CN212276269U

CN212276269U - AGV intelligent vehicle structure

Info

Publication number: CN212276269U
Application number: CN202020900598.0U
Authority: CN
Inventors: 张志成; 吴裕炯; 陈钰
Original assignee: Guangdong Industry Technical College
Current assignee: Guangzhou Ranling Technology Co ltd
Priority date: 2020-05-26
Filing date: 2020-05-26
Publication date: 2021-01-01
Anticipated expiration: 2030-05-26

Abstract

The utility model discloses a AGV intelligent vehicle structure, include: the AGV car body, the AGV car body includes control panel and data acquisition unit, the control panel includes N sets of the same the control unit, and N sets of the control unit are used for when the current the control unit appears and is shut down suddenly in work, and other the control unit is replaced at any time, the control unit includes raspberry group, ADS1256AD/DA expansion board and singlechip, and the one end and the data acquisition unit of raspberry group are connected, and the other end and the one end of DS1256AD/DA expansion board of raspberry group are connected, and the other end and the 2 singlechip of DS1256AD/DA expansion board are connected. The utility model discloses a N sets of the same the control unit, when the sudden shutdown appears in current the control unit in work, other the control unit replace at any time, provide a safety and stability for AGV intelligent vehicle, transplantable bottom control solution.

Description

AGV intelligent vehicle structure

Technical Field

The utility model relates to a AGV intelligent vehicle structural design technical field, concretely relates to AGV intelligent vehicle structure.

Background

An Automated Guided Vehicle (AGV), also commonly referred to as an AGV cart, is equipped with an electromagnetic or optical automatic guiding device, can travel along a predetermined guiding path, has safety protection and various transfer functions, and uses a rechargeable battery as its power source. Generally, the traveling route and behavior can be controlled by a computer, or the traveling route is set up by using an electromagnetic track (electromagnetic path-following system), the electromagnetic track is adhered to the floor, and the unmanned transport vehicle moves and acts by means of the information brought by the electromagnetic track. The existing AGV trolley has low stability and safety and poor portability, and brings inconvenience to the use of the AGV trolley.

SUMMERY OF THE UTILITY MODEL

The utility model aims at overcoming the not enough of above prior art existence, provide a high AGV intelligent vehicle structure of stability and security.

The purpose of the utility model is realized through the following technical scheme:

an AGV smart vehicle structure comprising: the AGV comprises an AGV body, wherein the AGV body comprises a control panel and a data acquisition unit, the control panel comprises N sets of same control units, the N sets of control units are used for replacing other control units at any time when the current control unit suddenly crashes in work, and N is more than or equal to 2; the control unit comprises a raspberry pie, an ADS1256AD/DA expansion board and a single chip microcomputer, wherein the number of the single chip microcomputers is 2, one end of the raspberry pie is connected with the data acquisition unit, the other end of the raspberry pie is connected with one end of the DS1256AD/DA expansion board, and the other end of the DS1256AD/DA expansion board is connected with the 2 single chip microcomputers.

Preferably, the raspberry pi is connected to a 12V touch screen vehicle-mounted display through an HDMI wire, and is further connected with a mouse and a keyboard.

Preferably, the direction post below of AGV car body sets up the motor, data acquisition unit includes angle sensor, control panel, motor connect gradually.

Preferably, the motor is a high torque direct current motor.

Preferably, the data acquisition unit further comprises a wheel speed sensor for measuring the vehicle speed, a Basler camera, a Velodyne16 line laser radar and a millimeter wave radar; the Basler camera is fixed right above the AGV body, and the upper layer computer is used for shooting and collecting front road information of a driving visual field; the Velodyne16 line laser radar is fixed on a shelf right above the roof of the AGV body and connected with an upper computer and is used for scanning long-distance obstacles in the driving process of the AGV body; the millimeter wave radar: fix at AGV car body front centre for detect the distance of place ahead barrier.

Preferably, still be provided with the partial pressure component on the AGV car body, the input and the AGV car body on the power connection of partial pressure component, the output of partial pressure component with be used for automatic travel direct current motor, with electrical apparatus connection.

