CN215219510U - AGV vehicle-mounted controller - Google Patents
AGV vehicle-mounted controller Download PDFInfo
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- CN215219510U CN215219510U CN202120925935.6U CN202120925935U CN215219510U CN 215219510 U CN215219510 U CN 215219510U CN 202120925935 U CN202120925935 U CN 202120925935U CN 215219510 U CN215219510 U CN 215219510U
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Abstract
The utility model provides a AGV vehicle-mounted controller, including central processing unit (1), CAN communication module (2), RS485 communication module (3), RS232 communication module (4), ethernet communication module (5), digital IO output module (6), digital IO input module (7). The AGV vehicle-mounted controller receives an instruction of an upper-layer dispatching system through the Ethernet communication module (5), receives AGV sensor data through the CAN communication module (2), the RS485 communication module (3) and the RS232 communication module (4) through communication interfaces, carries out data resolving through the central processing unit (1), obtains steering and driving instructions, and sends the steering and driving instructions to the steering and driving execution unit through the CAN communication module (2) to complete the motion control of an AGV vehicle. The controller adopts a dual-core redundancy design, so that the reliability of AGV control is greatly improved.
Description
Technical Field
The utility model belongs to unmanned transport vehicle, automatic guided vehicle field, concretely relates to AGV vehicle-mounted controller.
Background
By means of the characteristics of high efficiency and low cost, the AGV trolley is widely applied to industries of material transfer, warehouse logistics, unmanned inspection and the like of a production line. In recent years, with the rapid development of software technology, electronic technology and computer control technology, the AGV control technology is becoming mature, and automatic AGV operation is gradually replacing traditional manual operation.
At present, an AGV core control unit mainly has two forms, namely a traditional PLC and a special embedded controller. The traditional PLC has low development threshold and is popular with some small enterprises, but the PLC is mostly applied to fixed industrial control equipment, has poor shock resistance and outdoor environment adaptability, is applied to related protection of a movable AGV trolley needing to be matched and is difficult to use; the special embedded controller is customized and developed for the AGV, the environment adaptability of the whole machine can meet the background requirements of the AGV, and along with the development of software and electronic technology and the improvement of the technical capability of developers, the embedded controller mode is becoming the main trend of the AGV control. Embedded controller realizes PLC's function through controlling external equipment at MCU operation procedure, but at present in the AGV field, embedded controller design is used still not too ripe, and the reliability is slightly low for PLC, can appear controller crash, the dead scheduling problem of program card under certain special circumstances, brings and produces hidden danger such as line stop, road jam, can cause the accident even, so the reliability of controller needs the improvement urgently, to this problem, the utility model provides a high reliability AGV vehicle-mounted controller.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a high reliability AGV vehicle-mounted controller for solve and lead to the paralysed, road jam of AGV, the problem that the production line stopped in some occasion controller crashes.
The utility model provides a AGV vehicle-mounted controller, the controller includes central processing unit 1, CAN communication module 2, communication module, ethernet communication module 5, digital IO output module 6, digital IO input module 7; the central processing unit 1 is used for completing AGV motion control operation and parking brake and state lamp switching logic control; the CAN communication module 2 is used for connecting an AGV steering and driving an execution unit, sending a corner and speed instruction and receiving the state feedback of the execution unit; the communication module is used for connecting a navigation sensor, a positioning sensor and an obstacle avoidance sensor to realize acquisition of position and obstacle control information; the Ethernet module 5 is used for connecting an upper layer dispatching system to communicate with the AGV, sending a target position instruction and receiving AGV state information; the digital IO output module 6 is used for connecting equipment such as a parking brake, a three-color lamp and a music box to realize IO output control; the digital IO input module 7 is used for connecting input signals such as emergency stop and anti-collision strips to complete IO input acquisition.
Further, the central processing unit 1 includes 2 or more than 2 central processing units CPU and a dual-port RAM1_2, which adopts dual-core redundancy design, when in normal operation, the first central processing unit CPU01_1 executes all AGV control programs, the second central processing unit CPU11_3 is in a sleep state, and the first central processing unit CPU01_1 sends custom heartbeat information to the second central processing unit CPU11_3 at regular time; the second central processing unit CPU11_3 monitors the heartbeat of the CPU0 in real time, judges whether the CPU01_1 works normally according to the heartbeat content, if the second central processing unit CPU11_3 receives wrong heartbeat information or does not receive the heartbeat for a long time, the state of the first central processing unit CPU01_1 is considered to be abnormal, the second central processing unit CPU11_3 reads AGV control process data through the double-port RAM1_2 immediately, directly takes over the first central processing unit CPU01_1 to carry out AGV control, and reports alarm information.
Further, the CAN communication module 2 has a 2-channel communication function;
the communication module comprises an RS485 communication module 3 and an RS232 communication module 4, the RS485 communication module 3 has 2 paths of communication functions, the RS232 communication module 4 has 2 paths of communication functions, the Ethernet communication module 5 has 2 channels of communication functions, the digital IO output module 6 has 16 channels of output functions, and the digital IO input module 7 has 16 channels of acquisition functions.
