CN115903696A - Hardware architecture of AGV (automatic guided vehicle) and working method thereof - Google Patents
Hardware architecture of AGV (automatic guided vehicle) and working method thereof Download PDFInfo
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Abstract
The invention relates to the technical field of industrial automation control, in particular to a hardware framework of an AGV and a working method thereof. The hardware architecture of the AGV comprises a VCU controller and an MCU motion controller. A plurality of peripheral interfaces are reserved on a first VCU CAN BUS and a second VCU CAN BUS of the VCU controller respectively, and a plurality of steering wheel driver interfaces and encoder interfaces are reserved on a second MCU CAN BUS of the MCU motion controller. The peripheral interfaces basically cover all peripheral devices required by the AGV in daily operation, and can be selected for use according to actual needs, so that the universality of a hardware architecture is greatly improved. The message IDs on the first VCU CAN BUS, the second VCU CAN BUS and the second MCU CAN BUS are subjected to range division, a required peripheral equipment is specified by using a configuration file, and the type of the equipment and whether the equipment is on-line CAN be accurately judged according to the range of the message ID value of the message reported by the peripheral equipment by the VCU controller and the MCU motion controller, so that the plug and play of the external equipment are realized.
Description
Technical Field
The invention relates to the technical field of industrial automation control, in particular to a hardware framework of an AGV and a working method thereof.
Background
The AGV (automated guided vehicle) technology is an automated transport vehicle technology which can move without a track and is based on electromagnetic and optical self-perception and automatic tracking. The small-load AGV can be used for express delivery and mail sorting systems; the heavy-load AGV vehicle can carry and process intermediate material in a workshop system across the production line. The AGV vehicle technology in China currently is in an international advanced level, the driving of the vehicle is realized through control of a steering wheel, external information is acquired through various sensors, and corresponding instructions are made, for example, tracking and obstacle avoidance can be realized through a laser point cloud radar and a visible light real-time modeling technology.
With the continuous new crown epidemic and the addition of national industry 4.0, the application of AGV is necessarily more and more extensive. Because the application scenes of the AGV are complex and most of the AGV are nonstandard applications, the components such as a sensor and a driver externally hung on the AGV are different under different application scenes. Therefore, in the prior art, in order to adapt to different application scenarios, after a sensor is added to an AGV or a sensor and a driver are reduced, software needs to be modified accordingly, which not only increases labor cost, but also increases the version of a maintenance code. Therefore, the hardware architecture of the AGV in the prior art needs to be improved to improve the building efficiency of the AGV and reduce the labor cost.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a hardware framework of an AGV (automatic guided vehicle) and a working method thereof, wherein the improved hardware framework utilizes a VCU (virtual vehicle Unit) controller to set two CAN buses, and interfaces are reserved for various sensors, signal receivers, card readers and other equipment which are possibly used in the running process of the AGV; the MCU motion controller reserves interfaces for a steering wheel driver, a steering wheel steering driver and a steering wheel absolute value encoder of the AGV with various structural forms, and the universality of a hardware framework is greatly improved.
In order to achieve the purpose, the invention adopts the following technical scheme:
a hardware architecture of an AGV comprises a VCU controller and an MCU motion controller. The VCU controller comprises a CAN bus, namely a first VCU CAN bus, a plurality of peripheral interfaces are reserved on the first VCU CAN bus, and the peripheral interfaces are used for mounting corresponding external equipment on the first VCU CAN bus.
The MCU motion controller comprises two CAN buses, namely a first MCU CAN bus and a second MCU CAN bus, wherein the first MCU CAN bus is mounted on the first VCU CAN bus, a plurality of steering wheel driver interfaces are reserved on the second MCU CAN bus, the steering wheel driver interfaces are used for mounting corresponding steering wheel drivers on the second MCU CAN bus, a plurality of encoder interfaces are further arranged on the second MCU CAN bus, and the encoder interfaces are used for mounting corresponding encoders on the second MCU CAN bus.
