CN114371639A

CN114371639A - RGV controller and control system

Info

Publication number: CN114371639A
Application number: CN202011121075.7A
Authority: CN
Inventors: 不公告发明人
Original assignee: Zhejiang Galaxis Technology Co ltd
Current assignee: Zhejiang Galaxis Technology Co ltd
Priority date: 2020-10-19
Filing date: 2020-10-19
Publication date: 2022-04-19

Abstract

The invention provides a controller and a control system of an RGV, relating to the technical field of intelligent control, wherein the controller of the RGV comprises: the system comprises a core control unit, a network module, a walking control module, a gating switch and at least one communication module, wherein the network module, the walking control module, the gating switch and the at least one communication module are connected with the core control unit; the walking control module comprises a plurality of walking converters; the gating switch is used for being connected with the directional radar to acquire radar data; the communication module is used for being connected with auxiliary driving equipment and acquiring auxiliary driving data of the RGV; the core control unit is communicated with the upper computer through the network module, receives a scheduling instruction sent by the upper computer, and controls the traveling motor through the traveling control module based on the scheduling instruction, the auxiliary traveling data and the radar data so as to control the RGV to travel on the preset traveling track. The RGV controller and the RGV control system provided by the invention can perform bidirectional data transmission with an upper computer, improve the real-time performance and the connectivity of the whole control process and are convenient to popularize.

Description

RGV controller and control system

Technical Field

The invention relates to the technical field of intelligent control, in particular to a controller and a control system of an RGV (target-vector group).

Background

The RGV is an english abbreviation of Rail Guided Vehicle (Rail Guided Vehicle), also called Rail shuttle car, used for an automatic stereoscopic warehouse, and is one of core components in the intelligent logistics storage industry.

In the prior art, the RGV is mostly controlled by using a programmable logic controller, a system program of the programmable logic controller is generally initialized before leaving a factory, and a user can edit a corresponding user program according to own needs to meet different automatic production requirements, so that the RGV is simple in programming and convenient to maintain. But the price is high, and the code transplantation is difficult, so that the method is difficult to be accepted by the market and is inconvenient to popularize.

Disclosure of Invention

It is therefore an objective of the claimed invention to provide a controller and a control system for an RGV to alleviate the above-mentioned problems.

In a first aspect, an embodiment of the present invention provides a controller for an RGV disposed in a guided vehicle RGV, including: the system comprises a core control unit, a network module, a walking control module, a gating switch and at least one communication module, wherein the network module, the walking control module, the gating switch and the at least one communication module are connected with the core control unit; the walking control module comprises a plurality of walking converters, and the walking converters are used for being connected with a traveling motor; the gating switch is used for being connected with a directional radar to acquire radar data; the communication module is used for being connected with auxiliary driving equipment so as to acquire auxiliary driving data of the RGV; the core control unit is communicated with an upper computer through the network module, receives a scheduling instruction issued by the upper computer, and controls the traveling motor through the traveling control module based on the scheduling instruction, the auxiliary traveling data and the radar data so as to control the RGV to travel on a preset traveling track.

With reference to the first aspect, an embodiment of the present invention provides a first possible implementation manner of the first aspect, where the core control unit includes a communication interface of at least one of: an SPI interface, a UART interface and an SDIO interface; the network module is connected with the core control unit through the SDIO interface; the walking converter is connected with the core control unit through the SPI interface; the gating switch and at least one communication module are connected with the core control unit through the UART interface.

With reference to the first aspect, an embodiment of the present invention provides a second possible implementation manner of the first aspect, where the plurality of walking converters include a DA converter and a differential signal input module; the DA converter is used for being connected with a DAC analog input module of the traveling motor, and the differential signal input module is used for being connected with a differential encoder of a driven wheel in the same traveling direction of the traveling motor; the core control unit is used for sending a walking logic instruction to a driver of the traveling motor through the DA converter and the differential signal input module so as to control the RGV to walk on a preset traveling track.