Furthermore, the RS485 communication module 3 is provided with two RS485 communication interfaces for customizing a communication protocol;
the ethernet communication module 5 includes two communication interfaces, and the communication mode is TCP/IP protocol.
The utility model discloses possess following advantage: the central processing unit adopts a dual-core redundancy design, so that the reliability of the AGV controller is greatly improved, if some narrow and small channels are halted by the CPU0, the CPU1 can directly take over the work to control the vehicle to continue running, and after the task is finished, a user is reminded to overhaul, so that the situation that the vehicle blocks the channel and the production line is blocked is effectively prevented.
Drawings
In order to more clearly illustrate the technical solution of the present invention, the drawings required for the use of the present invention will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without inventive work.
FIG. 1 is a schematic diagram of the interior of a CPU;
FIG. 2 is a schematic diagram of a dual core redundancy workflow;
fig. 3 is a schematic structural diagram of the present invention.
Detailed Description
To make the objects, technical solutions and advantages of the present invention clearer, the technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings, and obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by the skilled in the art without creative work belong to the protection scope of the present invention.
In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the following detailed description is combined with the accompanying drawings to further explain the high reliability AGV onboard controller provided by the present invention.
The utility model provides an AGV vehicle-mounted controller, which comprises a central processing unit 1, a CAN communication module 2, a communication module, an Ethernet communication module 5, a digital IO output module 6 and a digital IO input module 7; the central processing unit 1 is used for completing AGV motion control operation and parking brake and state lamp switching logic control; the CAN communication module 2 is used for connecting an AGV steering and driving an execution unit, sending a corner and speed instruction and receiving the state feedback of the execution unit; the communication module is used for connecting a navigation sensor, a positioning sensor and an obstacle avoidance sensor to realize acquisition of position and obstacle control information; the Ethernet module 5 is used for connecting an upper layer dispatching system to communicate with the AGV, sending a target position instruction and receiving AGV state information; the digital IO output module 6 is used for connecting equipment such as a parking brake, a three-color lamp and a music box to realize IO output control; the digital IO input module 7 is used for connecting input signals such as emergency stop and anti-collision strips to complete IO input acquisition.
Further, the central processing unit 1 includes 2 or more than 2 central processing units CPU and a dual-port RAM1_2, which adopts dual-core redundancy design, when in normal operation, the first central processing unit CPU01_1 executes all AGV control programs, the second central processing unit CPU11_3 is in a sleep state, and the CPU01_1 sends custom heartbeat information to the CPU11_3 at regular time; the second central processing unit CPU11_3 monitors the heartbeat of the CPU0 in real time, judges whether the CPU01_1 works normally or not according to the heartbeat content, if the CPU11_3 receives wrong heartbeat information or does not receive the heartbeat for a long time, the first central processing unit CPU01_1 is considered to be abnormal in state, the second central processing unit CPU11_3 reads AGV control process data through the double-port RAM1_2 immediately, directly takes over the central processing unit CPU01_1 to carry out AGV control, and reports alarm information.
Further, the CAN communication module 2 has 2-channel communication capability;
the communication module comprises an RS485 communication module 3 and an RS232 communication module 4, the RS485 communication module 3 has 2 paths of communication capacity, the RS232 communication module 4 has 2 paths of communication capacity, the Ethernet communication module 5 has 2 channels of communication capacity, the digital IO output module 6 has 16 channels of output capacity, and the digital IO input module 7 has 16 channels of acquisition capacity.
Furthermore, the RS485 communication module 3 is provided with two RS485 communication interfaces for customizing a communication protocol;
the ethernet communication module 5 includes two communication interfaces, and the communication mode is TCP/IP protocol.
The central processing unit of the utility model consists of a central processing unit CPU0, a double-port RAM and a central processing unit CPU 1. As shown in fig. 1, the CPU0 and the CPU1 are directly connected via a serial bus to transmit heartbeat data; the CPU0 and the CPU1 are both connected to the dual-port RAM through a parallel port bus and transmit control process data.
The general dual-redundancy controller adopts serial communication between two identical controllers to realize the interaction of heartbeat data and control data, thereby not only increasing the cost, but also bringing greater burden to the controllers due to excessive synchronous data interaction.
The dual-core work flow in the utility model is shown in figure 2. After the controller is powered on, the CPU0 and the CPU1 both perform interface initialization, and the CPU0 enters a cycle program to perform AGV control, write process data into the double-port RAM and send custom heartbeat data; the CPU1 closes the peripheral interface, enters the CPU0 heartbeat receiving process, if the heartbeat is not received within a period of time or the received heartbeat content is wrong, the CPU0 is considered to be abnormal in state, namely, the CPU0 resets a pin to control the CPU0 program to stop running, the peripheral interface is opened, warning information is reported, double-port RAM data is read, and the AGV control program is run to realize the redundancy protection of the AGV. The utility model discloses creatively through two integrated central processing units of a controller, CPU 0's control process data storage just can be visited by CPU1 in two port RAM, no longer need the synchronous processing mechanism between CPU0 and the CPU1, when realizing two redundant control, both the cost is reduced and the burden of CPU work has been alleviateed.