Preferably, the voltage dividing element includes: relay, resistance wire.

Preferably, still be provided with the master switch of a key outage on the AGV car body, master switch and power connection.

Compared with the prior art, the utility model have following advantage:

the utility model discloses a N sets of the same the control unit, when the sudden shutdown appears in current the control unit in work, other the control unit replace at any time, provide a safety and stability for the AGV intelligent vehicle, the original circuit of protection car, low cost, transplantable bottom control solution.

No matter be automatic keep away the barrier or do fields such as automatic parking, the utility model provides a system of one set of bottom control, the upper strata only need advance according to how much speed to the bottom transmission for example after the encapsulation, turn left how many degrees information can, the bottom system also can give basic information such as upper feedback current speed, position, course angle.

Drawings

The accompanying drawings, which form a part of the present application, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention and not to limit the invention. In the drawings:

FIG. 1 is the utility model discloses a AGV intelligent vehicle structure's structural schematic.

Fig. 2 is the circuit diagram of the AGV body of the present invention.

Detailed Description

The present invention will be further explained with reference to the drawings and examples.

Referring to fig. 1-2, an AGV smart car structure includes: the AGV comprises an AGV body, wherein the AGV body comprises a control panel and a data acquisition unit, the control panel comprises N sets of same control units, the N sets of control units are used for replacing other control units at any time when the current control unit suddenly crashes in work, and N is more than or equal to 2; the control unit comprises a raspberry pie, an ADS1256AD/DA expansion board and a single chip microcomputer, wherein the number of the single chip microcomputers is 2, one end of the raspberry pie is connected with the data acquisition unit, the other end of the raspberry pie is connected with one end of the DS1256AD/DA expansion board, and the other end of the DS1256AD/DA expansion board is connected with the 2 single chip microcomputers.

In this embodiment, the raspberry pi is connected to a 12V touch screen vehicle-mounted display through an HDMI connection, and is further connected with a mouse and a keyboard.

In this embodiment, N is 3, each raspberry pie is connected to 1 ADS1256 expansion board, and then connected to 2 arduino single-chip microcomputers through USB to serial ports, thereby forming 1 set of control unit. 3 sets of control units are arranged on the AGV trolley, and when 1 set of the AGV trolley is in downtime, the 2 nd set of control unit is started in time and takes over the control of the vehicle. The three raspberry groups are all connected: the device comprises a wheel speed sensor for measuring the speed of the vehicle, a sensor for measuring the voltage value of a power motor and an angle sensor for measuring the steering direction of a steering column. The three raspberry pies are all connected to an in-vehicle local area network through a vehicle-mounted router, and the raspberry pies continuously receive and issue two sets of multicast messages under different working channels by using the local area network. The content of the multicast packet is respectively a control instruction issued by an upper layer application and data of a vehicle-mounted sensor collected by a raspberry group; the raspberry pi number of the current work. The former multicast data packet is used for realizing the information interaction between the upper application and the control platform, and the latter multicast data packet is used for self-detection of three raspberry groups: the current working condition of the whole control system.

Each raspberry pie is connected with 1 ADS1256 expansion module, and the original GPIO pins of the raspberry pie are converted into partial pins capable of reading analog signals, so that data of the sensor can be read. The method comprises the steps that each raspberry group reads the reading of an angle sensor through serial port to USB, the measured voltage value of a power motor is read through an ADS1256 module, and the value of a wheel speed sensor for measuring the speed of a vehicle is read through the ADS1256 module. Each raspberry pie is connected with two arduino single-chip microcomputers through a built-in serial port ttyACM0 and a ttyACM1, and the raspberry pie and the two single-chip microcomputers are communicated through serial ports.

After receiving a multicast control instruction data packet transmitted by an upper layer application through a local area network, the raspberry group analyzes the multicast control instruction data packet: and acquiring an acceleration instruction, a stop instruction and a steering angle instruction in the data packet. And then, quantifying the three instructions by a program to serve as a target of the round of control, returning a current trolley state value by a reference sensor, and sending a motor rotation instruction to the arduino through a serial port by utilizing a hierarchical fuzzy PID control algorithm. And when each round of control is finished, the raspberry group issues the data acquired by the vehicle-mounted sensor in a multicast packet mode. Namely, the upper application and the control platform can communicate only in a multicast mode through the vehicle-mounted local area network.