With reference to the first possible implementation manner of the first aspect, an embodiment of the present invention provides a third possible implementation manner of the first aspect, where the communication module includes a CAN communication unit, an RS232 communication unit, and an RS485 communication unit, and each of the communication units is provided with a corresponding interface.

With reference to the third possible implementation manner of the first aspect, an embodiment of the present invention provides a fourth possible implementation manner of the first aspect, where the CAN communication unit includes a CAN interface chip, and the CAN interface chip includes a CAN interface; the CAN interface chip is connected to one UART interface of the core control unit through the CAN interface; the RS232 communication unit comprises an RS232 interface chip, the RS232 interface chip comprises an RS232 interface, and the RS232 interface chip is connected to one UART interface of the core control unit through the RS232 interface; the RS485 communication unit comprises an RS485 interface chip, the RS485 interface chip comprises an RS485 interface, and the RS485 interface chip is connected to one of the UART interfaces of the core control unit through the RS485 interface.

With reference to the first possible implementation manner of the first aspect, an embodiment of the present invention provides a fifth possible implementation manner of the first aspect, where the controller further includes a storage module; the storage module is connected with the core control unit and used for storing the vehicle information of the RGV, wherein the vehicle information at least comprises a vehicle IP, a vehicle port number and a vehicle number.

With reference to the first aspect, an embodiment of the present invention provides a sixth possible implementation manner of the first aspect, where the controller further includes a power module, and the power module is connected to the core control unit and configured to supply power to the core control unit.

With reference to the first aspect, an embodiment of the present invention provides a seventh possible implementation manner of the first aspect, where the controller further includes an optical coupling isolation output module connected to the core control unit, where the optical coupling isolation output module is used for being connected to a switching value of the RGV, and is used for enabling a switching signal of the RGV.

In a second aspect, an embodiment of the present invention further provides a control system of an RGV, where the control system of the RGV is configured with the controller of the RGV described in the first aspect.

With reference to the second aspect, the present invention provides a first possible implementation manner of the second aspect, wherein the controller of the RGV is disposed on the control board; the control panel is provided with a plurality of connection interfaces corresponding to the controllers of the RGVs and name identifications corresponding to the connection interfaces.

The embodiment of the invention has the following beneficial effects:

the RGV controller and the RGV control system provided by the embodiment of the invention are arranged on a rail guided vehicle RGV and comprise a core control unit, and a network module, a walking control module, a gating switch and at least one communication module which are connected with the core control unit; the walking control module comprises a plurality of walking converters, and the walking converters are used for being connected with a traveling motor; the gating switch is used for being connected with the directional radar to acquire radar data; the communication module is used for being connected with auxiliary driving equipment to acquire auxiliary driving data of the RGV; the core control unit is communicated with the upper computer through the network module, receives a scheduling instruction issued by the host computer, controls a traveling motor through the traveling control module based on the scheduling instruction, auxiliary traveling data and radar data, controls RGV to travel on a preset traveling track, and in the control process, the core control unit and other modules can be connected through protocol interfaces, receives the scheduling instruction through the network module, and performs bidirectional data transmission with the upper computer, so that the real-time performance and the connectivity of the whole control process are improved, and the popularization is facilitated.

Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.

In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.

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, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.

FIG. 1 is a diagram illustrating an RGV controller according to an embodiment of the present invention;

FIG. 2 is a schematic diagram of an alternative RGV controller according to an embodiment of the present invention;

FIG. 3 is a control diagram of a controller of an RGV according to an embodiment of the present invention;

FIG. 4 is a schematic diagram of the control of another RGV controller according to an embodiment of the present invention;

fig. 5 is a schematic layout diagram of a control board according to an embodiment of the present invention.

Detailed Description

To make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some, but not all embodiments of the present invention. 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.

