CN216647158U

CN216647158U - Double-core AGV real-time controller

Info

Publication number: CN216647158U
Application number: CN202220307176.1U
Authority: CN
Inventors: 杨善任; 张广帅; 林晓伟; 赵本学
Original assignee: WEIHAI WEIQIAO TECHNOLOGY INDUSTRIAL PARK CO LTD
Current assignee: WEIHAI WEIQIAO TECHNOLOGY INDUSTRIAL PARK CO LTD
Priority date: 2022-02-16
Filing date: 2022-02-16
Publication date: 2022-05-31
Anticipated expiration: 2032-02-16

Abstract

The utility model discloses a double-core AGV real-time controller, which is characterized in that: the system comprises a microcontroller chip based on a DSP framework and a microcontroller chip based on an ARM framework, wherein the microcontroller chip based on the DSP framework and the microcontroller chip based on the ARM framework are connected with each other through a serial communication line and exchange data; the micro controller chip based on the DSP framework is connected with a magnetic sensor and a direct current brushless motor driver, the direct current brushless motor driver is connected with a driving motor, and the micro controller chip based on the ARM framework is connected with a LoRa module, a RFID module, a solid laser radar, an alarm and a push rod motor. One is a DSP framework TMS320F2802x microcontroller is the core and is specially used for motion control with real-time requirements, and the other is an ARM framework STM32F103R microcontroller is the core, has richer functions, is suitable for connecting more external devices, simplifies the design of the whole controller, reduces the cost to the minimum under the condition of ensuring the high performance of the AGV in operation, and has small size and low power consumption.

Description

Double-core AGV real-time controller

Technical Field

The utility model relates to a controller, in particular to a double-core AGV real-time controller.

Background

The controller is a necessary core component of an automatic robot such as an AGV and is equivalent to the brain of the AGV and is responsible for receiving, processing and calculating data, controlling the motion control of the robot in the core and controlling related external equipment. For example, the AGV needs to acquire data such as position, direction, attitude and the like through sensors such as a magnetic sensor, a laser radar, a gyroscope and the like, and operates an actuating mechanism such as a driving motor and a push rod by combining algorithms such as motion control and route planning, so as to realize planned actions such as acceleration and deceleration, steering, avoiding, parking, material butt joint and the like. The existing AGV controller mainly uses an industrial personal computer as a controller, and has redundant functions and performances; the power consumption is high, the fan is required for heat dissipation, and the application scene of battery power supply is not facilitated. The size is bigger, is unfavorable for small-size, ultra-thin AGV's design.

SUMMERY OF THE UTILITY MODEL

In order to solve the defects of the technology, the utility model provides a double-core AGV real-time controller.

In order to solve the technical problems, the technical scheme adopted by the utility model is as follows: a double-core AGV real-time controller comprises a microcontroller chip based on a DSP framework and a microcontroller chip based on an ARM framework, wherein the microcontroller chip based on the DSP framework and the microcontroller chip based on the ARM framework are connected with each other through a serial communication line and exchange data;

a magnetic sensor and a direct current brushless motor driver are connected on a micro controller chip based on a DSP framework, and a driving motor is connected on the direct current brushless motor driver;

a LoRa module, an RFID module, a solid laser radar, an alarm and a push rod motor are connected on the micro controller chip based on the ARM framework.

Furthermore, the microcontroller chip based on the DSP framework is connected with the magnetic sensor through a serial communication interface.

Further, the microcontroller chip based on the ARM architecture is connected with the LoRa module and the RFID module through an asynchronous serial communication interface.

Furthermore, the microcontroller chip based on the ARM architecture is connected with the solid-state laser radar, the warning device and the push rod motor through the universal input and output interface.

Furthermore, the micro controller chip based on the DSP framework is connected with two direct current brushless motor drivers, and each direct current brushless motor driver is connected with one driving motor.

The utility model discloses a double-core AGV real-time controller, which uses two cores as controllers, wherein one is a TMS320F2802x microcontroller based on DSP framework and is specially used for motion control with real-time requirements for the core, and the other is an STM32F103R microcontroller based on ARM framework and is used for the core, so that the double-core AGV real-time controller has more functions, is suitable for being connected with more external equipment, simplifies the design of the whole controller, reduces the cost to the minimum under the condition of ensuring the high performance of the AGV in operation, has small size and low power consumption, is suitable for an application scene of battery power supply, and has smaller volume, thinner size and more flexible installation.

Drawings

Fig. 1 is an electrical schematic block diagram of the present invention.

FIG. 2 is a logic diagram of the operation of a microcontroller chip based on the DSP architecture.

FIG. 3 is a logic diagram of the operation of the microcontroller chip based on the ARM architecture.