Further, the VCU controller further includes another path of CAN bus, that is, a second VCU CAN bus, and a plurality of data conversion devices are mounted on the second VCU CAN bus. The data conversion device comprises a conversion device controller, a CAN bus port is arranged outside the conversion device controller, the CAN bus port is connected with the second VCU CAN bus, and an RS485 port, an RS232 port, a 2-path relay output port, an NPN output port and an NPN input port are arranged outside the conversion device controller.
Furthermore, a plurality of external interfaces reserved on the first VCU CAN bus may be used for mounting a magnetic navigation sensor, a landmark sensor, an RFID card reader, a remote controller signal receiver, a two-dimensional code reader, a laser scanning sensor, and a visual scanning sensor, respectively.
Furthermore, a plurality of steering wheel driver interfaces reserved on the second MCU CAN bus CAN be respectively used for mounting a first steering wheel driver, a first steering wheel steering driver, a second steering wheel steering driver, a differential left motor driver and a differential right motor driver. And a plurality of encoder interfaces reserved on the second MCU CAN bus CAN be respectively used for mounting a first steering wheel absolute value encoder and a second steering wheel absolute value encoder.
The VCU controller adopts RK3568 as a main control chip, and the MCU motion controller adopts stm32F429VGT6 as the main control chip.
The working method based on the hardware architecture of the AGV comprises the following steps:
step S1, the message IDs on the first VCU CAN bus and the second VCU CAN bus are subjected to range division, so that the magnetic navigation sensor, the landmark sensor, the RFID card reader, the MCU motion controller, the remote controller signal receiver, the two-dimensional code reader, the laser scanning sensor, the visual scanning sensor and different data conversion devices respectively correspond to different message ID ranges.
And S2, carrying out range division on the message ID on the second MCU CAN bus, so that the first steering wheel driver, the first steering wheel steering driver, the second steering wheel steering driver, the differential left motor driver, the differential right motor driver, the first steering wheel absolute value encoder and the second steering wheel absolute value encoder respectively correspond to different message ID ranges.
And S3, according to the use scene of the AGV trolley, the type of the external equipment which needs to be connected on the first VCU CAN bus is specified in the VCU controller through a configuration file. According to the structural form of the AGV trolley, the VCU controller issues a configuration file to the MCU motion controller, and the type of external equipment which needs to be connected on the second MCU CAN bus is specified.
And S4, setting a message ID value of the external equipment in the S3 by using a special tool. The external equipment connected with the first VCU CAN bus is used for actively reporting data to the VCU controller at regular time, the external equipment connected with the second MCU CAN bus is used for actively reporting data to the MCU motion controller at regular time,
the VCU controller and the MCU motion controller can accurately judge the type of the equipment and whether the equipment is on-line or not according to the range of the message ID value of the received message.
Further, in step S3, when it is necessary to extend the interfaces of RS485, RS232, NPN input, NPN output, etc. by using the plurality of data conversion devices, the VCU controller may sequentially issue configuration files to the plurality of data conversion devices, and specify the types of the interfaces that can be extended by each data conversion device.
And setting different message ID values for each data conversion device in sequence by using a special tool, inserting the data conversion devices on the second VCU CAN bus, reporting data to the VCU controller at regular time and actively, and accurately judging which data conversion device is on line by the VCU controller according to the range of the message ID value of the received message.
Further, in step S1, the range division is performed on the message IDs on the first VCU CAN bus and the second VCU CAN bus as shown in the following table:
further, in step S1, the range division of the message ID on the second MCU CAN bus is shown in the following table:
compared with the prior art, the invention has the beneficial effects that:
a plurality of peripheral interfaces are reserved on a first VCU CAN bus and a second VCU CAN bus of the VCU controller respectively, and a plurality of steering wheel driver interfaces and encoder interfaces are reserved on a second MCU CAN bus of the MCU motion controller. The peripheral interfaces basically cover all peripheral devices required by the AGV in daily operation, and can be selected for use according to actual needs, so that the universality of a hardware architecture is greatly improved.
The message IDs on the first VCU CAN bus, the second VCU CAN bus and the second MCU CAN bus are subjected to range division, a required peripheral is specified by using a configuration file, and the type of the device and whether the device is on-line CAN be accurately judged by the VCU controller and the MCU motion controller according to the range of the message ID value of the message reported by the peripheral, so that the plug and play of the external device are realized.