The programmable logic controller is a digital core component with a kernel processing unit, can load control instructions into a memory at any time for storage and execution, is generally formed by combining various modules in a control system, and is a digital logic core component generally used for automation control. The system program of the programmable logic controller is generally initialized before leaving the factory, and a user can edit a corresponding user program according to the requirement to meet different automatic production requirements, so that the programmable logic controller is simple in programming and convenient to maintain. However, large-scale popularization is difficult due to high price and difficult code transplantation.

Accordingly, embodiments of the present invention provide a controller and a control system for an RGV, which can effectively alleviate the above technical problems.

For the understanding of the present embodiment, the controller of an RGV disclosed in the present embodiment will be described in detail first.

In one possible implementation, an embodiment of the present invention provides a controller (abbreviated as a controller) for an RGV, which is disposed on a guided rail vehicle RGV, and is shown in fig. 1 as a schematic structural diagram of the controller for the RGV, including: a core control unit 10, and a network module 20, a walk control module 30, a gate switch 40, and at least one communication module 50 connected to the core control unit 10.

Specifically, the walking control module comprises a plurality of walking converters 301, and the walking converters 301 are used for being connected with a walking motor; the gating switch 40 is used for connecting with the direction radar to acquire radar data; the at least one communication module 50 is configured to connect with the auxiliary driving device to obtain auxiliary driving data of the RGV.

The core control unit communicates with the upper computer through the network module 20, receives a scheduling instruction issued by the upper computer, and controls the traveling motor through the traveling control module 30 based on the scheduling instruction, the auxiliary traveling data and the radar data so as to control the RGV to travel on the preset traveling track.

In specific implementation, the auxiliary driving equipment generally refers to other equipment for assisting the RGV to walk, such as a steering engine and the like, and may further include at least one driving motor for auxiliary driving control; the traveling motor connected to the traveling converter generally includes a direct-traveling motor, a transverse-traveling motor, a jacking motor, a telescopic fork motor, and the like of the RGV, and the direction radar is a radar in each direction arranged on the RGV, such as a direction radar in four directions of front, rear, left, and right, and is used for anti-collision detection in each direction when the RGV travels. Furthermore, the upper computer is generally an upper computer of a scheduling system of the RGV and is used for scheduling the RGV, so that the core control unit can acquire the auxiliary driving data and the radar data after receiving a scheduling instruction sent by the upper computer, control the driving logic of the RGV, generate a corresponding driving instruction, and further control the RGV to travel on a preset form track, so as to realize scheduling behaviors of getting goods, putting goods and the like in the intelligent storage.

Moreover, all the functional modules in fig. 1 can perform real-time information interaction with the core control unit, and therefore, the controller of the RGV provided by the embodiment of the present invention is disposed on the RGV of the rail guided vehicle, and includes the core control unit, and the network module, the walking control module, the gating switch and the at least one communication module which are connected to the core control unit; the walking control module comprises a plurality of walking converters, and the walking converters are used for being connected with a traveling motor; the gating switch is used for being connected with the directional radar to acquire radar data; the communication module is used for being connected with auxiliary driving equipment to acquire auxiliary driving data of the RGV; the core control unit is communicated with the upper computer through the network module, receives a scheduling instruction issued by the host computer, controls a traveling motor through the traveling control module based on the scheduling instruction, auxiliary traveling data and radar data, controls RGV to travel on a preset traveling track, and in the control process, the core control unit and other modules can be connected through protocol interfaces, receives the scheduling instruction through the network module, and performs bidirectional data transmission with the upper computer, so that the real-time performance and the connectivity of the whole control process are improved, and the popularization is facilitated.

In practical use, a plurality of walking converters and communication modules shown in fig. 1 may be arranged according to actual control requirements, while only a limited number is shown in fig. 1, in other embodiments, the number may be arranged according to actual use conditions, and the embodiment of the present invention is not limited thereto.

Further, the core control unit is usually a core part of the entire controller, and specifically, may be implemented by technologies such as a single chip microcomputer and an ARM, for example, the core control of the entire controller is implemented by a single chip microcomputer of STM32 series, and at this time, the core control unit may also be an STM32 core control unit.

