adopts a control mode of knob regulation.
5. The system of claim 1, wherein: and the wireless communication module (7) and the AGV adopt a Bluetooth wireless communication technology to exchange data.
6. The system of claim 1, wherein: the liquid crystal display (6) is an OLED liquid crystal screen.
7. A method for using the handheld AGV tracking PID parameter debugging system of claim 1, characterized in that: the using method comprises the following steps:
and (3) adjusting: firstly, the three regulators (2) are respectively and manually regulated, pulse signals of the regulated regulators (2) are changed, P, I, D values corresponding to the three regulators (2) one by one are correspondingly changed, and the changed P, I, D values are input into the MCU processor (4) through the input drive (3);
and (3) data processing: the MCU processor (4) receives input signals of the three regulators (2) in real time, identifies the input signals, respectively calculates respective pulse numbers according to the input signals, converts the pulse numbers into corresponding P, I, D values, and then packs the P, I, D values into communication data frames;
a data communication step: sending the packed communication data frame to an AGV through a wireless communication module (7), receiving P, I, D values fed back by the AGV in real time, displaying the values through a liquid crystal display (6), and producing a fitting PID waveform curve in real time;
finishing the value taking step: and repeating the adjusting step, the data processing step and the data communication step, controlling the adjustor (2) to adjust the P, I, D value by observing the trend of the real-time PID waveform curve and the target curve according to the fitted PID waveform curve displayed by the liquid crystal display (6), setting the automatic tracing algorithm PID parameter of the AGV in real time, and synchronously transmitting the set parameter to the AGV in real time until the setting of the automatic tracing algorithm PID parameter of the AGV is completed.
8. The system of claim 7, wherein: in the adjusting step, manually adjusting the adjuster (2) means that the pulse signal generated by the adjuster (2) is changed by rotating a knob.
9. The system of claim 7, wherein: in the data processing step, real-time receiving refers to that the MCU processor (4) acquires the pulse signal of the regulator (2) in a hardware interrupt mode.
10. The system of claim 7, wherein: in the data communication step, the real-time feedback means that the AGV trolley acquires AGV trolley data through a headstock magnetic navigation sensor, and then transmits the data to the MCU processor (4) in real time.
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- 2021-08-27 CN CN202110993444.XA patent/CN113721616A/en active Pending
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