This AGV is 3 sets of control unit for intelligent vehicle structure, these 3 sets of units can communicate and detect in real time through on-vehicle network, know the operating condition of current entire system and the raspberry group number of working at present, can replace at any time when the accident appears, guarantee the high reliability and the security of AGV intelligent vehicle structure, prevent the condition that appears dying suddenly in the form in-process. The 3 raspberry groups are respectively numbered as 0, 1 and 2, and the 3 sets of control units can perform multicast communication with each other through a vehicle-mounted local area network. After each control unit is started, the control unit which needs to work at present needs to be judged, and the system starts to work from No. 0 by default. The control unit in the working state can receive data of the bottom sensor through the serial port, can send a control signal to the single chip microcomputer through the serial port, can receive and analyze a control instruction sent by an upper application through the LCM, and sends a multicast data packet in a specific channel according to the working frequency of 1HZ, wherein the content of the multicast data packet is the number of the control unit in the current working state. The other control units in the candidate working state are connected with the sensor, the single chip microcomputer and the motor drive board through wiring, but only the thread for monitoring the data packet sent by the working control unit is started, and the other threads are not started. The program of each set of candidate control unit comprises a timer, the waiting time of the timer is 1S, if no new multicast data packet is received after 1S, the current working control unit is considered to be in fault, other candidate control units are sequentially used as substitutes according to the numbers, the working is started, corresponding working threads are started, and the operation is repeated.

This embodiment, the direction post below of AGV car body sets up the motor, the data acquisition unit includes angle sensor, control panel, motor connect gradually. Further, the motor is a high torque direct current motor. A large-torque direct-current motor is installed below a direction column of an AGV body and is matched with an angle sensor. The control board reads the value of the sensor and converts the value into the steering angle of the current motor, the control strategy of the motor is adjusted according to the expected turning angle and the current turning angle, the existing fuzzy PID control algorithm based on layering is utilized to enable the motor to rotate to drive the direction column of the trolley to rotate, and finally the accurate control of the steering angle of the AGV intelligent vehicle is achieved. The angle sensor for measuring the steering of the steering column is an encoder, the angle range being 0-1024 for one 360 ° turn of the circumference. The angle sensor is bound to the steering dc motor and the sensor can rotate with the rotor of the dc motor, thereby detecting a rotation value. The direct current motor rotates left and right to the maximum, the reading of the sensor at the moment is recorded and is mapped to the left and right 720 degrees (the left and right maximum steering angles of the wheels of the trolley), and the steering condition at the moment can be obtained through the angle sensor. Data is read and transmitted in a serial port mode, and the sensor directly works after the vehicle power supply is turned on. In addition, each set of control unit directly outputs a motor control signal to an arduino singlechip. Each set of control unit is provided with two sets of arduino single-chip microcomputers which are respectively connected with and responsible for transverse control signal output and longitudinal control signal output. Wherein:

lateral control of raspberry pies: the value of one week of the absolute value encoder is 1024, the steering angle of the AGV trolley is 720 degrees at the left and right, and the current value of the encoder is mapped to the current angle of the AGV wheels by using the mapping f. After the raspberry group receives a target angle sent by an upper application through the LCM, an error interval is set, the steering of the AGV trolley is determined according to the difference value between the target angle and the current angle, when the difference value between the target angle and the current angle is within the error interval, the AGV trolley is considered to have reached the angle, wheels are fixed at the angle, and the process is called as a fuzzy PID control method based on layering.

Longitudinal control of raspberry pies: and the raspberry group receives a longitudinal speed target value sent by an upper application, maps the longitudinal speed target value and calculates the duty ratio of the Arduino output PWM. Variables in the single chip microcomputer represent the current state and record the current duty ratio, and once the latest instruction is received from the serial port, corresponding high and low voltages and PWM waveforms are generated and sent to a motor driving board, so that the motor is driven to work. When the working state of the system is switched from the automatic driving mode to the manual mode, the single chip can execute rapid zero returning operation according to the current duty ratio working state, so that the switching safety is ensured.

