CN202929478U - Manual loading and unloading automatic guided vehicle control system - Google Patents
Manual loading and unloading automatic guided vehicle control system Download PDFInfo
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- CN202929478U CN202929478U CN 201220364854 CN201220364854U CN202929478U CN 202929478 U CN202929478 U CN 202929478U CN 201220364854 CN201220364854 CN 201220364854 CN 201220364854 U CN201220364854 U CN 201220364854U CN 202929478 U CN202929478 U CN 202929478U
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Abstract
The utility model brings forward a manual loading and unloading automatic guided vehicle control system which comprises cells, a control module, a motor controller, a first motor, a second motor, a signal processor and a mechanical device. The control module sends a control signal to the motor controller which respectively controls operations of the first motor and the second motor so as to drive motion of the mechanical device. After driving signals of the first and second motors are synthesized through the signal processor, motion of the mechanical device is controlled. The control module is a dual-core controller which comprises a host system and a motion control system which are arranged in an ADSP circuit and an FPGA circuit. The host system contains a human-computer interface, a route planning module and an online output module. The motion control system contains an encoder module, an input/output control module, a data memory module and a servo control module. Implementation of the servo control module is achieved by the FPGA circuit, and implementation of other modules is achieved by the ADSP circuit.
Description
Technical field
The utility model relates to automatic guided vehicle (AGV, Automated Guided Vehicle) technical field, and particularly relevant for a kind of artificial loading and unloading automatic guided vehicle control system.
Background technology
Automatic guided vehicle (Automated Guided Vehicle; be called for short AGV); refer to be equipped with the homing guidance devices such as electromagnetism or optics; can travel along the guide path of regulation; transport vehicle with safeguard protection and various transfer functions does not need the driver and take chargeable accumulator as its power resources in commercial Application.Generally can see through computer and control its course and behavior, or utilize electromagnetic path to set up its course, electromagnetic path sticks on the floor, and the information that automatic guided vehicle follows electromagnetic path to bring moves and moves.
AGV with respect to walking, creep or other non-wheeled mobile robot has the advantages such as action is quick, high efficiency, simple in structure, controllability is strong, security is good.Compare with other equipment commonly used in mass transport, the zone of action of AGV need not to lay the stationary installations such as track, support saddle frame, is not subjected to the restriction in place, road and space.
General common AGV has its motion of two motor-driven, controls respectively its X coordinate and Y coordinate in the plane by these two motors, and has a universal wheel to regulate its stability, arrives website descendant work handling goods.Existing AGV is controlled by individual digit signal processor (digital signal processor, DSP), as shown in Figure 1, is the block scheme of the AGV control system of prior art.
In prior art, the control system of general AGV comprises battery 11, DSP 12, the first controller 13, second controller 14, the first motor 15, the second motor 16, signal processor 17 and mechanical hook-up 18.Battery 11 is electric supply installation, for the work of whole system provides operating voltage.The built-in control program of DSP12, and send and control signal to the first controller 13 and second controller 14, the first controller 13 and second controller 14 are controlled respectively the work of the first motor 15, the second motor 16, and the first motor 15, the second motor 16 are respectively used to again drive the mechanical hook-up 18 of being located at AGV and move.Wherein, after the driving signal of the first motor 15 and the second motor 16 is synthetic through signal processor 17, control the motion of mechanical hook-up 18.
For a long time, find that traditional AGV exists a lot of potential safety hazards, comprising:
(1) because the AGV dolly brakes frequently and starts, increased the weight of the workload of DSP, monolithic DSP can't consider the state of battery, and the system energy of making can not get optimal utilization.
(2) owing to disturbed by the surrounding environment labile factor, single dsp controller often can occur extremely, causes out of controlly, and antijamming capability is relatively poor.
(3) should process the interference of the surrounding environment of AGV due to DSP, manage again the operation of motor, be difficult to satisfy the requirement of rapidity and stability, if solve this problem by increasing new processor, process again the problems such as synchronous and communication between two processors, extended the system development time.
(4) monolithic DSP is difficult to the requirement of competent many signal processing systems.In order to satisfy the requirement of two motors, the AGV that monolithic DSP controls normally realizes high speed analog/digital (A/D) sampling to solve on the different integrated circuit board of polylith from signal processing function, and this brings a lot of inconvenience to practical application.
Therefore, need to redesign the existing AGV controller of controlling based on monolithic DSP.