Drawings
FIG. 1 is a schematic diagram of the hardware architecture of an AGV according to the present invention.
Fig. 2 is a schematic structural diagram of the VCU controller of the present invention.
FIG. 3 is a schematic structural diagram of an MCU motion controller according to the present invention.
FIG. 4 is a schematic structural diagram of a data conversion device according to the present invention.
In the figure: 1. the controller comprises a VCU controller, 101, a first VCU CAN bus, 102, a second VCU CAN bus, 2, a magnetic navigation sensor, 3, a landmark sensor, 4, an RFID card reader, 5, an MCU motion controller, 501, a first MCU CAN bus, 502, a second MCU CAN bus, 6, a remote controller signal receiver, 7, a two-dimensional code reader, 8, a laser scanning sensor, 9, a visual scanning sensor, 10, a data conversion device, 1001, a conversion device controller, 1002, a CAN bus port, 1003, an RS485 port, 1004, an RS232 port, 1005, a 2-way relay output port, 1006, an NPN output port, 1007, an NPN input port, 11, a first steering wheel driver, 12, a first steering wheel driver, 13, a second steering wheel driver, 14, a second steering wheel driver, 15, a differential left motor driver, 16, a right motor driver, 17, a first steering wheel absolute value encoder, 18 and a second steering wheel absolute value encoder.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1 and 2, a hardware architecture of an AGV includes a VCU controller 1 and an MCU motion controller 5. The VCU controller 1 includes one way CAN bus, first VCU CAN bus 101 promptly, it has a plurality of peripheral hardware interface to reserve on the first VCU CAN bus 101, the peripheral hardware interface is used for hanging corresponding external device on the first VCU CAN bus 101, and above-mentioned external device includes equipment such as all kinds of sensors, signal receiver, the card reader that probably use in the AGV dolly operation process.
As shown in fig. 1 and 3, the MCU motion controller 5 includes two CAN buses, which are a first MCU CAN bus 501 and a second MCU CAN bus 502, respectively, the first MCU CAN bus 501 is mounted on the first VCU CAN bus 101, a plurality of steering wheel driver interfaces are reserved on the second MCU CAN bus 502, the steering wheel driver interfaces are used for mounting corresponding steering wheel drivers on the second MCU CAN bus 502, a plurality of encoder interfaces are further provided on the second MCU CAN bus 502, and the encoder interfaces are used for mounting corresponding encoders on the second MCU CAN bus 502.
As shown in fig. 1 and 4, in practical applications, the VCU controller 1 further includes another CAN bus, i.e., a second VCU CAN bus 102, and a plurality of data conversion devices 10 are mounted on the second VCU CAN bus 102. The data conversion device 10 comprises a conversion device controller 1001, a CAN bus port 1002 is arranged outside the conversion device controller 1001, the CAN bus port 1002 is connected with the second VCU CAN bus 102, an RS485 port 1003, an RS232 port 1004, a 2-way relay output port 1005, an NPN output port 1006 and an NPN input port 1007 are further arranged outside the conversion device controller 1001, the conversion device controller 1001 CAN adopt an stm32f429vgt chip and an ARM CORTEX-M4 kernel, and more sensors CAN be externally hung through the RS485 port 1003, the RS232 port 1004, the 2-way relay output port 1005, the NPN output port 1006 and the NPN input port 1007 to realize the expansion of various interface sensors. The data conversion device 10 may receive, filter, and analyze a data packet from the CAN bus of the VCU controller 1, and correspondingly issue the data packet to each sensor connected to the data conversion device 10. The data conversion device 10 is also capable of reporting data of each sensor connected thereto to the VCU controller 1.
As shown in fig. 1, in practical applications, a plurality of external interfaces reserved on the first VCU CAN bus 101 may be respectively used for mounting a magnetic navigation sensor 2, a landmark sensor 3, an RFID card reader 4, a remote controller signal receiver 6, a two-dimensional code reader 7, a laser scanning sensor 8, and a visual scanning sensor 9, and may select the type of the external device to be mounted according to the actual usage scenario and specific needs of the AGV.