Further, taking an STM32 core control unit as an example for explanation, the functional module or the control module may directly perform real-time information interaction with the STM32 core control unit, and receive and process data through hardware resources such as an SPI (Serial Peripheral Interface), a UART (Universal Asynchronous Receiver/Transmitter) Interface, and an I/O Interface. And the core control unit of STM32 can control the on and off of the corresponding interface through the corresponding instruction, so that the whole controller can execute according to the correct instruction.

Specifically, the core control unit includes a communication interface of at least one of: an SPI interface, a UART interface, and an SDIO (Secure Digital Input and Output) interface; the network module is connected with the core control unit through an SDIO interface; the walking converter is connected with the core control unit through the SPI interface; the gating switch and the at least one communication module are connected with the core control unit through a UART interface.

For convenience of understanding, on the basis of fig. 1, fig. 2 further shows a structural schematic diagram of another controller of an RGV, where the core control unit is an STM32 core control unit, for example, as shown in fig. 2, the core control unit includes a core control unit 10, and the STM32 core control unit generally has multiple UART interfaces and rich on-chip hardware resources, so that design requirements of the above-mentioned communication interfaces can be effectively met.

Based on the controller of the RGV shown in fig. 2, the network module 20 may be a network module of MAC + PHY, and is connected to one SDIO interface of the core control unit, where fig. 2 shows two network ports included in the network module, i.e. network port 1 and network port 2, for connecting a WIFI module or intervening in a local area network, so as to implement wired and wireless WIFI control of the RGV.

Further, the travel converter includes a DA converter 301a and a differential signal input block 301 b; specifically, the DA converter 301a is used for connecting with a DAC analog input module of the driving motor, and the DA converter 301a may be connected with the DAC analog input module through an SDIO interface of the DA converter. The differential signal input module 301b is used for being connected with a differential encoder of a driven wheel with the same traveling direction as the traveling motor, and the core control unit is used for sending a traveling logic command to a driver of the traveling motor through a DA converter according to an input signal of the differential signal input module so as to control the RGV to travel on a preset traveling track.

The above-mentioned driving motor includes: the straight motor, the horizontal motor, the jacking motor and the telescopic fork motor are exemplified, and at this time, the differential encoder may include a differential encoder corresponding to the horizontal motor, a differential encoder corresponding to the straight motor and a differential encoder corresponding to the telescopic fork motor. Therefore, the differential signal input module connected to the differential encoder usually includes three switching interfaces, each of which is connected to a corresponding differential encoder, and the differential signal input module is connected to a TIMER interface of an STM32 core control unit to implement timing programming control of each differential encoder. And the DA converter is connected with an SPI interface of an STM32 core control unit.

In actual use, the differential encoder and the DAC analog input module of the RGV car are usually cooperated to work, for example, the RGV car receives a dispatching instruction of an upper computer through a core control unit in an automatic state, then receives a value of a driven wheel encoder through the differential signal input module, and shows a walking logic instruction to the DAC analog input module through a DA converter, and at this time, the RGV car performs corresponding processing according to the walking logic instruction.

Further, in the embodiment of the present invention, for example, the direction radar includes four direction anti-collision radars, namely front, rear, left, and right, as shown in fig. 2, the direction radar includes an anti-collision radar (front), an anti-collision radar (rear), an anti-collision radar (left), and an anti-collision radar (right), at this time, the gating switch is a 4-channel gating switch, and as shown in fig. 2, the 4-channel gating switch is connected to a UART interface of the STM32 core control unit.

Further, the communication module comprises a CAN communication unit, an RS232 communication unit and an RS485 communication unit, and each communication unit is provided with a corresponding interface. Specifically, as shown in fig. 2, a CAN communication unit 501, an RS232 communication unit 502, and an RS485 communication unit 503.