The utility model content
For the problems referred to above, the purpose of this utility model is to provide a kind of artificial loading and unloading automatic guided vehicle control system, and it has ADSP and FPGA double-core to control.
The utility model proposes a kind of artificial loading and unloading automatic guided vehicle control system, it comprises battery, control module, electric machine controller, the first motor, the second motor, signal processor and mechanical hook-up.Control module is sent and is controlled signal to electric machine controller, and electric machine controller is controlled respectively the work of the first motor, the second motor, is located at the mechanical hook-up motion with driving; After the driving signal of the first motor and the second motor is synthetic through signal processor, control the motion of mechanical hook-up.Control module is a pair of nuclear control device, and it comprises master system and the kinetic control system of being located at ADSP circuit and FPGA circuit, and wherein, master system comprises man-machine interface, path planning module and online output module; Kinetic control system comprises coder module, input/output control module, data memory module and servocontrol module, wherein, the ADSP circuit is realized man-machine interface, path planning module, data memory module, input/output control module, online output module, and the FPGA circuit is realized the servocontrol module.
In an embodiment of the present utility model, described battery further with the first motor be connected the output terminal of motor and be connected, and control module further is connected to respectively the tie point between the first motor output end and battery, and the tie point between the second motor output end and battery.
In an embodiment of the present utility model, described man-machine interface comprises and begins/restart button and function selecting key.
In an embodiment of the present utility model, whether described coder module detects the automatic guided vehicle actual speed, judges whether to meet rate request, too fast or excessively slow, and sends control signal.
In an embodiment of the present utility model, described servocontrol module comprises digital simulation module, sensor assembly, current module, speed module and displacement module.
In an embodiment of the present utility model, described digital simulation module comprises analog-digital converter and digital analog converter.
In an embodiment of the present utility model, described sensor assembly comprises one or more sensors.
In an embodiment of the present utility model, described sensor assembly comprises navigation sensor, upfront sensor and side sensor, and whether navigation sensor judges automatic guided vehicle in the center line operation, and adjusts dolly at suitable run location.
In an embodiment of the present utility model, described online output module is used for the duty of prompting automatic guided vehicle; The output power that described current module is used for the adjustment battery reaches the scope that automatic guided vehicle needs.
In an embodiment of the present utility model, described speed module is connected with the coder module communication, and too fast or excessively slow when coder module detection automatic guided vehicle actual speed, the speed module is regulated the dolly actual speed according to the result that coder module detects; Whether described displacement module detects automatic guided vehicle and arrives at a station, and whether arrives set displacement, if excessively slow, sends assisted instruction to electric machine controller; If close to set displacement excessively, need to slow down, send deceleration instruction to electric machine controller.
Artificial loading and unloading automatic guided vehicle control system described in the utility model, processed the full Digitized Servo Control of line navigation motor by FPGA, greatly improved arithmetic speed, solved the slower bottleneck of single dsp software operation, shortened the construction cycle short, and the program transportability ability is strong.The utility model has been realized veneer control fully, has not only saved control panel and has taken up room, but also realized the synchro control of multi-way control signals, is conducive to improve stability and the dynamic property of AGV dolly.Because adopting FPGA, this controller processes a large amount of data and algorithm, and the interference source around having taken into full account, and DSP is freed from the hard work amount, effectively having prevented " race flies " of program, antijamming capability strengthens greatly.
Above-mentioned explanation is only the general introduction of technical solutions of the utility model, for can clearer understanding technological means of the present utility model, and can be implemented according to the content of instructions, and for above-mentioned and other objects, features and advantages of the present utility model can be become apparent, below especially exemplified by embodiment, and the cooperation accompanying drawing, be described in detail as follows.
Description of drawings
Fig. 1 is the block scheme of the AGV control system of prior art.
Fig. 2 is the block scheme of the AGV control system of the utility model preferred embodiment.
Fig. 3 be the utility model preferred embodiment the block scheme of control module.
Fig. 4 is the AGV control system schematic diagram of the utility model preferred embodiment.
Embodiment
Along with development and the maturation of microelectric technique and computing machine integrated chip manufacturing technology, number DSP not only are widely used in communication and process with vision signal due to its computing power fast, also are applied in gradually in various senior control system.The ADSP-21xx series of AD company provides low cost, low-power consumption, high performance processing power and solution.ADSP-2188 instruction execution speed wherein adds independently ALU up to 75MIPS, has powerful digital signal processing capability.In addition, jumbo random access memory (RAM, random access memory) is integrated in this chip, and greatly peripheral circuits design reduces system cost and system complexity, has also greatly improved the stores processor ability of data.
