CN113978572B

CN113978572B - AGV trolley with push rod, control method, equipment and storage medium

Info

Publication number: CN113978572B
Application number: CN202111252371.5A
Authority: CN
Inventors: 浣沙; 罗文俊; 徐晓彤; 王浩轩; 陈宇锋; 刘伟谱; 王晓婷; 黄卓辉
Original assignee: Guangzhou University
Current assignee: Guangzhou University
Priority date: 2021-10-27
Filing date: 2021-10-27
Publication date: 2022-08-30
Anticipated expiration: 2041-10-27
Also published as: CN113978572A

Abstract

The application relates to the technical field of unmanned carrying vehicles, in particular to an AGV with a push rod, a control method, equipment and a storage medium, wherein the AGV comprises a power module, a push rod signal acquisition module and a push rod driving module; the power supply module is used for stabilizing voltage; the push rod driving module is connected to the output end of the power supply module and used for driving the push rod to stretch; and the push rod signal acquisition module is connected to the output end of the power supply module and used for acquiring the analog quantity signal output by the push rod and converting the analog quantity signal into a digital quantity signal for output. The problem of current AGV dolly adopt the track power supply easily to make output voltage unstable, lead to communication badly and dolly card pause is solved. This application has the effect that improves output voltage's stability, make dolly steady operation.

Description

AGV trolley with push rod, control method, equipment and storage medium

Technical Field

The application relates to the technical field of unmanned vehicles, in particular to an AGV with a push rod, a control method, equipment and a storage medium.

Background

An AGV (Automated Guided Vehicle) can automatically travel along a preset route without manual piloting, automatically conveys goods or materials to a destination from an initial point, can realize automation of the whole process of loading and unloading and conveying of articles, and has high intelligent level.

At present, with the rise of the automatic handling industry, the application of the AGV trolley is more and more extensive. The AGV carts run directly on the rails, and power supply and communication are also performed through the rails. However, the rail is worn or stained with dust for a while, and at this time, the carbon brush or the rail needs to be replaced, which brings great trouble to maintenance work.

Meanwhile, once the contact of the track power supply is poor, poor communication is easily caused by unstable voltage, and further communication fails to influence scheduling efficiency; even the mainboard is restarted, and the machine is not stopped; when the trolley moves vertically, the track and the carbon brush are in poor contact and unstable in voltage, so that the trolley is difficult to guide to a safe place for maintenance.

In view of the above related technologies, the inventor believes that there are defects that the output voltage is unstable due to the fact that the conventional AGV cart adopts rail power supply, which results in poor communication and cart jamming.

Disclosure of Invention

In order to improve the stability of output voltage and enable the trolley to stably work, the application provides the AGV trolley with the push rod, a control method, equipment and a storage medium.

First aspect, the application provides a take AGV dolly of push rod has the stability that improves output voltage so that the dolly steady operation's characteristics.

The application is realized by the following technical scheme:

an AGV trolley with a push rod comprises a power supply module, a push rod signal acquisition module and a push rod driving module;

the power supply module is used for stabilizing voltage;

the push rod driving module is connected to the output end of the power supply module and used for driving the push rod to stretch;

the push rod signal acquisition module is connected to the output end of the power supply module and used for acquiring analog quantity signals output by the push rod and converting the analog quantity signals into digital quantity signals for output.

By adopting the technical scheme, the power supply module outputs stable voltage; the push rod signal acquisition module is connected with stable power supply voltage, and simultaneously acquires an analog quantity signal output by the push rod and converts the analog quantity signal into a digital quantity signal for output, so that the direction and the speed of the AGV trolley can be controlled conveniently; and then power module has better load and linear regulation ability, can keep voltage stable output for output voltage is stable, and then AGV dolly communication is good, has effectively reduced the condition that the mainboard restarted, and the AGV dolly is difficult to the card pause, has improved output voltage's stability, makes the dolly steady operation.

The present application may be further configured in a preferred example to: the power supply module comprises a first voltage conversion unit, the first voltage conversion unit comprises a high-frequency synchronous rectification buck switching converter U2, a FB pin of the high-frequency synchronous rectification buck switching converter U2 is sequentially connected with a fourth resistor R4 and a fifth resistor R5, the FB pin of the high-frequency synchronous rectification buck switching converter U2 is grounded through a ninth resistor R9 and a thirteenth resistor R13, and the sum of the resistance values of the fourth resistor R4 and the fifth resistor R5 is 5.25 times that of the sum of the resistance values of the ninth resistor R9 and the thirteenth resistor R13.

By adopting the technical scheme, the fourth resistor R4, the fifth resistor R5, the ninth resistor R9 and the thirteenth resistor R13 which are sequentially connected with the FB pin of the high-frequency synchronous rectification buck switch converter U2 form a T-shaped network to carry out external resistor voltage division, convert an access power supply into 5V and output stable voltage to stably supply power, so that the AGV trolley has good communication, the condition of restarting a mainboard is effectively reduced, the AGV trolley is not easy to jam, and the stability of the output voltage is improved, so that the trolley stably works; the high-frequency synchronous rectification buck switching converter is designed according to a feedback pin formula of the high-frequency synchronous rectification buck switching converter U2, so that the sum of the resistance values of the fourth resistor R4 and the fifth resistor R5 is 5.25 times of the sum of the resistance values of the ninth resistor R9 and the thirteenth resistor R13, the driving of the circuit is enhanced, a desired output voltage is obtained, the stability of the circuit is improved, misoperation is avoided, and leakage current can be effectively reduced through the fourth resistor R4 and the fifth resistor R5.