The CAN communication unit comprises a CAN interface chip, and the CAN interface chip comprises a CAN interface; the CAN interface chip is connected to one UART interface of the core control unit through the CAN interface; in the embodiment of the present invention, the CAN communication unit 501 has three external CAN bus interfaces, such as CAN1, CAN2, and CAN3 shown in fig. 2. Generally, the CAN bus interface is mainly used for burning driving programs for the direct-running motor and the transverse-running motor, that is, the auxiliary driving equipment connected with the CAN communication unit is generally a burner or an upper computer to obtain the burning driving programs for the direct-running motor and the transverse-running motor, and for the burning driving programs for the direct-running motor and the transverse-running motor obtained here, the burning driving programs CAN be used for controlling the DAC analog quantity input module to directly output and control through the core control end unit when the RGV trolley runs straight or transversely, for example, the larger the analog quantity is, the faster the RGV trolley speed is; the analog quantity is 0, and the RGV stops; the analog quantity is positive, and the RGV walks towards the fixed direction; the analog is negative, the RGV car is traveling in the opposite direction, and so on.

Further, the RS232 communication unit comprises an RS232 interface chip, the RS232 interface chip comprises an RS232 interface, and the RS232 interface chip is connected to one UART interface of the core control unit through the RS232 interface; the external RE232 interface of the RS232 communication unit is usually connected with a scanning device matched with the RGV, is used for scanning a bar code of a preset track at a certain position, and is mainly used for getting on-line an RGV trolley at a turning plate of a goods shelf so as to determine the initial position of the RGV trolley on the goods shelf.

Further, the RS485 communication unit comprises an RS485 interface chip, the RS485 interface chip comprises an RS485 interface, and the RS485 interface chip is connected to one UART interface of the core control unit through the RS485 interface. Specifically, this RS485 communication unit then be used for carrying out real-time communication with relay board and steering wheel to outer 485 interface, is used for reading the photoelectric state of relay board and the relay switch on the control relay board, carries out real-time communication to a plurality of steering wheels simultaneously, like the receipts and putting etc. of control driving lever, wherein, above-mentioned relay board is used for supplementary RGV dolly to carry out accurate action, mainly has two effects: one is to switch the power electricity of the RGV trolley, the other is to monitor all the photoelectric states of the RGV trolley in real time, and the RGV trolley can be considered to be prepared only if the corresponding photoelectric states are displayed normally, and can be changed into an automatic mode so as to receive a scheduling instruction of an upper computer to perform corresponding actions and the like.

Further, as shown in fig. 2, the controller further includes a storage module 60; specifically, the storage module 60 is connected to the core control unit 10, such as an SDIO interface connected to the core control unit, for storing vehicle information of the RGV, wherein the vehicle information at least includes a vehicle IP, a vehicle port number, and a vehicle number.

In a specific implementation, the storage module may be an SD card, a usb disk, a hard disk, or the like, and usually, in order to save a part of design space, the SD card is usually used for storage.

Further, the controller further includes a power module 70, which is connected to the core control unit and is configured to supply power to the core control unit.

In addition, as shown in fig. 2, the controller further includes an optical coupling isolation output module 80 connected to the core control unit, and the optical coupling isolation output module is configured to be connected to a switching value of the RGV and configured to enable a switching signal of the RGV. Specifically, the switching signal includes: the system comprises a walking motor enabling signal, a solid-state relay control signal, an alarm lamp, a three-color state lamp and the like, wherein the switching value generally comprises a plurality of switching values, such as 20 switching values and the like, the output of the switching value is mainly a switching signal required by enabling an RGV (remote target vehicle) and is used for controlling the enabling, braking, resetting, starting and stopping of a driver of a straight-going motor and a transverse-going motor, controlling a multicolor lamp of an RGV trolley state, controlling the alarm state lamp, controlling the solid-state relay and the like, and for example, an external power supply carries out large-current charging control on an energy storage capacitor of the RGV; the method comprises the steps of controlling power electric switches of all motors of the RGV, controlling a battery of a battery module to charge an energy storage capacitor with large current for compensation, and the like, wherein the specific switching value control can be set according to actual use conditions, and the embodiment of the invention is not limited to this.