The single chip microcomputer receives a motor rotation instruction sent by the raspberry through a serial port, and generates PWM (pulse width modulation) with fixed frequency and high and low level signals through pins according to the instruction. The single chip microcomputer inputs the generated control signal to an input port of a direct current speed regulating motor drive plate through a DuPont wire and other signal wires, the power input of the drive plate is connected with the voltage output by a vehicle-mounted power supply, and the output of the drive plate is directly connected with the direct current speed regulating motor. In consideration of a plurality of factors such as control accuracy, control safety, torque required by control machinery and the like, a direct-current speed-regulating motor is used for transverse control, namely steering control.

In this embodiment, the present invention also designs a steel cable and a step motor for pulling an accelerator pedal and a steel cable and a step motor for pulling a brake pedal. The types of the used direct current speed regulating motor are as follows: shandong Xianhe auto steering Limited 2016082500208. The used speed regulating motor drive plate is: a Brayton DC motor drive board.

In this embodiment, the data acquisition unit further comprises a wheel speed sensor for measuring the vehicle speed, a Basler camera, a Velodyne16 line laser radar and a millimeter wave radar;

the wheel speed sensor for measuring the vehicle speed returns the number of turns of the wheel rotating in unit time, the number of the turns of the wheel rotating in unit time is displayed in a pulse mode, the number of the pulses in unit time is calculated to be the number R of the revolutions of the wheel only through a single chip microcomputer, the rotating length of the wheel in unit time can be calculated to be the vehicle speed according to a formula C-2 pi R R, wherein R represents the radius of the wheel and can be obtained through direct measurement, and the sensor directly works after the power supply of the vehicle is turned on.

The Basler camera is fixed right above the AGV body, and the upper layer computer is used for shooting and collecting front road information of a driving visual field; the Basler camera directly works after the power supply of the AGV trolley body is started through 12V power supply voltage, and is connected with an upper computer through the Ethernet to assist in functions of barrier, positioning and the like. The sensor works directly after the power supply of the trolley is turned on.

The Velodyne16 line laser radar is fixed on a shelf right above the roof of the AGV body and connected with an upper computer and is used for scanning long-distance obstacles in the driving process of the AGV body; the Velodyne16 line laser radar is connected with an upper computer through the Ethernet in a data format of 3D point cloud, and has the functions of assisting in barrier, positioning and the like. The sensor directly works after the vehicle power supply is turned on, and the detection distance is about 5 meters.

The millimeter wave radar: fix at AGV car body front centre for detect the distance of place ahead barrier. The millimeter wave radar directly works after the power supply of the trolley is turned on, and the detection distance is within 30 meters.

In this embodiment, still be provided with the partial pressure component on the AGV car body, the input and the AGV car body on the power connection of partial pressure component, the output of partial pressure component with be used for automatic travel direct current motor, with electrical apparatus connection. Wherein the voltage dividing element includes: relay, resistance wire.

It should be noted that, referring to fig. 2, the voltage dividing component divides the voltage into three aspects for use:

1) for dc motors for automatic driving

The partial voltage is used for providing power for the power motor and controlling the direct current motor to supply power, and the partial circuit realizes the control of the circuit closing or not through the relay switch.

(1) When the relay switch is closed, the motor is controlled to supply power, and the trolley can automatically run according to an upper-layer instruction and a control layer program;

(2) when the relay switch is disconnected, the power supply to the power motor and the steering motor is stopped, the rotor of the motor is in a loose state, and the control of the steering column is closed. At the moment, the remote control mode is normal, and an operator can normally control the trolley; therefore, the relay can be directly used as a switch for automatic driving and manual remote control.

2) Power supply for low-voltage electrical appliances

The partial voltage connection can directly supply power to low-power electric appliances: for example, a control board with an operating voltage of 5V may be powered, an on-board display with an operating voltage of 12V may be powered, an on-board router with an operating voltage of 12V may be powered, a basler camera with an operating voltage of 12V may be powered, and a lidar with an operating voltage of 12V may be powered.