The present application may be further configured in a preferred example to: the power supply module further comprises a second voltage conversion unit, the second voltage conversion unit comprises a linear voltage stabilizer U6, input pins of the linear voltage stabilizer U6 are respectively connected with a sixteenth capacitor C16 and a fifteenth capacitor C15 in a grounded mode, output pins of the linear voltage stabilizer U6 are respectively connected with a fourteenth capacitor C14 and a thirteenth capacitor C13 in a grounded mode, and the sum of capacitance capacities of the fifteenth capacitor C15 and the sixteenth capacitor C16 is not lower than the sum of capacitance capacities of the thirteenth capacitor C13 and the fourteenth capacitor C14.

By adopting the technical scheme, 5V voltage is converted into 3.3V voltage by the linear voltage stabilizer U6, and 3.3V voltage is fixedly output for stable power supply; the sixteenth capacitor C16 and the fourteenth capacitor C14 filter high-frequency signals, so that the output voltage is more stable; the fifteenth capacitor C15 and the thirteenth capacitor C13 filter low-frequency signals, so that the signals are purer, and the output voltage is more stable; the stability of output voltage is further improved, AGV trolley communication is good, the condition that the main board is restarted is effectively reduced, and the AGV trolley is not stuck, so that the trolley stably works; meanwhile, the capacitance capacities of the input capacitor C15 and the input capacitor C16 are not lower than the capacitance capacities of the output capacitor C13 and the output capacitor C14, the situation of voltage inversion during power failure can be effectively avoided, a good power failure protection effect is achieved, the safety performance of the AGV trolley is improved, the maintenance cost is reduced, and the service life is longer.

The present application may be further configured in a preferred example to: the push rod signal acquisition module comprises an ADC chip U4 with at least two paths of input, the negative input end of the same path of input of the ADC chip U4 is connected with a resistor to the ground, and capacitors are connected in parallel between the positive input end and the negative input end of the same path of input of the ADC chip U4.

By adopting the technical scheme, the high-precision characteristics of two fully-differential input ends in the same path of input of the ADC chip U4 are fully utilized, and the analog quantity signals of the X axis and the Y axis output by the push rod are acquired and converted into digital quantity signals to be output so as to control the direction and the speed of the AGV; a 0 ohm resistor is connected to the ground at the negative input end of the same path of input of the ADC chip U4, so that the stability and accuracy of input signals are guaranteed; and a capacitor matched with an application voltage range is connected in parallel between the positive input end and the negative input end of the same path of input of the ADC chip U4 so as to carry out filtering processing, and the stable work of the trolley is facilitated.

The present application may be further configured in a preferred example to: a voltage stabilizing chip U7 is connected between a REFIN + pin and a REFIN-pin of the ADC chip U4, and an eighteenth capacitor C18 is connected between a branch where the voltage stabilizing chip U7 is connected to the positive reference voltage and a branch where the negative reference voltage is located.

By adopting the technical scheme, the voltage output by the voltage stabilizing chip U7 is used as the reference voltage of the ADC chip U4, the eighteenth capacitor C18 is independently designed at the peripheral circuit part of the voltage stabilizing chip U7, the filtering effect is achieved, the working stability and the accuracy of the ADC chip U4 are ensured, and the stable work of the trolley is facilitated.

In a second aspect, the application provides a control method for an AGV trolley with a push rod, which has the characteristics of improving the stability of output voltage and enabling the trolley to work stably.

The application is realized by the following technical scheme:

the control method of the AGV with the push rod is based on the AGV with the push rod and further comprises a push rod control module used for controlling power supply and signal processing of the push rod signal acquisition module and the push rod driving module;

the push rod control module enables the power supply module to output stable voltage;

at the moment, the push rod signal acquisition module acquires an analog quantity signal output by a push rod, converts the analog quantity signal into a digital quantity signal and transmits the digital quantity signal to the push rod control module;

based on a preset static coordinate point, the push rod control module converts the received digital quantity signal into a current coordinate point;

the push rod control module calculates the length of a connecting line of the current coordinate point and the static coordinate point based on the current coordinate point;

when the calculated length is larger than a threshold value, calculating an included angle theta between the length and the positive half shaft of the x axis based on a preset trigonometric function relational expression;

judging the AGV trolley direction mapped by the calculated included angle theta based on a mapping relation table of the preset included angle theta and the direction, and converting the AGV trolley direction mapped by the calculated included angle theta into a trolley direction control signal to be output;

and meanwhile, correspondingly outputting a preset trolley speed control signal based on the calculated length.

By adopting the technical scheme, the push rod control module enables the power supply module to output stable voltage to supply power to the push rod signal acquisition module; at the moment, the push rod signal acquisition module acquires an analog quantity signal output by the push rod, converts the analog quantity signal into a digital quantity signal and transmits the digital quantity signal to the push rod control module; the push rod control module converts a received digital quantity signal into a current coordinate point based on a preset static coordinate point, calculates the length of a connecting line between the current coordinate point and the static coordinate point, calculates an included angle theta between the length and an x-axis positive half shaft based on a preset trigonometric function relation when the calculated length is larger than a threshold value, obtains a trolley direction control signal based on a mapping relation table of the preset included angle theta and the direction, outputs the trolley direction control signal, outputs a trolley speed control signal based on the calculated length, further controls the direction and the speed of the trolley, enables the trolley to move towards a destination at a proper speed accurately and continuously while improving the stability of output voltage, and improves the transportation efficiency.

