CN118092251A - A vehicle-mounted control system for a four-way shuttle RGV - Google Patents

Abstract

The present invention relates to the technical field of vehicle control systems, specifically to a vehicle control system for a four-way shuttle RGV, including a dispatching system, a vehicle control system, and various underlying hardware modules. The vehicle control system operation includes four steps: four-way shuttle, stability adjustment, real-time control, and safety detection. The four-way shuttle RGV vehicle of the present invention can run at a maximum speed of 2m/s between cross-warehouses, and runs smoothly and smoothly. The parking accuracy at the target position can be controlled within 2-3mm and a single-chip microcomputer equipped with stm32F4xx as MCU is used as a controller. Compared with common PLC controllers, although the programming is complicated, the system has good real-time and stability. The single-chip microcomputer controller can expand CAN bus communication, serial communication, TCP communication, and IO modules on the board, and the communication module expansion/integration is convenient and low-cost.

Description

A vehicle-mounted control system for a four-way shuttle RGV

Technical Field

The invention relates to the technical field of vehicle-mounted control systems, in particular to a vehicle-mounted control system for a four-way shuttle RGV.

Background technique

RGV is the abbreviation of Rail Guided Vehicle, also known as rail shuttle. RGV can be used in various warehouses with high-density storage. The trolley channel can be designed to be arbitrarily long, which can increase the storage capacity of the entire warehouse. In addition, there is no need for forklifts to enter the aisle during operation, making it safer.

The RGV vehicles commonly found on the market generally use a set of wheel systems, with only forward and backward motion control, and are applied to single-track operation. In this way, the storage capacity of the warehouse depends on the length of the trolley track. The common RGV vehicles on the market use PLC as the main controller, and in complex scenarios such as vehicle-mounted control, it is very necessary to use CAN bus communication for multi-module data acquisition; and PLC expansion of CAN communication is more expensive than single-chip microcomputers.

In actual use, the RGV vehicle lacks stability, high real-time performance and safety, and cannot realize the four-way shuttle function.

Summary of the invention

The purpose of the present invention is to provide a vehicle-mounted control system for a four-way shuttle RGV to solve the problem mentioned in the above background technology that the existing RGV vehicles lack stability, high real-time performance and safety and cannot realize the four-way shuttle function.

To achieve the above object, the present invention provides the following technical solutions: a vehicle-mounted control system for a four-way shuttle RGV, comprising a dispatching system, a vehicle-mounted control system, and various underlying hardware modules. The operation steps of the vehicle-mounted control system are as follows:

Step 1: Four-way shuttle: According to the vehicle configuration, two sets of gear train control switching and oil pump mechanism are set;

Step 2: Stability adjustment: speed planning is performed according to the distance of the scheduling path planning;

Step 3: Real-time control: installing a real-time operating system in the vehicle control system;

Step 4: Safety check: install radars in the four directions of vehicle travel.

Preferably, the dispatching system is used when the user controls the operation of the vehicle. When the user needs a vehicle to transport goods, the dispatching system will issue a vehicle control instruction to the on-board system.

Preferably, the main controller of the vehicle-mounted control system is a single-chip computer board with an STM32F407 chip as the MCU, and the main controller will be connected to various data acquisition modules, motor drives, wireless handles and limit IO signals on the vehicle.

Preferably, the various underlying hardware modules can obtain battery power, real-time data of obstacle avoidance radar, wireless handle signals, and control instructions issued by the dispatching system through TCP, and at the same time issue controls on the walking/pump-controlled lifting drive, control the vehicle to move when receiving dispatching instructions, and stop the vehicle when receiving obstacle avoidance feedback from the obstacle avoidance radar.

Preferably, in the four-way shuttle, when the X-axis moves, it is ensured that the X-axis wheel train falls on the track to receive force, and at the same time the Y-axis wheel train is gathered at a higher position than the X-axis wheel train to avoid contact with the X-axis track. When the Y-axis moves, the position of the Y-axis wheel train is lowered through a flexible mechanical structure in coordination with the action of the oil pump mechanism, while at the same time the position of the X-axis wheel train is relatively raised, so that the Y-axis wheel train can fall on the track to receive force.

Preferably, the stability adjustment formulates corresponding acceleration and deceleration plans according to different travel route lengths. When traveling a short distance, the speed curve is like a parabola, accelerating first and then decelerating. When traveling a long distance, the speed curve is like an isosceles trapezoid, accelerating first, then maintaining a constant speed, and finally decelerating. Speed planning is performed in the start-stop stage to ensure that the parking inertial shake is within 1 cm and the final parking accuracy is 2-3 mm.