In practical use, based on the RGV controller shown in fig. 2, the STM32 core control unit may have multiple UART interfaces, and has rich on-chip hardware resources, so as to fully meet the hardware requirements of the RGV controller scheme, and perform real-time control in multiple threads.

Further, the RS232 interface chip may be a MAX232 chip, and terminals TX and RX of the MAX232 chip are respectively connected to a UART dedicated communication IO port of the STM32 core control unit; the RS485 interface chip can be an SP3485E series chip, R0 and DI of the SP3485E series chip are respectively connected to a UART special communication IO port of an STM32 core control unit, and RE and DE are connected to a common IO port of the STM32 core control unit in a short circuit mode; the CAN interface chip CAN be a TJA1050/C series chip, and CAN _ TX and CAN _ RX of the TJA1050/C series chip are respectively connected to a CAN special communication IO port of an STM32 core control unit.

Further, the DA converter can be implemented by a DAC8718 chip, and the SPI control thereof is connected to the SPI dedicated communication IO port of the STM32 core control unit, respectively; the storage module can be connected to a special communication IO port of the STM32 core control unit; the power supply module provides power for the whole core control unit, and the power supply module mainly provides 3.3V, 5V, 24V and the like.

Therefore, based on the controller of the RGV shown in fig. 2, the STM32 core control unit can perform gating code scanning control on a scanning device, such as a scanning gun, through the RS232 communication unit; the front, back, left and right anti-collision radars are switched in real time through a 4-channel declaration switch; real-time information interaction is carried out with an upper computer through a network module; real-time motion control is carried out on the direct and transverse motors through the CAN communication unit; performing real-time information interaction on the relay board through an RS485 communication unit; the direct-moving, transverse-moving, jacking and telescopic fork motors are subjected to speed control through the DA converter; the differential signal input module receives the value of a driven wheel encoder in real time and the like, and the secondary accurate positioning of the RGV trolley is realized by assisting in the photoelectric positioning state.

For example, based on the controller of the RGV shown in fig. 2, the RGV can walk and pick and place the basic flow of goods by telescopic fork, specifically, the basic flow is set to the function module mainly comprising a differential encoder, a differential signal input module, a DA converter, a network module, and an auxiliary relay board and positioning photoelectric state detection, specifically, on the basis of fig. 2, fig. 3 shows a control schematic diagram of the controller of the RGV, controls the basic flow of walking and picking and placing goods by telescopic fork, and comprises the partial structure shown in fig. 2, and a relay board 300, and the relay board 300 is used for obtaining the positioning photoelectric state detection.

The RGV trolley is used for monitoring the photoelectric state received by the relay board before the automatic state, monitoring the energy storage capacitor and the battery voltage of the power module, switching the selection of the whole vehicle dynamic electricity in a combined mode, switching the RGV trolley from a manual mode to an automatic mode under the condition that all the photoelectric states are correct, and starting to receive a corresponding action instruction of the upper computer for scheduling.

Specifically, the RGV car walking logic is as follows:

step 1: judging whether the current straight running state and the current transverse running state are correct, if not, actuating a jacking motor and switching the states;

step 2: after the switching is finished, repositioning;

step 3: after positioning is finished, walking to a specified position according to a differential encoder;

step 4: when the speed is reduced to 0.4m/s, the movement to the terminal point is allowed;

step 5: decelerating when photoelectric triggering exists;

step 6: when the speed is reduced to 0.02m/s, the positioning device moves back and forth until the positioning is successful.

The telescopic fork logic is as follows:

1. and (3) taking the goods logic:

step 1: judging whether goods exist in the RGV or not and whether goods exist on a goods shelf or not;

step 2: judging the state of the deflector rod, and collecting all the deflector rods;

step 3: stretching out;

step 4: putting down a deflector rod in the extending direction;

step 5: retracting, and putting down another deflector rod while retracting;

step 6: the container needs to be retracted for a plurality of times, so that the container is pushed to a central position;

step 7: and returning the telescopic fork to the zero point, and finishing.