The present application may be further configured in a preferred example to: the preset mapping relation table of the included angle theta and the direction comprises:

when the included angle theta is positioned at (45 degrees and 75 degrees), judging that the direction of the trolley is in a 1 o' clock direction;

when the included angle theta is (15 degrees and 45 degrees), the direction of the trolley is judged to be the direction of 2 o' clock;

when the included angle theta is (-15 degrees, 15 degrees), the direction of the trolley is judged to be the ' 3 ' o ' clock direction;

when the included angle theta belongs to (-45 degrees, -15 degrees), the direction of the trolley is judged to be the ' 4 ' o ' clock direction;

when the included angle theta belongs to (-75 degrees, -45 degrees), the direction of the trolley is judged to be the ' 5 ' o ' clock direction;

when the included angle theta belongs to (-105 degrees, -75 degrees), the direction of the trolley is judged to be the ' 6 ' o ' clock direction;

when the included angle theta belongs to (-135 degrees, -105 degrees), the direction of the trolley is judged to be the ' 7 ' o ' clock direction;

when the included angle theta belongs to (-165 degrees, -135 degrees), the direction of the trolley is judged to be the ' 8 ' o ' clock direction;

when the included angle theta belongs to (-180 degrees, -165 degrees) or (165 degrees, 180 degrees), the direction of the trolley is judged to be the ' 9 ' o ' clock direction;

when the included angle theta belongs to (135 degrees and 165 degrees), the direction of the trolley is judged to be the direction of 10 o' clock;

when the included angle theta belongs to (105 degrees and 135 degrees), the direction of the trolley is judged to be the ' 11 ' o ' clock direction;

when the included angle theta belongs to (75 degrees and 105 degrees), the direction of the trolley is judged to be the 12 o' clock direction.

Through a large number of experiments, the push rod is powered by 3.3V voltage, so that the value range of the abscissa and the ordinate is [0, 3.3 ]; when the push rod is static, namely the static coordinate point is about (1.65 ); when the push rod changes from rest to move in all directions, the coordinate value is linearly increased to 3.3 or decreased to 0 from 1.65; by analogy, the mapping relation table of the included angle theta and the direction can be obtained, so that a trolley direction control signal can be obtained according to the analog quantity signal output by the push rod, the movement direction of the trolley can be accurately controlled, and the transportation efficiency can be improved.

The present application may be further configured in a preferred example to: the step of correspondingly outputting a preset trolley speed control signal based on the calculated length comprises:

when the calculated length is greater than or equal to the threshold value and smaller than a first preset value, correspondingly outputting a first-gear trolley speed control signal;

when the calculated length is greater than or equal to a first preset value and smaller than a second preset value, correspondingly outputting a second-gear trolley speed control signal;

and correspondingly outputting a third gear trolley speed control signal when the calculated length is greater than or equal to a second preset value.

Through adopting above-mentioned technical scheme, based on the length of calculation, correspond the dolly speed control signal of output different gears to the moving speed of accurate regulation and control dolly does benefit to and improves conveying efficiency.

In a third aspect, the present application provides an apparatus having features for improving stability of output voltage and enabling stable operation of a cart.

The application is realized by the following technical scheme:

an apparatus comprising a memory, a processor and a computer program stored in said memory and executable on said processor, said processor implementing the steps of a method for controlling an AGV cart with push bars as described above when executing said computer program.

In a fourth aspect, the present application provides a storage medium having features of improving stability of output voltage and enabling stable operation of a cart.

The application is realized by the following technical scheme:

a storage medium storing a computer program which, when executed by a processor, implements the steps of the above-described method for controlling an AGV with pusher.

In summary, the present application includes at least one of the following beneficial technical effects:

1. the power supply module outputs stable voltage; the push rod signal acquisition module is connected with stable power supply voltage, and simultaneously acquires an analog quantity signal output by the push rod and converts the analog quantity signal into a digital quantity signal for output, so that the direction and the speed of the AGV trolley can be controlled conveniently; the power module has better load and linear regulation capacity, can keep voltage stable output, enables the output voltage to be stable, enables the AGV trolley to have good communication, effectively reduces the condition of mainboard restarting, enables the AGV trolley not to be easy to jam, improves the stability of the output voltage, and enables the AGV trolley to work stably;

2. a fourth resistor R4, a fifth resistor R5, a ninth resistor R9 and a thirteenth resistor R13 which are sequentially connected with an FB pin of the high-frequency synchronous rectification buck switch converter U2 form a T-shaped network so as to perform external resistor voltage division, convert an access power supply into 5V and output stable voltage for stable power supply, and further ensure good communication of the AGV trolley, thereby effectively reducing the condition of restarting a mainboard, ensuring that the AGV trolley is not easy to jam, improving the stability of the output voltage and ensuring that the trolley stably works; the high-frequency synchronous rectification buck switching converter is designed according to a feedback pin formula of the high-frequency synchronous rectification buck switching converter U2, so that the sum of the resistance values of the fourth resistor R4 and the fifth resistor R5 is 5.25 times of the sum of the resistance values of the ninth resistor R9 and the thirteenth resistor R13, the driving of the circuit is enhanced, a desired output voltage is obtained, the stability of the circuit is improved, misoperation is avoided, and the leakage current can be effectively reduced by the fourth resistor R4 and the fifth resistor R5

3. The 5V voltage is converted into 3.3V voltage by the linear voltage stabilizer U6, and 3.3V voltage is fixedly output for stable power supply; the sixteenth capacitor C16 and the fourteenth capacitor C14 filter high-frequency signals, so that the output voltage is more stable; the fifteenth capacitor C15 and the thirteenth capacitor C13 filter low-frequency signals, so that the signals are purer, and the output voltage is more stable; the stability of output voltage is further improved, AGV trolley communication is good, the condition that the main board is restarted is effectively reduced, and the AGV trolley is not stuck, so that the trolley stably works; meanwhile, the capacitance capacities of the input capacitor C15 and the input capacitor C16 are not lower than the capacitance capacities of the output capacitor C13 and the output capacitor C14, so that the situation of voltage inversion during power failure can be effectively avoided, a good power failure protection effect is achieved, the safety performance of the AGV trolley is improved, the maintenance cost is reduced, and the service life is longer;

4. the high-precision characteristic of two fully-differential input ends in the same path of input of the ADC chip U4 is fully utilized, and analog quantity signals of an X axis and a Y axis output by a push rod are collected and converted into digital quantity signals to be output so as to control the direction and the speed of the AGV; a 0 ohm resistor is connected to the ground at the negative input end of the same path of input of the ADC chip U4, so that the stability and accuracy of input signals are guaranteed; a capacitor matched with the application voltage range is connected in parallel between the positive input end and the negative input end of the same input of the ADC chip U4 so as to carry out filtering processing, and the stable work of the trolley is facilitated;