Preferably, the real-time control processes the data collected by each sensor in a timely manner to ensure that the system can quickly respond to various situations and needs and make corresponding decisions and control actions based on the real-time processed data.

Preferably, the safety detection monitors the track through radar, identifies obstacles in real time, ensures the safety of vehicle driving, and adjusts the vehicle's travel path based on radar data.

Compared with the prior art, the present invention has the following beneficial effects:

1. A vehicle-mounted control system of a four-way shuttle RGV realizes movement in the X and Y axis directions by controlling two sets of wheel trains. It can complete the four-way shuttle vehicle of "front, back, left, and right" movement; it can travel forward, backward, left, and rear on a three-dimensional shelf with a cross track. Compared with the RGV running on a single track, it improves the efficiency of handling goods and increases the storage capacity of the warehouse.

2. A vehicle-mounted control system for a four-way shuttle RGV uses a single-chip microcomputer equipped with stm32F4xx as the MCU as the controller. Compared with the common PLC controller, although the programming is complicated, the system has good real-time and stability. The single-chip microcomputer controller can expand CAN bus communication, serial communication, TCP communication, and IO modules on the board. The communication module expansion/integration is convenient and low-cost.

3. A vehicle-mounted control system for a four-way shuttle RGV. The four-way shuttle RGV can run at a maximum speed of 2m/s between cross-bays, and runs smoothly. The parking accuracy at the target location can be controlled within 2-3mm.

BRIEF DESCRIPTION OF THE DRAWINGS

Fig. 1 is a system framework diagram of the present invention;

FIG. 2 is a schematic flow chart of the operation steps of the present invention.

Detailed ways

The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

Please refer to FIG. 1-2 , an embodiment of the present invention is: a vehicle-mounted control system for a four-way shuttle RGV, including a dispatching system, a vehicle-mounted control system, and various underlying hardware modules. The operation steps of the vehicle-mounted control system are as follows:

Step 1: Four-way shuttle: According to the vehicle configuration, two sets of gear train control switching and oil pump mechanism are set;

Step 2: Stability adjustment: speed planning is performed according to the distance of the dispatching path planning to ensure that the vehicle runs smoothly on the track;

Step 3: Real-time control: A real-time operating system is installed in the vehicle control system to achieve data interaction among modules in a time-sharing and synchronous manner;

Step 4: Safety detection: radars are installed in the four directions of vehicle travel to detect debris on the track and multiple vehicles running, thereby preventing collisions.

Furthermore, the dispatching system is used by users to control vehicle operations. When a user needs a vehicle to transport goods, the dispatching system will issue vehicle control instructions to the on-board system. This operation is performed through wireless TCP communication.

Furthermore, the main controller of the vehicle control system is a single-chip computer board with an STM32F407 chip as the MCU, and the main controller will be connected with various data acquisition modules, motor drives, wireless handles and limit IO signals on the vehicle.

Furthermore, the various underlying hardware modules can obtain battery power, real-time data of obstacle avoidance radar, wireless handle signals, and control instructions issued by the scheduling system through TCP, and at the same time issue controls on the walking/pump-controlled lifting drive, control the vehicle to move when receiving scheduling instructions, and stop the vehicle when receiving obstacle avoidance feedback from the obstacle avoidance radar.

Furthermore, in the four-way shuttle, when the X-axis moves, it is ensured that the X-axis wheel train falls on the track to receive force, and at the same time the Y-axis wheel train is gathered at a higher position than the X-axis wheel train to avoid contact with the X-axis track. When the Y-axis moves, the position of the Y-axis wheel train is lowered through a flexible mechanical structure in coordination with the action of the oil pump mechanism, while at the same time the position of the X-axis wheel train is relatively raised, so that the Y-axis wheel train can fall on the track to receive force.

Furthermore, the stability adjustment formulates corresponding acceleration and deceleration plans according to the different lengths of the travel route. When traveling a short distance, the speed curve is like a parabola, accelerating first and then decelerating. When traveling a long distance, the speed curve is like an isosceles trapezoid, accelerating first, then maintaining a constant speed, and finally decelerating. Speed planning is performed in the start-stop stage to ensure that the parking inertial shake is within 1 cm and the final parking accuracy is 2-3 mm.