2. Put logic

step 2: judging the state of the deflector rod, and putting down all the deflector rods;

step 3: extending out while retracting to retract the deflector rod in the extending direction;

step 4: retracting, and putting down another deflector rod while retracting;

step 5: and returning the telescopic fork to the zero point, and finishing.

Further, during the RGV walking process, the above-mentioned anti-collision radar is operated continuously, i.e. detection is performed in real time, specifically, based on the controller of the RGV shown in fig. 2, fig. 4 also shows a control schematic diagram of another controller of the RGV, and a control process of the anti-collision radar is explained.

Specifically, the anti-collision radar (front), the anti-collision radar (rear), the anti-collision radar (left), and the anti-collision radar (right) are anti-collision radars in four directions of the RGV, and are mainly used to solve the following three abnormal states: (1) obstacles exist in the track and need to be decelerated and avoided in advance; (2) the instruction is sent wrongly and exceeds the actual track length; (3) the motor or the encoder is damaged to cause out of control so as to protect the RGV and avoid abnormal collision.

In summary, the controller of the RGV provided by the embodiment of the present invention has the following advantages:

(1) the RGV controller provided by the embodiment of the invention can be compatible with various different communication protocols, improves the maneuverability and connectivity between a network and equipment, and has the characteristics of high cost performance, convenient and quick code transplantation and the like;

(2) according to the RGV controller provided by the embodiment of the invention, the network module can be realized by adopting a WIFI technology, and encrypted communication is carried out, so that the problems of difficult wired transmission and wiring and limited transmission distance of the Internet of things are solved;

(3) the RGV controller provided by the embodiment of the invention reasonably plans the execution of the action instruction through the information interaction with the upper computer of the dispatching system, thereby effectively reducing the resource occupancy rate of the core control unit;

(4) the RGV controller provided by the embodiment of the invention can provide RGV active avoidance alarm under abnormal emergency through the anti-collision radar function, and upload alarm information to an upper computer of a dispatching system through a network module in real time.

Further, on the basis of the above embodiment, an embodiment of the present invention further provides a control system of an RGV, which is configured with the controller of the RGV.

Specifically, the control system of the RGV is provided to the RGV, and therefore, the control system of the RGV may further include a motor system for controlling the RGV to travel, an upper computer for issuing a scheduling command, and the like.

Also, the controller of the RGV is usually provided on a control board; and the installation and maintenance are convenient. The control panel is provided with a plurality of connecting interfaces corresponding to the controllers of the RGVs and name identifications corresponding to each connecting interface. For ease of understanding, fig. 5 shows a layout diagram of a control board, wherein, for ease of explanation, the control board shown in fig. 5 shows only the respective connection interfaces, and a core control unit included in the controller of the RGV. Specifically, as shown in fig. 5, the connection interface includes a switching value interface connected to the switching value in fig. 2, a radar interface corresponding to the anti-collision radar (front), the anti-collision radar (rear), the anti-collision radar (left) and the anti-collision radar (right), a storage interface connected to the storage module, a network port 1 and a network port 2 connected to the host computer, a power interface and a GND interface connected to the power module, a 485 bus interface corresponding to the RS485 communication unit, a CAN bus interface corresponding to the CAN communication unit, a DAC interface connected to the DAC analog input module, and a plurality of encoder interfaces connected to the differential encoder.

The control board shown in fig. 5 is connected to other control modules of the control system of the RGV through respective interfaces, and when receiving a scheduling instruction issued by an upper computer, the control board can control the traveling motor through the traveling control module based on the scheduling instruction, the auxiliary traveling data, the radar data, and the like, so as to control the RGV to travel on the preset traveling track.

The RGV control system provided by the embodiment of the present invention has the same technical features as the RGV controller provided by the above embodiment, so that the same technical problems can be solved, and the same technical effects can be achieved.