As shown in fig. 1, in practical application, the plurality of steering wheel driver interfaces reserved on the second MCU CAN bus 502 may be respectively used to mount the first steering wheel driver 11, the first steering wheel driver 12, the second steering wheel driver 13, the second steering wheel driver 14, the differential left motor driver 15, and the differential right motor driver 16. A plurality of encoder interfaces reserved on the second MCU CAN bus 502 may be used to mount the first steering wheel absolute value encoder 17 and the second steering wheel absolute value encoder 18, respectively. In the single-steering-wheel AGV trolley, only one steering wheel driver, one steering wheel steering driver and one steering wheel absolute value encoder are arranged. The double-steering-wheel AGV comprises a front steering wheel driver, a rear steering wheel driver, a front steering wheel steering driver, a rear steering wheel steering driver, a front steering wheel absolute value encoder and a rear steering wheel absolute value encoder, so that the two steering wheel drivers, the two steering wheel steering drivers and the two steering wheel absolute value encoders are arranged in the double-steering-wheel AGV. The differential AGV comprises a differential left motor driver and a differential right motor driver. Therefore, a plurality of steering wheel driver interfaces and encoder interfaces are reserved on the second MCU CAN bus 502, mounting of drivers and encoders of various AGV trolleys CAN be achieved, and control of the AGV trolleys in various structural forms CAN be achieved by means of one hardware framework.
The VCU controller 1 adopts RK3568 as a main control chip, and the MCU motion controller 5 adopts stm32F429VGT6 as a main control chip.
The working method based on the hardware architecture of the AGV comprises the following steps:
step S1 is to perform range division on the message IDs on the first VCU CAN bus 101 and the second VCU CAN bus 102, so that the magnetic navigation sensor 2, the landmark sensor 3, the RFID card reader 4, the MCU motion controller 5, the remote controller signal receiver 6, the two-dimensional code reader 7, the laser scanning sensor 8, the visual scanning sensor 9, and the different data conversion devices 10 correspond to different message ID ranges, respectively.
Step S2, CAN OPEN protocol is observed among the second MCU CAN bus 502, the first steering wheel driver 11, the first steering wheel steering driver 12, the second steering wheel driver 13, the second steering wheel steering driver 14, the differential left motor driver 15, the differential right motor driver 16, the first steering wheel absolute value encoder 17 and the second steering wheel absolute value encoder 18;
and dividing the range of the message ID on the second MCU CAN bus 502 bus to enable the first steering wheel driver 11, the first steering wheel steering driver 12, the second steering wheel driver 13, the second steering wheel steering driver 14, the differential left motor driver 15, the differential right motor driver 16, the first steering wheel absolute value encoder 17 and the second steering wheel absolute value encoder 18 to respectively correspond to different message ID ranges.
The message ID ranges on the first VCU CAN bus 101, the second VCU CAN bus 102, the second MCU CAN bus 502 bus may be divided, for example, according to the following table.
In step S3, because the types and the number of the sensors, the signal receivers, the card readers and other devices that need to be mounted on the first VCU CAN bus 101 of the AGV are different in different usage scenarios, the types of the external devices that need to be connected to the first VCU CAN bus 101 are specified in the VCU controller 1 through the configuration file according to the usage scenarios of the AGV. Because the quantity and the model of steering wheel driver, steering wheel steering driver, helm absolute value encoder of single helm AGV dolly, two helm AGV dollies, differential AGV dolly are all inequality, according to the structural style of AGV dolly, VCU controller 1 to configuration file is issued to MCU motion control 5, and the appointed needs are in the kind of the external device of connecting on the second MCU CAN bus 502.