3) Power supply for electrical appliances with high operating voltage

The partial voltage is boosted to 220V alternating voltage through an inverter, and is applied to the upper layer of a vehicle: for example, notebook computers and the like are powered by electric appliances.

The power consumption of the second part and the power consumption of the third part are directly supplied with power along with the power supply of the AGV trolley, and the switching of a state switch is not needed. Therefore, the upper sensor can still normally work even in a manual mode, data acquisition is carried out, and driving information acquisition and upper application debugging are facilitated. It is guaranteed that in manual mode, support can still be provided for certain specific vehicle applications.

In this embodiment, still be provided with the master switch of a key outage on the AGV car body, master switch and power are connected.

The utility model discloses guarantee to the stability and the security of control mainly to contain in following several aspects: the automatic control system has the one-key power-off function of the main switch of the power supply, has the functions of simultaneously working a plurality of sets of control units in an automatic driving mode, has the self-detection and backup functions of the control units, and prevents the safety problem caused by the breakdown of a single control unit. The method comprises the following specific steps:

(1) the power-off function of one key of the power main switch is as follows: a power main switch is arranged on an AGV (AGV intelligent vehicle) and is used for controlling whether a storage battery on the AGV outputs outwards or not. When the AGV runs in an emergency, the function of power off by one key can be used to ensure the running safety, and the AGV outputs power by the storage battery, so that when the output of the storage battery is cut off, the power of the AGV is cut off.

(2) A plurality of sets of control units work simultaneously in an automatic driving mode, and the platform has the functions of self detection and self backup of the control units and can prevent the condition that a trolley is out of control due to the fact that a single set of equipment is down. The utility model discloses deploy 3 sets of identical the control unit above the AGV dolly of a repacking, because advantages such as embedded equipment's low cost, stability, low-power consumption, deploy many sets of the same the control unit above the AGV dolly. But this is enough to ensure the safety and stability of the system. The 3 sets of control units have respective numbers of 0, 1 and 2, and can perform multicast communication by means of the local area network of the vehicle-mounted router. The three sets of control units start a control program at the same time, after initialization, the machine No. 0 works, the working control unit can normally read data of the vehicle-mounted sensor and receive a control instruction of an upper application, a control signal of motor rotation is sent through the arduino singlechip and the ADS1256 module, a multicast data packet is sent through a specific channel according to a fixed periodic frequency, and the content in the data packet is the serial number of the control unit which is currently working. The rest control units which do not work only read the data of the vehicle-mounted sensor and monitor the multicast information sent by the control unit which works, and the control units are called candidate control units. And a timer is arranged in the program of each candidate control unit, and when the timer does not receive the multicast information of the working control unit after the specified time, the working control unit can be considered to have a problem and be down. In this case, the candidate control unit: and automatically taking over the work according to the number of the work control unit and the number of the work control unit. After the candidate control unit takes over control, the control information of upper-layer application is started and the thread for sending control signals to the bottom layer is started. And as with the previous work unit mechanism, the multicast information containing its own number is sent at a fixed periodic frequency, representing the control unit currently performing work. Through the mode, each AGV trolley carries 3 sets of control units capable of self-detecting and self-replacing, under the premise of low cost and low power consumption, the backup redundancy for improving the safety is increased, and the safety and the stability of the platform are greatly improved.

(3) Low cost, low power consumption and easy transplantation. The whole vehicle system is built based on an embedded system, the core is raspberry group, the system is small and precise, the cost is low but stable, the situation that personnel engaged in upper-layer development of the intelligent vehicle are restrained by the system cost of the bottom layer is avoided, development of the intelligent driving direction can be promoted, and more people can experiment the intelligent driving direction.

Since the AGV has a limited on-board battery and requires access to numerous routers, power consumption is an important factor to consider. The utility model discloses a control unit has chooseed the raspberry group of low-power consumption and development boards such as arduino for use, compares in the on-vehicle large-scale industrial computer of traditional scheme, has practiced thrift the consumption.