5. the voltage output by the voltage stabilizing chip U7 is used as the reference voltage of the ADC chip U4, an eighteenth capacitor C18 is independently designed at the peripheral circuit part of the voltage stabilizing chip U7 to play a role in filtering, the working stability and accuracy of the ADC chip U4 are ensured, and the stable work of a trolley is facilitated;

6. the push rod control module enables the power supply module to output stable voltage to supply power for the push rod signal acquisition module; at the moment, the push rod signal acquisition module acquires an analog quantity signal output by the push rod, converts the analog quantity signal into a digital quantity signal and transmits the digital quantity signal to the push rod control module; the push rod control module converts a received digital quantity signal into a current coordinate point based on a preset static coordinate point, calculates the length of a connecting line between the current coordinate point and the static coordinate point, calculates an included angle theta between the length and an x-axis positive half shaft based on a preset trigonometric function relation when the calculated length is larger than a threshold value, obtains a trolley direction control signal based on a mapping relation table of the preset included angle theta and the direction, outputs the trolley direction control signal, outputs a trolley speed control signal based on the calculated length, further controls the direction and the speed of the trolley, enables the trolley to move towards a destination at a proper speed accurately and continuously while improving the stability of output voltage, and improves the transportation efficiency.

Drawings

FIG. 1 is a block diagram of the primary structure of an AGV with a pusher according to one embodiment of the present application.

Fig. 2 is a schematic diagram of the circuit connection relationship of the power supply module.

Fig. 3 is a schematic diagram of the circuit connection relationship of the push rod signal acquisition module.

Fig. 4 is a schematic diagram of a circuit connection relationship among the push rod control module, the push rod driving module and the IO control module.

FIG. 5 is a flowchart illustrating a method for controlling an AGV with push bar according to one embodiment of the present application.

Detailed Description

The present embodiment is only for explaining the present application, and it is not limited to the present application, and those skilled in the art can make modifications of the present embodiment without inventive contribution as needed after reading the present specification, but all of them are protected by patent law within the scope of the claims of the present application.

In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present application without making any creative effort belong to the protection scope of the present application.

In addition, the term "and/or" herein is only one kind of association relationship describing the association object, and means that there may be three kinds of relationships, for example, a and/or B, and may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship, unless otherwise specified.

The embodiments of the present application will be described in further detail with reference to the drawings attached hereto.

Referring to fig. 1, an AGV trolley with a push rod according to an embodiment of the present application includes a power module, a push rod signal acquisition module, a push rod control module, an IO control module, and a push rod driving module. The power supply module comprises a first voltage conversion unit and a second voltage conversion unit for stabilizing voltage; the push rod driving module is used for driving the push rod to stretch and retract; the push rod signal acquisition module is used for acquiring an analog quantity signal output by the push rod and converting the analog quantity signal into a digital quantity signal for output; the push rod control module is used for controlling power supply and signal processing of the push rod signal acquisition module, the push rod driving module and the IO control module.

Referring to fig. 2, the first voltage conversion unit includes a high-frequency synchronous rectification buck switching converter U2, and in this embodiment, the high-frequency synchronous rectification buck switching converter U2 may be MP2315 in model.

A switch S is connected in series with a branch of the 24V power supply, when the switch S is closed, the first contact 1 and the second contact 2 are communicated, and the branch outputs the 24V power supply.

Further, the output end of the branch outputting the 24V power supply is grounded through a twentieth resistor R20 and a third LED lamp LED3 which are arranged in series, and the negative electrode of the third LED lamp LED3 is grounded. When 24 power supplies are output, the third LED lamp LED3 is on to indicate 24V voltage output, and the purpose of monitoring the voltage power supply switch in real time is achieved, so that the power supply switch is visual and vivid.

The IN pin of the high frequency synchronous rectification buck switching converter U2 is connected to a 24V power supply through a fuse F1.

The FB pin of the high-frequency synchronous rectification buck switching converter U2 is sequentially connected with a fourth resistor R4 and a fifth resistor R5, one end, far away from the FB pin, of the fifth resistor R5 outputs 5V voltage, and the FB pin of the high-frequency synchronous rectification buck switching converter U2 is grounded through a ninth resistor R9 and a thirteenth resistor R13. The fourth resistor R4, the fifth resistor R5, the ninth resistor R9 and the thirteenth resistor R13 form a resistor voltage divider for outputting a voltage of 5V. The high-frequency synchronous rectification buck switching converter MP3215 performs external resistance voltage division through a T-network composed of a resistance output to ground and a resistance output to the FB pin, converts 24V to 5V, and sets an output voltage to 5V.

Further, the output end of the branch circuit outputting the 5V voltage is grounded through a nineteenth resistor R19 and the second LED lamp LED2 which are connected in series, and the negative electrode of the second LED lamp LED2 is grounded. When 5V voltage is output, the second LED lamp LED2 is on to indicate 5V voltage output, so that the purpose of monitoring the voltage power switch in real time is achieved, and the voltage power switch is visual and vivid.

Furthermore, the design is performed according to the feedback pin formula of the high-frequency synchronous rectification buck switching converter U2, so that the sum of the resistance values of the fourth resistor R4 and the fifth resistor R5 is 5.25 times of the sum of the resistance values of the ninth resistor R9 and the thirteenth resistor R13, the driving of the circuit is enhanced, a desired output voltage is obtained, the stability of the circuit is improved, malfunction is avoided, and the leakage current can be effectively reduced by the fourth resistor R4 and the fifth resistor R5.