Recent years to have occurred a kind of brand-new design philosophy based on field programmable gate array (FPGA, Field Programmable Gata Array) and the Hardware Implementation of modern electronic design robotization (EDA) technology.Although FPGA itself is the cell array of standard just, the function that does not have general integrated circuit to have, but the user can be according to the design needs of oneself, by specific placement-and-routing instrument, its inside is reconfigured connection, design the special IC of oneself within the shortest time, so just reduce cost, shorten the construction cycle.Realize the design of hardware circuit because FPGA adopts the design philosophy of software implementation, so just make based on the FPGA designed system to have good reusable and the property revised.This brand-new design philosophy has been applied in gradually high performance interchange and has driven in control, and fast-developing.
The utility model is to overcome single DSP can not satisfy stability and the requirement of rapidity, has given up single DSP mode of operation that domestic AGV dolly adopts, under the prerequisite of the external advanced control thought of absorption, independent research based on the brand-new control model of DSP+FPGA.Control panel is realized the real-time processing of digital signal take FPGA as processing core, and DSP is freed in the middle of the work of complexity, realizes the signal processing algorithm of part and the steering logic of FPGA, and the response interruption, realizes data communication and storage live signal.
The following the technical solution of the utility model of introducing in detail.Fig. 2 is the block scheme of the AGV control system of the utility model preferred embodiment.In the present embodiment, the control system of AGV comprises battery 21, control module 22, electric machine controller 23, the first motor 24, the second motor 25, signal processor 26 and mechanical hook-up 27.Battery 21 is electric supply installation, for the work of whole system provides operating voltage.The built-in control program of control module 22 and control circuit, send and control signal to electric machine controller 23, electric machine controller 23 is controlled respectively the work of the first motor 24, the second motor 25, and the first motor 24, the second motor 25 are respectively used to again drive the mechanical hook-up 27 of being located at the AGV car body and carry out the motion of directions X (level) and Y-direction (vertical).Wherein, after the driving signal of the first motor 24 and the second motor 25 is synthetic through signal processor 26, control the motion of mechanical hook-up 27.Battery 21 further with the first motor 24 be connected the output terminal of motor 25 and be connected, and control module 22 further is connected to respectively the tie point between the first motor 24 output terminals and battery 21, and the tie point between the second motor 25 output terminals and battery 21.
Please further consult Fig. 3, be the block scheme of the control module 22 of the utility model preferred embodiment.With reference to Fig. 4, it is the AGV control system schematic diagram of the utility model preferred embodiment in the lump.In the present embodiment, control module 22 is a pair of nuclear control device, and it comprises ADSP circuit (figure is mark not) and FPGA circuit (figure is mark not), both communications mutually.Control module 22 comprises master system 221 and the kinetic control system 222 of being located at ADSP circuit and FPGA circuit.Wherein, master system comprises man-machine interface 2221, path planning module 2212, online output module 2213.Man-machine interface 2221 comprises and begins/restart button and function selecting key.Path planning module 2212 comprises the speed that has preset, acceleration, the parameter settings such as position.Online output module 2213 is used for the duty of prompting AGV dolly, such as being in the dolly course of work or the condition prompting that arrives at a station.
Wherein, DA module 2225 comprises analog-digital converter (ADC, Analog to Digital Converter) and digital analog converter (DAC, Digital to Analog Converter).Sensor assembly 2226 comprises one or more sensors, as shown in Figure 4, in the present embodiment, sensor assembly 2226 comprises the sensor of label S1, S2, S3, S4, S5, S8, S9, S10 representative, it is higher than the different parts of AGV dolly, wherein sensor S1, S2, S3, S4, S5 are navigation sensor, whether judge the AGV dolly in the center line operation, and the adjustment dolly is at suitable run location.Sensor S9, S10 are that the upfront sensor and the sensor S8 that are located at little front side are the side sensor of being located at the dolly side.Deceleration in figure, website 1 ~ n, acceleration, waiting area are to be located at the reflection unit on ground, and the sensor can coordinate reflection unit to assist the motion of AGV dolly.
Speed module 2228 is connected with coder module 2221 communications, and too fast or excessively slow when coder module 2221 detection AGV dolly actual speed, speed module 2228 is regulated the dolly actual speed according to the result that coder module 2221 detects.In the present embodiment, the sensor S7 that is located at the AGV dolly is speed pickup, and speed module 2228 includes but not limited to speed pickup.