The used devices are all very common devices, such as raspberry groups, Arduino and the like, the mobile platform is also a common AGV trolley, and then the mobile platform is combined with the characteristics of low cost and low power consumption, so that the portability of the system is very strong, the device is convenient to purchase during transplantation, and the problems of hardware and software are solved.

(4) Compatibility and expansibility, the utility model discloses a control platform has good compatibility, expansibility and encapsulation nature. In terms of compatibility: the core of the control unit is a linux-based raspberry operating system raspbian, a plurality of third-party libraries under linux are supported, and the configuration can be easily installed. Sensors and other peripherals used by the platform include: the angle sensor, the ADS1256 expansion board, the arduino single chip microcomputer and the like are drive-free equipment, and can be identified by plugging a USB port of the raspberry pie. In terms of expansibility: the raspberry pie provided with the ADS1256 expansion board has more than 7 AD/DA pins, and two arduinos also have more than 8 AD/DA pins and more than 20 digital pins, so that the installation and expansion of various sensors are facilitated. In the aspect of encapsulation, data interaction and transmission are carried out between the upper layer application and the platform, and communication can be carried out only by depending on the multicast information of the local area network, namely, only by determining the same multicast address and the format content of the standard data packet under the same channel of the two parties. The upper application only needs to calculate to obtain a specific control instruction for the bottom layer, and the control platform only needs to read the sensor data, return the sensor data to the upper layer and execute the instruction of the upper layer.

The above-mentioned specific implementation is the preferred embodiment of the present invention, can not be right the utility model discloses the limit, any other does not deviate from the technical scheme of the utility model and the change or other equivalent replacement modes of doing all contain within the scope of protection of the utility model.

Claims

1. The utility model provides a AGV intelligent vehicle structure which characterized in that includes: the AGV comprises an AGV body, wherein the AGV body comprises a control panel and a data acquisition unit, the control panel comprises N sets of same control units, the N sets of control units are used for replacing other control units at any time when the current control unit suddenly crashes in work, and N is more than or equal to 2; the control unit comprises a raspberry pie, an ADS1256AD/DA expansion board and a single chip microcomputer, wherein the number of the single chip microcomputers is 2, one end of the raspberry pie is connected with the data acquisition unit, the other end of the raspberry pie is connected with one end of the DS1256AD/DA expansion board, and the other end of the DS1256AD/DA expansion board is connected with the 2 single chip microcomputers.

2. The AGV smart vehicle structure of claim 1, wherein the raspberry pi is connected to a 12V touch screen vehicle display through HDMI wiring, and further connected to a mouse and a keyboard.

3. The AGV intelligent vehicle structure of claim 1, wherein a motor is arranged below the direction column of the AGV vehicle body, the data acquisition unit comprises an angle sensor, and the angle sensor, the control panel and the motor are sequentially connected.

4. The AGV smart vehicle structure of claim 3 wherein said motor is a high torque dc motor.

5. The AGV smart vehicle structure of claim 1, wherein the data acquisition unit further includes a wheel speed sensor, a Basler camera, a Velodyne16 line lidar, a millimeter wave radar for measuring vehicle speed;

the Basler camera is fixed right above the AGV body, and the upper layer computer is used for shooting and collecting front road information of a driving visual field;

the Velodyne16 line laser radar is fixed on a shelf right above the roof of the AGV body and connected with an upper computer and is used for scanning long-distance obstacles in the driving process of the AGV body;

the millimeter wave radar: fix at AGV car body front centre for detect the distance of place ahead barrier.

6. The AGV intelligent vehicle structure of claim 1, wherein a voltage dividing element is further arranged on the AGV vehicle body, an input end of the voltage dividing element is connected with a power supply on the AGV vehicle body, and an output end of the voltage dividing element is connected with a direct current motor and an electrical appliance for automatic driving.

7. The AGV smart vehicle structure of claim 6, wherein the voltage divider element includes: relay, resistance wire.

8. The AGV intelligent vehicle structure of claim 1, wherein a main switch for one-key power-off is further arranged on the AGV vehicle body, and the main switch is connected with a power supply.