The IN pin of the high frequency synchronous rectified buck switching converter U2 is connected to ground through an input capacitor bank. In this embodiment, the input capacitor bank includes a fourth capacitor C4, a second capacitor C5, and a sixth capacitor C6, where the fourth capacitor C4 is an electrolytic capacitor, a negative electrode of the fourth capacitor C4 is grounded, and the fourth capacitor C4, the second capacitor C5, and the sixth capacitor C6 are connected in parallel. The input capacitor bank is grounded, so that the input switch current can be effectively absorbed, the voltage stabilization is realized, and the continuity of the current is maintained.

The IN pin of the high-frequency synchronous rectification buck switching converter U2 is also grounded through an eleventh resistor R11, a fifteenth resistor R15 and an eighteenth resistor R18, and the eleventh resistor R11, the fifteenth resistor R15 and the eighteenth resistor R18 are connected IN series.

The EN pin of the high-frequency synchronous rectification buck switching converter U2 is connected between the eleventh resistor R11 and the fifteenth resistor R15 through a wire.

The AAM pin of the high-frequency synchronous rectification buck switching converter U2 is grounded through a first resistor R1 and a first capacitor C1 which are arranged in parallel, the first resistor R1 and the first capacitor C1 which are connected in parallel are used for setting AAM mode voltage, and after the voltage value is reached, the high-frequency synchronous rectification buck switching converter U2 is switched to a CCM mode.

The SW pin of the high-frequency synchronous rectification buck switching converter U2 is grounded through a first inductor L1 and a ninth capacitor C9 which are arranged in series, and one end of the first inductor L1, which is far away from the SW pin, outputs 5V voltage.

The BST pin of the high-frequency synchronous rectification buck switching converter U2 is connected to the SW pin of the high-frequency synchronous rectification buck switching converter U2 through an eighth resistor R8 and a seventh capacitor C7, which are serially connected.

The VCC pin of the high frequency synchronous rectification buck switching converter U2 is grounded through a second capacitor C2.

The GND pin of the high frequency synchronous rectification buck switching converter U2 is grounded.

The high-frequency synchronous rectification buck switching converter U2 converts the 24V input power supply into 5V and 3A continuous current.

The second voltage conversion unit includes a linear regulator U6. In this embodiment, the linear regulator U6 has the model number AMS 1117.

The 5V voltage is connected to the input pin of the linear regulator U6.

And two output pins of the linear voltage stabilizer U6 are provided, and all output 3.3V voltage to supply power for the push rod.

The input pin and one of the output pins of the linear voltage regulator U6 are externally connected with a sixteenth capacitor C16 and a fourteenth capacitor C14, respectively, and ends of the sixteenth capacitor C16 and the fourteenth capacitor C14 far away from the pins are all grounded. In this embodiment, the sixteenth capacitor C16 and the fourteenth capacitor C14 are capacitors with a capacitance of 100nF to filter out high frequency signals.

The input pin and one of the output pins of the linear voltage regulator U6 are respectively externally connected with a fifteenth capacitor C15 and a thirteenth capacitor C13, one ends of the fifteenth capacitor C15 and one end of the thirteenth capacitor C13, which are far away from the pins, are grounded, the thirteenth capacitor C13 and the fourteenth capacitor C14 are arranged in parallel, and the fifteenth capacitor C15 and the sixteenth capacitor C16 are arranged in parallel. In this embodiment, the fifteenth capacitor C15 and the thirteenth capacitor C13 are tantalum capacitors of 10uF to filter out low frequency signals.

Furthermore, the sum of the capacitance of the fifteenth capacitor C15 and the capacitance of the sixteenth capacitor C16 is not lower than the sum of the capacitance of the thirteenth capacitor C13 and the capacitance of the fourteenth capacitor C14, that is, the capacitance of the input capacitor is not lower than the sum of the capacitance of the output capacitor, so that the situation of voltage inversion during power failure is effectively avoided, and a better protection effect is achieved.

The ground pin of linear regulator U6 is grounded.

And then linear voltage regulator U6 changes 5V voltage into the pressure, and the fixed output is 3.3V voltage, for the stable power supply of push rod.

Further, the output end of the branch outputting the 3.3V voltage is grounded through a twenty-first resistor R21 and a fourth LED lamp LED4 which are connected in series, and the negative electrode of the fourth LED lamp LED4 is grounded. When 3.3V voltage is output, the fourth LED lamp LED4 is on to indicate 3.3V voltage output, so that the purpose of monitoring the voltage power switch in real time is achieved, and the voltage power switch is visual and vivid.

Referring to fig. 3, the output end of the first voltage conversion unit is electrically connected to the input end of the push rod signal acquisition module. The push rod signal acquisition module comprises an ADC chip U4 with at least two input paths. In this embodiment, the model of the ADC chip U4 is TM7705, that is, two 16-bit high-performance ADC chips are used, so as to fully utilize the high-precision characteristics of two fully-differential input channels of the TM7705, and acquire the analog quantity signals of the X axis and the Y axis output by the push rod.

The negative input ends of the same input of the ADC chip U4 are connected with resistors to the ground, and capacitors are connected in parallel between the positive input ends and the negative input ends of the same input of the ADC chip U4. One path of input is a channel.

In this embodiment, pins 7 and 8 of the ADC chip U4 are the positive and negative inputs of one of the channels, and pins 6 and 11 of the ADC chip U4 are the positive and negative inputs of the other channel. A third resistor R3 is connected to an 8 pin of the ADC chip U4, the third resistor R3 is connected to the ground, and the third resistor R3 is a 0-ohm resistor; a twenty-second resistor R22 is connected to the 11 pins of the ADC chip U4 in a ground mode, and the twenty-second resistor R22 is a 0-ohm resistor; to ensure stability and accuracy of the input signal. A third capacitor C3 is connected in parallel between the pin 7 and the pin 8 of the ADC chip U4; an eighth capacitor C8 is connected between the pin 6 and the pin 11 of the ADC chip U4 in parallel; the third capacitor C3 and the eighth capacitor C8 are matched to the applied voltage range for filtering.