The utility model creatively integrates two central processing units through one controller, the control process data of the CPU0 is stored in the double-port RAM and can be accessed by the CPU1, a synchronous processing mechanism is not needed any more, the cost is reduced, and the work burden of the CPU is lightened;
usually the heartbeat is used for monitoring whether the communication link is normal, the utility model discloses be applied to the monitoring treater running state with the heartbeat, receive the self-defined heartbeat information that first central processing unit sent through the second central processing unit and judge whether it is normal work, if receive wrong heartbeat information or a period of time within not receive the heartbeat, then think that first central processing unit state is unusual; the dual-port RAM is originally adopted to store data information in the running process of the CPU0, and when the CPU0 breaks down, the CPU1 can continue to work according to the data in the dual-port RAM without crashing; if the CPU1 does not receive heartbeat data or receives wrong heartbeat data within a period of time, the CPU0 is considered to be abnormal in state, namely, the control right of the AGV is taken over, and warning information is reported.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Furthermore, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include elements inherent in the list. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element. In addition, parts of the above technical solutions provided in the embodiments of the present application, which are consistent with the implementation principles of corresponding technical solutions in the prior art, are not described in detail so as to avoid redundant description.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (4)
1. An AGV vehicle-mounted controller, characterized in that: the controller comprises a central processing unit (1), a CAN communication module (2), a communication module, an Ethernet communication module (5), a digital IO output module (6) and a digital IO input module (7); the central processing unit (1) is used for completing AGV motion control operation, parking brake and state lamp switching logic control; the CAN communication module (2) is used for connecting the AGV steering and driving the execution unit, sending a corner and speed instruction and receiving the state feedback of the execution unit; the communication module is used for connecting a navigation sensor, a positioning sensor and an obstacle avoidance sensor to realize acquisition of position and obstacle control information; the Ethernet module (5) is used for connecting an upper layer dispatching system to communicate with the AGV, sending a target position instruction and receiving AGV state information; the digital IO output module (6) is used for connecting the parking brake, the three-color lamp and the music box device to realize IO output control; and the digital IO input module (7) is used for connecting input signals of the emergency stop and the anti-collision strip to complete IO input acquisition.
2. The AGV onboard controller of claim 1, wherein: the central processing unit (1) comprises 2 or more than 2 Central Processing Units (CPUs) and a dual-port RAM (1 _ 2), a dual-core redundancy design is adopted, when the central processing unit operates normally, a first CPU0 (1 _ 1) executes all AGV control programs, a second CPU1 (1 _ 3) is in a dormant state, and the first CPU0 (1 _ 1) sends self-defined heartbeat information to the second CPU1 (1 _ 3) at regular time; the second central processing unit CPU1 (1 _ 3) monitors the heartbeat of the CPU0 in real time, judges whether the CPU0 (1 _ 1) works normally or not according to the heartbeat content, if the second central processing unit CPU1 (1 _ 3) receives wrong heartbeat information or does not receive the heartbeat for a long time, the first central processing unit CPU0 (1 _ 1) is considered to be abnormal in state, the second central processing unit CPU1 (1 _ 3) reads AGV control process data through the double-port RAM (1 _ 2) immediately, directly takes over the first central processing unit CPU0 (1 _ 1) to carry out AGV control, and reports alarm information.
3. The AGV onboard controller of claim 1, wherein: the CAN communication module (2) has a 2-channel communication function;
the communication module comprises an RS485 communication module (3) and an RS232 communication module (4), the RS485 communication module (3) has 2-path communication function, the RS232 communication module (4) has 2-path communication function, the Ethernet communication module (5) has 2-path communication function, the digital IO output module (6) has 16-path output function, and the digital IO input module (7) has 16-path acquisition function.
4. An AGV vehicle controller according to claim 3 wherein: the RS485 communication module (3) is provided with two RS485 communication interfaces and defines a communication protocol by user;
the Ethernet communication module (5) comprises two communication interfaces, and the communication mode is a TCP/IP protocol.
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| CN202120925935.6U CN215219510U (en) | 2021-04-30 | 2021-04-30 | AGV vehicle-mounted controller |
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| CN202120925935.6U CN215219510U (en) | 2021-04-30 | 2021-04-30 | AGV vehicle-mounted controller |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP4250176A1 (en) | 2022-03-22 | 2023-09-27 | Turck Holding GmbH | Interface device with rfid tag, autonomous conveying device, conveying system and method for transporting workpieces |
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2021
- 2021-04-30 CN CN202120925935.6U patent/CN215219510U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP4250176A1 (en) | 2022-03-22 | 2023-09-27 | Turck Holding GmbH | Interface device with rfid tag, autonomous conveying device, conveying system and method for transporting workpieces |
| DE102022106614A1 (en) | 2022-03-22 | 2023-09-28 | Turck Holding Gmbh | Autonomous conveyor device, conveyor system and method for transporting workpieces |
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