In the figure: 1. a microcontroller chip based on a DSP architecture; 2. a microcontroller chip based on ARM architecture; 3. the serial communication interface is connected with the magnetic sensor; 4. a DC brushless motor driver; 5. a drive motor; 6. a LoRa module; 7. an RFID module; 8. a solid state laser radar; 9. an alarm; 10. a push rod motor.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.

The dual-core AGV real-time controller shown in fig. 1 includes a microcontroller chip 1 based on a DSP architecture and a microcontroller chip 2 based on an ARM architecture, where the model of the microcontroller chip 1 based on the DSP architecture is TMS320F2802x, which has a dedicated motion control operation acceleration unit and can call a dedicated motion control function library, so that high-efficiency and high-accuracy real-time control can be ensured, and the system has high real-time performance and is used for AGV direction control and motor control; the model 2 of the microcontroller chip based on the ARM architecture is STM32F103R, the external functions are rich, the communication interface and the external functions are rich, the interrupt types, the number and the grades are rich, and the microcontroller chip is very suitable for being matched with a DSP. The microcontroller chip 1 based on DSP framework and the microcontroller chip 2 based on ARM framework are connected with each other through a serial communication line and exchange data, the microcontroller chip 1 based on DSP framework is connected with a magnetic sensor 3 and a direct current brushless motor driver 4, and the direct current brushless motor driver 4 is connected with a driving motor 5; and the microcontroller chip 2 based on the ARM framework is connected with a LoRa module 6, an RFID module 7, a solid-state laser radar 8, an alarm 9 and a push rod motor 10.

The micro controller chip 1 based on the DSP framework is a key for realizing accurate real-time motion control, is a real-time control core of a double-core AGV controller, is connected with a magnetic sensor through an SCI-A (serial communication interface A), and acquires magnetic field position data of the AGV in operation from the magnetic sensor; the micro controller chip 2 based on the ARM architecture is connected through an SCI-B (serial communication interface B), data are exchanged with the micro controller chip 2 based on the ARM architecture through a serial communication line, tasks with low requirements for real-time performance are handed to the micro controller chip 2 based on the ARM architecture for processing, the micro controller chip 1 based on the DSP architecture only needs to receive the processed data, the data are more simplified, and the real-time performance and the safety of AGV control can be better guaranteed.

The microcontroller chip 1 based on the DSP framework respectively outputs PWM (pulse width modulation) signals to the two direct current brushless motor drivers through ePWM (enhanced pulse width modulation) peripheral interfaces of the two channels, and the two direct current brushless motor drivers can respectively control acceleration and deceleration of two driving wheels on the AGV according to different pulse widths after receiving the signals so as to realize actions of acceleration and deceleration operation, uniform speed operation, steering, parking and the like of the AGV.

As shown in fig. 2 in terms of the logic of the micro-controller software operating in TMS320F2802 x:

SCI interrupt (serial communication interface interrupt): the interruption of the SCI-B channel is responsible for receiving AGV operation data transmitted by the STM32F103R, and then sending the data to the finite state machine to update the set data of the speed and the direction of the AGV operation; the interruption of the SCI-A channel is responsible for receiving magnetic field position data transmitted by the magnetic sensor, sending the data to the finite-state machine, and calling the data for calculation when calculating the magnetic field position.

Timer interrupt: the system sets a certain timer with a certain interval, for example, a timer with an interval of 1ms, when the time interval arrives, the timer interruption triggers a flag bit, and further triggers the finite state machine to start running, and the next task is sequentially executed in the state machine.

A finite state machine: a finite state machine is a tool used to model the behavior of an object, and its role is mainly to describe the sequence of states that an object experiences during its lifecycle and how to respond to various events from the outside world. In the utility model, the finite state machine is triggered by the interruption of a timer, the target speed and direction of the AGV operation are set according to the data transmitted by the STM32F103R, then the magnetic field position is updated and calculated, the smooth acceleration, deceleration or sudden stop control is carried out according to the comparison between the current speed and direction of the AGV operation and the target speed and direction, the data is transmitted to a PWM duty ratio output control register, finally, the PID direction control algorithm operation is carried out according to the current magnetic field position, the speed difference value required by two driving wheels of the AGV is obtained, and the result is transmitted to the PWM duty ratio output control register.

PWM peripheral hardware: and the PWM control register is used for receiving the operation result of speed control and the operation result of PID direction control, inputting the operation results into the PWM control register, and outputting a PWM signal to control the motor operation of the direct current brushless motor driver so as to control two driving wheels of the AGV.

The micro controller chip 2 based on the ARM architecture is the key for realizing rich functions and is the external function core of the double-core AGV controller.