A twelfth resistor R12 is also connected in series with the pin 7 of the ADC chip U4; and a fourteenth resistor R14 is connected in series with the 6 pins of the ADC chip U4.

A tenth resistor R10 is connected in parallel between the pin 7 and the pin 8 of the ADC chip U4, and a seventeenth resistor R17 is connected in parallel between the pin 6 and the pin 11 of the ADC chip U4.

A pin 7 of the ADC chip U4 is connected to an X-axis analog quantity signal of the push rod, and a pin 6 of the ADC chip U4 is connected to a Y-axis analog quantity signal of the push rod.

The pin 15 of the ADC chip U4 is connected to the voltage of 5V, that is, the pin 15 of the ADC chip U4 is connected to the output terminal of the first voltage conversion unit.

The 16 pins of the ADC chip U4 are grounded, and an eleventh capacitor C11 and a twelfth capacitor C12 which are arranged in parallel are connected between the 15 pins and the 16 pins of the ADC chip U4.

The 5 th pin of the ADC chip U4 is connected to a voltage of 5V through a sixth resistor R6, and the 5 th pin of the ADC chip U4 is used for a reset function.

Further, a voltage stabilizing chip U7 is connected between a REFIN + pin and a REFIN-pin of the ADC chip U4, and an eighteenth capacitor C18 is connected between a branch where the voltage stabilizing chip U7 is connected to the positive reference voltage and a branch where the negative reference voltage is connected.

In the embodiment, the 9 pins and the 10 pins of the ADC chip U4 correspond to the REFIN + pin and the REFIN-pin, and the regulator chip U7 is connected between the 9 pins and the 10 pins of the ADC chip U4. In this embodiment, the model of the voltage regulation chip U7 may be LM 285.

The circuit connections of the remaining pins of the ADC chip U4 are shown in the figure and will not be described herein.

And an eighteenth capacitor C18 is connected in parallel between the branch where the positive reference voltage is connected to the voltage stabilizing chip U7 and the branch where the negative reference voltage is connected.

The voltage stabilizing chip U7 is used as a reference voltage source, the voltage output by the voltage stabilizing chip U7 is used as the reference voltage of the ADC chip U4, and a proper filter capacitor is independently designed between the positive terminal and the negative terminal of the reference voltage output by the peripheral circuit design part of the chip, so that the working stability and the working accuracy of the ADC chip U4 are ensured.

Furthermore, the branch where the voltage stabilizing chip U7 is connected to the positive reference voltage and the branch where the negative reference voltage is connected to the two ends of the eighteenth capacitor C18 through the twenty-fifth resistor R25 and the thirty-fifth resistor R30, respectively, where the twenty-fifth resistor R25 and the thirty-fifth resistor R30 are both 0 ohm resistors, that is, a 0 ohm resistor is connected in series at the input pin of the voltage stabilizing chip U7 through the ADC chip U4, so that interference is prevented, and voltage stability is further ensured.

The branch of the voltage stabilizing chip U7, to which the positive reference voltage is connected, is also connected with a voltage of 5V through a twenty-sixth resistor R26.

The branch where the negative reference voltage is connected to the voltage stabilizing chip U7 is grounded.

Referring to fig. 4, the output end of the power supply module is further connected to the push rod control module to control the power supply of the push rod signal acquisition module, the push rod driving module and the IO control module.

Wherein, IO control module passes through push rod control module control push rod drive module, is exported push rod control signal by IO control module, realizes that the push rod is flexible.

The push rod control module comprises a first relay K1 and a second relay K2, and the output end of the power supply module is connected with the input ends of the first relay K1 and the second relay K2.

In this embodiment, the models of the first relay K1 and the second relay K2 are both SRD-12VDC-SD-C, the 3 pins of the first relay K1 and the second relay K2 are both connected to a 24V power supply, the 2 pins and the 4 pins of the first relay K1 and the second relay K2 are both grounded, the 1 pins of the first relay K1 and the second relay K2 are both output voltages, the 5 pin of the first relay K1 is connected to one of the ports of the first socket CN1 and the second socket CN2 and is connected to the positive electrode of the push rod motor, and the 5 pin of the second relay K2 is connected to the other port of the first socket CN1 and the second socket CN2 and is connected to the negative electrode of the push rod motor.

The heavy current is controlled by two relays, and the output voltage of the power supply module is controlled to be output, so that the push rod signal acquisition module, the push rod driving module and the IO control module are controlled.

In this embodiment, the putter driving module includes a first socket CN1 and a second socket CN2, and each of the first socket CN1 and the second socket CN2 has 2 ports. 2 ports of the first socket CN1 are electrically connected to the positive and negative electrodes of the first push rod 1 motor, respectively. 2 ports of the second socket CN2 are electrically connected to the positive and negative electrodes of the second push rod 2 motor, respectively.

In this embodiment, the IO control module may be an HDR-IDC-2.54-2X20P raspberry pi chip P2, a voltage of 5V is connected to 4 pins of the raspberry pi chip P2, a signal of Driver1 is received by 18 pins of the raspberry pi chip P2, a signal of Driver2 is received by 16 pins of the raspberry pi chip P2, and 6 pins of the raspberry pi chip P2 are grounded.

The circuit connection relationship of the remaining pins of the raspberry pi IO chip P2 is shown in the figure, and is not described herein again.

Further, a first optical coupler element U1 is connected to a pin 1 of the first relay K1, and a fifth optical coupler element U5 is connected to a pin 1 of the second relay K2. In this embodiment, the first light coupling element U1 and the fifth light coupling element U5 are each of the type EL817S1(C) (TU) -F.

Pin 1 of first relay K1 is connected with the 3 pins of first opto-coupler element U1, and the 3 pins of first opto-coupler element U1 are being connected through first diode D1 to the 4 pins of first relay K1, and the 4 pins of first opto-coupler element U1 insert 5V voltage, and the 1 pin of first opto-coupler element U1 inserts 3.3V voltage through second resistance R2, and 2 pins of first opto-coupler element U1 receive control signal.