Whether displacement module 2229 detects the AGV dolly and arrives at a station, and whether arrives set displacement, if excessively slow, sends assisted instruction to electric machine controller 23; If close to set displacement excessively, need to slow down, send deceleration instruction to electric machine controller 23.In the present embodiment, the sensor S6 that is located at the AGV dolly is site sensor, and it is used for realizing the function of displacement module 2229.
In conjunction with above description, master system is completed the functions such as man-machine interface, path planning, online output; Kinetic control system is completed the functions such as the servocontrol, data storage, I/O control of AGV system, wherein the diaxon servo-drive system of workload maximum is given the FPGA processing of circuit, remaining comprises that completing of master system give the ADSP circuit and complete, so just realized the division of labor of ADSP and FPGA, simultaneously also can carry out communication between both, carry out in real time exchanges data and call.
With further reference to Fig. 4, the concrete principle of work of the utility model preferred embodiment is described below.Before the AGV dolly was not received order, its generally can wait for master controller in waiting area, i.e. control module 22 order of sending is in case after receiving task, can enter the goods handling track along the track 41 on the waiting area limit.The mode that control module 22 is given an order includes but not limited to give an order by the button of operation man-machine interface 2221.After the injection of AGV dolly, sensor S9, the S10 in its place ahead and side sensor S8 can judge surrounding environment, defining does not have barrier to enter range of operation, as exist barrier to send interrupt request to ADSP circuit (for example the I/O control module 2222), the ADSP circuit can be to interrupting doing very first time response, if the interrupt response of ADSP does not have enough time to process, the collision avoidance system on car body will be triggered, and then reach the function that keeps in obscurity; If do not have barrier to enter range of operation, the AGV dolly will carry out normal state operation.
When the AGV injection normally moves, its navigation sensor S1, S2, S3, S4, S5 will work, and give ADSP the photosignal that reflects, give FPGA after the ADSP judgement, by carrying out communication with ADSP after the FPGA computing, then carry out servocontrol by electric machine controller 23 transfer control signals to the first motor 24 and second motor 25 of line navigation.
In order to realize the steady running of AGV dolly, reduce the labile factor of dolly running, system has added speed pickup S7, this sensor can read ground acceleration or deceleration bar code, then give electric machine controller 23, after electric machine controller 23 carries out computing according to this signal, control the travelling speed of the first motor 24 and the second motor 25, make the AGV dolly with different speed by the short distance straight way, grow apart from straight way and bend.
In order to realize the website function of AGV dolly, the utility model has added site sensor S6, and this sensor can read ground website bar code, and automatically cumulative, and meeting automatic stopping after the arrival website is by workman's automatic loading and unloading goods of current website.
In order to realize circulatory function, can automatic clear when the AGV dolly reaches maximum website and slave site 1 counting again, this function is realized by man-machine interface 2211 or path planning module.
In sum, in order to improve arithmetic speed, guarantee AGV Systems balanth and reliability, the utility model is introduced FPGA in single dsp controller, formation is based on the double-core controller of DSP+FPGA, this controller is concentrated design to the multi controller systems that original single DSP realizes, and takes into full account battery in the effect of this system, realizes the function of Single Controller synchronized transmission diaxon control signal.Giving FPGA the diaxon servo-drive system of workload maximum in the AGV control system processes, give full play to FPGA data processing speed characteristics faster, and the functions such as man-machine interface, path planning, online output, data storage, I/O control are given ADSP and are completed, so just realized the division of labor of ADSP and FPGA, simultaneously also can carry out communication between both, carry out in real time exchanges data and call.
The beneficial effect that the utlity model has is: in motion process, taken into full account the effect of battery in this system, constantly all the running status of dolly is being monitored and computing based on the DSP+FPGA controller, avoided the generation of large electric current, so fundamentally solved large electric current to the impact of battery, avoided the generation of the lead-acid battery overaging phenomenon that causes due to heavy-current discharge.In the rapid discharge process, in the voltage detecting process of opposite end, introduced the parameter such as internal resistance, temperature of plumbic acid, make terminal voltage closer to actual parameter, the protection that utilizes the energy is arranged.Processed the full Digitized Servo Control of line navigation motor by FPGA, greatly improved arithmetic speed, solved the slower bottleneck of single dsp software operation, shortened the construction cycle short, and the program transportability ability is strong.The utility model has been realized veneer control fully, has not only saved control panel and has taken up room, but also realized the synchro control of multi-way control signals, is conducive to improve stability and the dynamic property of AGV dolly.Because adopting FPGA, this controller processes a large amount of data and algorithm, and the interference source around having taken into full account, and DSP is freed from the hard work amount, effectively having prevented " race flies " of program, antijamming capability strengthens greatly.