In the scheme, the microcontroller chip 2 based on the ARM architecture is connected with a LoRa module (responsible for receiving radio frequency signals), an RFID module (responsible for receiving ground passive tag signals) and a TMS320F2802x (outputting data to the TMS320 for real-time control) through a UART (universal asynchronous receiver transmitter/receiver) port, and is connected with a solid-state laser radar (for avoiding obstacles) and an alarm through a GPIO (general purpose input/output) port. The operation of these external devices is not high in requirement on real-time performance, but has a high requirement on the abundance of the number of peripheral interfaces, so that STM32F103R is more suitable for being connected with more and richer external devices, and data of various devices are transmitted to TMS320F2802x after being processed.

The LoRa module is used for receiving data in the radio frequency network, including position information of a target station, and the AGV plans a running route according to the received station information. The RFID module is used for identifying passive RFID tags placed on the ground so as to acquire the current position information. After the solid-state laser radar is configured, multi-channel level information can be output, and after the level information is read through the GPIO port, whether the AGV needs to decelerate or stop to avoid the obstacle can be known. The alarm is used for informing surrounding personnel to pay attention to the AGV equipment in operation through sound and light signals, and the GPIO port outputs level to control starting and stopping. The push rod motor is a rod-shaped structure which is used for being butted with a material vehicle and can electrically extend out, after the AGV reaches a target station, the material vehicle can be butted and released through the push rod motor, the push rod motor can be driven by a relay module, and a relay is controlled by a GPIO (general purpose input/output) port of the microcontroller chip 2 based on an ARM (advanced RISC machine) framework so as to control the push rod motor.

In terms of the logic of the STM32STM32F103R microcontroller software running as shown in FIG. 3:

UART1 interrupts: when receiving a call signal sent by the LoRa module, the UART1 port triggers the interrupt, compares the received target position signal with the current position signal, plans an operation route, and transmits the route to the finite-state machine.

UART2 interrupts: when the UART2 port receives the position data sent by the RFID module, the interruption is triggered, and then the comparison is carried out according to the received current running position signal and the target position signal of the AGV, so as to judge whether the target point is reached or not, and the result is transmitted to the finite-state machine.

GPIO interruption: when the solid-state laser radar trigger signal finds that an obstacle appears in the front of the AGV in operation, whether the deceleration or the braking is needed is judged according to the size and the distance of the obstacle, a level signal is output, the interruption is triggered, the trigger type is confirmed, the selection of avoiding is made, and the result is transmitted to the finite-state machine.

A finite state machine: in the state machine, the planned operation route is sent to the TMS320F2802x through a UART port, and then a parking signal is sent when a target station is reached, a deceleration signal is sent when a small-sized obstacle far ahead is found, and a parking signal is sent when the small-sized obstacle is near.

The utility model uses two cores as the controller, one is a DSP (digital signal processor) architecture TMS320F2802x microcontroller which is a core specially used for motion control with real-time requirements, and the other is an ARM architecture STM32F103R microcontroller which is a core, has richer functions, is suitable for connecting more external equipment, simplifies the design of the whole controller, reduces the cost to the minimum under the condition of ensuring the high performance of the AGV operation, has small size and low power consumption, is suitable for the application scene of battery power supply, and has smaller volume, thinner size and more flexible installation.

The above embodiments are not intended to limit the present invention, and the present invention is not limited to the above examples, and those skilled in the art may make variations, modifications, additions or substitutions within the technical scope of the present invention.

Claims

1. The utility model provides a two core AGV real time controller which characterized in that: the system comprises a microcontroller chip (1) based on a DSP framework and a microcontroller chip (2) based on an ARM framework, wherein the microcontroller chip (1) based on the DSP framework and the microcontroller chip (2) based on the ARM framework are connected with each other through a serial communication line and exchange data;

the microcontroller chip (1) based on the DSP framework is connected with a magnetic sensor (3) and a direct current brushless motor driver (4), and the direct current brushless motor driver (4) is connected with a driving motor (5);

the micro-controller chip (2) based on the ARM framework is connected with a LoRa module (6), an RFID module (7), a solid-state laser radar (8), an alarm (9) and a push rod motor (10).

2. The dual core AGV real time controller of claim 1, further comprising: the microcontroller chip (1) based on the DSP framework is connected with the magnetic sensor (3) through a serial communication interface.

3. The dual core AGV real time controller of claim 2, further comprising: the microcontroller chip (2) based on the ARM architecture is connected with the LoRa module (6) and the RFID module (7) through an asynchronous serial communication interface.

4. The dual core AGV real time controller of claim 3, further comprising: the micro controller chip (2) based on the ARM framework is connected with the solid-state laser radar (8), the warning indicator (9) and the push rod motor (10) through a universal input interface and a universal output interface.

5. The dual core AGV real time controller of claim 4, wherein: the microcontroller chip (1) based on the DSP framework is connected with two direct current brushless motor drivers (4), and each direct current brushless motor driver (4) is connected with a driving motor (5).