Pin 1 of the second relay K2 is connected with pin 3 of the fifth optical coupling element U5, pin 4 of the second relay K2 is connected to pin 3 of the fifth optical coupling element U5 through the second diode D2, pin 4 of the fifth optical coupling element U5 is connected to a voltage of 5V, pin 1 of the fifth optical coupling element U5 is connected to a voltage of 3.3V through the sixteenth resistor R16, and pin 2 of the fifth optical coupling element U5 receives a control signal.

And then when the raspberry group IO chip P2 wants to control the push rod to realize going up and down, only need at the 18 pins and 16 pins input control signal of raspberry group IO chip P2 can to make full use of the characteristic of opto-coupler element to keep apart and protect the circuit, prevent because of the push rod operating power is too big, when the high-speed operation of push rod stops suddenly, produce a great back electromotive force and concatenate the power supply circuit, cause the condition of the power instantaneous short circuit of raspberry group.

For example, when a Driver1 signal is input at a pin 18 and a Driver2 signal is input at a pin 16, taking a Driver1 as a low-level control signal and a Driver2 signal as a high-level control signal as an example, a pin 2 of the first optical coupling element U1 receives a control signal and is conducted, so that a potential of a pin 1 of the first relay K1 is pulled high, a potential difference is formed between the pin 4 of the pin to generate electromagnetic attraction to drive the armature of the magnetic circuit to attract and cause the contact to generate displacement action, the first relay K1 is conducted, a pin 5 of the first relay K1 outputs an electric signal, so that a potential at the common end M + of the push rod is switched from being connected with a voltage of 24V at a pin 3 of the normally closed end of the first relay K1 and the normally closed end of the second relay K2 to being connected with a voltage of 0V at a pin 2 of the normally open end of the first relay K1 and the second relay K2, and at this time, the M + is 0V, M-24V, and the push rod is extended.

Similarly, if the Driver1 signal is high level control signal and the Driver2 signal is low level control signal, M + is 24V, M-0V, and the push rod is retracted.

Specifically, the push rod control truth table 1 of the present embodiment is as follows. Wherein, 0 represents low level, 1 represents high level, the high level at Driver1/Driver2 is the output high level 3.3V of raspberry pi IO chip P2, and the high level at the common terminal M + \ M-is the high level 24V connected with the normally closed terminal 3 pin of the two relays.

TABLE 1

Driver1	Driver2	M+	M-
				0	0	0	0
0	1	0	1
				1	0	1	0
1	1	1	1

Furthermore, 4 pins of the first optical coupler element U1 are connected to 5V voltage through a seventh resistor R7 and a reverse rotation lamp LED1 which are arranged in series, 4 pins of the fifth optical coupler element U5 are connected to 5V voltage through a twenty-third resistor R23 and a forward rotation lamp LED5 which are arranged in series, and a negative electrode of the forward rotation lamp LED5 is connected with a common end M-of the push rod to indicate the working state of the relay, so that the working state of the push rod is judged, and the push rod is visual and vivid.

And then an AGV dolly of taking push rod has better load and linear regulation ability, can keep voltage stable output for output voltage is stable, and then AGV dolly communication is good, has effectively reduced the condition that the mainboard restarts, and the AGV dolly is difficult to the card pause, has improved output voltage's stability, makes the dolly steady operation.

The modules in an AGV with push rods described above may be implemented in whole or in part by software, hardware, and combinations thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.

Referring to fig. 5, an embodiment of the present application further provides a method for controlling an AGV with a push rod, and the steps of the method for controlling an AGV with a push rod are described as follows.

S1, the push rod control module makes the power module output stable voltage;

s2, at the moment, the push rod signal acquisition module acquires the analog quantity signal output by the push rod, converts the analog quantity signal into a digital quantity signal and transmits the digital quantity signal to the push rod control module;

s3, based on the preset static coordinate point, the push rod control module converts the received digital quantity signal into the current coordinate point;

s4, the push rod control module calculates the length of a connecting line between the current coordinate point and the static coordinate point based on the current coordinate point;

s5, when the calculated length is larger than the threshold value, calculating the included angle theta between the length and the positive half shaft of the x axis based on a preset trigonometric function relational expression;

s6, judging the AGV direction mapped by the calculated included angle theta based on a mapping relation table of the preset included angle theta and the direction to obtain a control signal output of the AGV direction; and meanwhile, correspondingly outputting a preset trolley speed control signal based on the calculated length.

In this embodiment, since the push rod is powered by a voltage of 3.3V, the numeric areas of the abscissa and the ordinate of the coordinate point are both [0, 3.3 ].

When the push rod is at rest, namely the preset rest coordinate point is about (1.65 ).

When the push rod is changed from rest to move in all directions, the value of the current coordinate is linearly increased from 1.65 to 3.3 or decreased to 0.

After the push rod control module receives the digital quantity signals of the X axis and the Y axis of the push rod, the digital quantity signals of the X axis and the Y axis are combined into a coordinate point, namely a current coordinate point, according to a program function in the chip, then the length l between a connecting line of the current coordinate point and a static coordinate point (1.65 ) is calculated, and the numerical value of the length l is judged.

If l is less than 0.2, the rocking disturbance of the rocker is considered, and the operation is not executed.

If l is greater than 0.2, calculating an included angle theta between l and the positive half shaft of the x axis by using a trigonometric function relation in a program function in the chip.

That is, in the present embodiment, the threshold value may be 0.2.