And S4, setting a message ID value of the external equipment in the S3 by using a special tool. The external device connected to the first VCU CAN bus 101 reports data to the VCU controller 1 periodically and actively, the external device connected to the second MCU CAN bus 502 reports data to the MCU motion controller 5 periodically and actively, the VCU controller 1 and the MCU motion controller 5 CAN accurately determine the type of the device and whether the device is on-line according to the range of the message ID value of the received message, for example, the section of the message ID range of "0x101 to 0x220" on the first VCU CAN bus 101 is divided into reporting and downlink for the magnetic navigation sensor 2 message, and when the message ID of the message received by the VCU controller 1 is any value between 0x101 to 0x220, the magnetic navigation sensor 2 is considered to be on-line.
Similarly, when the message ID of the message received by the MCU motion controller 5 is one of "0x181, 0x281, 0x381, 0x481, 0x201, 0x301, 0x401, and 0x501", it is determined that the first rudder wheel driver 11 is on-line.
In practical applications, in step S3, when interfaces such as RS485, RS232, NPN input, NPN output, and the like need to be extended by using a plurality of data conversion devices 10, the VCU controller 1 may sequentially issue configuration files to the plurality of data conversion devices 10, and specify the type of the interface that can be extended by each data conversion device 10, for example, the VCU controller 1 may specify one data conversion device 10 to extend the RS485 port 1003, and may also specify another data conversion device 10 to extend the RS232 port 1004.
Setting different message ID values for each data conversion device 10 in sequence by using a special tool, inserting the data conversion device 10 on the second VCU CAN bus 102, wherein the data conversion device 10 actively reports data to the VCU controller 1 at regular time, and the VCU controller 1 CAN accurately judge which data conversion device 10 is on line according to the range of the message ID value of the received message.
The foregoing shows and describes the general principles, principal features and advantages of the invention. The directional indicators such as front, back, left, right, end, front, etc. are only used for describing the structure, but not limited. Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (8)
1. The utility model provides a hardware architecture of AGV dolly which characterized in that: comprises a VCU controller (1) and an MCU motion controller (5); the VCU controller (1) comprises a CAN bus, namely a first VCU CAN bus (101), wherein a plurality of peripheral interfaces are reserved on the first VCU CAN bus (101), and the peripheral interfaces are used for mounting corresponding external equipment on the first VCU CAN bus (101);
MCU motion controller (5) includes two way CAN buses, is first MCU CAN bus (501), second MCU CAN bus (502) respectively, first MCU CAN bus (501) carry on first VCU CAN bus (101), it has a plurality of steering wheel driver interface to reserve on second MCU CAN bus (502), steering wheel driver interface is used for with corresponding steering wheel driver carry on second MCU CAN bus (502), still be equipped with a plurality of encoder interface on second MCU CAN bus (502), the encoder interface is used for with corresponding encoder carry on second MCU CAN bus (502).
2. The hardware architecture for an AGV cart of claim 1, further comprising: the VCU controller (1) further comprises another path of CAN bus, namely a second VCU CAN bus (102), and a plurality of data conversion devices (10) are hung on the second VCU CAN bus (102); the data conversion device (10) comprises a conversion device controller (1001), a CAN bus port (1002) is arranged outside the conversion device controller (1001), the CAN bus port (1002) is connected with the second VCU CAN bus (102), and an RS485 port (1003), an RS232 port (1004), a 2-way relay output port (1005), an NPN output port (1006) and an NPN input port (1007) are arranged outside the conversion device controller (1001).
3. The hardware architecture for an AGV cart according to claim 1, further comprising: a plurality of peripheral interfaces reserved on the first VCU CAN bus (101) CAN be used for mounting a magnetic navigation sensor (2), a landmark sensor (3), an RFID card reader (4), a remote controller signal receiver (6), a two-dimensional code reader (7), a laser scanning sensor (8) and a visual scanning sensor (9) respectively.
4. The hardware architecture for an AGV cart of claim 1, further comprising: a plurality of steering wheel driver interfaces reserved on the second MCU CAN bus (502) CAN be respectively used for mounting a first steering wheel driver (11), a first steering wheel steering driver (12), a second steering wheel driver (13), a second steering wheel steering driver (14), a differential left motor driver (15) and a differential right motor driver (16); and a plurality of encoder interfaces reserved on the second MCU CAN bus (502) CAN be used for mounting a first steering wheel absolute value encoder (17) and a second steering wheel absolute value encoder (18) respectively.