The RGV controller and the computer program product of the control system provided in the embodiments of the present invention include a computer-readable storage medium storing a program code, where instructions included in the program code may be used to execute the method described in the foregoing method embodiments, and specific implementation may refer to the method embodiments, and will not be described herein again.

It can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working process of the control system described above may refer to the corresponding process in the foregoing embodiment, and is not described herein again.

In addition, in the description of the embodiments of the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases for those skilled in the art.

The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art will understand that the following embodiments are merely illustrative of the present invention, and not restrictive, and the scope of the present invention is not limited thereto: any person skilled in the art can modify or easily conceive the technical solutions described in the foregoing embodiments or equivalent substitutes for some technical features within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the embodiments of the present invention, and they should be construed as being included therein. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. A controller for an RGV, provided to a guided vehicle RGV, comprising: the system comprises a core control unit, a network module, a walking control module, a gating switch and at least one communication module, wherein the network module, the walking control module, the gating switch and the at least one communication module are connected with the core control unit;

the walking control module comprises a plurality of walking converters, and the walking converters are used for being connected with a traveling motor; the gating switch is used for being connected with a directional radar to acquire radar data; the communication module is used for being connected with auxiliary driving equipment so as to acquire auxiliary driving data of the RGV;

the core control unit is communicated with an upper computer through the network module, receives a scheduling instruction issued by the upper computer, and controls the traveling motor through the traveling control module based on the scheduling instruction, the auxiliary traveling data and the radar data so as to control the RGV to travel on a preset traveling track.

2. The controller of an RGV according to claim 1, wherein the core control unit includes a communication interface for at least one of: an SPI interface, a UART interface and an SDIO interface;

the network module is connected with the core control unit through the SDIO interface;

the walking converter is connected with the core control unit through the SPI interface;

the gating switch and at least one communication module are connected with the core control unit through the UART interface.

3. The controller of an RGV according to claim 1, wherein the plurality of travel converters includes a DA converter and a differential signal input module;

the DA converter is used for being connected with a DAC analog input module of the traveling motor, and the differential signal input module is used for being connected with a differential encoder of a driven wheel in the same traveling direction of the traveling motor;

the core control unit is used for sending a walking logic command to a driver of the traveling motor through the DA converter and the differential signal input module so as to control the RGV to walk on a preset traveling track.

4. The controller of an RGV according to claim 2, wherein the communication module includes a CAN communication unit, an RS232 communication unit and an RS485 communication unit, each of which is provided with a corresponding interface.

5. The controller of an RGV according to claim 4, wherein the CAN communication unit includes a CAN interface chip that includes a CAN interface; the CAN interface chip is connected to one UART interface of the core control unit through the CAN interface;

the RS232 communication unit comprises an RS232 interface chip, the RS232 interface chip comprises an RS232 interface, and the RS232 interface chip is connected to one UART interface of the core control unit through the RS232 interface;

the RS485 communication unit comprises an RS485 interface chip, the RS485 interface chip comprises an RS485 interface, and the RS485 interface chip is connected to one of the UART interfaces of the core control unit through the RS485 interface.

6. The controller of an RGV according to claim 2, wherein the controller further comprises a storage module;

the storage module is connected with the core control unit and used for storing the vehicle information of the RGV, wherein the vehicle information at least comprises a vehicle IP, a vehicle port number and a vehicle number.

7. The controller of an RGV according to claim 1, further comprising a power module connected to the core control unit for supplying power to the core control unit.

8. The controller of an RGV according to claim 1, further comprising an optical coupling isolation output module connected with the core control unit, the optical coupling isolation output module for connection with a switching value of the RGV for enabling a switching signal of the RGV.

9. An RGV control system, wherein the RGV control system is provided with a controller of the RGV of any one of claims 1 to 8.

10. The control system of claim 9, wherein the controller of the RGV is disposed on a control board;

the control panel is provided with a plurality of connection interfaces corresponding to the controllers of the RGVs and name identifications corresponding to the connection interfaces.