Further, the preset mapping relation table of the included angle θ and the direction includes:

when the included angle theta is (15 degrees and 45 degrees), judging that the direction of the trolley is in a 2 o' clock direction;

when the included angle theta is (-15 degrees, 15 degrees), judging that the direction of the trolley is in a 3 o' clock direction;

when the included angle theta belongs to (135 degrees and 165 degrees), judging that the direction of the trolley is in a ' 10 ' o ' clock direction;

And then, based on the mapping relation table of the included angle theta and the direction, AGV trolley direction information mapped by the calculated included angle theta can be obtained and converted into a trolley direction control signal to be output.

Further, the step of correspondingly outputting a preset trolley speed control signal based on the calculated length comprises:

when the calculated length is greater than or equal to the first preset value and smaller than the second preset value, correspondingly outputting a second-gear trolley speed control signal;

In this embodiment, the threshold may be 0.2, the first preset value may be 0.5, the second preset value may be 1, and the default first-gear cart speed is smaller than the second-gear cart speed, and the second-gear cart speed is smaller than the third-gear cart speed, that is:

if 0.2< ═ l <0.5, then 1 st gear speed is executed;

if 0.5< ═ l <1, then shift 2 is executed;

if 1< ═ l, then 3 speeds are executed.

Further, the vehicle speed can be divided into four, five, six etc. gears, and the speeds of the different gears are executed according to different values of the length l.

Therefore, the control method of the AGV with the push rod obtains a trolley direction control signal and a trolley speed control signal based on the collected push rod analog quantity signal so as to control the direction and the speed of the trolley, achieves the purpose of enabling the trolley to move towards a destination at a proper speed and accurately and continuously while improving the stability of output voltage, and improves the transportation efficiency of the trolley.

It should be understood that, the description of the sequence of each step in the foregoing embodiments does not mean the sequence of execution, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.

In one embodiment, an apparatus is provided, which may be a server. The device includes a processor, a memory, a network interface, and a database connected by a system bus. Wherein the processor of the device is configured to provide computing and control capabilities. The memory of the device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The network interface of the device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement the above-mentioned method for controlling an AGV with a pusher. The device may be a computer device.

In one embodiment, a storage medium is provided, which may be a computer-readable storage medium including a memory, a processor, and a computer program stored on the memory and executable on the processor, the processor implementing the following steps when executing the computer program:

at the moment, the push rod signal acquisition module acquires an analog quantity signal output by the push rod, converts the analog quantity signal into a digital quantity signal and transmits the digital quantity signal to the push rod control module;

the push rod control module calculates the length of a connecting line between the current coordinate point and the static coordinate point based on the current coordinate point;

when the calculated length is larger than the threshold value, calculating an included angle theta between the length and the positive half shaft of the x axis based on a preset trigonometric function relational expression;

It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. The non-volatile memory may include read-only memory, programmable ROM, electrically erasable programmable ROM, or flash memory. Volatile memory may include random access memory or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), synchronous Link (Synchlink) DRAM (SLDRAM), Rambus (Rambus) direct RAM (RDRAM), direct bused dynamic RAM (DRDRAM), and bused dynamic RAM (RDRAM).

It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the system is divided into different functional units or modules to perform all or part of the above-mentioned functions.

Claims

1. An AGV trolley with a push rod is characterized by comprising a power supply module, a push rod signal acquisition module and a push rod driving module;

the power supply module is used for stabilizing voltage;

the push rod signal acquisition module is connected to the output end of the power supply module and used for acquiring an analog quantity signal output by the push rod and converting the analog quantity signal into a digital quantity signal for output;

the power supply module comprises a first voltage conversion unit, the first voltage conversion unit comprises a high-frequency synchronous rectification buck switching converter U2, the FB pin of the high-frequency synchronous rectification buck switching converter U2 is sequentially connected with a fourth resistor R4 and a fifth resistor R5, the FB pin of the high-frequency synchronous rectification buck switching converter U2 is further grounded through a ninth resistor R9 and a thirteenth resistor R13, and the sum of the resistance values of the fourth resistor R4 and the fifth resistor R5 is 5.25 times that of the sum of the resistance values of the ninth resistor R9 and the thirteenth resistor R13;

the power supply module further comprises a second voltage conversion unit, the second voltage conversion unit comprises a linear voltage stabilizer U6, input pins of the linear voltage stabilizer U6 are respectively connected with a sixteenth capacitor C16 and a fifteenth capacitor C15 in a ground mode, output pins of the linear voltage stabilizer U6 are respectively connected with a fourteenth capacitor C14 and a thirteenth capacitor C13 in a ground mode, and the sum of the capacitance capacities of the fifteenth capacitor C15 and the sixteenth capacitor C16 is not lower than the sum of the capacitance capacities of the thirteenth capacitor C13 and the fourteenth capacitor C14;

the push rod signal acquisition module comprises at least two paths of input ADC chips U4, the negative input ends of the same path of input of the ADC chip U4 are connected with resistors to the ground, and capacitors are connected in parallel between the positive input ends and the negative input ends of the same path of input of the ADC chip U4;

a voltage stabilizing chip U7 is connected between a REFIN + pin and a REFIN-pin of the ADC chip U4, and an eighteenth capacitor C18 is connected between a branch where the voltage stabilizing chip U7 is connected to the positive reference voltage and a branch where the negative reference voltage is located.

2. The method for controlling the AGV with the push rod is based on the AGV with the push rod of claim 1, and is characterized by further comprising a push rod control module used for controlling power supply and signal processing of the push rod signal acquisition module and the push rod driving module;

3. The method of claim 2, wherein said predetermined angle θ to direction mapping table comprises:

when the included angle theta is positioned at (45 degrees and 75 degrees), the direction of the trolley is judged to be the ' 1 ' o ' clock direction;

4. The method of claim 2, wherein said step of outputting a predetermined cart speed control signal based on said calculated length includes:

5. An apparatus comprising a memory, a processor and a computer program stored on the memory, the processor executing the computer program to perform the steps of the method of any one of claims 2 to 4.

6. A storage medium, characterized in that the storage medium stores a computer program which, when executed by a processor, carries out the steps of the method according to any one of claims 2-4.