Furthermore, the real-time control processes the data collected by each sensor in a timely manner to ensure that the system can quickly respond to various situations and needs, make corresponding decisions and control actions based on the real-time processed data, and ensure that the vehicle can operate in real-time.

Furthermore, the safety detection monitors the track through radar, identifies obstacles in real time, ensures the safety of vehicle driving, and adjusts the vehicle's travel path based on radar data to avoid safety issues such as collisions.

Furthermore, the real-time control of the vehicle control system lies in the fact that all control instructions are issued and data feedback is carried out simultaneously. In the STM32F407 controller part, RTOS (real-time operating system) is used in the program to ensure that data interaction is real-time and stable.

Furthermore, RTOS (STM32F407 single-chip microcomputer controller for vehicle control systems) is a real-time operating system that can accept and process external events or data at a fast enough speed when they occur, and the processing results can control the production process or respond quickly to the processing system within the specified time, dispatch all available resources to complete real-time tasks, and control all real-time tasks to run in a coordinated manner. Its main characteristics are to provide timely response and high reliability.

It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

Claims (8)

1. A vehicle-mounted control system for a four-way shuttle RGV, characterized in that it includes a dispatching system, a vehicle-mounted control system, and various underlying hardware modules. The operating steps of the vehicle-mounted control system are as follows: Step 1: Four-way shuttle: According to the vehicle configuration, two sets of gear train control switching and oil pump mechanism are set; Step 2: Stability adjustment: speed planning is performed according to the distance of the scheduling path planning; Step 3: Real-time control: installing a real-time operating system in the vehicle control system; Step 4: Safety check: install radars in the four directions of vehicle travel. 2. According to claim 1, a vehicle-mounted control system for a four-way shuttle RGV is characterized in that: the dispatching system is used when the user controls the vehicle operation. When the user needs a vehicle to transport goods, the dispatching system will issue vehicle control instructions to the vehicle-mounted system. 3. According to claim 1, a vehicle-mounted control system for a four-way shuttle RGV is characterized in that the main controller of the vehicle-mounted control system is a single-chip computer board with an STM32F407 chip as the MCU, and the main controller will be connected to each data acquisition module, motor drive, wireless handle and limit IO signal on the vehicle. 4. According to claim 1, a vehicle-mounted control system for a four-way shuttle RGV is characterized in that: the various underlying hardware modules can obtain battery power, real-time data of obstacle avoidance radar, wireless handle signals, and control instructions issued by the scheduling system through TCP, and at the same time issue controls on the walking/pump-controlled lifting drive, control the vehicle to move when receiving scheduling instructions, and stop the vehicle when receiving obstacle avoidance feedback from the obstacle avoidance radar. 5. The on-board control system of a four-way shuttle RGV according to claim 1 is characterized in that: when the four-way shuttle moves on the X-axis, it is ensured that the wheel train of the X-axis falls on the track to receive force, and at the same time, the Y-axis wheel train is gathered at a higher position than the X-axis wheel train to avoid contact with the X-axis track. When the Y-axis moves, the position of the Y-axis wheel train is lowered through a flexible mechanical structure in coordination with the action of the oil pump mechanism, and at the same time, the position of the X-axis wheel train is relatively raised, so that the Y-axis wheel train can fall on the track to receive force. 6. According to claim 1, a vehicle-mounted control system for a four-way shuttle RGV is characterized in that: the stability adjustment formulates corresponding acceleration and deceleration plans according to different travel route lengths. When traveling a short distance, the speed curve is like a parabola, first accelerating and then decelerating. When traveling a long distance, the speed curve is like an isosceles trapezoid, first accelerating, then maintaining a constant speed, and finally decelerating. Speed planning is performed in the start-stop stage to ensure that the parking inertial shaking is within 1 cm and the final parking accuracy is 2-3 mm. 7. According to claim 1, a vehicle-mounted control system for a four-way shuttle RGV is characterized in that: the real-time control processes the data collected by each sensor in a timely manner to ensure that the system can quickly respond to various situations and needs, and make corresponding decisions and control actions based on the real-time processed data. 8. According to claim 1, a vehicle-mounted control system for a four-way shuttle RGV is characterized in that: the safety detection monitors the track through radar, identifies obstacles in real time, ensures the safety of vehicle driving, and adjusts the vehicle's travel path according to radar data.