the above, only embodiment of the present utility model, be not that the utility model is done any pro forma restriction, although the utility model discloses as above with embodiment, yet be not to limit the utility model, any those skilled in the art, within not breaking away from the technical solutions of the utility model scope, when the technology contents that can utilize above-mentioned announcement is made a little change or is modified to the equivalent embodiment of equivalent variations, in every case be not break away from the technical solutions of the utility model content, any simple modification that foundation technical spirit of the present utility model is done above embodiment, equivalent variations and modification, all still belong in the scope of technical solutions of the utility model.
Claims (8)
1. one kind is is manually loaded and unloaded the automatic guided vehicle control system, it comprises battery, control module, electric machine controller, the first motor, the second motor, signal processor and mechanical hook-up, it is characterized in that: control module is sent and is controlled signal to electric machine controller, electric machine controller is controlled respectively the work of the first motor, the second motor, is located at the mechanical hook-up motion with driving; After the driving signal of the first motor and the second motor is synthetic through signal processor, control the motion of mechanical hook-up;
Wherein, control module is a pair of nuclear control device, and it comprises master system and the kinetic control system of being located at ADSP circuit and FPGA circuit, and wherein, master system comprises man-machine interface, path planning module and online output module; Kinetic control system comprises coder module, input/output control module, data memory module and servocontrol module, wherein, the ADSP circuit is realized man-machine interface, path planning module, data memory module, input/output control module, online output module, and the FPGA circuit is realized the servocontrol module.
2. artificial loading and unloading automatic guided vehicle control system according to claim 1, it is characterized in that, described battery further with the first motor be connected the output terminal of motor and be connected, and control module further is connected to respectively the tie point between the first motor output end and battery, and the tie point between the second motor output end and battery.
3. artificial loading and unloading automatic guided vehicle control system according to claim 1, is characterized in that, described man-machine interface comprises and begins/restart button and function selecting key.
4. artificial loading and unloading automatic guided vehicle control system according to claim 1, is characterized in that, described servocontrol module comprises digital simulation module, sensor assembly, current module, speed module and displacement module.
5. artificial loading and unloading automatic guided vehicle control system according to claim 4, is characterized in that, described digital simulation module comprises analog-digital converter and digital analog converter.
6. artificial loading and unloading automatic guided vehicle control system according to claim 4, is characterized in that, described sensor assembly comprises one or more sensors.
7. artificial loading and unloading automatic guided vehicle control system according to claim 4, it is characterized in that, described sensor assembly comprises navigation sensor, upfront sensor and side sensor, whether navigation sensor judges automatic guided vehicle in the center line operation, and adjusts dolly at suitable run location.
8. artificial loading and unloading automatic guided vehicle control system according to claim 4, is characterized in that, described speed module is connected with the coder module communication.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220364854 CN202929478U (en) | 2012-07-26 | 2012-07-26 | Manual loading and unloading automatic guided vehicle control system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN 201220364854 CN202929478U (en) | 2012-07-26 | 2012-07-26 | Manual loading and unloading automatic guided vehicle control system |
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| CN202929478U true CN202929478U (en) | 2013-05-08 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102749922A (en) * | 2012-07-26 | 2012-10-24 | 苏州工业园区职业技术学院 | Artificially assembled and disassembled automatic guided vehicle control system |
| CN109074079A (en) * | 2016-04-27 | 2018-12-21 | 日本电产新宝株式会社 | Management system, method and the computer program of moving body |
-
2012
- 2012-07-26 CN CN 201220364854 patent/CN202929478U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102749922A (en) * | 2012-07-26 | 2012-10-24 | 苏州工业园区职业技术学院 | Artificially assembled and disassembled automatic guided vehicle control system |
| CN109074079A (en) * | 2016-04-27 | 2018-12-21 | 日本电产新宝株式会社 | Management system, method and the computer program of moving body |
| CN109074079B (en) * | 2016-04-27 | 2021-09-28 | 日本电产新宝株式会社 | System, method, and computer program for managing moving body |
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Granted publication date: 20130508 Termination date: 20140726 |
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