5. A method of operating a hardware architecture for AGV carts according to any of claims 1 to 4, comprising the steps of:
step S1, message IDs on a first VCU CAN bus (101) and a second VCU CAN bus (102) are subjected to range division, so that a magnetic navigation sensor (2), a landmark sensor (3), an RFID card reader (4), an MCU motion controller (5), a remote controller signal receiver (6), a two-dimensional code reader (7), a laser scanning sensor (8), a visual scanning sensor (9) and different data conversion devices (10) respectively correspond to different message ID ranges;
step S2, carrying out range division on message IDs on a second MCU CAN bus (502) bus, so that a first steering wheel driver (11), a first steering wheel steering driver (12), a second steering wheel driver (13), a second steering wheel steering driver (14), a differential left motor driver (15), a differential right motor driver (16), a first steering wheel absolute value encoder (17) and a second steering wheel absolute value encoder (18) respectively correspond to different message ID ranges;
s3, according to the use scene of the AGV trolley, the type of external equipment which needs to be connected on the first VCU CAN bus (101) is specified in the VCU controller (1) through a configuration file; according to the structural form of the AGV trolley, the VCU controller (1) issues a configuration file to the MCU motion controller (5) and specifies the type of external equipment which needs to be connected on the second MCU CAN bus (502);
s4, setting a message ID value of the external equipment in the step S3 by using a special tool; and the external equipment connected with the first VCU CAN bus (101) reports data to the VCU controller (1) actively at regular time, the external equipment connected with the second MCU CAN bus (502) reports data to the MCU motion controller (5) actively at regular time, the VCU controller (1) and the MCU motion controller (5) compare the message ID value of the received message with the message ID range in the step S1 and the step S2, and the type of the equipment and whether the equipment is on-line CAN be accurately judged according to the range of the message ID value of the received message of the VCU controller (1) and the MCU motion controller (5).
6. The method of claim 5, further comprising the steps of: in step S3, when interfaces such as RS485, RS232, NPN input, NPN output, and the like need to be extended by using the plurality of data conversion devices (10), the VCU controller (1) may sequentially issue configuration files to the plurality of data conversion devices (10), and specify the types of the interfaces that can be extended by each data conversion device (10).
And sequentially setting different message ID values for each data conversion device (10) by using a special tool, inserting the data conversion devices (10) on the second VCU CAN bus (102), periodically and actively reporting data to the VCU controller (1) by the data conversion devices (10), and accurately judging which data conversion device (10) is on line by the VCU controller (1) according to the range of the message ID value of the received message.
7. The method of claim 5, further comprising the steps of: in step S1, the following table shows the range division of the message IDs on the first VCU CAN bus (101) and the second VCU CAN bus (102):
8. the method of claim 5, further comprising the steps of: in step S1, the range division of the message ID on the second MCU CAN bus (502) is shown in the following table:
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| CN106878130A (en) * | 2017-03-14 | 2017-06-20 | 成都雅骏新能源汽车科技股份有限公司 | A kind of electric automobile CAN network method for detecting abnormality and device |
| CN108234255A (en) * | 2017-12-29 | 2018-06-29 | 新华三技术有限公司 | It reaches the standard grade processing method and processing device |
| CN207992758U (en) * | 2018-03-22 | 2018-10-19 | 五羊—本田摩托（广州）有限公司 | A kind of cart modularization full-vehicle control framework |
| CN208207807U (en) * | 2018-08-02 | 2018-12-07 | 镇江赛尔尼柯自动化有限公司 | The protocol converter of multibus based on CAN |
| CN111273612A (en) * | 2018-12-04 | 2020-06-12 | 广州中国科学院先进技术研究所 | Mobile robot motion controller |
| CN111193323A (en) * | 2020-01-06 | 2020-05-22 | 山东电工电气集团新能科技有限公司 | CAN bus-based power distribution network downlink equipment management device and method |
| CN217227305U (en) * | 2022-04-15 | 2022-08-19 | 宝鸡中铁秦岭重工有限责任公司 | New energy locomotive control system based on CAN bus network |
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